Robotic surgical systems with fluid flow control for irrigation, aspiration, and blowing

Abstract

In one embodiment of the invention, a robotic surgical system is provided including a master control console and a surgical manipulator. The master control console generates control signals to cause one or more fluids to flow into or out of a surgical site. The surgical manipulator is coupled to the console to receive the control signals and includes at least one robotic arm and a surgical instrument coupled thereto. The surgical manipulator controls the surgical instrument in response to the control signals to control the flow of the one or more fluids into or out of the surgical site. The surgical instrument has a first robotically controlled valve that is responsive to the surgical manipulator and a hollow tube having a first end coupled to the first robotically controlled valve with an opening at a second end to direct the flow of one or more fluids.

1 . A robotic surgical system comprising: 
 a master control console to generate control signals to cause one or more fluids to flow into or out of a surgical site;    a surgical manipulator coupled to the master control console to receive the control signals, the surgical manipulator including 
 at least one robotic arm to manipulate at least one surgical instrument, and  
 a surgical instrument coupled to the robotic arm, the surgical manipulator to control the surgical instrument in response to the control signals to control the flow of the one or more fluids into or out of the surgical site, the surgical instrument having 
 a first robotically controlled valve responsive to the surgical manipulator, the first robotically controlled valve having a first port and a second port, and  
 a hollow tube having a first end coupled to the second port of the first robotically controlled valve, the hollow tube having an opening at a second end to direct the flow of one or more fluids into or out of the surgical site;  
 
   a first pump having a pump port, the first pump to pump a first fluid into or out of the surgical site; and    a first hose having a first end coupled to the first port of the first robotically controlled valve and a second end coupled to the pump port of the pump, the first hose to transport a first fluid between the first robotically controlled valve and the pump.    
     
     
         2 . The system of  claim 1 , wherein 
 the first pump is a suction pump to create a vacuum in the first hose as the first fluid to aspirate the surgical site in response to opening the first robotically controlled valve.    
     
     
         3 . The system of  claim 1 , wherein 
 the first pump is a fluid pump to pressurize a liquid in the first hose as the first fluid to irrigate the surgical site in response to opening the first robotically controlled valve.    
     
     
         4 . The system of  claim 1 , wherein 
 the first pump is a compressor to pressurize a gas in the first hose as the first fluid to blow a pressurized gas in the surgical site in response to opening the first robotically controlled valve.    
     
     
         5 . The system of  claim 1 , wherein 
 the first robotically controlled valve is responsive to the control signals from the master control console, and    the master control console includes at least one foot pedal to generate the control signals to control the first robotically controlled valve.    
     
     
         6 . The system of  claim 1 , wherein 
 the first robotically controlled valve is responsive to the control signals from the master control console, and    the master control console includes a touch sensing handle to generate the control signals to control the first robotically controlled valve.    
     
     
         7 . The system of  claim 1 , wherein 
 the first robotically controlled valve is responsive to the control signals from the master control console, and    the master control console includes a voice recognition system to recognize commands to generate the control signals to control the first robotically controlled valve.    
     
     
         8 . The system of  claim 1 , wherein 
 the first robotically controlled valve is a three-way valve having a third port;    and,    the system further comprises    a second hose having a first end coupled to the third port of the first robotically controlled valve;    and    a second pump having a port coupled to a second end of the second hose.    
     
     
         9 . The system of  claim 8 , wherein 
 the first pump is a suction pump to create a vacuum in the first hose and to aspirate the surgical site in response to opening the first robotically controlled valve to couple the first port and the second port together, and    the second pump is a fluid pump to pressurize a fluid in the second hose to irrigate the surgical site in response to opening the first robotically controlled valve to couple the first port and the third port together.    
     
     
         10 . The system of  claim 8 , wherein 
 the first pump is a gas compressor to create a gas pressure in the first hose and to blow a pressurized gas in the surgical site in response to opening the first robotically controlled valve to couple the first port and the second port together, and    the second pump is a fluid pump to pressurize a fluid in the second hose to irrigate the surgical site in response to opening the first robotically controlled valve to couple the first port and the third port together.    
     
     
         11 . The system of  claim 1 , wherein 
 the first robotically controlled valve is a four-way valve having a third port and a fourth port;    and,    the system further comprises    a second hose having a first end coupled to the third port of the first robotically controlled valve;    a third hose having a first end coupled to the fourth port of the first robotically controlled valve;    a second pump having a port coupled to a second end of the second hose;    and    a third pump having a port coupled to a second end of the third hose.    
     
     
         12 . The system of  claim 11 , wherein 
 the first pump is a suction pump to create a vacuum in the first hose and to aspirate the surgical site in response to opening the first robotically controlled valve to couple the first port and the second port together,    the second pump is a fluid pump to pressurize a fluid in the second hose to irrigate the surgical site in response to opening the first robotically controlled valve to couple the first port and the third port together, and    the third pump is a gas compressor to create a gas pressure in the first hose and to blow a pressurized gas in the surgical site in response to opening the first robotically controlled valve to couple the first port and the fourth port together.    
     
     
         13 . The system of  claim 1 , wherein 
 the surgical instrument further has 
 a second robotically controlled valve having a first port and a second port,  
 a third robotically controlled valve having a first port and a second port, and  
 a four-way coupler coupled between the second ports of the first, second, and third robotically controlled valves and the first end of the hollow tube;  
   and,    the system further comprises    a second hose having a first end coupled to the first port of the second robotically controlled valve;    a third hose having a first end coupled to the first port of the third robotically controlled valve;    a second pump having a port coupled to a second end of the second hose; and    a third pump having a port coupled to a second end of the third hose.    
     
