Surgical robotic system and applications and parts therefore

Abstract

The present invention provides an end-effector system (200) for a surgical, microsurgical or super-microsurgical robot arm, said system comprising an end effector (300), a sterile drape (308) configured to cover the end-effector (300) and a surgical instrument adapter (400), configured to transmit a movement of a tip portion of first and second movable fingers (304, 306) of the end-effector (300) to at least one surgical instrument (500) to be operated through the robot arm.

Description

[0001] Surgical Robotic System and applications and parts therefore

[0002] The present invention belongs to the technical field of robotic systems for use in surgery, microsurgery or super-microsurgery.

[0003] In particular, the present invention relates to an end-effector system and a robot arm for use in surgery, microsurgery or super-microsurgery procedures.

[0004] According to a non-limiting example, the end-effector system and robot arm can be used to perform anastomoses.

[0005] Different kinds of surgical instruments are usually necessary when a surgical, microsurgical or super-microsurgical operation is carried out.

[0006] These surgical instruments are often configured to be manually held and manipulated by an operator (e.g., a surgeon).

[0007] Alternatively, said surgical instruments can be manipulated through a robotic system comprising one or more robot arms.

[0008] An exemplary configuration of a robotic system for use in surgery, microsurgery or super-microsurgery is shown in Figs. 1-2.

[0009] The use of a robotic system facilitates accurate movements with micrometer precision without substantial tremor, thereby superseding the limitations of human hand manipulation.

[0010] However, this requires the use of an adapter, providing an interface between the surgical instrument and the end-effector of the robotic arm. Surgical instrument adapters for use in robotic systems are known in the art.

[0011] In particular, these adapters are configured to provide an interface between the endeffector and one or more surgical instruments to be manipulated through the robot arm.

[0012] EP3363401A1 discloses a robotic manipulator interface for coupling a hinged surgical tool to a manipulator of a surgical robot, the interface comprising a first interface member to be coupled to the manipulator, and a second interface member to be coupled to the first interface member, the second interface member being arranged to mount the hinged surgical tool, wherein the first interface member comprises a pinching mechanism for pinching the hinged surgical tool when the second interface member is coupled to the first interface member.

[0013] EP1232836A1 discloses a robot carrier for tweezers, the robot carrier comprising a housing to be mounted on the arm of the robot and enclosing an operating drive for tweezers and a mounting and indexing support. A motor actuates pusher cam arms to engage the legs of the tweezers to open and close them. The housing is open at one end to receive the tweezers.

[0014] Surgical instruments of the same kind, even from the same manufacturer, may have some small structural differences between one another, especially when hand-finished or when some slight constructional changes are carried out by the manufacturer.

[0015] In these cases, known end-effectors may be unable to reliably interface with the slightly modified surgical instrument.

[0016] Additionally, it must be considered that a significant number of instruments for use in surgical, microsurgical or super-microsurgical procedures are specifically designed for manual use.

[0017] These manual instruments poorly interface with known end-effectors, and thus need to be manually operated.

[0018] Another limit of said known solutions is that it is often difficult to maintain the sterile barrier during surgical instrument replacement.

[0019] Since surgical instrument replacement is carried out over an open wound of the patient, it is of utmost importance that the sterile barrier is maintained in order to prevent the risk of infections or other diseases for the patient.

[0020] Yet another limit of said known solutions is that they do not always allow the operator to easily and safely perform surgical instrument replacement.

[0021] In particular, there is the risk of accidental interaction with the patient and / or with other devices or objects that are present in the surroundings.

[0022] A still further issue of said known solutions relates to the risk of unwanted interference with medical gloves worn by the operator. An improved solution is disclosed in WO2022233585A1 , disclosing an end-effector system for a surgical, microsurgical or super-microsurgical robot arm. This known endeffector system comprises an end-effector including an end effector base, a first movable finger and a second movable finger, said first and second movable fingers extending from the end-effector base; a sterile drape, configured to cover the endeffector; and a surgical instrument adapter, configured to slide onto the draped first and second fingers of the end-effector and be locked in place by means of a locking mechanism.

[0023] An example of this known end-effector system is shown in Fig. 3.

[0024] In the configuration according to WO2022233585A1 , the surgical instrument adapter comprises a clip to at least one surgical instrument, configured to hold the at least one surgical instrument in a predefined orientation with respect to the end-effector, and to transmit a movement of a tip portion of the first and second fingers of the end-effector to the at least one surgical instrument, to manipulate said at least one surgical instrument.

[0025] In order to ensure a high level of precision for an end-effector system, it is necessary to obtain a reliable connection between the surgical instrument adapter and both the end-effector base and the surgical instrument to be manipulated.

[0026] In addition, it is important that the adapter is appropriately handled by the operator upon connection / removal with respect to the end-effector, thereby preventing the risk of accidental interference with sharp portions of the surgical instrument and / or organic matter of the patient.

[0027] For instance, when connecting a surgical instrument adapter as described in WO2022233585A1 to the end-effector base, the user should hold the adapter as illustrated in Fig. 4.

[0028] This allows keeping the user’s hand away from the sharp tip of the surgical instrument.

[0029] However, user trials revealed a tendency among the involved operators to hold the adapter in an unintentional way as shown, e.g., in Fig. 5, which exposes the user’s hand to the risk of unwanted interaction with the tip of the surgical instrument, which is sharp and likely covered with organic matter of the patient. In particular, as apparent from Fig. 5, most of the operators handled the adapter by placing their fingers on the interface that was actually intended for removal of the adapter from the end-effector base, and not for connection.

[0030] Only a few among the involved operators maneuvered the surgical instrument adapter through the intended interface (as shown in Fig. 4).

[0031] This revealed the need for an improved solution, allowing the operator to naturally and intuitively handle and maneuver the adapter in a correct way, thereby preventing the risk of unwanted interference of the hand with sharp portions of the surgical instrument and / or organic matter of the patient.

[0032] Additionally, the operators involved in the trial showed a great interest in a clear feedback (e.g. an audible and / or tactile feedback, such as a “click”), confirming that the connection between the adapter and the end-effector has been correctly accomplished.

