Adapter for one or more robotic systems

Abstract

The invention provides an adapter for one or more robotic manipulators (103). In one embodiment, the adapter comprises: a) a container (101) connected to a carrier system; b) a sleeve (102) connected to the container (101), the sleeve (102) comprising at least one channel for insertion of the one or more robotic manipulators; c) a plurality of control means (118), each said control means (118) being adapted to control the diameter of one of said at least one channel; the at least one channel comprises two or more inlets (107), and the inlets converge into the same channel; and each of the two or more inlets (107) is located on opposite sides of the container (101) or the sleeve (102), respectively.

Description

Technical Field

[0001] The present invention generally relates to devices, and more particularly to adapters, for use with robotic systems. Background Art

[0002] Gastric and colorectal cancers are prevalent worldwide. These cancers are the leading cause of cancer death worldwide. Minimally invasive surgeries, which do not require large incisions, are widely used to assess disease and injury. Endoscopic submucosal dissection (ESD) and endoscopic mucosal resection (EMR) are among the most widely used procedures for the removal of precancerous lesions and early-stage cancers within the digestive tract. These procedures are performed using a flexible endoscope, resulting in faster recovery and less pain for patients.

[0003] Common techniques used in related surgical platforms include traction and dissection to improve overall surgical effectiveness and safety. Current robotic manipulators used for traction and dissection are typically designed as standalone instruments, separated from the endoscopic platform. This design presents several challenges, including relative motion between these components, complex intracorporeal deployment procedures, and reliance on expensive dual-channel endoscopes.

[0004] At the same time, dual-channel endoscopes are widely used in the development of current surgical robotic systems. However, one drawback of using a dual-channel endoscope as a carrier for the robotic manipulator is the significant distance between the camera's field of view and the distal end of the robotic manipulator. Furthermore, the viewing angle cannot be adjusted, so in some cases it may be obstructed by the robotic manipulator. Summary of the Invention

[0005] The present invention provides an adapter for one or more robotic manipulators. In one embodiment, the adapter comprises: a) a container 101 connected to a carrying system; b) a cannula 102 connected to the container 101, the cannula 102 including at least one channel for inserting the one or more robotic manipulators; c) a plurality of control devices 118, each of the control devices 118 being adapted to control the diameter of one of the at least one channel; the at least one channel including two or more inlets 107 that converge into a single channel; and each of the two or more inlets 107 being located on opposite sides of the container 101 or the cannula 102.

[0006] The present invention also provides a method for using the adapter of the present invention during surgery. In one embodiment, the adapter of the present invention includes a cannula 102 detachable from the container 101, and the method includes the following steps: a) positioning the cannula 102 at a target location; b) inserting an endoscope or an endoscope camera 106 into one of the at least one channel through one of the two or more inlets 107; c) connecting the container 101 to a carrying system; and d) connecting the container 101 to the cannula 102. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The following describes exemplary, non-limiting embodiments of the present invention in conjunction with the accompanying drawings. The accompanying drawings are for illustrative purposes only and are generally not drawn to scale. The same or similar elements in different drawings are marked with the same reference numerals.

[0008] Figure 1A and Figure 1B An embodiment of an integrated adapter for a flexible robotic manipulator of a surgical robotic platform is shown from different perspectives.

[0009] Figures 2A to 2E Various embodiments of a carrier system for deploying a flexible robotic manipulator in a surgical robotic platform are shown.

[0010] Figure 2A and Figure 2B An embodiment showing an integrated adapter of a flexible robotic manipulator positioned on a custom multi-DOF serial robot arm.

[0011] Figure 2C and Figure 2D An embodiment is shown in which an integrated adapter of a flexible robotic manipulator is arranged on a medically certified robotic arm and presented in different structures to avoid collisions with the environment and the operator.

[0012] Figure 2E One embodiment showing an integrated adapter for a flexible robotic manipulator positioned on a ceiling-mounted movable robotic arm used in an operating room.

[0013] Figures 3A to 3C Shows positioning of the endoscope cannula by deploying the endoscope or endoscope camera in different scenarios.

[0014] Figure 4 Shows the surgeon manipulating the endoscope cannula with full degrees of freedom.

[0015] Figure 5A A channel for inserting an endoscope or an endoscope camera is shown, the channel having two inlets and one outlet.

