Methods of fluid flow control with robotic surgical instruments for irrigation, aspiration, and blowing

Abstract

In one embodiment of the invention, a first control signal is generated to control a robotic surgical instrument. The first control signal is then coupled into the robotic surgical instrument. In response to the first control signal, a first valve in the robotic surgical instrument is opened to flow a first fluid over a surgical site.

1 . A method comprising:
 generating a first control signal to control a robotic surgical instrument;   coupling the first control signal into the robotic surgical instrument; and   opening a first valve in the robotic surgical instrument to flow a first fluid over a surgical site in response to the first control signal.   
     
     
         2 . The method of  claim 1 , further comprising:
 generating a second control signal to control the robotic surgical instrument;   coupling the second control signal into the robotic surgical instrument; and   opening a second valve in the robotic surgical instrument to flow a second fluid over the surgical site in response to the second control signal.   
     
     
         3 . The method of  claim 1 , further comprising:
 generating a third control signal to control the robotic surgical instrument;   coupling the third control signal into the robotic surgical instrument; and   closing the first valve in the robotic surgical instrument to reduce the flow of the first fluid over the surgical site in response to the third control signal.   
     
     
         4 . The method of  claim 2 , further comprising:
 generating a fourth control signal to control the robotic surgical instrument;   coupling the fourth control signal into the robotic surgical instrument; and   opening a third valve in the robotic surgical instrument to flow a third fluid over the surgical site in response to the fourth control signal.   
     
     
         5 . The method of  claim 1 , wherein
 the first control signal is generated in response to movement of a touch sensitive handle of a master control console.   
     
     
         6 . The method of  claim 5 , wherein
 the first control signal is generated in response to squeezing a grip of the touch sensitive handle.   
     
     
         7 . The method of  claim 5 , wherein
 the first control signal is generated in response to rotation of the touch sensitive handle.   
     
     
         8 . The method of  claim 1 , wherein
 the first control signal is generated in response to a spoken command to a master control console.   
     
     
         9 . The method of  claim 1 , wherein
 the first control signal is generated in response to movement of a foot pedal of a master control console.   
     
     
         10 . A method comprising:
 mounting an irrigation-aspiration robotic surgical instrument to a robotic arm of a robotic surgical manipulator;   inserting a tip of a hollow tube of the irrigation-aspiration robotic surgical instrument into a patient near a surgical site; and   controlling a flow of a fluid between the surgical site and the irrigation-aspiration robotic surgical instrument.   
     
     
         11 . The method of  claim 10 , further comprising:
 removing the irrigation-aspiration robotic surgical instrument from the patient;   dismounting the irrigation-aspiration robotic surgical instrument from the robotic arm;   discarding a modular valve assembly and one or more hoses of the irrigation-aspiration robotic surgical instrument; and   sterilizing the irrigation-aspiration robotic surgical instrument for reuse.   
     
     
         12 . The method of  claim 10 , wherein
 the irrigation-aspiration robotic surgical instrument includes a flow control system with an inexpensive valve subassembly, and the method further comprises
 removing the irrigation-aspiration robotic surgical instrument from the patient; 
 dismounting the irrigation-aspiration robotic surgical instrument from the robotic arm; and 
 discarding the irrigation-aspiration robotic surgical instrument. 
   
     
     
         13 . The method of  claim 10 , further comprising:
 coupling at least one hose from the irrigation-aspiration robotic surgical instrument to at least one pump;   
     
     
         14 . The method of  claim 13 , wherein
 the at least one hose to couple fluids into and out of the irrigation-aspiration robotic surgical instrument, and   the controlling of the flow of the fluid between the surgical site and the irrigation-aspiration robotic surgical instrument is provided by
 controlling the at least one pump. 
   
     
     
         15 . The method of  claim 14 , wherein
 a motor of the at least one pump is controlled, or   a valve of the at least one pump is controlled.   
     
     
         16 . The method of  claim 14 , wherein
 the irrigation-aspiration robotic surgical instrument includes
 a coupler to couple between the at least one hose and the hollow tube. 
   
     
     
         17 . A method comprising:
 mounting an irrigation-aspiration robotic surgical instrument to a robotic arm of a robotic surgical manipulator;   inserting a tip of a hollow tube of the irrigation-aspiration robotic surgical instrument into a patient near a surgical site;   controlling a flow of a fluid between the surgical site and the irrigation-aspiration robotic surgical instrument; and   monitoring a level of the flow of the fluid between the surgical site and the irrigation-aspiration robotic surgical instrument.   
     
     
         18 . The method of  claim 17 , wherein
 the irrigation-aspiration robotic surgical instrument includes
 a user-feedback means to monitor the level of the flow of the fluid between the surgical site and the irrigation-aspiration robotic surgical instrument. 
   
     
     
         19 . The method of  claim 18 , wherein
 the user-feedback means is one or more light emitting diodes coupled near the tip of hollow tube of the irrigation-aspiration robotic surgical instrument, the one or more light emitting diodes to generate a visible light in response to the control of a flow of a fluid through the irrigation-aspiration robotic surgical instrument.   
     
     
         20 . The method of  claim 18 , wherein
 the user-feedback means is a light pipe coupled along the length of the hollow tube of the irrigation-aspiration robotic surgical instrument with a light emitting diode, the light emitting diode to couple photons into the light pipe and generate a visible side light in response to the control of a flow of a fluid through the irrigation-aspiration robotic surgical instrument.   
     
     
         21 . The method of  claim 18 , wherein
 the user-feedback means is a sliding sleeve coaxial with the hollow tube and a scale coupled to the irrigation-aspiration robotic surgical instrument, the sliding sleeve to slide along the hollow tube and reveal the scale in response to the control of a flow of a fluid through the irrigation-aspiration robotic surgical instrument.   
     
     
         22 . The method of  claim 18 , wherein
 the user-feedback means is a rotatable sleeve coaxial with the hollow tube and a striped scale coupled to the hollow tube, the rotatable sleeve including windows to rotate around the hollow tube and reveal the striped scale in response to the control of a flow of a fluid through the irrigation-aspiration robotic surgical instrument.   
     
     
         23 . The method of  claim 22 , wherein
 the striped scale is one or more rectangular stripes and the rotatable sleeve has oval windows aligned with the one or more rectangular stripes.   
     
     
         24 . The method of  claim 22 , wherein
 the striped scale is one or more triangular stripes and the rotatable sleeve has rectangular windows aligned with the one or more triangular stripes.   
     
     
         25 . The method of  claim 22 , wherein
 the striped scale is one or more rectangular stripes and the rotatable sleeve has triangular windows aligned with the one or more rectangular stripes.