Robotic Devices and Systems for Performing Single Incision Procedures and Natural Orifice Translumenal Endoscopic Surgical Procedures, and Methods of Configuring Robotic Devices and Systems

Abstract

Example embodiments relate to devices and systems for performing surgical actions. The system includes an instrument arm assembly configured in a reverse configuration. The instrument arm assembly includes a securing portion, shoulder section, first arm section, second arm section, elbow joint, end effector section, and wrist joint. The shoulder section includes a first end secured to a second end of the securing portion and a second end secured to a first end of the first arm section. The elbow joint secures a second end of the first arm section to a first end of the second arm section. The reverse configuration is a configuration in which a first line drawn from the second end of the shoulder section to the first end of the first arm section is a line that points towards a first end of the securing portion.

What is claimed is: 
     
         1 . A surgical system comprising:
 an instrument arm assembly, the instrument arm assembly configured to be in a reverse configuration, the instrument arm assembly having:
 a securing portion, the securing portion having an elongated body with a first end and a second end; 
 a shoulder section having a first end and a second end, the first end of the shoulder section secured to the second end of the securing portion, the second end of the shoulder section secured to a first end of a first arm section; 
 the first arm section having the first end and a second end; 
 a second arm section having a first end and a second end; 
 an elbow joint securing the second end of the first arm section to the first end of the second arm section; 
 an end effector section having a first end and a second end, the second end of the end effector section having an end effector for use in performing a surgical action; and 
 a wrist joint securing the second end of the second arm section to the first end of the end effector section; 
   wherein the reverse configuration is a configuration in which a first line drawn from the second end of the shoulder section to the first end of the first arm section is a line that points towards the first end of the securing portion.   
     
     
         2 . The surgical system of  claim 1 ,
 wherein an overall length of the securing portion between the first and second ends of the securing portion is greater than a summation of a collective length of a portion of the instrument arm assembly between the first end of the shoulder section and the second end of the end effector section.   
     
     
         3 . The surgical system of  claim 1 ,
 wherein the instrument arm assembly is configurable to provide at least 7 degrees of freedom.   
     
     
         4 . The surgical system of  claim 3 ,
 wherein the instrument arm assembly includes at least one integrated motor to achieve each degree of freedom.   
     
     
         5 . The surgical system of  claim 1 ,
 wherein the instrument arm assembly includes an integrated force and/or haptic feedback subsystem.   
     
     
         6 . The surgical system of  claim 1 ,
 wherein the shoulder section is configurable to provide at least two degrees of freedom.   
     
     
         7 . The surgical system of  claim 1 , further comprising:
 a controller, the controller in communication with at least one of the following:
 the shoulder section; 
 the elbow joint; 
 the wrist joint; and 
 the end effector section. 
   
     
     
         8 . The surgical system of  claim 1 , further comprising:
 an image capturing assembly, the image capturing assembly including an image capturing device and a multi-curvable body, the multi-curvable body being an elongated structure having a proximal end and a distal end, the distal end of the multi-curvable body connected to the image capturing device, the multi-curvable body having multiple regions along its elongated structure, each of the multiple regions along the elongated structure of the multi-curvable body being separately controllable to adjust in shape from a shape resembling a continuously straight line to a shape resembling a continuously curved line.   
     
     
         9 . The surgical system of  claim 8 ,
 wherein each of the multiple regions along the elongated structure of the multi-curvable body is configurable to adjust in shape to have a curvature selected from a plurality of different selectable curvatures and a direction of curvature selected from a plurality of different selectable directions.   
     
     
         10 . The surgical system of  claim 1 , further comprising:
 a port assembly, the port assembly having:
 an elongated body; 
 a central access channel formed through the port assembly between first and second ends of the elongated body; and 
 a plurality of anchor ports formed at a distal end of the second end of the elongated body of the port assembly; 
   wherein the instrument arm assembly is configured to be inserted through the central access channel and secured to one or more of the anchor ports of the port assembly.   
     
     
         11 . The surgical system of  claim 10 ,
 wherein the first end of the securing portion is for use to guide the instrument arm assembly through the central access channel of the port assembly.   
     
     
         12 . The surgical system of  claim 10 ,
 wherein an overall length of the securing portion between the first and second ends of the securing portion is greater than a summation of a length of the port assembly between the first and second ends of the port assembly.   
     