[0016] Figure 5BA channel for each robotic manipulator is shown, with two inlets and one outlet.

[0017] Figure 5C Shows an interior view of the channel used to insert an endoscope or an endoscope camera and robotic manipulator.

[0018] Figure 6 A typical moment showing the separation of the integrated adapter from the robot's carrying system.

[0019] Figure 7 A typical moment showing the container and carrier system of the integrated adapter being connected to the cannula of an endoscope positioned in a patient.

[0020] Figure 8 Displays the angular tilting capability of the proximal surface of the endoscope cannula.

[0021] Figure 9A and Figure 9B Various embodiments of containers are shown.

[0022] Figure 10 Shows the typical posture of an operator holding a container and endoscope cannula. DETAILED DESCRIPTION

[0023] This paper describes a structure and method for an integrated adapter for deploying a flexible robotic manipulator into the human body for surgical procedures. The integrated adapter comprises a container and an endoscopic cannula, capable of accommodating various tools, such as an endoscope, endoscopic camera, or flexible manipulator, addressing challenges currently encountered with traditional endoscopic devices.

[0024] In one embodiment, the present invention provides a removable, integrated adapter for a flexible robotic manipulator in a surgical robotic platform. Disclosed are a system and method for a container and endoscope cannula in an integrated adapter for a flexible robotic manipulator in a surgical robotic platform. The integrated adapter comprises components including: an endoscope cannula with an internal channel that can accommodate various instruments, including but not limited to a flexible robotic manipulator, an endoscope, or an endoscopic camera; a quick-release and alignment mechanism for connecting the endoscope cannula to the container; and a quick-release and alignment mechanism for connecting the container and the integrated adapter to a docking device on the surgical robotic platform. All controllable movements of the robotic manipulator are controlled via wired connections between knobs and corresponding positions on the robotic manipulator to ensure stability and reliability of the flexible robotic manipulator. The internal channel in the endoscope cannula can be reserved for an endoscope or an endoscopic camera. Multiple inlets can be used for the same endoscope or endoscopic camera to accommodate different situations.

[0025] In one embodiment, the present invention provides a support system for placing a flexible robotic manipulator in a surgical robot platform into a human body. The support system is intended to perform minimally invasive or non-invasive surgery using a flexible robotic manipulator. The support system provides the function of a sheath, which can effectively transmit the force required for surgical operations. The support system is intended to simplify the adaptation of the robotic manipulator and can reach a designated surgical area. The endoscope or endoscopic camera can be inserted into the support system and extended to the distal end to provide a field of view. When the endoscope or endoscopic camera is inserted, the yaw and pitch navigation of the support system can be driven by the endoscope. The support system is coupled to the flexible robotic manipulator system during operation. During the process of placing the continuum robot into the human body, the robotic manipulator can be coupled or decoupled from the support system.

[0026] The present invention provides a device structure for deploying a flexible robotic manipulator during surgery. In one embodiment, the structure comprises: a first component, which is an endoscopic cannula with multiple internal channels that can be used to deploy an endoscope, an endoscopic camera, a flexible robotic manipulator, or any endoscopic surgical tool; a second component, which is a container embedded with a flexible robotic manipulator with a quick-release and alignment interface, and can be assembled with the endoscopic cannula to form an integrated adapter; and a third component, which is a support system for supporting the integrated adapter at various positions and angles during surgery to ensure that the flexible robotic manipulator can be accurately positioned at the target area within the human body.

[0027] In one embodiment, the endoscope cannula is composed of a flexible tube and a proximal surface with free movement capability to facilitate connection with a container.

[0028] In one embodiment, the container has two connection interfaces, which are respectively connected to the endoscope sleeve and the carrying system, so as to provide driving force from the carrying system to the wire-controlled flexible robot manipulator.

[0029] In one embodiment, the carrying system can be constructed in different forms but have the same purpose, such as a customized multi-degree-of-freedom robotic arm, a commercially available medical-certified robotic arm, and a ceiling-mounted robotic arm.

[0030] In one embodiment, the bending of the distal tip of the flexible tube may be driven by the bending of the endoscope or the endoscope camera.

[0031] In one embodiment, the channel of the endoscope or endoscope camera head has more than one inlet, and a Y-shaped interconnecting conduit is provided between the inlet and a single outlet channel.