[0033] Currently, the configuration according to WO2022233585A1 only allows providing a feedback when closing / opening the locking portions around the tip portions of the movable fingers, while no audible and / or tactile feedback is provided to confirm correctness of the placement of the adapter with respect to the end-effector.

[0034] In the light of the above, it is an object of the present invention to provide an improved end-effector system that allows an operator (e.g. a surgeon) to easily handle a surgical instrument adapter and connect / remove said surgical instrument adapter with respect to the end-effector more intuitively and with enhanced safety and reliability.

[0035] The above-specified object is achieved by the provision of an end-effector system as defined in claim 1 .

[0036] According to the invention, an end-effector system for a surgical, microsurgical or super-microsurgical robot arm is provided, said end-effector system at least comprising: an and-effector comprising: an end-effector base, a first movable finger, and a second movable finger, said first and second movable fingers distally extending from the end-effector base; a sterile drape, configured to cover the end-effector, and a surgical instrument adapter, configured to transmit a movement of a tip portion of the first and second movable fingers of the end-effector to at least one surgical instrument to be operated through the robot arm, said surgical instrument adapter comprising: a first movable arm; a second movable arm, and a base portion, the first movable arm and the second movable arm being hingedly connected through said base portion, wherein the base portion of the surgical instrument adapter comprises: a first locking portion, comprising or defining a connection means for detachably connecting the surgical instrument adapter to the end-effector base, wherein said first locking portion is configured to switch between: a first, locked state where the first locking portion is configured to secure the surgical instrument adapter to the end-effector, and a second, unlocked state for removing the surgical instrument adapter from the end-effector, and a user interface portion, configured to be operated through the fingers of a user to switch the first locking portion between the first, locked state and the second, unlocked state, and wherein the surgical instrument adapter further includes a second locking portion, comprising or defining a connection means for detachably connecting the surgical instrument adapter to the at least one surgical instrument to be manipulated trough the robot arm.

[0037] The present invention provides an end-effector system. In particular, the end-effector system is adapted for use with a surgical, microsurgical or super-microsurgical robot arm.

[0038] The robot arm can be of the kind of the robot arms 112, 114 described above with respect to Figs. 1-2.

[0039] As a non-limiting example, the robot arm can be adapted for use in performing anastomoses.

[0040] The end-effector system comprises an end-effector.

[0041] The end-effector comprises an end-effector base.

[0042] The end-effector further comprises a first movable finger and a second movable finger.

[0043] The first and second movable fingers distally extend from the end-effector base.

[0044] The system further comprises a sterile drape.

[0045] The sterile drape is configured to cover the end-effector.

[0046] Still further, the system comprises a surgical instrument adapter.

[0047] The surgical instrument adapter is configured to transmit a movement of a tip portion of the first and second movable fingers of the end-effector to at least one surgical instrument to be operated through the robot arm.

[0048] The surgical instrument adapter comprises a first movable arm and a second movable arm.

[0049] The first movable arm and the second movable arm hingedly connected through the base portion.

[0050] The base portion of the surgical instrument adapter comprises a first locking portion.

[0051] In particular, the first locking portion comprises or defines a connection means for detachably connecting the surgical instrument adapter to the end-effector base.

[0052] The first locking portion is configured to switch between a first, locked state and a second, unlocked state.

[0053] In the first, locked state, the first locking portion is configured to secure the surgical instrument adapter to the end-effector. On the other hand, in the second, unlocked state the first locking portion allows removal of the surgical instrument adapter from the end-effector.

[0054] The base portion of the surgical instrument adapter further includes a user interface portion.

[0055] In particular, the user interface portion is configured to be operated through the fingers of a user to switch the first locking portion between the first, locked state and the second, unlocked state.

[0056] Preferably, the user interface portion has a shape that is easy and intuitive to grasp and manipulate though the user’s fingers.

[0057] The surgical instrument adapter further includes a second locking portion.

[0058] In particular, the second locking portion comprises or defines a connection means for detachably connecting the surgical instrument adapter to the at least one surgical instrument to be manipulated trough the robot arm.

[0059] The invention is based on the basic idea that, by the provision of a surgical instrument adapter including the structural features specified above, the operator (e.g. a surgeon) is enabled to easily and intuitively connect / remove the adapter with respect to the endeffector in a correct and safe manner, thereby preventing the risk of unwanted interference of the user’s hand with sharp portions (e.g. the tip) of the surgical instrument and / or organic matter from the patient. Therefore, the adapter can be safely handled without any risk of injury and / or contamination for the operator.

[0060] When holding and connecting the surgical instrument adapter to the end-effector, the operator is naturally induced to place his / her fingers on the user interface portion.

[0061] This allows to stably hold the adapter while connecting to the end-effector, and also to keep the operator’s hand away from the sharp tip of the instrument, thereby preventing the risk of injuries and / or contamination with organic matter of the patient.

[0062] Similarly, when removing the surgical instrument adapter from the end-effector, there is no sufficiently large surface for the operator to place his / her fingers other than the user interface portion.

[0063] Therefore, the operator will again be naturally induced to grasp the adapter by placing his / her fingers on the user interface portion. Advantageously, the first movable arm may comprise or define a first grip portion at its distal end.

[0064] The first grip portion is configured to detachably connect the distal end of the first movable arm to the tip portion of the first movable finger of the end-effector.

[0065] Similarly, the second movable arm may comprise or define a second grip portion at its distal end.

[0066] The second grip portion is configured to detachably connect the distal end of the second movable arm to the tip portion of the second movable finger of the end-effector.

[0067] This further improves reliability and stability of connection between the adapter and the end-effector.

[0068] Advantageously, the shape of the first and second grip portions can be complementary with respect to the shape of the tip portion of the first and second movable fingers of the end-effector.

[0069] This further facilitates the operator while connecting the first and second movable arms of the adapter to the tip portion of the first and second movable fingers of the endeffector.

[0070] Preferably, connection between the first and second grip portions and the tip portion of the first, respectively second movable fingers of the end-effector is obtained through snap-fitting.

[0071] Besides providing a reliable and stable connection, snap-fitting is also advantageous as it provides a clear audible and / or tactile feedback for the operator, confirming that connection has been correctly accomplished.

