Master workstations for robotic surgery, sterile surgical field, surgical robotic system and method

Abstract

A master workstation (301) for a surgical robotic system (300), the master workstation being adapted to be positioned within a sterile surgical area (311), the master workstation comprising: an ungrounded master input handle (310) adapted to be hand-held by a surgeon during a surgery for controlling slave robotic components (330) of the surgical robotic system (300); a console (302); a sterile drape (303) covering at least a portion of the console (302); at least one sterile stand (306); wherein the at least one sterile stand (306) comprises at least one cavity (345); at least one resting element (307) within the cavity (345) adapted to rest the master input handle (310) on the at least one resting element when the master input handle (310) is not hand-held.

Description

Technical Field

[0001] One object of the present invention is a master workstation for robotic surgery.

[0002] The main workstation according to the invention is particularly suitable for being positioned within a sterile operating field.

[0003] The present invention also relates to a surgical area and a surgical robot system including at least the main workstation.

[0004] Furthermore, the present invention also relates to a method for performing surgery. Background Technology

[0005] In the medical field, sterile holsters for placing medical suction tubes, such as those shown in document US-2005-0194507, have been provided, as have tissues for consumable medical patients, such as those shown in document US-2009-0301927.

[0006] Robotic surgical devices are used in robot-assisted surgery and typically include a surgeon's main console for receiving manual commands from the surgeon, a robotic slave central tower (or robotic cart), and multiple robotic slave arms carrying one or more surgical instruments (end-effectors) that extend from the central tower and are controlled by means of the surgeon's main console. The one or more slave surgical instruments are attached distally to the robotic slave arms to perform surgical procedures on a patient lying in a sterile surgical area. Typically, a surgical drape is provided to cover non-disposable portions of the robotic device to prevent contamination of the sterile surgical area that may be caused by the robotic surgical device. Straps and cords may be provided on the outer surface of the surgical drape to secure it around the robot, reducing the volume of the drape and thus ensuring a substantially tight fit.

[0007] For example, documents WO-2017-064301 and WO-2018-189729, both in the name of the same applicant, disclose solutions for robotic surgical systems suitable for miniaturizing surgical instruments, thus making them particularly suitable for robot-assisted microsurgery. Traditional (non-robotic) microsurgery requires the surgeon to operate with a surgical microscope (typically an optical microscope) capable of magnifying the surgical area; therefore, robotic surgical devices for microsurgery are appropriately equipped with surgical microscopes.

[0008] Microsurgical procedures are performed at several stages of biological tissue reconstruction, such as in vascular anastomosis involving small-diameter vessels and nerves, in the reconstruction of anatomical parts after traumatic injury, in tissue revascularization, limb reattachment, and in transplantation and replantation procedures. In the field of microsurgery, robotic devices allow for highly miniaturized surgical instruments compared to traditional microsurgery, while simultaneously allowing for reduced tremor transmission from the surgical instruments to the robotic surgical system.

[0009] Robotic surgical devices are also suitable for robot-assisted laparoscopic surgery, in which surgical instruments and at least one camera are individually inserted into the patient via a set of percutaneous trocars, and a visualization screen displays laparoscopic images of the patient's body acquired by the cameras. Due to robot assistance, the fulcrum effect during surgery is reduced because a lever arm / lever arm is formed along the length of each percutaneous rigid trocar, unlike in conventional (non-robotic) laparoscopic surgical instruments. Furthermore, the comfort of the laparoscopic surgeon during surgery is improved due to the ergonomic features of the surgeon's main control console.

[0010] Remote surgeon master consoles, such as those shown in documents US-2014-0018960 and EP-2845556, have been provided. Typically, such remote surgeon master consoles include a visualization device, a surgeon's seat and / or a surgeon's forearm rest element, and a master input accessory hinged to the main body of the master console to receive manual commands from the surgeon for controlling surgical instruments. Therefore, the comfort of laparoscopic surgeons is even improved, as he / she does not even need to enter the sterile area of ​​the operating room and can perform surgery from a non-sterile remote location.

[0011] However, the significant physical distance between the team in the sterile surgical area and the surgeon operating the main input accessories at the remote master console can create communication problems between the team and, in particular, with the surgeon during surgery.

[0012] Therefore, even with robotic surgical systems, surgeons still need to enter the sterile surgical area.

[0013] Furthermore, in some applications of robot-assisted microsurgery, it is desirable for the surgeon to be present within a sterile surgical area during robot-assisted surgery. Therefore, during a single intervention, the microsurgeon can switch from robot-assisted microsurgery to conventional (non-robotic) microsurgery using handheld conventional microsurgical tools such as forceps, and / or the microsurgeon can return to the surgeon's main console. Document WO-2014-151621 discloses a system for alternating between hand surgery and robotic surgery, using a mechanically ungrounded master controller designed for handheld operation by the surgeon.

[0014] For example, wearable and mechanically ungrounded master controllers are also known from documents WO-2019-099854 and EP-2467082, and these master controllers typically include pairs of rings to adapt to the surgeon's finger in association with the grip command interface of the ungrounded master controller.

[0015] Document WO-2019-220409 from the same applicant discloses a sterile console for robotic surgery, the sterile console including a surgical chair with a pair of cup-shaped portions attached to the armrests for placing an ungrounded master input tool.

[0016] Therefore, there is a need for a solution that allows surgeons to effectively alternate between robot-assisted surgery and traditional manual surgery.