[0032] In one embodiment, each channel of the flexible robotic manipulator has more than one inlet, and a Y-shaped interconnecting conduit is provided between the inlet and a single outlet channel.

[0033] In one embodiment, the structure of the present invention provides the user with the possibility of switching between different entrances of the channel, thereby increasing the freedom of use of the endoscope cannula in different directions.

[0034] In one embodiment, the structure is independently operable to enable a user to deploy the endoscope cannula together with the endoscope or endoscope camera into the human body.

[0035] In one embodiment, each inlet of the endoscope or endoscope camera is provided with a locking mechanism that can reduce the diameter of the inlet to fix the position of the endoscope or endoscope camera.

[0036] In one embodiment, the container embeds one or more flexible robotic manipulators controllable via actuation wires.

[0037] In one embodiment, the flexible robotic manipulator is controlled via a wired connection between the knob and the container, as well as wires built into the flexible robotic manipulator.

[0038] In one embodiment, a quick release and alignment interface is provided between the container and the endoscope cannula, allowing the endoscope cannula to be connected in 90 degree increments.

[0039] In one embodiment, there is a quick release and alignment interface between the container and the carrier system, allowing drive power to be transferred from the motor inside the carrier system to the flexible robotic manipulator.

[0040] In one embodiment, the container is connected to the endoscope cannula after the endoscope cannula and the carrying system are positioned in place.

[0041] In one embodiment, the carrying system can be manipulated manually to control the position and direction of the distal end of the carrying system.

[0042] In one embodiment, the carrying system can be connected to the endoscope cannula through the container at different positions and orientations, and the endoscope cannula is positioned in place by a user.

[0043] In one embodiment, the carrying system is in the form of a multi-degree-of-freedom robotic arm and can be mounted on a mobile station to facilitate flexible transportation between different locations.

[0044] In one embodiment, the carrying system takes the form of a ceiling-mounted robotic arm and can be installed in a complete operating room to minimize the space occupied by the system.

[0045] In one embodiment, the carrying system remains locked unless the user changes the position or orientation by issuing an unlock command.

[0046] In one embodiment, the carrying system remains locked unless the user changes the position or orientation by issuing an unlock command.

[0047] The present invention provides an adapter for one or more robotic manipulators. In one embodiment, the adapter comprises: a) a container 101 connected to a carrying system; b) a cannula 102 connected to the container 101, the cannula 102 including at least one channel for inserting the one or more robotic manipulators; c) a plurality of control devices 118, each of the control devices 118 being adapted to control the diameter of one of the at least one channel; the at least one channel including two or more inlets 107 that converge into a single channel; and each of the two or more inlets 107 being located on opposite sides of the container 101 or the cannula 102.

[0048] In one embodiment, the sleeve 102 is detachable from the container 101 .

[0049] In one embodiment, the one or more robotic manipulators 103 are selected from a dissector 104 or a lifter 105 .

[0050] In one embodiment, the one or more robotic manipulators 103 are controlled-by-wire flexible robotic manipulators.

[0051] In one embodiment, the at least one channel comprises a channel for inserting one or more selected from an endoscope, an endoscope camera 106 or an endoscopic surgical tool.

[0052] In one embodiment, the adapter further comprises one or more containers 101 .

[0053] In one embodiment, the carrying system is selected from a customized multi-degree-of-freedom robotic arm 108 , a commercially available medically certified robotic arm 109 , or a ceiling-mounted movable robotic arm 111 .

[0054] In one embodiment, the two or more inlets 107 converge into the same channel in a Y-shaped structure 114 .

[0055] In one embodiment, the sleeve 102 includes a tiltable surface for coupling with the container 101 .

[0056] In one embodiment, the container 101 has a shape suitable for connecting to the carrying system.

[0057] In one embodiment, the adapter further comprises a quick release and alignment interface for connecting the container 101 and the sleeve 102 .

[0058] In one embodiment, the adapter further comprises a quick release and alignment interface for connecting the container 101 and the carrying system.

[0059] In one embodiment, the cannula 102 is a flexible tube and includes a distal tip driven by the one or more robotic manipulators 103 .

[0060] In one embodiment, at least one of the control devices 118 is a knob.

[0061] In one embodiment, the carrier system connected to the container 101 provides power for driving the one or more robotic manipulators 103 .