[0072] When the adapter is connected to the end-effector, the end-effector is covered by the sterile drape.

[0073] The presence of parts of the sterile drape, and in particular a soft, elastic portion of the same, interposed between the first and second grip portions and the tip portion of the first, respectively second movable fingers facilitates snap-fitting and prevents the risk of unwanted displacement during use. Advantageously, the first grip portion can me made in one-piece with the first movable arm of the surgical instrument adapter. Similarly, the second grip portion can be made in one-piece with the second movable arm of the surgical instrument adapter.

[0074] This allows to obtain structural simplification for the surgical instrument adapter.

[0075] In particular, the distal end of the first and second movable arms can be shaped so as to embrace the tip portion of the first, respectively second movable fingers of the endeffector.

[0076] This allows providing alignment in all directions, except along the longitudinal axis of the surgical instrument.

[0077] Advantageously, the second locking portion may comprise a first U-shaped portion and a second U-shaped portion.

[0078] The first U-shaped portion inwardly extends from the first movable arm.

[0079] Preferably, the first U-shaped portion inwardly extends from the distal end of the first movable arm.

[0080] Similarly, the second U-shaped portion inwardly extends from the second movable arm.

[0081] Preferably, the second U-shaped portion inwardly extends from the distal end of the second movable arm.

[0082] Preferably, the first and second U-shaped portions are configured for connection with the at least one surgical instrument through snap-fitting.

[0083] Accordingly, the at least one surgical instrument can be stably and reliably maintained in place, thereby improving the overall level of precision of the system.

[0084] Also, snap-fitting allows to provide a clear audible and / or tactile feedback for the operator, confirming that connection has been correctly accomplished.

[0085] The connection between the U-shaped portions and the at least one surgical instrument is of the same kind as the connection between the first and second movable arms and the tip portion of the first and second movable fingers of the end-effector.

[0086] This results in the same kind of interaction for both connections at the same position on the surgical instrument adapter, making the occurrence of incorrect connection or misplacement less likely. The first U-shaped portion may comprise a first opening and a first protruding portion.

[0087] Similarly, the second U-shaped portion may comprise comprises a second opening and a second protruding portion.

[0088] In particular, the first protruding portion and the second opening, respectively the second protruding portion and the first opening have complementary shapes.

[0089] This allows to obtain shape-coupling between these components when the first and second movable arms are brought into a closed state.

[0090] Accordingly, reliable and durable coupling can be achieved in a user-friendly, intuitive manner.

[0091] Conveniently, coupling can be implemented through snap-fitting.

[0092] Advantageously, the user interface portion may include a first interface part and a second interface part, configured to be grasped and operated through the user’s fingers to control a state of the first locking portion.

[0093] Preferably, the first and second interface parts have a concave shape.

[0094] The concave shape of the first and second interface parts allows increasing the grip of the operator on the user interface portion, thereby enabling the operator to hold and manipulate the user interface portion with improved precision and ease.

[0095] The first and second interface parts may be configured to switch between a first position and a second position.

[0096] In the first position, the first and second interface parts are spaced apart from one another and the first locking portion is maintained in the first, locked state.

[0097] In the second position, the first and second interface parts are brought closer to one another by exerting a pressing force on said first and second interface parts, and the first locking portion is switched to the second, unlocked state.

[0098] During operation of the robot arm, the first and second interface parts are naturally in the first, spaced-apart position, and the first locking portion is stably maintained in the first, locked state.

[0099] Accordingly, the adapter is reliably connected and maintained in place with respect to the end-effector. When it is intended to remove the adapter from the end-effector, it is sufficient for the operator to act on the first and second interface parts with his / her fingers by exerting a pressing force.

[0100] Then, the adapter can be separated from the end-effector by exerting a force downwards towards the distal direction while the first locking portion is disengaged from the end-effector base.

[0101] For instance, the first and second interface parts may be configured as concave levers that can be pressed with the user’s fingers to switch the first locking portion from the first, locked state to the second, unlocked state.

[0102] Each of the first and second interface parts may include a distal protruding portion.

[0103] Conveniently, the distal protruding portion is formed in one-piece with each of the first and second interface parts, for ease of manufacturing.

[0104] The distal protruding portions allow optimizing a force exerted through the operator’s fingers toward the distal direction when disconnecting the adapter from the endeffector.

[0105] Also, the distal protruding portions prevent the adapter from accidentally slipping from the operator’s hand, in particular when removing the adapter from the end-effector.

[0106] Additionally or alternatively, the first and second interface parts may include a proximal protruding portion.

[0107] The proximal protruding portions allow optimizing a force exerted through the operator’s fingers toward the proximal direction when connecting the adapter to the end-effector base.

[0108] In particular, the provision of the proximal protruding portions allows the operator to connect the adapter to the end-effector without the need of exerting a pressing force on the interface parts.

[0109] Conveniently, the sterile drape may comprise a glove-like portion.

[0110] The glove-like portion is made of a soft, elastic material, e.g., silicon.

[0111] The sterile drape may further comprise a cuff. The cuff is configured for connection to the glove-like portion and to the end-effector.

[0112] Still further, the sterile drape may comprise a locking element.

[0113] The locking element is configured to be connected to the end-effector base.

[0114] In this configuration, the glove-like portion is configured to cover at least the first and second movable fingers of the end-effector, and the locking element.

[0115] The first locking portion of the adapter is configured for shape-coupling with respect to the draped locking element.

[0116] In this context, the definition “draped locking element” denotes a condition where the locking element is covered by the glove-like portion.

[0117] This allows achieving a reliable connection between the adapter and the end-effector base (via the locking element).

[0118] The glove-like portion, which is made of a soft, elastic material such a silicon, provides an elastic interface allowing preventing displacement of the adapter with respect to the locking element (and, in turn, the end-effector) during operation.

[0119] Conveniently, the first locking portion of the adapter may have a tapered shape.

[0120] Here, the locking element has a corresponding recessed portion.

[0121] This allows further improving the operator’s convenience when connecting the adapter to the locking element (and, in turn, to the end-effector).

[0122] In other words, connection between the adapter and the locking element can be achieved more intuitively.

