Main workstation for robotic surgery, sterile surgical area, surgical robot system and methods

Abstract

A master workstation (301) for a surgical robot system (300), the master workstation being positioned within a sterile surgical area (311), the master workstation comprising: an ungrounded master input handle (310) adapted for use by a surgeon during surgery to control slave robot components (330) of the surgical robot system (300); a console (302) including at least one convex body (309); a sterile drape (303) covering at least a portion of the console (302); and at least one sterile support (306); wherein the at least one sterile support (306) includes: 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; at least one positioning clip (308) which, while maintaining the integrity of the sterile drape (303), crosses and passes through the sterile drape (303) and engages with at least one convex body (309) of the console (302); the positioning clip (308) being adapted to position the cavity (345) of the sterile support (306) at a desired location near the console (302) and within the sterile surgical area (311).

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 use in sterile operating fields.

[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) extending from the central tower and controlled by 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 the non-disposable parts 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 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 scopes are implemented via the master workstation as claimed in claim 1.

[0020] Some preferred embodiments are the subject of the dependent claims.

[0021] According to one aspect of the invention, a master workstation for a surgical robotic system includes: an ungrounded master input handle adapted for use by a surgeon during surgery to control slave robotic components of the surgical robotic system; a console including at least one positioning body; 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 and at least one positioning element in 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, the at least one positioning element engaging with the at least one positioning body of the console.

[0023] Therefore, it is possible to position the cavity of the sterile stent at a desired location near the console and within the sterile operating field.

[0024] The positioning element 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, elastically engaging the convex body while maintaining the sterility of the surgical area.

[0025] As a result of 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, for example, during manual surgery.

[0026] The proposed solution is particularly applicable to, but not limited to, robot-assisted microsurgery. Furthermore, the proposed solution is particularly applicable to, but not limited to, microsurgical procedures envisioned as alternating between manual and robot-assisted microsurgery. Attached Figure Description

[0027] 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:

[0028] - 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.

[0029] - Figure 2 An isometric view of a surgical robot system positioned in a sterile surgical area near the operating table, according to one embodiment;

[0030] - Figure 3 A main workstation, comprising a console, a sterile support, and a covered main input handle, is schematically shown in an isometric view according to one embodiment.

[0031] - Figure 4An isometric view of a portion of a console covered by a surgical drape and a sterile support, according to one embodiment;

[0032] - Figure 5 An isometric view of a sterile stent according to one embodiment is shown;

[0033] Figure 6-A is a schematic side view of a sterile stent and a sterile drape according to one embodiment;

[0034] Figure 6-B is an isometric view of a sterile stent integral with the sterile cover from the inside of the sterile cover according to one embodiment.

[0035] - Figure 7 A sterile scaffold according to one embodiment is shown in an isometric view;

[0036] - Figure 8 A sterile scaffold according to one embodiment is shown in an isometric view;

[0037] - Figure 9 Possible operating modes of the method according to one embodiment are shown;

[0038] - Figure 10 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

[0039] According to a general implementation, a main workstation 301 is provided for the surgical robot system 300. The main workstation 301 is suitable for being positioned within a sterile surgical area 311.

[0040] The main workstation 301 includes a 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.

[0041] 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, 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.

[0042] Furthermore, the term "handle" refers to an ungrounded main input tool designed to be held in the surgeon's hand during surgery. For example, the main input handle 310 may include a manipulator portion adapted for gripping by the surgeon's hand during surgery. For example, the main input handle 310 may include a ring, loop, or bracelet worn on the surgeon's hand, fingers, or wrist.

[0043] The main workstation 301 also includes a console 302 and a sterile 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 a non-sterile surface) and an outer surface 305 (or a sterile surface opposite the inner non-sterile surface 304). Thus, the inner surface 304 of the surgical drape 305 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 closing 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 cover 303 may be adapted to the body of the control panel 302 by engaging with adhesive strips, elastic strips, magnets, or any suitable means. For example, the body of the surgical cover 303 may be made of a flexible sheet, such as polyethylene, and / or polyurethane, and / or polyester, and / or any suitable cover material (such as paper, and / or woven fabric, and / or non-woven fabric, and / or any combination thereof).