[0062] The present invention also provides a method for using the adapter of the present invention during surgery. In one embodiment, the adapter includes a cannula 102 detachable from the container 101, and the method includes the following steps: a) positioning the cannula 102 at a target location; b) inserting an endoscope or an endoscope camera 106 into one of the at least one channel through one of the two or more inlets 107; c) connecting the container 101 to a carrying system; and d) connecting the container 101 to the cannula 102.

[0063] In one embodiment, step (d) comprises manipulating the container 101 by the carrying system.

[0064] In one embodiment, the step (d) includes beveling the proximal surface of the sleeve 102 and connecting it to the container 101 .

[0065] In one embodiment, step (c) comprises connecting the container 101 to the carrier system at a quick release and alignment interface suitable for transmitting power from the carrier system to the one or more robotic manipulators 103.

[0066] In one embodiment, the method further comprises retracting the endoscope or the endoscope camera 106 after step (d).

[0067] The present invention provides an integrated adapter 100 for a robotic manipulator 103 in a surgical robot platform. In one embodiment, the system includes a detachable and flexible endoscope cannula 102 and a container 101 assembled with the robotic manipulator 103.

[0068] The endoscope sleeve 102 can be separated from the container 101, and a quick release and alignment mechanism is provided between the two.

[0069] The container 101 may be assembled with one or more robotic manipulators 103 .

[0070] The robot manipulator 103 includes but is not limited to a dissector 104 with a tissue stripping function and a lifter 105 with a tissue traction function.

[0071] Typically, three or more channels are provided in the endoscope cannula, at least one of which is used to allow an endoscope or an endoscope camera 106 to be inserted.

[0072] The endoscope cannula has a plurality of inlets 107 for inserting the endoscope or endoscope camera 106 to adapt to different surgical scenarios.

[0073] In one embodiment, the entire system comprises a plurality of containers 101 .

[0074] To adapt to different surgical scenarios or installation requirements of different operating rooms, the integrated adapter 100 can be installed or connected to different carrying systems 108 , 109 , 111 .

[0075] In one embodiment, the integrated adapter is connected to a custom multi-DOF robotic arm 108 .

[0076] In one embodiment, the integrated adapter is connected to a commercially available medically certified robotic arm 109 .

[0077] The customized multi-degree-of-freedom robotic arm 108 and the commercially available medical-certified robotic arm 109 are both mounted on a movable platform, and at least one operator 110 performs the surgical operation at the bedside.

[0078] In one embodiment, the carrying system may be a ceiling movable robotic arm 111 , which is widely used in operating rooms.

[0079] The endoscope cannula 102 is positioned before being connected to the container 101 to ensure that the distal tip of the cannula, the endoscope or the endoscope camera 106 is located at the target location in the human body.

[0080] The container 101 is manipulated by the right hand of the surgeon 112 , while the endoscope or endoscope camera is manipulated by the left hand of the surgeon 112 .

[0081] The surgeon 112 can insert an endoscope or an endoscope camera 106 into the distal end of the endoscope cannula 102 through the inlet 107 on the container 101 .

[0082] The endoscope or endoscope camera head 106 can be withdrawn from the endoscope sleeve 102 at any time for lens cleaning.

[0083] The viewing angle of the endoscope or the endoscope camera 106 can be adjusted by rotating the endoscope or the endoscope camera 106 with the left hand of the surgeon 112 .

[0084] The endoscope sleeve 102 has at least two inlets 107 for inserting an endoscope or an endoscope camera, and the same outlets are located at the distal end of the endoscope sleeve 102 .

[0085] Each of the robotic manipulators 113 is provided with at least two inlets on the proximal surface of the endoscope cannula 102 , and the same outlet is located at the distal end of the endoscope cannula 102 .

[0086] The multi-inlet and single-outlet mechanism of the endoscope or endoscope camera channel and the robot manipulator channel adopts a Y-shaped interconnecting pipe 114 set inside the endoscope sleeve, so that each of the inlets leads to the same end point.

[0087] In one embodiment, no specific entrance is assigned to the flexible robotic manipulator 103 or other tools, and all entrances can be used to allow different flexible robotic manipulators to enter. This design facilitates operation by left-handed or right-handed surgeons 112, while providing greater flexibility to handle complex surgical environments.