[0017] At the same time, there is a need to streamline the transition from robot-assisted surgery to traditional surgery in a single intervention, and vice versa. Summary of the Invention

[0018] The scope of this invention is to overcome the disadvantages mentioned with reference to known techniques.

[0019] These and other ranges are achieved through the main workstation according to the invention.

[0020] The present invention also provides some preferred embodiments.

[0021] According to one aspect of the invention, a master workstation for a surgical robotic system includes: at least one ungrounded master input handle adapted for use by a surgeon during surgery to control a slave robot component of the surgical robotic system; a console; a sterile drape covering at least a portion of the console; and at least one sterile support.

[0022] According to one aspect of the invention, the at least one sterile support defines at least one cavity, and the at least one sterile support includes: at least one resting element in the cavity, and an opening through the cavity, the at least one resting element being adapted to rest the main input handle on the at least one resting element when the main input handle is not held.

[0023] The main workstation may include two sterile supports and two ungrounded main input handles, wherein each sterile support is adapted to individually accommodate one of the two ungrounded main input handles. The two sterile supports can be attached to the same outer surface of the surgical drape at two spaced-apart desired locations.

[0024] The at least one sterile stent and the surgical drape may be integrated.

[0025] The at least one sterile stent may include a positioning element for positioning the cavity of the at least one sterile stent at a desired location relative to the outer surface of the surgical drape, the desired location being close to the console and within the sterile operating field.

[0026] The positioning element of at least one sterile stent may include an adhesive layer (e.g., adhesive tape) for attaching at least one sterile stent to the outer surface of a surgical drape.

[0027] The outer surface of the surgical drape may include an adhesive layer (e.g., adhesive tape) for attaching the at least one sterile support to the outer surface of the sterile drape. In this case, the at least one sterile support may include a mark and / or a marker serving as a positioning element.

[0028] The positioning element of at least one sterile stent may include a positioning clip, and the positioning body may include a convex body such that the positioning clip passes through and preferably also across the sterile drape to elastically engage the convex body while maintaining the sterility of the surgical area.

[0029] With the proposed solution, consoles such as operating chairs expose cavities when covered by a sterile barrier assembly to provide a resting element for the main input handle, which rests on such an element during, for example, manual surgery.

[0030] The proposed solution is particularly suitable for, but not limited to, robot-assisted microsurgery. Furthermore, the proposed solution is particularly suitable for, but not limited to, microsurgical procedures envisioned as alternating between manual and robot-assisted microsurgery. Attached Figure Description

[0031] Other features and advantages of the main workstation, system, sterile surgical area, and method according to the invention will become apparent from the following description of preferred examples of embodiments given as indicative and non-limiting examples, with reference to the accompanying drawings, in which:

[0032] - Figure 1 An isometric view of a surgical robot system positioned within a sterile surgical area and having a main workstation, according to one embodiment, is shown schematically.

[0033] - Figure 2 An isometric view of a surgical robot system positioned in a sterile surgical area near the operating table, according to one embodiment;

[0034] - Figure 3 A main workstation, including an operating chair, a sterile support, and a covered main input handle, is schematically shown in an isometric view according to one embodiment.

[0035] - Figure 4 An isometric view of a portion of a console covered by a surgical drape and a sterile support, according to one embodiment;

[0036] - Figure 5 An isometric view of a sterile stent according to one embodiment is shown;

[0037] - Figure 6A A side view of a sterile stent and a sterile drape is shown schematically according to one embodiment;

[0038] - Figure 6B An isometric view of a sterile stent integral with a sterile drape from the inside of the sterile drape, according to one embodiment;

[0039] - Figure 7 A sterile scaffold according to one embodiment is shown in an isometric view;

[0040] - Figure 8 A sterile scaffold according to one embodiment is shown in an isometric view;

[0041] - Figure 9 A main workstation, including a covered console, a sterile support, and a covered main input handle, is schematically shown in an isometric view according to one embodiment.

[0042] - Figure 10 A pair of sterile scaffolds associated with the outer surface of a surgical drape according to one embodiment is illustrated schematically.

[0043] - Figure 11 A pair of sterile scaffolds associated with the outer surface of a surgical drape according to one embodiment is illustrated schematically.

[0044] - Figure 12 A master workstation, comprising a covered console, a pair of sterile supports, and a covered master input handle, is schematically shown according to one embodiment. Detailed Implementation

[0045] According to a typical implementation, a main workstation 301 is provided for the surgical robot system 300. The main workstation 301 is adapted to be positioned within a sterile surgical area 311.

[0046] The main workstation 301 includes at least one mechanically ungrounded main input handle 310, which is adapted to be held by a surgeon during surgery for controlling the slave robot assembly 330 of the surgical robot system 300.

[0047] As used herein, "mechanically ungrounded main input handle 310" refers to a main controller that is not constrained by possible positional and directional movements in a large working environment (e.g., a surgical area or operating room) and is kinematically isolated from the ground (e.g., not mechanically supported by a console, any support, or other object attached to the ground). In some embodiments, the mechanically ungrounded main input handle 310 may be wired or wirelessly connected to one or more associated components such as a control processor, data source, sensor, power supply, etc. For example, the main input handle 310 may be wired, for example, physically connected to these components via cables or wires, or the main input handle may be wirelessly connected, for example, not physically connected to these components but communicating with them via wireless communication signals. According to one embodiment, the main input handle 310 is not mechanically constrained by the console 302. Furthermore, the term "handle" refers to an ungrounded main input tool designed to be held in the hand of a surgeon in a surgical state. For example, the main input handle 310 may include a manipulator portion adapted to be grasped by the surgeon's hand in a surgical state. For example, the main input handle 310 may include a ring, loop, or bracelet worn by the surgeon's hand, fingers, or wrist.