[0044] The console 302 includes at least one positioning body 309 (e.g., a convex body 309) and a sterile cover 303 that covers or covers at least a portion of the convex body 309 of the console 302.

[0045] As used herein, the term "convex body" does not necessarily exclude the possibility that the convex body 309 may have a concave surface, but the convex body must also include a convex portion or a convex surface. For example, the term "convex body" also covers a column of a 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.

[0046] The main workstation 301 includes a sterile support 306, which includes at least one cavity 345. Therefore, the sterile support 306 serves as a sterile basket. According to one embodiment, the support 306 is made of plastic, preferably of a rigid plastic material, and the cavity is, for example, molded or thermoformed. According to one embodiment, the support 306 is made of a sterilizable metal material. According to one embodiment, the support 306 is disposable.

[0047] Advantageously, the sterile stent 306 includes at least one resting element 307 within the cavity 345.

[0048] At least one resting element 307 (e.g., at least one resting surface 307) is provided within the cavity 345 of the 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, at least one resting element 307 at least partially supports the main input handle 310 within the cavity 345 of the sterile stent 306.

[0049] According to a preferred embodiment, the sterile stent 308 includes at least one positioning element 308 (or positioning clip 308 or clamp 308) that engages with at least one positioning body 309 (or convex body 309) through the sterile cover 303 while maintaining the integrity of the sterile barrier formed at least partially by the sterile cover 303.

[0050] 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 connector 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.

[0051] According to a preferred embodiment, the sterile stent 306 includes at least one positioning clip that engages with the at least one protruding 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 309 of the sterile stent 306 being positioned between the protruding body 309 of the console 302 to locally retain a sterile surgical area 311 adjacent to the clip 308. Simultaneously, the positioning clip 308 is securely engaged with the protruding body 309 of the console 302 to position the stent 306 near the desired position where the surgeon will stand or sit during surgery.

[0052] 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. The positioning element 308 may have any shape and feature that engages with the positioning surface. For example, the positioning element 308 may include a snap-fit ​​adapter, or may include an attachment device for engagement with the positioning body.

[0053] Preferably, the positioning clip 308 mechanically and detachably engages the convex body 309.

[0054] According to one implementation scheme, clip 308 is adapted to the protruding body 309.

[0055] The positioning clip 308 is adapted to position the cavity 345 of the sterile stent 306 at a desired location near the console 302 and within the sterile surgical area 311.

[0056] The cavity 345 of the sterile stent 306 is configured to allow the surgeon to place the mechanically ungrounded main input handle 310 within the cavity 345 and rest it on the at least one resting element 307. Due to the cavity 345 of the sterile stent 306, the 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. Furthermore,

[0057] Preferably, the sterile stent 306 has a box-shaped body with an opening 333 for access to a cavity 345, the opening preferably facing the surgeon and / or facing upwards in the surgical state.

[0058] The positioning clip 308 can be located on the outer surface 332 of the sterile support 306 and can be selected in a specific position to position the sterile support 306 for receiving the mechanically ungrounded main input handle 310 in a desired position within the sterile surgical area 311.

[0059] According to a preferred embodiment, such as... Figure 6B As shown, the sterile support 306 is integral with the sterile cover 303. For example, the sterile support 306 is welded or bonded to the outer surface of the sterile cover. The positioning element 308 may be integral with the sterile cover and simultaneously detachably engaged with the positioning body 309. The sterile cover 303 may be attached to the support 306, and preferably to its outer surface 332, and may include a through-channel 348 that allows the connector 308 to pass through while maintaining the integrity of the sterile barrier.

[0060] According to one embodiment, the positioning clip 308 is integral with the outer surface 332 of the sterile support 306, although they can be made as separate parts to rigidly determine the position and spatial orientation of the resting element 307 (e.g., resting surface 307) relative to the convex body 309 of the control console 302, for example, where the clip 308 engages.

