Devices, apparatuses, systems and methods for facilitating cleaning of an imaging element of an imaging device

An imaging element cleaning apparatus, comprising:

• a surgical system attachment body adapted for being engaged with one or more structural components of a robotic surgical system for at least partially securing the imaging element cleaning apparatus thereto;
• a sheath assembly comprising a scope sheath, a cleaning member and a coupling element, wherein the coupling element is movably attached to the scope sheath and wherein the cleaning member is attached to a first end portion of the coupling element and is adjacent a first end portion of the scope sheath;
• a sheath mount attached to the surgical system attachment body, wherein the scope sheath is attached at a second end portion thereof to the sheath mount;
• and
• a motion control device having a mounting portion attached to the surgical system attachment body and a rotational movement imparting portion attached to a second end portion of the coupling element;
• wherein:
• the coupling element further comprises an engagement body attached to the second end portion thereof;
• and
• the engagement body is detachably attached to the rotational movement imparting portion of the motion control device.

An imaging element cleaning apparatus, comprising:

• a chassis;
• at least one surgical system attachment body coupled to the chassis, wherein the at least one surgical system attachment body is adapted for being engaged with one or more structural components of a robotic surgical system for at least partially securing the imaging element cleaning apparatus thereto;
• a sheath assembly comprising a scope sheath, a cleaning member and a coupling element, wherein the coupling element is movably attached to the scope sheath and wherein the cleaning member is fixedly attached to a first end portion of the coupling element and is adjacent a first end portion of the scope sheath;
• and
• a drive unit coupled to the chassis, wherein the drive unit comprises at least one movement actuator and a sheath mount, wherein the scope sheath is attached at a second end portion thereof to the sheath mount and wherein the at least one movement actuator is attached to a second end portion of the coupling element for enabling the coupling element to be selectively rotated thereby and to be selectively translated axially thereby;
• wherein the scope sheath is detachably attached to the sheath mount.

An imaging element cleaning apparatus, comprising:

• a chassis;
• at least one surgical system attachment body coupled to the chassis, wherein the at least one surgical system attachment body is adapted for being engaged with one or more structural components of a robotic surgical system for at least partially securing the imaging element cleaning apparatus thereto;
• a sheath assembly comprising a scope sheath, a cleaning member and a coupling element, wherein the coupling element is movably attached to the scope sheath and wherein the cleaning member is fixedly attached to a first end portion of the coupling element and is adjacent a first end portion of the scope sheath;
• and
• a drive unit coupled to the chassis, wherein the drive unit comprises at least one movement actuator and a sheath mount, wherein the scope sheath is attached at a second end portion thereof to the sheath mount and wherein the at least one movement actuator is attached to a second end portion of the coupling element for enabling the coupling element to be selectively rotated thereby and to be selectively translated axially thereby;
• wherein:
• the coupling element further comprises an engagement body attached to the second end portion thereof;
• and
• the engagement body is detachably attached to the rotational movement imparting portion of the at least one movement actuator.

An imaging element cleaning apparatus, comprising:

• a chassis;
• at least one surgical system attachment body coupled to the chassis, wherein the at least one surgical system attachment body is adapted for being engaged with one or more structural components of a robotic surgical system for at least partially securing the imaging element cleaning apparatus thereto;
• a sheath assembly comprising a scope sheath, a cleaning member and a coupling element, wherein the coupling element is movably attached to the scope sheath and wherein the cleaning member is fixedly attached to a first end portion of the coupling element and is adjacent a first end portion of the scope sheath;
• and
• a drive unit coupled to the chassis, wherein the drive unit comprises at least one movement actuator and a sheath mount, wherein the scope sheath is attached at a second end portion thereof to the sheath mount and wherein the at least one movement actuator is attached to a second end portion of the coupling element for enabling the coupling element to be selectively rotated thereby and to be selectively translated axially thereby;
• wherein:
• the at least one movement actuator comprises a first movement actuator adapted to provide rotational movement of a structure attached to a motion imparting portion thereof and a second movement actuator adapted to provide axial movement of a structure attached to a motion imparting portion thereof;
• the coupling element is attached to the motion imparting portion of the first movement actuator;
• and
• a mounting portion of the first movement actuator is attached to the motion imparting portion of the second actuation device.

A method of facilitating cleaning of an imaging element of a visualization scope of a robotic surgical system, comprising:

• providing a drive unit comprising a surgical system attachment body, a sheath mount attached to the surgical system attachment body and a motion control device having a mounting portion thereof attached to the surgical system attachment body, wherein the surgical system attachment body is adapted to be engaged with one or more structural components of the robotic surgical system;
• providing a sheath assembly comprising a scope sheath, a cleaning member and a coupling element, wherein the coupling element is movably attached to the scope sheath and wherein the cleaning member is attached to a first end portion of the coupling element and is adjacent a first end portion of the scope sheath;
• attaching a second end portion of the scope sheath to the sheath mount;
• attaching a second end portion of the coupling element to a rotational movement imparting portion of the motion control device;
• and
• engaging the surgical system attachment body with one or more structural components of the robotic surgical system;
• wherein:
• the sheath assembly comprises a sheath mounting body attached to the second end portion thereof;
• the sheath mounting body and the sheath mount are jointly configured for enabling the sheath mounting body to be selectively engaged and disengaged with the sheath mount;
• attaching the second end portion of the scope sheath to the sheath mount includes engaging the sheath mounting body with the sheath mount.

A method of facilitating cleaning of an imaging element of a visualization scope of a robotic surgical system, comprising:

• providing a drive unit comprising a surgical system attachment body, a sheath mount attached to the surgical system attachment body and a motion control device having a mounting portion thereof attached to the surgical system attachment body, wherein the surgical system attachment body is adapted to be engaged with one or more structural components of the robotic surgical system;
• providing a sheath assembly comprising a scope sheath, a cleaning member and a coupling element, wherein the coupling element is movably attached to the scope sheath and wherein the cleaning member is attached to a first end portion of the coupling element and is adjacent a first end portion of the scope sheath;
• attaching a second end portion of the scope sheath to the sheath mount;
• attaching a second end portion of the coupling element to a rotational movement imparting portion of the motion control device;
• engaging the surgical system attachment body with one or more structural components of the robotic surgical system;
• providing a robotic arm connector having a central passage adapted to receive an extension portion of the visualization scope;
• inserting the extension portion of the visualization scope through the central passage of the robotic arm connector;
• and
• engaging the robotic arm connector with a robotic arm of the robotic surgical system.