[0048] The main workstation 301 also includes a console 302 and a sterile drape 303 (also referred to herein as a surgical drape 303) that covers or conceals at least a portion of the console 302. The surgical drape 303 preferably has a body having an inner surface 304 (or an inner non-sterile surface) and an outer surface 305 (or an outer sterile surface opposite to the inner non-sterile surface 304). Thus, the inner surface 304 of the surgical drape 303 is designed to face the console 302, while the outer surface 305 of the surgical drape 303 is designed to face the sterile surgical area 311. According to a preferred embodiment, the surgical drape 303 forms a drape cavity 322 for enclosing a portion of the console 302 to maintain the sterility of the sterile surgical area 311. Therefore, the inner surface 304 faces the cavity 322, and the drape cavity 322 can be tightly sealed or left open to form an opening 331 leading to the outer surface 305 of the surgical drape 303. For example, the edge of the opening 331 or other portions of the drape 303 can be adapted to the body of the console 302 by engaging with adhesive strips, elastic strips, magnets, or any suitable means. For example, the body of the surgical drape 303 is made of a flexible sheet, such as polyethylene, and / or polyurethane, and / or polyester, and / or any suitable drape material (such as paper, and / or textiles, and / or non-textiles, and / or any combination thereof).

[0049] The console 302 may include at least one positioning body 309 (e.g., a positioning body 309) and a sterile cover 303 that covers or encloses at least a portion of the positioning body 309 of the console 302. As used herein, the term "convex body" does not necessarily exclude the positioning body 309 from having a concave surface, but the positioning body must also include a convex portion or a convex surface. For example, the term "convex body" also covers a post of the console 302 having a generally cylindrical outer surface, which is a convex body including a partially concave surface defining a recess (which in turn defines a concave surface), or a partial or longitudinal groove.

[0050] The main workstation 301 includes at least one sterile support 306, which includes at least one cavity 345. Therefore, the at least one sterile support 306 serves as a sterile basket and / or sterile bag for placing the at least one ungrounded main input handle 310.

[0051] The at least one sterile stent 306 preferably includes at least one opening 333 to access the cavity 345.

[0052] The opening 333 can be opened at the outer surface 305 of the surgical drape 303.

[0053] According to one embodiment, at least one sterile stent 306 is made of plastic, preferably of a rigid plastic material, and the cavity is, for example, molded or thermoformed. According to another embodiment, the stent 306 is made of a sterilizable metal material.

[0054] According to one embodiment, at least one sterile stent 306 is made of plastic, preferably of a loose plastic material. According to another embodiment, at least one sterile stent 306 is made of the same material as the surgical drape 303.

[0055] According to one implementation plan, such as in Figure 11 As shown, at least one sterile support 306 is integral with the outer surface 305 of the surgical drape 303. For example, at least one sterile support 306 forms at least one pouch that is open on the outer surface 305 of the sterile drape 303.

[0056] According to one implementation plan, at least one sterile stent 306 is disposable.

[0057] Advantageously, at least one sterile stent 306 includes at least one resting element 307 within the cavity 345. The at least one resting element 307 may be formed from an inner surface of the at least one sterile stent 306. The at least one resting element 307 (e.g., at least one resting surface 307) is disposed within the cavity 345 of the at least one sterile stent 306 such that the main input handle 310 is allowed to rest on the at least one resting element when it is not held by hand (e.g., temporarily not held by the surgeon during surgery). Thus, the at least one resting element 307 at least partially supports the main input handle 310 within the cavity 345 of the at least one sterile stent 306.

[0058] According to one embodiment, at least one sterile stent 306 includes at least one positioning element 308 for positioning at least one sterile stent 306 at a desired location near the console 302 and preferably within the sterile surgical area 311.

[0059] According to one embodiment, while maintaining the integrity of the sterile barrier formed at least partially by the sterile cover 303, the positioning element 308 of at least one sterile support 306 engages with at least one positioning body 309 of the console 302 through the sterile cover 303.

[0060] According to one embodiment, the sterile barrier is formed by a portion of the outer wall 332 of a sterile drape 303 and a stent 306. The sterile drape 303 can be attached to the stent 306 and may include a through-channel 348 for allowing a positioning element 308 to pass through it. For example... Figure 6BAs shown, the boundary 350 of the through channel 348 may be glued, welded, or otherwise secured to the outer wall 332 of the sterile stent 306. Thus, a portion of the outer wall 332 of the stent 306, together with the sterile drape 303, serves as a sterile barrier.