     
         13 . The surgical system of  claim 10 , further comprising:
 an external anchor assembly securable to a fixedly positioned object, the external anchor assembly configurable to secure to the port assembly, the external anchor assembly configurable to provide at least 3 degrees of freedom.   
     
     
         14 . A surgical system comprising:
 an instrument arm assembly, the instrument arm assembly configured to be in a reverse configuration when inserted through an orifice into a cavity of a patient, the instrument arm assembly having:
 a securing portion, the securing portion having an elongated body with a first end and a second end, the first end of the securing portion configured to enable a surgeon to guide the instrument arm assembly into and out of the cavity of the patient; 
 a shoulder section having a first end and a second end, the first end of the shoulder section secured to the second end of the securing portion; 
 the first arm section having an elongated body with a first end and a second end; 
 a shoulder joint assembly, the shoulder joint assembly configured to secure the first end of a first arm section to the second end of the shoulder section, the shoulder joint assembly configured to allow the first arm section to pivotally move relative to the second end of the shoulder section, the pivotal movement of the first arm section being a movement from a default position, the default position being a position in which a first axis formed through the elongated body of the first arm section is parallel to a second axis formed through the elongated body of the securing portion; 
 a second arm section having a first end and a second end; 
 an elbow joint, the elbow joint configured to secure the second end of the first arm section to the first end of the second arm section; 
 an end effector section having a first end and a second end, the second end of the end effector section having an end effector for use in performing a surgical action; and 
 a wrist joint, the wrist joint configured to secure the second end of the second arm section to the first end of the end effector section; 
   wherein the reverse configuration is a configuration in which a line drawn, when the first arm section is in the default position, from the second end of the shoulder section through the first axis of the elongated body of the first arm section is a line that points towards the orifice of the patient.   
     
     
         15 . The surgical system of  claim 14 ,
 wherein an overall length of the securing portion between the first and second ends of the securing portion is greater than a summation of a collective length of a portion of the instrument arm assembly between the first end of the shoulder section and the second end of the end effector section.   
     
     
         16 . The surgical system of  claim 14 ,
 wherein the instrument arm assembly is configurable to provide at least 7 degrees of freedom.   
     
     
         17 . The surgical system of  claim 16 ,
 wherein the instrument arm assembly includes at least one integrated motor to achieve each degree of freedom.   
     
     
         18 . The surgical system of  claim 14 ,
 wherein the instrument arm assembly includes an integrated force and/or haptic feedback subsystem.   
     
     
         19 . The surgical system of  claim 14 ,
 wherein the shoulder joint assembly is configurable to provide at least two degrees of freedom.   
     
     
         20 . The surgical system of  claim 14 , further comprising:
 a controller, the controller in communication with at least one of the following:
 the shoulder joint assembly; 
 the elbow joint; 
 the wrist joint; and 
 the end effector section. 
   
     
     
         21 . The surgical system of  claim 14 , further comprising:
 an image capturing assembly, the image capturing assembly including an image capturing device and a multi-curvable body, the multi-curvable body being an elongated structure having a proximal end and a distal end, the distal end of the multi-curvable body connected to the image capturing device, the multi-curvable body having multiple regions along its elongated structure, each of the multiple regions along the elongated structure of the multi-curvable body being separately controllable to adjust in shape from a shape resembling a continuously straight line to a shape resembling a continuously curved line.   
     
     
         22 . The surgical system of  claim 21 ,
 wherein each of the multiple regions along the elongated structure of the multi-curvable body is configurable to adjust in shape to have a curvature selected from a plurality of different selectable curvatures and a direction of curvature selected from a plurality of different selectable directions.   
     
     
         23 . The surgical system of  claim 14 , further comprising:
 a port assembly, the port assembly having:
 an elongated body; 
 a central access channel formed through the port assembly between first and second ends of the elongated body; and 
 a plurality of anchor ports formed at a distal end of the second end of the elongated body of the port assembly; 
   wherein the instrument arm assembly is configured to be inserted through the central access channel and secured to one or more of the anchor ports of the port assembly.   
     
     
         24 . The surgical system of  claim 23 ,
 wherein an overall length of the securing portion between the first and second ends of the securing portion is greater than a summation of a length of the port assembly between the first and second ends of the port assembly.   
     
     
         25 . The surgical system of  claim 24 , further comprising:
 an external anchor assembly securable to a fixedly positioned object, the external anchor assembly configurable to secure to the port assembly, the external anchor assembly configurable to provide at least 3 degrees of freedom.   
     