[0123] The first locking portion may include a first protrusion and a second protrusion.

[0124] In a non-limiting example, the first protrusion and the second protrusion may be conveniently formed on opposite sides of the first locking portion.

[0125] The first protrusion and the second protrusion are configured to engage with corresponding first and second grooves formed in the locking element.

[0126] Advantageously, the first and second protrusions of the first locking portion are configured to engage with corresponding grooves provided in the locking element through snap-fitting. As mentioned, snap-fitting is convenient as it allows providing the user with a clear audible and / or tactile feedback, confirming that connection has been correctly accomplished.

[0127] The presence of the glove-like portion interposed between the first locking portion of the adapter and the locking element provides an elastic interface that helps maintaining the adapter in place with respect to the locking element and, in turn, to the end-effector.

[0128] To disengage the adapter from the locking element, thus removing the adapter from the end-effector, the operator acts on the first and second interface parts with his / her fingers, exerting a pressing force as mentioned above.

[0129] The pressing force exerted by the operator with his / her finger on the first and second interface parts is then diverted via a lever mechanism, thus determining disengagement between the first and second protrusions of the first locking portion and corresponding grooves formed in the locking element.

[0130] Advantageously, the locking element may be circular in cross-section.

[0131] The locking element may comprise a rim portion.

[0132] The rim portion allows for connection of a proximal end of the glove-like portion to the cuff.

[0133] Advantageously, the first and second U-shaped portions are configured to maintain alignment between the longitudinal axis of the at least one surgical instrument and the longitudinal axis of the end-effector at the point of interaction between the surgical instrument adapter and the surgical instrument.

[0134] Also, the first locking portion is configured to maintain alignment of the surgical instrument adapter along the longitudinal axis of the at least one surgical instrument.

[0135] Accordingly, the at least one surgical instrument can be manipulated with an improved level of precision and ease. The components of the surgical instrument adapter can be made of the same material.

[0136] For instance, said material may advantageously include Polyamide 6 (PA6), Polyamide 11 (PA11 ), Polyamide 12 (PA12), Polyamide 66 (PA66), Polyether ether ketone (PEEK), Polypropylene (PP), Polyethylene terephthalate (PET), and / or Polyphenylsulfone (PPSU). The cuff and the locking element can be made, e.g., of low density polyethylene

[0137] (LDPE).

[0138] The surgical instrument adapter may be configured to hold an additional surgical instrument.

[0139] For instance, said additional surgical instrument may include scissors.

[0140] The present invention further provides a surgical instrument adapter for an end-effector system, said surgical instrument adapter comprising the adapter features as defined in the foregoing.

[0141] The surgical instrument adapter is configured to transmit a movement of a tip portion of the first and second movable fingers of the end-effector to at least one surgical instrument to be operated through the robot arm.

[0142] The surgical instrument adapter comprises a first movable arm.

[0143] The surgical instrument adapter further comprises a second movable arm.

[0144] Still further, the surgical instrument adapter comprises a base portion.

[0145] The first movable arm and the second movable arm are hingedly connected through said base portion.

[0146] The base portion of the surgical instrument adapter comprises a first locking portion.

[0147] In particular, the first locking portion comprises or defines a connection means for detachably connecting the surgical instrument adapter to the end-effector, e.g., through the locking element described in the foregoing.

[0148] The first locking portion is configured to switch between: a first, locked state, and a second, unlocked state.

[0149] In the first, locked state, the first locking portion is configured to secure the surgical instrument adapter to the end-effector.

[0150] On the other hand, when the first locking portion is switched to the second, unlocked state, the surgical instrument adapter can be removed from the end-effector base. The base portion of the surgical instrument adapter further comprises a user interface portion.

[0151] The user interface portion is configured to be operated through the fingers of a user to switch the first locking portion between the first, locked state and the second, unlocked state.

[0152] There is also a second locking portion provided in the surgical instrument adapter.

[0153] In particular, said second locking portion comprises or defines a connection means for detachably connecting the surgical instrument adapter to the at least one surgical instrument to be manipulated trough the robot arm.

[0154] Furthermore, the surgical instrument adapter may comprise all the features of the surgical instrument adapter as described and disclosed in this disclosure.

[0155] Still further, the present invention provides a surgical, microsurgical or super- microsurgical robot arm, said robot arm including an end-effector system as described above.

[0156] As a non-limiting example, the robot arm may be configured to perform anastomoses.

[0157] Further advantages of the present invention shall now be disclosed in connection with the drawings, where:

[0158] Fig. 1 schematically shows a robotic system for use in surgery, microsurgery or super-microsurgery according to the prior art, in an operative state;

[0159] Fig. 2 schematically shows a detail of the surgical robotic system of Fig. 1 , where different sections of the robotic system, respectively denoted with letters A, B, C, are identified;

[0160] Fig. 3 shows an end-effector system provided with a surgical instrument adapter, according to the prior art. Here, a surgical instrument is mounted to the adapter;

[0161] Fig. 4 shows an example of correct handling of a known surgical instrument adapter (e.g. of the kind shown in Fig. 3) when connecting the adapter to the end-effector base; Fig. 5 shows an example of incorrect handling of a known surgical instrument adapter (e.g. of the kind shown in Fig. 3) when connecting the adapter to the end-effector base, which exposes the user’s hand to the risk of unwanted contact with sharp portions of the surgical instrument and / or organic matter of the patient;

[0162] Fig. 6 shows an end-effector system according to an embodiment of the present invention, in an assembled state. Here, a surgical instrument adapter is connected to the end-effector and holds a surgical instrument in place in an operative state;

[0163] Fig. 7 is a perspective view showing the surgical instrument adapter of the endeffector system of Fig. 6;

[0164] Fig. 8 is a perspective view showing of a detail of the surgical instrument adapter of Fig. 7, connected to and holding a surgical instrument;

[0165] Fig. 9 is a view similar to that of Fig. 9, but where the glove-like portion and the locking element of the sterile drape are also shown. The glove-like portion fits over and thus covers the locking element. The locking element serves for the purpose of connecting the adapter to the end-effector base;