[0061] According to a preferred embodiment, at least one sterile stent 306 includes at least one positioning clip that serves as a positioning element 308, which engages with the at least one positioning body 309 through the sterile cover 303 while maintaining the integrity of the sterile barrier formed at least partially by the sterile cover 303. Thus, the positioning clip 308 covers a portion of the outer surface 305 of the sterile cover 303, resulting in the positioning clip of the at least one sterile stent 306 being positioned between the positioning body 309 of the console 302 to locally retain a sterile surgical area 311 adjacent to the clip. Simultaneously, the positioning element 308 is securely engaged with the positioning body 309 of the console 302 to position the stent 306 near the desired position where the surgeon will stand or sit during surgery. The positioning body 309 may also be concave, or may include a slot, or may have a suitable treated or machined positioning surface for engagement with the positioning element 308. The positioning element 308 may have any shape and feature that engages with the positioning surface. For example, positioning element 308 may include a snap-fit ​​adapter, or positioning element 308 may include an attachment device for engaging with the positioning body. According to one embodiment, positioning element 308 includes a clip that mechanically and detachably engages with positioning body 309. According to one embodiment, the clip of positioning element 308 snaps into positioning body 309 of console 302, and preferably in this embodiment, positioning body 309 includes the convex body. Positioning element 308 is adapted to position the cavity 345 of sterile stent 306 at a desired location near console 302 and within sterile surgical area 311.

[0062] The cavity 345 of the at least one sterile stent 306 is configured to allow a surgeon to place at least one mechanically ungrounded main input handle 310 within the cavity 345 and rest it on the at least one resting element 307 of the at least one sterile stent 306. Due to the cavity 345 of the at least one sterile stent 306, the at least one mechanically ungrounded main input handle 310 is enclosed within the sterile stent 306 in the sterile surgical area 311 when not held by the surgeon. According to one embodiment, the at least one sterile stent 306 has a box-shaped body with an opening 333 for access to the cavity 345, the opening preferably facing the surgeon and / or upwards in the surgical position.

[0063] The positioning element 308 may be located on the outer surface 332 of at least one sterile support 306 and may be selected in a specific position to position at least one sterile support 306 for receiving at least one mechanically ungrounded main input handle 310 in a desired position within a sterile surgical area 311.

[0064] According to a preferred embodiment, such as, for example Figure 6B As shown, at least one sterile support 306 is integral with a sterile cover 303. For example, the sterile support 306 is welded or bonded to the outer surface of the sterile cover. A positioning element 308 may be integral with the sterile cover 303 and simultaneously detachably engaged with a positioning body 309. The sterile cover 303 may be attached to at least one sterile support 306, and preferably to its outer surface 332, and may include a through channel 348 that allows the positioning element 308, including a clip, to pass through while maintaining the integrity of the sterile barrier. According to one embodiment, the positioning elements 308 are integral with the outer surface 332 of the sterile support 306; however, they may be made as separate parts to rigidly define the position and spatial orientation of a resting element 307 (e.g., resting surface 307) relative to the positioning body 309 of the control console 302, where the positioning element 308, including a clip, engages. According to a preferred embodiment, the clip of the positioning element 308 serves as a restraining element for locally restraining the surgical drape 303 relative to the positioning body 309 of the main aseptic console 302, thereby locally reducing volumetric obstruction of the surgical drape 303. The surgical drape 303 may have a loose body that covers air other than the console 302; therefore, due to the positioning element 308 including the clip, a portion of the drape 303 is allowed to be restrained to a portion of the console 302, preferably located at or near at least one positioning body 309 of the console 302. Thus, at least one clip simultaneously and locally fits tightly against the body of the sterile drape 303 against the positioning body 309 of the console 302, and holds at least one sterile support 306 in proper position within the aseptic surgical area 311.

[0065] According to one embodiment, the clamp of the positioning element 308 includes at least one cable guide 314 for guiding, for example, a cable connector 325 of the console 302. Thus, the clamp has the further advantage of guiding cable connectors 325, such as power and / or data cables of the main console 302. For example, the cable guide 314 includes a groove for receiving an elongated body that recesses into the wall of the clamp facing the outer surface 305 of the body of the surgical drape 303. Preferably, the clamp of the positioning element 308 has an arched concave surface 321 facing the outer surface 305 of the surgical drape 303 to accommodate the convex body of the positioning body 309 of the console 302. For example, the arched concave surface 321 of the at least one clamp 308 substantially describes a “C” shaped profile.

[0066] According to, for example Figure 4 In the preferred embodiment shown, the at least one resting element 307 includes a resting surface 307, for example, the resting surface 307 is the surface of the bottom wall 347 of the sterile stent 306 facing the cavity 345.

[0067] According to one embodiment, the resting surface 307 for supporting and resting on at least a portion of the ungrounded main input handle 310 is the bottom surface of a basket-shaped portion (i.e., a substantially cup-shaped container), and the basket-shaped portion corresponds to a sterile support 306. According to one embodiment, the support 306 is designed for temporary support of the main input tool 310 when not held by the surgeon within a sterile surgical area 311, and at least one resting surface 307 includes the bottom surface of at least one sterile support 306.

[0068] As previously described, the at least one sterile support 306 includes an opening 333 for access to the cavity 345. Preferably, the opening 333 is opposite the resting surface 307 to the cavity 345. According to one embodiment, the at least one sterile support 306 further includes a side surface 332 defining the opening 333 and the cavity 345. This allows the surgeon to place at least one ungrounded master input tool 310 on the sterile resting surface 307 exposed within the sterile surgical area 311 during surgery. Due to the presence of this surface 307, the surgeon can alternate between manual and robot-assisted microsurgery during a single intervention without compromising the sterility of the sterile surgical area 311. Therefore, the surgeon does not need to sterilize the ungrounded master input tool 310 each time switching from manual to robot-assisted microsurgery (and vice versa) during a single surgical intervention.