[0061] According to a preferred embodiment, the positioning clip 308 serves as a restraining element for locally restraining the surgical drape 303 relative to the convex 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, thus, due to the provision of the at least one clip 308, it is permissible to restrain a portion of the drape to a portion of the console 302, preferably located at or near at least one convex body 309.

[0062] Therefore, at least one clip 308 simultaneously and locally fits tightly against the body of the sterile drape 303 relative to the convex body 309 of the main sterile control console 302, and holds the sterile support 306 in the proper position within the sterile surgical area 311.

[0063] According to one embodiment, the at least one clip 308 includes at least one cable guide 314 for guiding cable connectors 325, such as those of a console 302. Therefore, the at least one clip 308 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 recess for receiving an elongated body that is recessed into the wall of the outer surface 305 of the body of the clip 308 facing the surgical drape 303.

[0064] Preferably, the at least one clip 308 has an arched concave surface 321 facing the outer surface 305 of the surgical cover 303 to accommodate the convex body 309 of the control console 302. For example, the arched concave surface 321 of the at least one clip 308 substantially describes a "C" shaped profile.

[0065] 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.

[0066] According to one embodiment, the resting surface for supporting and resting on at least a portion of the 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 a preferred 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 the support 306.

[0067] According to one embodiment, the sterile stent 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 stent 306 also includes a side surface 332 defining the opening 333 and the cavity 345. This allows the surgeon to place the main input tool 310 on the sterile resting surface 307 exposed within the sterile surgical area 311 during surgery.

[0068] Because of this surface 307, surgeons can alternate between manual and robot-assisted microsurgery during a single intervention without compromising the sterility of the sterile surgical area 311. Therefore, surgeons do not need to sterilize the main input tool 310 each time they switch 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 clip 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 308. The orientation of the clip 308, i.e., the longitudinal extension direction of the "C"-shaped seat 346 defined by the arched surface 321 of the clip 308 of the stent 306, can be substantially aligned with the extension direction of the cavity 345 of the 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 positioning clip 308 and the side surface 332' of the sterile support 306 defining the cavity 345 may have relative degrees of freedom for adjusting the position of the cavity 345 when the clip 308 engages with the convex body 309. For example, a hinge or a rotary joint such as a universal joint may be configured to hinge the clip 308 and the side surface 332' of the sterile support 306 for rotating the support 306 when the clip 308 engages with the convex body 309 of the console 302 and / or when a slider connects the clip 308 and the outer surface 332' of the support 306.

[0071] According to a preferred embodiment, the convex body 309 faces the inner surface 304 of the surgical drape 303. Therefore, it is not necessary to sterilize the convex body 308 of the main aseptic control console 302.

[0072] According to one embodiment, the at least one convex body 309 includes at least one convex surface 313 such that the clip 308 engages with the convex surface 313. According to one embodiment, a sterile drape 303 is inserted between the convex body 309 and the support 306. According to one embodiment, the body of the sterile drape 303 is inserted between the clip 308 and the convex body 309, preferably in contact with both. According to one embodiment, the body of the sterile drape 303 is inserted between the arched surface 314 of the clip 308 of the accessory 306 and the convex surface 313 of the convex body 308, preferably in contact with both.

[0073] According to, for example Figure 3 In the embodiment shown, the console 302 includes a chair 320. The term "chair" as used herein is also intended to encompass a "saddle stool." According to a preferred embodiment, the at least one convex body 309 is a post 319 of the surgical chair 320 of the main sterile console 302. According to a preferred embodiment, the at least one convex 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.

[0074] According to one embodiment, the chair 320 includes at least one armrest 340 having the aforementioned convex body 309 (e.g., a connecting element that attaches the armrest to the seating surface 318 of the chair 320), and the positioning clip 308 of the sterile support 306 engages with the convex body 309 of the armrest 340. Preferably, the console 302 (e.g., the chair 320) is provided with the tracking field generator 339, which is designed to track the position and orientation of at least one mechanically ungrounded main input handle 310. The tracking field generator 339 may be an optical tracking field generator, such as at least one camera in a stereo camera assembly.