[0166] Fig. 10 is a view similar to that of Fig. 9, but showing a condition where the surgical instrument adapter, holding the surgical instrument, is connected to the end-effector base. A cuff, which is part of the sterile drape, is also shown. The cuff is connected to the end-effector (e.g., through snapfitting) and to the glove-like portion;

[0167] Fig. 11 is a detail view of the locking element;

[0168] Fig. 12 is a perspective view showing a detail of the glove-like portion and the locking element, in a mounted state. The glove-like portion covers the locking element;

[0169] Fig. 13 is a schematic view illustrating how the surgical instrument adapter is connected (see top half of the figure) / removed (see bottom part of the figure) with respect to the end-effector. Connection between the adapter and the end-effector is accomplished through the locking element; Fig. 14 is a schematic view illustrating a user interface portion of the surgical instrument adapter in a first position corresponding to a first, locked state of the first locking portion of the adapter, and a second position, corresponding to a second, unlocked state do the first locking portion of the adapter, allowing for removal of the adapter from the locking element;

[0170] Fig. 15 shows a detail of the user interface portion of the surgical instrument adapter;

[0171] Fig. 16 is a schematic view illustrating the first locking portion of the surgical instrument adapter in the first, locked state, connected to the draped locking element (and, in turn, to the end-effector);

[0172] Fig. 17 is a schematic view illustrating the first locking portion of the surgical instrument adapter in the first, locked state, in greater detail. Here, protruding portions formed on the first locking portion of the adapter engage with corresponding grooves formed in the locking element;

[0173] Fig. 18 is a schematic view illustrating the first locking portion of the surgical instrument adapter in the second, unlocked state, while being disconnected from the draped locking element (and, in turn, removed from the end-effector);

[0174] Fig.19 is a schematic view illustrating the first locking portion of the surgical instrument adapter in the second, unlocked state, in greater detail. Here, the protruding portions formed on the first locking portion of the adapter are disengaged from the corresponding grooves formed in the locking element;

[0175] Fig. 20 shows the end-effector system of Fig. 6 during connection of the surgical instrument adapter to the end-effector (through the locking element, although not visible in the figure). Here, the operator’s fingers are placed on a user interface portion. A proximal protruding portion facilitates the user while exerting a force toward the proximal direction to connect the adapter to the end-effector;

[0176] Fig. 21 shows the end-effector system of Fig. 6 during connection of first and second movable arms of the surgical instrument adapter to a tip portion of the first and second movable fingers of the end effector. Here, connection is obtained by first and second grip portions formed at the distal end of the first and second movable arms of the adapter. The operator exerts a pushing force on each of the first and second movable fingers to connect the tip portion of the first and second movable fingers to a respective grip portion of the adapter, though snap-fitting;

[0177] Fig. 22 shows a perspective view from the distal direction toward the proximal direction, illustrating the tip portions of the first and second movable fingers of the end-effector before connection to the first and second grip portions of the surgical instrument adapter;

[0178] Fig. 23 shows a view from the same perspective of Fig. 22, illustrating the tip portions of the first and second movable fingers of the end-effector after connection to the first and second grip portions. The surgical instrument is secured to the adapter though first and second U-shaped portions, provided at the distal end of the first and second movable arms of the adapter. Here, the first and second movable arms of the adapter are still in a closed stated due to the pressure exerted with the user’s fingers on the same;

[0179] Fig. 24 shows a view from the same perspective of Fig. 22, illustrating the endeffector system in the assembled state;

[0180] Fig. 25 shows the end-effector system of Fig. 6 during removal of the surgical instrument adapter from the end-effector. The operator’s fingers are again placed on the user interface portion. A distal protruding portion, provided at the distal side of the user interface portion, facilitates the user while exerting a force toward the distal direction to disconnect the adapter from the end-effector base.

[0181] Fig. 1 shows an example of a robotic system for use in surgery, microsurgery or supermicrosurgery.

[0182] Said exemplary system is denoted with 100.

[0183] Here, the system 100 is shown in an operating state. A first surgeon S1 and a second surgeon S2 are located at a respective side of an operating bed B to perform a surgical, microsurgical or super-microsurgical operation on a patient P, laying on operating bed B.

[0184] The robotic system 100 includes a base station 102.

[0185] The surgical robotic system 100 further includes a base column 104, here in the shape of a cylindrical pillar.

[0186] In the shown example, the base station 102 conveniently includes a display module 106 for displaying information to one or more operators, e.g. the surgeons S1 , S2 or other personnel that is present in the operating room R.

[0187] Also, the display module 106 may be used to define a user interface allowing one or more operators to provide a user input.

[0188] The base station 102 comprises a plurality of wheels 120 for ease of placement of the robotic system 100 at a desired location within the operating room R.

[0189] In the shown example, the robotic system 100 is equipped with a suspension arm 108, a fork-like element 110, a first surgical, microsurgical or super-microsurgical robot arm 112, and a second surgical, microsurgical or super-microsurgical robot arm 114.

[0190] Here, the suspension arm 108 is horizontally arranged.

[0191] Also, the suspension arm 108 has two parts allowing to adjust its length by telescopically moving said parts relatively to each other.

[0192] It is also possible that a different means is used for length adjustment of the suspension arm 108, e.g. a SCARA-mechanism, hinge mechanisms, or the like.

[0193] The suspension arm 108 is connected to the base column 104.

[0194] The suspension arm 108 carries the fork-like element 110 (e.g. a bracket).

[0195] As shown in detail in Fig. 2, the fork-like element 110 carries the first surgical, microsurgical or super-microsurgical robot arm 112 and the second surgical, microsurgical or super-microsurgical robot arm 114.

[0196] Each of the first and second robot arms 112, 114 is connected to an end-effector system carrying a surgical instrument 116, 118 (Fig. 2). The surgical instruments 116, 118 may be of the same kind, or may be different from each other.

[0197] The suspension arm 108 is configured to rotate about the longitudinal axis of the base column 104, to allow desired positioning of the fork-like element 110 and the robot arms 112, 114 with respect to the surgical site.

[0198] Similarly, the fork-like element 110 is configured to rotate about an axis of the suspension arm 108, i.e. parallel to the longitudinal axis of the base column 104.