[0069] The side surface 332' faces the cavity 345, and the outer surface 332 faces in the opposite direction. Preferably, the positioning element 308 is integrally connected to at least one of the outer surfaces 332. According to one embodiment, the outer surface 332 is substantially flat to facilitate the attachment of the clip of the positioning element 308. The orientation of the clip, i.e., the longitudinal extension direction of the "C"-shaped seat 346 defined by the arched concave surface 321 of the clip of at least one sterile stent 306, can be substantially aligned with the extension direction of the cavity 345 of at least one sterile stent 306. Therefore, the cavity 345 can be defined by the resting surface 307, the bottom wall 347, and the side surface 332'.

[0070] According to a variation, the clamp of the positioning element 308 and the side surface 332' of at least one sterile support 306 defining the cavity 345 may have relative degrees of freedom for adjusting the position of the cavity 345 when the clamp engages with the positioning body 309. For example, a hinge or a rotary joint such as a universal joint may be configured to hinge the clamp 308 and the side surface 332' of the sterile support 306 for rotating the support 306 when the clamp 308 engages with the positioning body 309 of the console 302 and / or when a slider connects the clamp and the outer surface 332' of the at least one sterile support 306.

[0071] According to a preferred embodiment, the positioning body 309 of the console 302 faces the inner surface 304 of the surgical drape 303. Therefore, sterilization of the positioning body 309 of the console 302 is unnecessary. According to one embodiment, the at least one positioning body 309 includes at least one convex surface 313 such that the clamp of the positioning element 308 engages with the convex surface 313. According to one embodiment, the sterile drape 303 is inserted between the positioning body 309 of the console 302 and at least one sterile support 306. According to one embodiment, the body of the sterile drape 303 is inserted between the clamp of the positioning element 308 and the positioning body 309 of the console 302, preferably in contact with both. According to one embodiment, the body of the sterile drape 303 is inserted between the arched concave surface 321 of the clamp and the convex surface 313 of the positioning body 309 of the console 302, preferably in contact with both.

[0072] According to, for example Figure 3In the embodiment shown, the console 302 includes a surgical chair 320. The term "chair" as used herein is also intended to encompass "saddle stool." According to a preferred embodiment, the at least one positioning body 309 is a post 319 of the surgical chair 320 of the console 302. According to a preferred embodiment, the at least one positioning body 309 is a post 319 of the surgical chair 320 for supporting an armrest 340, preferably round, so that the surgeon can rest their elbow on the armrest. According to one embodiment, the chair 320 includes at least one armrest 340 having the positioning body 309 (e.g., a connecting element that connects the armrest to the seating surface 318 of the chair 320), and the positioning element 308 of the sterile support 306 engages with the positioning body 309 of the armrest 340.

[0073] According to one embodiment, the console 302 (e.g., the chair 320) is provided with a tracking field generator 339, which is designed to track the position and orientation of at least one mechanically ungrounded main input handle 310.

[0074] The tracking field generator 339 may be an optical tracking field generator, such as at least one camera in a stereo camera group.

[0075] As previously described, a main workstation 301 for a surgical robot system 300, suitable for positioning within a sterile surgical area 311, includes: at least one ungrounded main input handle 310 adapted for use by a surgeon during surgery to control a slave robot assembly 330 of the surgical robot system 300; a console 302; a sterile drape 303 covering at least a portion of the console 302 to at least partially form a sterile barrier; and at least one sterile support 306, wherein the at least one sterile support 306 includes at least one cavity 345, at least one opening 333 leading to the at least one cavity 345, and at least one resting element 307 within the cavity 345, the at least one resting element being adapted to rest the main input handle 310 on the at least one resting element when the main input handle 310 is not being held.

[0076] According to one embodiment, the at least one sterile support 306 is associated with the outer surface 305 of the surgical drape 303.

[0077] According to one embodiment, the at least one sterile support 306 is adhesively bonded to the outer surface 305 of a surgical drape 303. The outer surface 305 of the surgical drape 303 may include an adhesive layer, such as adhesive tape, to attach the at least one sterile support 306 to the outer surface 305 of the sterile drape 303. In this case, the at least one sterile support 306 may include markings and / or signs for use as positioning elements 308.

[0078] According to one embodiment, the at least one sterile support 306 is detachably associated with the outer surface 305 of the surgical drape 303.

[0079] According to one embodiment, the at least one sterile stent 306 includes at least one positioning element 308 to position the at least one sterile stent 306 at a desired location near the console 302 and within the sterile surgical area 311.

[0080] According to one embodiment, while maintaining the integrity of the sterile barrier, at least one positioning element 308 of at least one sterile support 306 engages with at least one positioning body 309 of the console 302 through the sterile cover 303. According to one embodiment, the positioning element 308 rigidly determines the relative position and spatial orientation of the resting surface 307 within the cavity 345 and the body body 309 (e.g., a convex body) of the console 302.

[0081] According to one embodiment, the positioning element 308 is detachably engaged with the positioning body 309 of the console 302.