     
         26 . A surgical system comprising:
 an instrument arm assembly, the instrument arm assembly configured to be in a reverse configuration when inserted through an orifice into a cavity of a patient, the instrument arm assembly having:
 a securing portion, the securing portion having an elongated body with a first end and a second end, the first end of the securing portion configured to enable a surgeon to guide the instrument arm assembly into and out of the cavity of the patient; 
 a shoulder section having a first end and a second end, the first end of the shoulder section secured to the second end of the securing portion; 
 the first arm section having an elongated body with a first end and a second end; 
 a shoulder joint assembly, the shoulder joint assembly configured to secure the first end of a first arm section to the second end of the shoulder section; 
 a second arm section having an elongated body with a first end and a second end; 
 an elbow joint, the elbow joint configured to secure the second end of the first arm section to the first end of the second arm section, the elbow joint configured to allow the second arm section to pivotally move relative to the second end of the first arm section, the pivotal movement of the second arm section being a movement from a default position, the default position being a position in which a first axis formed through the elongated body of the second arm section is parallel to a second axis formed through the elongated body of the securing portion; 
 an end effector section having a first end and a second end, the second end of the end effector section having an end effector for use in performing a surgical action; and 
 a wrist joint, the wrist joint configured to secure the second end of the second arm section to the first end of the end effector section; 
   wherein the reverse configuration is a configuration in which a line drawn, when the second arm section is in the default position, from the second end of the shoulder section through the first axis of the elongated body of the second arm section is a line that points towards the orifice of the patient.   
     
     
         27 . The surgical system of  claim 26 ,
 wherein an overall length of the securing portion between the first and second ends of the securing portion is greater than a summation of a collective length of a portion of the instrument arm assembly between the first end of the shoulder section and the second end of the end effector section.   
     
     
         28 . The surgical system of  claim 26 ,
 wherein the instrument arm assembly is configurable to provide at least 7 degrees of freedom.   
     
     
         29 . The surgical system of  claim 28 ,
 wherein the instrument arm assembly includes at least one integrated motor to achieve each degree of freedom.   
     
     
         30 . The surgical system of  claim 26 ,
 wherein the instrument arm assembly includes an integrated force and/or haptic feedback subsystem.   
     
     
         31 . The surgical system of  claim 26 ,
 wherein the shoulder joint assembly is configurable to provide at least two degrees of freedom.   
     
     
         32 . The surgical system of  claim 26 , further comprising:
 a controller, the controller in communication with at least one of the following:
 the shoulder joint assembly; 
 the elbow joint; 
 the wrist joint; and 
 the end effector section. 
   
     
     
         33 . The surgical system of  claim 26 , further comprising:
 an image capturing assembly, the image capturing assembly including an image capturing device and a multi-curvable body, the multi-curvable body being an elongated structure having a proximal end and a distal end, the distal end of the multi-curvable body connected to the image capturing device, the multi-curvable body having multiple regions along its elongated structure, each of the multiple regions along the elongated structure of the multi-curvable body being separately controllable to adjust in shape from a shape resembling a continuously straight line to a shape resembling a continuously curved line.   
     
     
         34 . The surgical system of  claim 33 ,
 wherein each of the multiple regions along the elongated structure of the multi-curvable body is configurable to adjust in shape to have a curvature selected from a plurality of different selectable curvatures and a direction of curvature selected from a plurality of different selectable directions.   
     
     
         35 . The surgical system of  claim 26 , further comprising:
 a port assembly, the port assembly having:
 an elongated body; 
 a central access channel formed through the port assembly between first and second ends of the elongated body; and 
 a plurality of anchor ports formed at a distal end of the second end of the elongated body of the port assembly; 
   wherein the instrument arm assembly is configured to be inserted through the central access channel and secured to one or more of the anchor ports of the port assembly.   
     
     
         36 . The surgical system of  claim 35 ,
 wherein an overall length of the securing portion between the first and second ends of the securing portion is greater than a summation of a length of the port assembly between the first and second ends of the port assembly.   
     
     
         37 . The surgical system of  claim 35 , further comprising:
 an external anchor assembly securable to a fixedly positioned object, the external anchor assembly configurable to secure to the port assembly, the external anchor assembly configurable to provide at least 3 degrees of freedom.