[0199] The robotic system 100 may be adapted for use with a conventional microscope M, as shown in Fig. 2

[0200] Alternatively, a fully digital microscope (not shown) or a so-called hybrid microscope (not shown) can be used. In such a case, one or more surgeons will be located at a separate console, and a robot trolley will be located at the position of one of the surgeons S1 , S2 shown in Fig. 1.

[0201] The surgical robotic system 100 provides a large patient side setup, this meaning that no assembly is required after draping.

[0202] Fig. 2 shows different sections A, B, C of the surgical robotic system 100.

[0203] In section A, there is no movement and everything is thus stationary.

[0204] The display means 106 (included in section A) can be activated by one or more operators.

[0205] In section B, there is some movement during the surgery, in order to correctly reposition the surgical instruments 116, 118 over the patient P.

[0206] As shown in Fig. 2, a space is defined between the surgical robotic arms 112, 114 for a microscope (not illustrated but only symbolized in Fig. 2).

[0207] Section C includes, inter alia, the end-effector.

[0208] Here, several movements occur in the course of the surgical procedure.

[0209] In this context, the functions of the end-effector are, inter alia, to actuate the surgical instruments 116, 118, provide a mounting interface, and rotate around the instrument axis.

[0210] Fig. 6 shows an end-effector system 200 according to an embodiment of the invention. In particular, Fig. 6 shows the end-effector system 200 in an assembled, operative state.

[0211] The end-effector system 200 is adapted for use with a surgical, microsurgical or super- microsurgical robot arm.

[0212] The robot arm can be of the same kind of the robot arms 112, 114 described above with reference to Figs. 1-2.

[0213] As a non-limiting example, the robot arm can be adapted for use in performing anastomoses.

[0214] The end-effector system 200 comprises end-effector 300.

[0215] The end-effector 300 comprises an end-effector base 302, a first movable finger 304 and a second movable finger 306.

[0216] The movable fingers 304 and 306 distally extend from the end-effector base 302.

[0217] There is also a sterile drape 308 provided.

[0218] The sterile drape 600 is configured to cover the end-effector 300.

[0219] This allows maintaining the sterile barrier during operation.

[0220] The sterile drape 600 comprises a glove like-portion 602.

[0221] The sterile drape 600 further comprises a cuff 604.

[0222] The cuff 604 is configured for connection to the glove-like portion 602 and to the endeffector 300.

[0223] In particular, the cuff 604 is configured for connection (e.g., through snap-fitting) to a non-rotating part of the end-effector 300.

[0224] Still further, the sterile drape 600 comprises a locking element 606.

[0225] The glove-like portion 602 is configured to cover at least the first and second movable fingers 304, 306 of the end-effector 300, and the locking element 606.

[0226] The glove-like element 602 extends over the first and second movable fingers 304, 306, fitting like a glove. The system 200 also includes a surgical instrument adapter 400, providing an interface between the end-effector 300 and at least one surgical instrument 500 to be manipulated through the robot arm.

[0227] The surgical instrument adapter 400 is shown in further detail in Fig. 7.

[0228] The surgical instrument adapter 400 is configured to hold a surgical instrument 500 in an operative position, as shown in Fig. 8.

[0229] The surgical instrument adapter 400 is configured to transmit a movement of a tip portion of the first and second movable fingers 304, 306 of the end-effector 300 to the at least one surgical instrument 500.

[0230] The surgical instrument adapter 400 comprises a first movable arm 402 and a second movable arm 404 (Fig. 8).

[0231] The surgical instrument adapter 400 further comprises a base portion 406 (best visible in Figs. 7-8).

[0232] The first movable arm 402 and the second movable arm 404 are hingedly connected through the base portion 406.

[0233] This provides elasticity that allows the first and second movable arms 402, 404 to be spaced apart from one another, respectively to be brought closer to one another.

[0234] The base portion 406 of the surgical instrument adapter 400 comprises a first locking portion 408.

[0235] In particular, the first locking portion 408 comprises or defines a connection means for detachably connecting the surgical instrument adapter 400 to the end-effector 300, in particular the end-effector base 302, as described in more detail in the following. In the present embodiment, connection between the first locking portion 408 of the adapter 400 and the end-effector base 302 is accomplished through the locking element 606 of the sterile drape 600.

[0236] Fig. 9 shows the adapter 400 connected to the draped locking element 606.

[0237] As mentioned, in this context, the definition “draped locking element” denotes a condition where the locking element 606 is covered by the glove-like portion 602. Fig. 10 shows a view that is similar to that of Fig. 9, but where both the cuff 604 and the first and second movable fingers 304, 306 (covered by the glove-like portion 602) are also shown.

[0238] The locking element 606 is shown in greater detail in Fig. 11.

[0239] As mentioned, the locking element 606 is configured for connection to the end-effector base 302.

[0240] When connected to the end-effector base 302 in an operative state, the locking element 606 is covered by the glove-like portion 602 as illustrated in Fig. 12 (the endeffector base is not visible in Fig. 12).

[0241] The glove-like portion 602 has a shape that is adapted to fit over the locking element 606 upon being elastically stretched. This ensures a reliable connection against displacement.

[0242] The first locking portion 408 of the adapter 400 is configured for shape-coupling with respect to the draped locking element 606.

[0243] The presence of the glove-like portion 602, which is made of a soft, elastic material such as silicon, interposed between the first locking portion 408 of the adapter 400 and the locking element 606 of the sterile drape 600, provides an elastic interface that helps maintaining the adapter 400 in place with respect to the locking element 606 and, in turn, to the end-effector 300.

[0244] In the present embodiment, the first locking portion 408 has a tapered shape (Figs. 8- 9)

[0245] The locking element 606 comprises a correspondingly-recessed portion 608 (Fig. 11), allowing for shape-coupling.

[0246] The first locking portion 408 is configured to maintain alignment of the surgical instrument adapter along the longitudinal axis of the at least one surgical instrument 500.

[0247] In the present embodiment, as shown in Fig. 11 , the locking element 606 is circular in cross-section and comprises a rim portion 612.

[0248] The rim portion 612 allows for connection of a proximal end of the glove-like portion 602 to the cuff 604. The rim portion 606 also serves for the purpose of maintaining the correct shape of the glove-like portion 602, so that its sealing function is maintained during use.