[0082] According to one embodiment, the positioning element 308 includes a positioning clip that resiliently engages with a positioning body 309 of the console 302. The clip is preferably resiliently loaded. According to one embodiment, the positioning element 308 includes at least one flap 312 for disengaging the positioning element 308 from the positioning body 309 of the console 302. The flap 312 may be resiliently loaded and engage with the clip of the positioning element 308. The positioning element 308 may include a pair of flaps 312. The flaps 312 may serve as handles for releasing the clip of the positioning element 308. The clip may be formed of two resiliently connected pieces, and at least one flap 312 is attached to one of the two pieces of the clip. Two flaps 312 may be provided, each flap 312 being attached to one of the two pieces of the clip. Providing the at least one flap 312 can determine when the clip of the positioning element is opened, thus avoiding scratching the surgical drape 303 during clip disengagement. Therefore, the clip can have a stronger resilient clamping force without compromising the integrity of the sterile drape 303.

[0083] According to one embodiment, the positioning body 309 of the console 302 includes a convex body.

[0084] According to one embodiment, the positioning element 308 serves as a restraint element for locally restraining the surgical drape 303 relative to the positioning body 309 of the main aseptic console 302.

[0085] According to one embodiment, the ungrounded main input handle 310 includes a cable connector 325, and a positioning element 308 serves as a constraint element that partially constrains the cable connector 325 relative to the positioning body 309 of the main aseptic console 302.

[0086] According to one embodiment, the at least one positioning element 308 of at least one sterile stent 306 includes an adhesive layer. Preferably, the adhesive layer is included on the outer surface 332 of at least one sterile stent 306.

[0087] According to one embodiment, the at least one sterile stent 306 is integral with the surgical drape 303.

[0088] According to one embodiment, the opening 333 of at least one sterile stent 306 is open on the outer surface 305 of the surgical drape 303.

[0089] According to one embodiment, the main workstation 301 includes additional sterile supports 306 (therefore including at least two sterile supports 306) and additional ungrounded main input handles 310 (therefore including two main input handles 310), wherein preferably each sterile support 306 is used to individually accommodate one main input handle 310. According to one embodiment, the two sterile supports 306 are spaced apart on the same outer surface 305 of the same surgical drape 303.

[0090] According to one embodiment, the two sterile supports 306 are attached to different positioning bodies 309 of the control console 302. For example, the different positioning bodies 309 of the control console 302 are spaced apart.

[0091] According to one embodiment, the two sterile supports 306 are attached to the same positioning body 309 of the control console 302.

[0092] According to one embodiment, the console 302 includes a chair 320, wherein the surgical drape 303 covers the chair 320.

[0093] According to an implementation plan, such as Figure 12As schematically shown, the console 302 includes a tower 315, wherein the surgical drape 303 covers the tower 315. The tower may include a screen 316. The screen 316 may display a portion of a sterile surgical area 311, such as the operation of at least one surgical instrument 337 from a portion of the workspace. The tower 315 may include a ground contact unit such as multiple wheels. An optical and / or magnetic tracking field generator 339 may be configured to be integrated with the tower 315 to track the position and orientation of at least one ungrounded main input handle 310. The tower 315 of the console 302 may be equipped with the positioning body 309, for example, a convex body.

[0094] According to a general implementation scheme, a sterile surgical area 311 is provided, including at least one main workstation 301 according to any of the above implementation schemes.

[0095] The sterile surgical area 311 includes at least one operating table 341 that provides support for the anatomy of the patient to be treated.

[0096] According to one embodiment, the sterile surgical area 311 is defined by a sterile barrier formed by at least one sterile drape 303. According to another embodiment, the sterile barrier is formed by at least one sterile drape 303 and at least a portion of at least one sterile stent 306, and preferably by at least a portion of the outer wall 332 of at least one sterile stent 306. A positioning element 308 of at least one sterile stent 306 may be positioned within or outside the sterile surgical area 311.

[0097] Because of this main workstation 301, the integrity of the sterile surgical area 311 and the sterility of the surgical area 311 are maintained.

[0098] According to one embodiment, the sterile surgical area 311 further includes a slave robot assembly 330 controlled by the master workstation 301.

[0099] According to a general implementation, a surgical robot system 300 is provided, including at least one master workstation 301 according to any of the above implementations.

[0100] According to a preferred embodiment, the system 300 further includes a slave robot assembly 330, which includes at least one surgical arm 334 adapted to manipulate at least one surgical instrument 337, and preferably, the at least one surgical arm includes at least one motorized manipulator 335, which is controlled by the master workstation 301 to manipulate the at least one surgical instrument 337.

[0101] According to one embodiment, the slave robot assembly 330 includes at least one surgical arm 334 for manipulating the surgical instrument 337. According to another embodiment, the slave robot assembly 330 includes at least one micromanipulator 335 for manipulating the surgical instrument 337. Preferably, the at least one micromanipulator 335 is directly connected in series with the surgical arm 334, forming a kinematic chain with the surgical arm 334, and manipulating the surgical instrument 337. According to another embodiment, at least two micromanipulators 335 are directly connected in series with the surgical arm 334, forming at least a bi-branched kinematic chain with the surgical arm 334. According to yet another embodiment, the slave robot assembly 330 includes at least one robot trolley 336, and the at least one surgical arm 334 extends from the robot trolley 336.

[0102] Preferably, the robotic surgical system 300 includes a control unit adapted to receive at least one position and orientation associated with the at least one mechanically ungrounded main input handle 310, and adapted to transmit command signals to the robotic assembly 330 to actuate the surgical instrument 337.