     
         14 . The system of  claim 13 , wherein 
 the first pump is a suction pump to create a vacuum in the first hose and to aspirate the surgical site in response to opening the first robotically controlled valve to couple the first port and the second port together,    the second pump is a fluid pump to pressurize a fluid in the second hose to irrigate the surgical site in response to opening the first robotically controlled valve to couple the first port and the third port together, and    the third pump is a gas compressor to create a gas pressure in the first hose and to blow a pressurized gas in the surgical site in response to opening the first robotically controlled valve to couple the first port and the fourth port together.    
     
     
         15 . A robotic surgical system comprising: 
 a master control console to generate control signals to cause one or more fluids to flow into or out of a surgical site;    a surgical manipulator coupled to the master control console to receive the control signals, the surgical manipulator including 
 at least one robotic arm to manipulate at least one surgical instrument, and  
 a surgical instrument coupled to the robotic arm, the surgical manipulator to control the surgical instrument in response to the control signals to control the flow of one or more fluids into or out of the surgical site, the surgical instrument having 
 a first robotically controlled valve having a first port and a second port, the first robotically controlled valve responsive to the surgical manipulator to control the flow of a first fluid,  
 a second robotically controlled valve having a first port and a second port, the second robotically controlled valve responsive to the surgical manipulator to control the flow of a second fluid,  
 a hollow tube having a first end and a second end with an opening to direct the flow of a plurality of fluids into or out of the surgical site, and  
 a three-way coupler coupled between the second ports of the first and second robotically controlled valves and the first end of the hollow tube, the three way coupler to couple a plurality of fluids between the hollow tube and the first and second robotically controlled valves.  
 
   
     
     
         16 . The system of  claim 15 , further comprising: 
 a first pump having a first pump port, the first pump to pump the first fluid into or out of the surgical site;    a second pump having a second pump port, the second pump to pump the second fluid into or out of the surgical site;    a first hose having a first end coupled to the first port of the first robotically controlled valve and a second end coupled to the first pump port of the first pump, the first hose to transport the first fluid between the first robotically controlled valve and the first pump; and    a second hose having a first end coupled to the first port of the second robotically controlled valve and a second end coupled to the second pump port of the second pump;    the second hose to transport the second fluid between the second robotically controlled valve and the second pump.    
     
     
         17 . The system of  claim 16 , wherein 
 the first pump is a suction pump to create a vacuum in the first hose and to aspirate the surgical site in response to opening the first robotically controlled valve, and    the second pump is a fluid pump to pressurize a fluid in the second hose to irrigate the surgical site in response to opening the second robotically controlled valve.    
     
     
         18 . The system of  claim 15 , wherein 
 the first robotically controlled valve and the second robotically controlled valve are responsive to the control signals from the master control console, and    the master control console includes at least one foot pedal to generate the control signals to control the first robotically controlled valve and the second robotically controlled valve.    
     
     
         19 . The system of  claim 15 , wherein 
 the first robotically controlled valve and the second robotically controlled valve are responsive to the control signals from the master control console, and    the master control console includes at least one touch sensing handle to generate the control signals to control the first robotically controlled valve and the second robotically controlled valve.    
     
     
         20 . The system of  claim 15 , wherein 
 the first robotically controlled valve and the second robotically controlled valve are responsive to the control signals from the master control console, and    the master control console includes a voice recognition system to recognize commands to generate the control signals to control the first robotically controlled valve and the second robotically controlled valve.    
     
     
         21 . A robotic surgical system comprising: 
 a master control console to generate control signals to cause a fluid to flow into or out of a surgical site;    a surgical manipulator coupled to the master control console to receive the control signals, the surgical manipulator including 
 at least one robotic arm to manipulate at least one surgical instrument, and  
 a surgical instrument coupled to the robotic arm, the surgical instrument to control the flow of the fluid into or out of the surgical site, the surgical instrument having 
 a first hose having a first end and a second end, the first hose being flexible;  
 a first robotically controlled pinch valve to receive the first hose, the first robotically controlled pinch valve to squeeze and pinch closed the first hose and to release and open the first hose, and  
 a hollow tube having a first end to couple to the first end of the first hose;  
 
   and    a first pump having a port coupled to the second end of the first hose.    
     
     
         22 . The system of  claim 21 , wherein 
 the first pump is a suction pump to create a vacuum in the first hose and to aspirate the surgical site at a second end of the hollow tube in response to releasing the first robotically controlled pinch valve.    
     
     
         23 . The system of  claim 21 , wherein 
 the first pump is a fluid pump to pressurize a fluid in the first hose to irrigate the surgical site at a second end of the hollow tube in response to releasing the first robotically controlled pinch valve.    
     
     
         24 . The system of  claim 21 , wherein 
 the first pump is a compressor to pressurize a gas in the first hose to blow a pressurized gas in the surgical site in response to opening the robotically controlled pinch valve.    
     
     
         25 . The system of  claim 21 , wherein 
 the surgical instrument further has 
 a second robotically controlled pinch valve having a first port and a second port, and  
 a three-way coupler coupled between the second ports of the first and second robotically controlled pinch valves and the first end of the hollow tube; and,  
   the system further comprises    a second hose having a first end coupled to the first port of the second robotically controlled pinch valve;    and    a second pump having a port coupled to a second end of the second hose.    
     
     
         26 . The system of  claim 25 , wherein 
 the first pump is a suction pump to create a vacuum in the first hose and to aspirate the surgical site in response to opening the first robotically controlled pinch valve, and    the second pump is a fluid pump to pressurize a fluid in the second hose to irrigate the surgical site in response to opening the second robotically controlled pinch valve.