[0249] The first locking portion 408 is configured to switch between a first, locked state and a second, unlocked state.

[0250] In the first, locked state, the first locking portion 408 secures the surgical instrument adapter 400 to the end-effector 300 (in particular, the end-effector base 302), through the locking element 606.

[0251] On the other hand, in the second, unlocked state, the first locking portion 408 disengages from the locking element 606, allowing for removal of the surgical instrument adapter 400 from the locking element 606 and, in turn, from the end-effector 300.

[0252] In particular, when the first locking portion 408 is in the second, unlocked state, the surgical instrument adapter 400 can be easily removed from the end-effector 300 by exerting a force toward the distal direction.

[0253] The base portion 406 of the surgical instrument adapter 400 further comprises a user interface portion 410.

[0254] The user interface portion 410 is configured to be handled and operated through the fingers F of a user to hold the adapter 400 and / or switch the first locking portion 408 between the first, locked state and the second, unlocked state.

[0255] In particular, the user is enabled to switch the first locking portion 408 between the first, locked state and the second, unlocked state simply by acting on the user interface portion 410 though his / her fingers F, as schematically illustrated in Fig. 13.

[0256] There is also a second locking portion 412 provided.

[0257] The second locking portion 412 comprises or defines a connection means for detachably connecting the surgical instrument adapter 400 to the at least one surgical instrument 500 to be manipulated trough the robot arm (Figs. 6 and 8-10).

[0258] In the present embodiment, the first movable arm 402 defines a first grip portion 414 at its distal end (Figs. 6-10). The first grip portion 414 is configured to detachably connect the distal end of the first movable arm 402 to the tip portion of the first movable finger 304 of the end-effector 300.

[0259] Similarly, the second movable arm 404 defines a second grip portion 416 at its distal end (Figs. 6-10).

[0260] The second grip portion 416 is configured to detachably connect the distal end of the second movable arm 404 to the tip portion of the second movable finger 306 of the end-effector 300.

[0261] In the present embodiment, the shape of the first and second grip portions 414, 416 is complementary with respect to the shape of the tip portion of the first and second movable fingers 304, 306 of the end-effector 300.

[0262] In particular, the first and second grip portions 414, 416, respectively formed at the distal end of the first and second movable arms 402, 404, are configured to embrace the tip portion of the first and second movable fingers 304, 306 of the end-effector 300 (Figs. 6 and 9-10).

[0263] By connecting the first and second grip portions 414, 416 to the tip portion of the first and second movable fingers 304, 306, it is possible to maneuver the at least one surgical instrument 500 with enhanced precision and ease.

[0264] In the present embodiment, the first and second grip portions 414, 416 are configured for connection with respect to the tip portion of the first, respectively second movable fingers 304, 306 through snap-fitting.

[0265] Snap-fitting allows obtaining a stable and reliable connection between the first and second grip portions 414, 416 and the tip portion of first and second movable fingers 304, 306.

[0266] When the adapter 400 is connected to the end-effector 300, the end-effector 300 is covered by the sterile drape 600.

[0267] The presence of the glove-like portion 602 of the sterile drape 600, which is soft and elastic, interposed between the first and second grip portions 414, 416 and the tip portion of the first, respectively second movable fingers 304, 306, facilitates snap-fitting and prevents the risk of unwanted displacement during use and the occurrence of play between interlocking elements.

[0268] Snap-fitting is also advantageous as it allows to provide the operator with a clear audible and / or tactile feedback, confirming that connection has been correctly accomplished.

[0269] In particular, when the first and second grip portions 414, 416 are respectively placed around the tip portion of the first and second movable fingers 304, 306, the operator exerts a pressing force on the movable fingers 304, 306 until perceiving an audible and / or tactile feedback (e.g. a “click”), confirming that connection has been correctly accomplished.

[0270] In the present embodiment, the first grip portion 414 is made in one-piece with the first movable arm 402 of the surgical instrument adapter 400.

[0271] Similarly, the second grip portion 416 is made in one-piece with the second movable arm 404 of the surgical instrument adapter 400.

[0272] This makes the surgical instrument adapter 400 structurally simpler and easier to manufacture.

[0273] The first and second U-shaped portions 418, 420 are configured to maintain alignment between the longitudinal axis of the at least one surgical instrument 500 and the longitudinal axis of the end-effector 300 at the point of interaction between the surgical instrument adapter 400 and the surgical instrument 500.

[0274] In the present embodiment, the second locking portion 412 comprises a first U-shaped portion 418 and a second U-shaped portion 420.

[0275] In particular, the first U-shaped portion 418 inwardly extends from the first movable arm 402.

[0276] Preferably, as shown in Figs. 6-10, the U-shaped portion 418 inwardly extends from the distal end of the first movable arm 402.

[0277] Similarly, the second U-shaped portion 420 inwardly extends from the second movable arm 404.

[0278] Preferably, as shown in Fig. 6, the second U-shaped portion 420 inwardly extends from the distal end of the second movable arm 404. The arrangement of the U-shaped portions 418, 420 in the proximity of the distal end of the first and second movable arms 402, 404 allows holding the at least one surgical instrument 500 with enhanced stability.

[0279] The connection between the U-shaped portions 418, 420 and the at least one surgical instrument 500 is of the same kind as the connection between the first and second movable arms 402, 404 and the tip portion of the first and second movable fingers 304, 306 of the end-effector 300, except for the fact that there is no part of the glove portion of the sterile drape interposed therebetween. In other words, the U-shaped portions 418, 420 are directly connected to the surgical instrument 500.

[0280] This results in the same kind of interaction for both connections at the same position on the on the surgical instrument adapter 400, making the occurrence of incorrect connection or misplacement less likely.

[0281] Also, similar as above, snap-fitting allows providing a clear audible and / or tactile feedback (e.g., a “click”), confirming that connection has been correctly accomplished.

[0282] In the present embodiment, as shown, e.g., in Figs. 6-7, the first U-shaped portion 418 comprises a first opening 422 and a first protruding portion 424.

[0283] Similarly, the second U-shaped portion 420 comprises a second opening 426 and a second protruding portion 428.