[0103] According to a preferred embodiment, the control unit is adapted to receive a first command signal containing information about the manual command and to transmit a second command signal containing information about the manual command to the robot assembly 330 to actuate the surgical instrument 337. According to a preferred embodiment, the robotic microsurgery system 300, and preferably the covered console 302 of the robotic microsurgery system 300, further includes at least one tracking system comprising a field generator 339 adapted to detect the position and orientation of the master input tool 310 within a predetermined tracking volume. For example, the field generator 339 is a magnetic field and / or light field generator positioned integrally with the seating surface 318 of the chair 320 of the console 302. At least one cover 338 may be provided to cover at least a portion of the robot assembly 330.

[0104] According to a preferred embodiment, the robotic microsurgery system 300 further includes at least one surgical microscope 342. A microscope cover 343 may be provided to cover at least a portion of the microscope 342.

[0105] According to one embodiment, the sterile surgical area 311 further includes at least a portion of at least one robotic manipulator 330 according to any of the above embodiments. Therefore, the sterile surgical area 311 also includes at least a portion of at least one robotic surgical system 300 according to any of the above embodiments.

[0106] According to one embodiment, the sterile surgical area 311 includes the robotic surgical system 300.

[0107] Therefore, surgeons can alternate between manual and robot-assisted microsurgery during a single intervention without needing to sterilize the main console for this purpose.

[0108] Because of the presence of at least one sterile support 306, a solution is provided that can cover the main control console 302 to maintain sterility, while simultaneously making at least one ungrounded main input handle 310 easier to manipulate within the sterile surgical area 311, even when the surgeon switches to manual microsurgery. This allows the surgeon to switch back to robot-assisted microsurgery as desired, while allowing the surgeon to put down or grab the mechanically ungrounded main input handle 310 with minimal effort, as the cavity 345 of at least one sterile support 306 is positioned in the desired location near / within the sterile surgical area 311.

[0109] According to one embodiment, at least one cavity 345 of a sterile stent 306 has a depth shallower than the length of the ungrounded master input handle 310, such that a portion of the ungrounded master input handle 310 pops out from the opening 333, making it easier for the surgeon to grasp the mechanically ungrounded master input handle 310 from the resting element 307 within the cavity 345 of the sterile stent 306.

[0110] The procedure will be described below.

[0111] A method for performing surgery, preferably robot-assisted surgery, includes the following steps.

[0112] The method includes the step of setting up a master workstation 301 within a sterile surgical area 311, wherein preferably, the master workstation 301 includes at least one mechanically ungrounded master input handle 310 adapted to be held in the hand of a surgeon to control a slave robot assembly, the slave robot assembly including at least one surgical instrument 337. The master workstation 301, the sterile surgical area 311, and the slave robot assembly 330 can be any master workstation, sterile surgical area, and slave robot assembly described in any of the above embodiments.

[0113] The positioning element 308 can mechanically engage the positioning body 309 of the control console 302.

[0114] The method includes the step of covering the console 302 of the main workstation 301, preferably by means of a surgical drape 303.

[0115] According to one mode of operation, the method includes the step of associating at least one sterile stent 306 with the outer surface 305 of a surgical drape 303. This can open at least one opening 333 for access to a cavity 345 on the outer surface 305 of the surgical drape 303.

[0116] According to one mode of operation, the method includes the step of removably attaching at least one sterile stent 306 to the outer surface 305 of a surgical drape 303. According to another mode of operation, the method includes the step of detaching at least one sterile stent 306 from the outer surface 305 of the surgical drape 303.

[0117] According to one operating mode, the method includes the following steps: removably associating at least one sterile support 306 with the outer surface 305 of a surgical drape 303 by mechanically engaging the positioning element 308 (e.g., the clip) of at least one sterile support 306 with the positioning body 309 (preferably a convex body) of a console 302. This step may include acting on at least one flap 312 of the at least one sterile support 306. Acting on the at least one flap 312 may determine that the positioning element 308 (such as the clip) is open. According to another operating mode, the method includes the step of detaching at least one sterile support 306 from the outer surface 305 of the surgical drape 303 by mechanically separating the positioning element 308 (e.g., the clip) from the positioning body 309 (preferably a convex body) of the console 302.

[0118] According to one operating mode, the method includes the following steps: clamping a sterile stent 306 to a positioning body 309 of a console 302 such that the stent cavity 345 is within a sterile surgical area 311. The clamping step may include the steps acting on the at least one flap 312.

[0119] According to one mode of operation, the method includes the step of defining a desired location within a sterile surgical area 311, with the aim of positioning a sterile stent 306 at that desired location.

[0120] According to one operating mode, the method includes the step of holding a mechanically ungrounded main input handle 310 in the hand for the purpose of controlling the surgical instrument 337 from the robotic assembly 330.

[0121] The method includes the following additional step: placing or resting at least one ungrounded main input handle 310 within the cavity 345 of at least one sterile support 306, such that the ungrounded main input handle 310 rests on a resting element 307 within the cavity 345.

[0122] According to one operating mode, the method includes the following additional step: lifting or grasping at least one ungrounded main input handle 310 from the sterile support 306, preferably from the resting element 307 within the cavity 345 of the sterile support 306 placed in the desired position within the sterile surgical area 311, thus once again holding the main input handle 310 in the hand.

[0123] Preferably, the method is performed by a main workstation 301 and / or a sterile surgical area 311 and / or a surgical robot system 300 according to any of the above embodiments.