[0075] According to one embodiment, the at least one sterile stent 306 is associated with the outer surface 305 of the surgical drape 303. According to one embodiment, the opening 333 of the at least one sterile stent 306 is open on the outer surface 305 of the surgical drape 303.

[0076] 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 convex body 309 of the console 302.

[0077] According to one embodiment, the positioning element 308 is detachably engaged with the positioning body 309 of the console 302.

[0078] 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.

[0079] According to one embodiment, the main workstation 301 includes another sterile support 306 (therefore including at least two sterile supports 306) and another ungrounded main input handle 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.

[0080] According to one embodiment, the console 302 includes a chair 320, wherein the surgical drape 303 covers the chair 320.

[0081] 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.

[0082] According to one embodiment, the two sterile supports 306 are attached to the same positioning body 309 of the control console 302.

[0083] According to an implementation plan, such as... Figure 10 As 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.

[0084] 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.

[0085] The sterile surgical area 311 includes at least one operating table 341 that provides support for the anatomy of the patient to be treated.

[0086] 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 a stent 306, and preferably by at least a portion of the outer wall 332 of the stent 306. The connector 308 of the stent 306 may be positioned within or outside the sterile surgical area 311.

[0087] Because of this main workstation, the integrity of the sterile surgical area 311 and the sterility of the surgical area 311 are maintained.

[0088] According to one embodiment, the sterile surgical area 311 further includes a slave robot assembly 330 controlled by the master workstation 310.

[0089] 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.

[0090] 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.

[0091] 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 304. 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 arm 334 extends from the robot trolley 336.

[0092] Preferably, the system 300 includes a control unit adapted to receive at least one position and orientation associated with the mechanically ungrounded main input handle 310, and adapted to transmit command signals to the robot assembly 330 to actuate the surgical instrument 337.

[0093] 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 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.

[0094] 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.

[0095] According to one embodiment, the sterile surgical area 311 includes the robotic surgical system 300.

[0096] According to a preferred embodiment, the sterile surgical area 311 further includes at least a portion of at least one robot 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.

[0097] Therefore, surgeons can alternate between manual and robot-assisted microsurgery during a single intervention without needing to sterilize the main console for this purpose.

[0098] Because of the bracket 306, a solution is provided that can cover the main console 302 to maintain sterility, while simultaneously making the 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 the bracket 306 is positioned in the desired location near / within the sterile surgical area 311.

[0099] According to one embodiment, the cavity 345 of the sterile stent 306 has a shallower depth than the length of the main input handle 310, such that a portion of the main input handle 310 pops out from the opening 333, making it easier for the surgeon to grasp the mechanically ungrounded main input handle 310 from the resting element 307 within the cavity 345 of the sterile stent 306.

[0100] The methods used to perform the surgery will be described below.

[0101] A method for performing surgery, preferably robot-assisted surgery, includes the following steps.

[0102] 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 310, 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. Preferably, a clamp 308 mechanically engages a convex body 309.

[0103] The method includes the step of covering the console 302 of the main workstation 301, preferably by means of a surgical drape 303.

[0104] The method includes the following steps: clamping a sterile stent 306 onto the convex body 309 of the console 302, such that the stent cavity 345 is within the sterile surgical area 311.

[0105] 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.

[0106] 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.

[0107] According to one operating mode, the method includes the following steps: removably associating at least one sterile support 306 to 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.

[0108] 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.

[0109] 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.

[0110] The method includes the following additional step: placing or resting the main input handle 310 within the cavity 345 such that the main input handle 310 rests on the resting element 307 within the cavity 345.

[0111] According to one operating mode, the method includes the following additional step: lifting or grasping the 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 302 in the hand.

[0112] Preferably, the method is performed by a main workstation 310 and / or a sterile surgical area 311 and / or a surgical robot system 300 according to any of the above embodiments.

[0113] 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:

[0114] - Surgeons can easily place the ungrounded master controller into the cavity of the sterile stent at any time during the operation;

[0115] - Maintain sterility in the surgical area;

[0116] - It can reduce the volumetric burden of the sterile drape covering the console;

[0117] - Reduces the risk of sterile drape breakage;

[0118] - Maintain the integrity of the sterile barrier surrounding the sterile surgical area;

[0119] - 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 the main input tool;

[0120] - The sterile drape can be held in place by a sterile holder with positioning clips.