[0088] A knob 118 for reducing the diameter of the endoscope or endoscope camera channel is provided at the entrance of the endoscope or endoscope camera channel. The knob 118 can prevent the endoscope camera from sliding axially in the endoscope cannula channel.

[0089] Once the endoscope cannula 102 is positioned, the surgeon 112 can manipulate the carrier system 111 to connect the container 101 to the endoscope cannula 102 to deploy the flexible robotic manipulator 103 into the human body.

[0090] The endoscope cannula 102 is equipped with a quick release and alignment mechanism 115 that can be connected to the container 101 to assemble into an integrated adapter 100.

[0091] In one embodiment, the proximal surface of the endoscope cannula 102 can be tilted relative to the rest of the endoscope cannula 102. The tilting feature allows it to more easily fit the container 101 connected to the carrier system 111.

[0092] The flexible robotic manipulator 103 is controlled via a wired connection, including: a connection interface 115 between the endoscope cannula 102 and the container 101 , and a fixed node 116 between the container 101 and the carrying system 111 .

[0093] The shape of the container 101 can vary according to different structures of the carrying system 111 .

Claims

1. An adapter for one or more robotic manipulators (103), characterized in that: The adapter comprises: a. a container (101) connected to the carrying system; b. a cannula (102) connected to the container (101), the cannula (102) comprising at least one channel for inserting the one or more robotic manipulators; c. a plurality of control devices (118), each of said control devices (118) being adapted to control a diameter of one of said at least one channel; The at least one channel includes two or more inlets (107) that converge into the same channel; and each of the two or more inlets (107) is located on opposite sides of the container (101) or the sleeve (102).

2. The adapter according to claim 1, wherein: The sleeve (102) is detachable from the container (101).

3. The adapter according to claim 1, wherein: The one or more robotic manipulators (103) are selected from a dissector (104) or a lifter (105).

4. The adapter according to claim 1, wherein: The one or more robotic manipulators (103) are controlled-by-wire flexible robotic manipulators.

5. The adapter according to claim 1, wherein: The at least one channel includes a channel for inserting one or more selected from an endoscope, an endoscopic camera (106) or an endoscopic surgical tool.

6. The adapter according to claim 1, wherein: The adapter further comprises one or more containers (101).

7. The adapter according to claim 1, wherein: The carrying system is selected from a customized multi-degree-of-freedom robotic arm (108), a commercially available medically certified robotic arm (109), or a ceiling movable robotic arm (111).

8. The adapter according to claim 1, wherein: The two or more inlets (107) converge into the same channel in a Y-shaped structure (114).

9. The adapter according to claim 1, wherein: The sleeve (102) includes a tiltable surface for connecting to the container (101).

10. The adapter according to claim 1, wherein: The container (101) has a shape suitable for connection to the carrying system.

11. The adapter according to claim 1, wherein: The adapter further comprises a quick release and alignment interface for connecting the container (101) and the sleeve (102).

12. The adapter according to claim 1, wherein: The adapter further comprises a quick release and alignment interface for connecting the container (101) and the carrier system.

13. The adapter according to claim 1, wherein: The cannula (102) is a flexible tube and includes a distal tip driven by the one or more robotic manipulators (103).

14. The adapter according to claim 1, wherein: At least one of the control devices (118) is a knob.

15. The adapter according to claim 1, wherein: The carrying system connected to the container (101) provides power for driving the one or more robotic manipulators (103).

16. A method for using the adapter of claim 1 in surgery, characterized in that: The sleeve (102) is detachable from the container (101), and the method comprises the following steps: a. Positioning the cannula (102) at a target location; b. inserting an endoscope or an endoscope camera (106) into one of the at least one channel from one of the two or more entrances (107); c. connecting the container (101) to a carrying system; and d. Connect the container (101) to the sleeve (102).

17. The method according to claim 16, wherein: The step (d) comprises manipulating the container (101) by the carrying system.

18. The method according to claim 16, wherein: The step (d) includes beveling the proximal surface of the sleeve (102) and connecting it to the container (101).

19. The method according to claim 16, wherein: The step (c) comprises connecting the container (101) to the carrier system at a quick release and alignment interface suitable for transmitting power from the carrier system to the one or more robotic manipulators (103).

20. The method according to claim 16, wherein: The method further comprises retracting the endoscope or the endoscope camera (106) after step (d).

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