[0124] The features described above, provided individually or together in specific embodiments, can respond to the above-mentioned needs, provide the above-mentioned advantages, and in particular:

[0125] - Surgeons can easily place the ungrounded master controller into the cavity of the sterile stent at any time during the operation;

[0126] - Maintain sterility in the surgical area;

[0127] - It can reduce the volumetric burden of the sterile drape covering the console;

[0128] - Reduces the risk of sterile drape breakage;

[0129] - Maintain the integrity of the sterile barrier surrounding the sterile surgical area;

[0130] - When not being held in hand, such as during the alternation of manual and robotic microsurgery, the stent can be used as a sterile shell in a sterile surgical area to receive ungrounded main input tools;

[0131] - The sterile drape can be held in place by a sterile holder with positioning clips.

[0132] In order to meet occasional and specific needs, those skilled in the art can make many modifications, adaptations and replace these elements with other functionally equivalent elements without departing from the scope of the appended claims.

[0133] List of reference numerals

[0134]

[0135]

Claims

1. A master workstation (301) for a surgical robot system (300), the master workstation being adapted to be positioned within a sterile surgical area (311), the master workstation comprising: - At least one ungrounded master input handle (310), said at least one ungrounded master input handle being adapted to be held by a surgeon during surgery for controlling the slave robot components (330) of said surgical robot system (300); - Console (302); - A sterile drape (303) that covers at least a portion of the console (302) to at least partially form a sterile barrier, the sterile drape (303) including an inner surface (304) facing the console (302) and an outer surface facing the sterile surgical area (311); - At least one sterile stent (306); Wherein, the at least one sterile stent (306) comprises: - At least one cavity (345) and at least one opening (333) through said at least one cavity (345); - At least one resting element (307) within the cavity (345), the at least one resting element being adapted to rest the main input handle (310) on the at least one resting element when the main input handle (310) is not held in the hand; Its features are, The at least one sterile support (306) is associated with the outer surface (305) of the sterile drape (303).

2. The main workstation (301) according to claim 1, wherein, The at least one sterile stent (306) is glued to the outer surface (305) of the sterile drape (303).

3. The main workstation (301) according to claim 1, wherein, The at least one sterile support (306) is detachably associated with the outer surface (305) of the sterile drape (303).

4. The main workstation (301) according to any one of claims 1 to 3, wherein, The at least one sterile stent (306) includes at least one positioning element (308) for positioning the at least one sterile stent (306) at a desired location near the console (302) and within the sterile surgical area (311).

5. The main workstation (301) according to claim 4, wherein, While maintaining the integrity of the sterile barrier, at least one positioning element (308) of the at least one sterile support (306) engages with at least one positioning body (309) of the console (302) through the sterile drape (303); and / or, wherein, The positioning element (308) rigidly determines the relative position and spatial orientation of the placement element (307) within the cavity (345) and the positioning body (309) of the console (302); and / or, wherein, The positioning element (308) is detachably engaged with the positioning body (309) of the console (302); and / or, wherein, The positioning element (308) includes at least one flap (312) that disengages the positioning element (308) from the positioning body (309) of the console (302); and / or, wherein, The positioning element (308) includes a positioning clip that resiliently engages the positioning body (309) of the console (302); and / or, wherein, The positioning body (309) of the console (302) includes a convex body; and / or, wherein, The positioning element (308) serves as a constraint element for locally constraining the sterile drape (303) relative to the positioning body (309) of the console (302); and / or, wherein, The ungrounded main input handle (310) includes a cable connector (325), and the positioning element (308) serves as a constraint element for partially constraining the cable connector (325) relative to the positioning body (309) of the console (302).

6. The main workstation (301) according to claim 4, wherein, The at least one positioning element (308) of the at least one sterile stent (306) includes an adhesive layer.

7. The main workstation (301) according to claim 1, wherein, The at least one sterile support (306) is integral with the sterile cover (303).

8. The main workstation (301) according to any one of claims 1 to 3, wherein, The opening (333) of the at least one sterile stent (306) is open on the outer surface (305) of the sterile drape (303).

9. The main workstation (301) according to any one of claims 1 to 3, the main workstation comprising additional sterile supports (306) to include at least two sterile supports (306), and the main workstation further comprising additional ungrounded main input handles (310) to include two main input handles (310).

10. The main workstation (301) according to claim 9, wherein, The two sterile stents (306) are spaced apart on the same outer surface (305) of the same sterile cover (303).

11. The main workstation (301) according to any one of claims 1 to 3, wherein, The console (302) includes a chair (320), wherein the sterile drape (303) covers the chair (320).

12. The main workstation (301) according to any one of claims 1 to 3, wherein, The console (302) includes a tower (315), wherein the sterile cover (303) covers the tower (315).

13. The main workstation (301) according to any one of claims 1 to 3, wherein, The at least one sterile scaffold (306) is made of loose plastic material; and / or, wherein, The at least one sterile support (306) is made of the same material as the sterile drape (303).

14. The main workstation (301) according to claim 9, wherein, Each sterile holder (306) is used to individually accommodate a master input handle (310).

15. A robotic surgical system (300) comprising at least one master workstation (301) according to any one of claims 1 to 14 and a slave robot assembly (330) controlled by the master workstation.

16. A sterile surgical area (311), said sterile surgical area comprising: - At least one main workstation (301) according to any one of claims 1 to 14; - At least one operating table (341) that provides support for the anatomical structures of the patient to be treated.

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