[0121] 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.

[0122] List of reference numerals

[0123]

[0124]

Claims

1. 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 a slave robotic assembly (330) of the surgical robotic system (300); - a console (302) comprising at least one positioning body (309); - a sterile drape (303) covering at least a portion of the console (302) to at least partially form a sterile barrier; - at least one sterile support (306); wherein the at least one sterile support (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; characterized in that, the at least one sterile support (306) comprises at least one positioning element (308) which, while maintaining the integrity of the sterile barrier, engages with at least one positioning body (309) of the console (302) through the sterile drape (303).

2. The master station (301) according to claim 1, wherein The positioning element (308) is adapted to position the cavity (345) of the sterile support (306) at a desired position close to the console (302) and within the sterile surgical area (311).

3. The master station (301) according to claim 1 or 2, wherein The positioning element (308) comprises a positioning clip which elastically engages the positioning body (309) of the console (302).

4. The master station (301) according to claim 1, wherein The positioning body (309) of the console (302) comprises a male body.

5. The master station (301) according to claim 1, wherein, The sterile support (306) is integral with the sterile drape (303).

6. The master station (301) according to claim 1 or 5, wherein The sterile drape (303) is attached to an external surface (332) of the sterile support (306) and comprises a through passage (348) for allowing the at least one positioning element (308) to pass therethrough while maintaining the integrity of the sterile barrier, wherein the external surface (332) of the sterile support (306) forms the sterile barrier together with the sterile drape (303), or wherein the positioning element (308) acts as a constraining element for locally constraining the sterile drape (303) with respect to the positioning body (309) of the master sterile console (302).

7. The master station (301) according to claim 1, wherein The console (302) comprises a chair (320); and / or, wherein, The chair (320) of the console comprises at least one armrest (340) having the positioning body (309) which is a connection element connecting 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).

8. The master station (301) according to claim 1, wherein The console (302) comprises a tower (315), and wherein the sterile drape (303) covers the tower (315).

9. The master station (301) according to claim 1, wherein, The at least one resting element (307) comprises a resting surface which is a bottom surface of the sterile support (306) delimiting the cavity (345); and / or wherein, The sterile support (306) comprises an opening (333) for accessing the cavity (345), wherein the opening (333) is opposite to the resting surface of the at least one resting element with respect to the cavity (345).

10. The master station (301) according to claim 1, wherein, The positioning element (308) detachably engages with the positioning body (309).

11. The master station (301) according to claim 4, wherein The positioning element (308) rigidly determines the relative position and spatial orientation of the resting element (307) within the cavity (345) and the convex body of the console (302).

12. The master station (301) according to claim 1, wherein, The ungrounded master input handle (310) comprises a cable connection (325), and the positioning element (308) acts as a constraining element for locally constraining the cable connection (325) with respect to the positioning body (309) of the master sterile console (302).

13. The master station (301) according to claim 1, wherein, The positioning element (308) detachably engages with the positioning body (309) of the console (302).

14. The master station (301) according to claim 1, wherein, The positioning element (308) comprises at least one tab (312) for disengaging the positioning element (308) from the positioning body (309) of the console (302).

15. Master station (301 ) according to claim 1, comprising a further sterile support (306) so as to comprise at least two sterile supports (306), and further comprising a further ungrounded master input handle (310) so as to comprise two master input handles (310), wherein, Each sterile support (306) is for individually housing one master input handle (310).

16. The master station (301) according to claim 15, wherein The two sterile supports (306) are spaced apart on the same outer surface (305) of the same sterile drape (303).

17. A robotic surgery system comprising at least one master station (301) according to any one of claims 1 to 16 and a slave robotic assembly (330) controlled by the master station (301).

18. A sterile surgical area (311) comprising: - at least one master station (301) according to any one of claims 1 to 16; - at least one surgical bed (341) providing support to the anatomy of a patient to be treated.

19. A sterile surgical area (311) comprising a robotic surgery system according to claim 17.

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