[0284] In particular, the first protruding portion 424 and the second opening 426, respectively the second protruding portion 428 and the first opening 422 have complementary shapes. Accordingly, reliable and durable coupling can be achieved in a user-friendly, intuitive manner.

[0285] Conveniently, coupling can be implemented through snap-fitting. In the present embodiment, the user interface portion 410 advantageously includes a first interface part 430 and a second interface part 430.

[0286] The interface parts 430 are configured to be grasped and operated through the user’s fingers F, schematically shown in Fig. 13.

[0287] This allows to reliably hold the adapter 400 and / or control a state of the first locking portion 408. In the present embodiment, the interface parts 430 are in the shape of levers that are configured to be switched between a first position and the second position as schematically shown in Fig. 14 (here, both states are shown). A detail of one of the interface parts 430 is shown in Fig. 15.

[0288] In the first position, the first and second interface parts 430 are spaced apart from one another and the first locking portion 408 is maintained in the first, locked state.

[0289] That is, the surgical instrument adapter 400 is connected and maintained in place with respect to the locking element 606 and, in turn, to the end-effector 300.

[0290] On the other hand, in the second position, the interface parts 430 are brought closer to one another, and the first locking portion 408 is switched to the second, unlocked state.

[0291] The interface parts 430 can be switched from the first position to the second position by exerting a pressing force on said interface parts 430 through the user’s fingers F.

[0292] Accordingly, the surgical instrument adapter 400 can be easily and safely disconnected from the end-effector 300, while holding the adapter 400 though the user interface portion 410.

[0293] Advantageously, in the present embodiment, the first and second interface parts 430 have a concave shape.

[0294] This allows increasing the grip of the operator on the user interface portion 410, so that the user interface portion 410 can be held and maneuvered with improved reliability and ease.

[0295] Advantageously, in the present embodiment, the each of the first and second interface portions 430 includes a distal protruding portion 432 and a proximal protruding portion 434 as shown, e.g., in Figs. 14-15.

[0296] The distal protruding portion 432 allows optimizing a force exerted by the operator’s fingers F toward the distal direction for disengaging the adapter 400 from the locking element 606.

[0297] Also, the distal protruding portions 432 prevent the adapter 400 from accidentally slipping from the user’s hand, in particular during removal of the adapter 400 from the locking element 606. Analogously, the proximal protruding portion 434 allows optimizing a force exerted through the operator’s fingers F toward the proximal direction for connecting the adapter 400 to the locking element 606.

[0298] Conveniently, both the distal protruding portion 432 and the proximal protruding portion 434 are formed in one-piece with each of the first and second interface parts 430, for ease of manufacturing.

[0299] In the present embodiment, the first locking portion 408 of the adapter 400 includes a first protrusion 436 and a second protrusion 436 (Figs. 16-19).

[0300] The locking element 606 comprises corresponding first and second grooves 610, shown in Fig. 11

[0301] The first and second protrusions 436 and corresponding first and second grooves 610 are configured for engagement through snap fitting.

[0302] As mentioned, snap-fitting not only allows achieving a reliable connection, but also provides a clear audible and / or tactile feedback for the operator, confirming that connection has been correctly accomplished.

[0303] In the present embodiment, the first and second protrusions 436 are formed on a respective side of the first locking portion 408, as shown in Figs. 16-19.

[0304] Figs. 16-17 show a condition where the first locking portion 408 is in the first, locked state and the adapter 400 is connected to the locking element 606 (and, in turn, to the end-effector 300).

[0305] In order to connect the adapter 400 to the locking element 606, the operator holds the adapter 400 through the user interface portion 410 with his / her fingers, and exerts a force in the direction of arrow F1 (Figs. 13-14). This determines the engagement between the first and second protrusions 436 with a corresponding groove 610 (Figs.

[0306] 16-17).

[0307] The presence of the glove-like portion 602 interposed between each of the protrusions 436 and a respective groove 610 provides an elastic interface that prevents unwanted displacement of the adapter 400 with respect to the locking element 606 (and, in turn, the end-effector) during operation. Figs. 18-19 show a situation where the first locking portion 408 is in the second, unlocked state, and the adapter 400 is disengaged from the locking element 606 for removal.

[0308] In order to disengage the adapter 400 from the locking element 606, the operator places his / her fingers on the interface parts 430 of the user interface portion 410, and exerts a force in the direction of arrow F2 (Figs. 13-14).

[0309] The pressing force exerted by the operator with his / her finger on the first and second interface parts 430 is then diverted via a lever mechanism, thus determining disengagement between the first and second protrusions 436 of the first locking portion 408 and corresponding grooves 610 formed in the locking element 606.

[0310] Accordingly, the first and second protrusions 436 are no longer engaged with a corresponding the corresponding groove 610, and the adapter 400 can be easily removed from the locking element 606.

[0311] As mentioned, this operation is facilitated by the presence of the distal protruding portions 432.

[0312] To disconnect the first and second grip portions 414, 416 from the first and second movable fingers 304, 306 of the end-effector 300, it is sufficient to slid out of their interlocking grasp.

[0313] In the present embodiment, all components of the surgical instrument adapter 400 are made of the same material.

[0314] Advantageously, said material may include Polyamide 6 (PA6), Polyamide 11 (PA11 ), Polyamide 12 (PA12), Polyamide 66 (PA66), Polyether ether ketone (PEEK), Polypropylene (PP), Polyethylene terephthalate (PET), and / or Polyphenylsulfone (PPSU).

[0315] The cuff 604 and the locking element 606 can be made, e.g., of low density polyethylene (LDPE).

[0316] Not shown is that the surgical instrument adapter 400 may be configured to hold an additional surgical instrument.

[0317] For example, said additional surgical instrument may include scissors. A method for connecting / removing the surgical instrument adapter 400 with respect to the end-effector 300 will now be described with reference to Figs. 20-25.

[0318] The operator grasps the interface parts 430 (here, in the shape of concave levers) with his / her fingers F as illustrated in Fig. 20, and inserts the first locking portion 408 of the adapter 400 within the recessed portion 602 formed in the locking element 606 (Fig. 11. Due to the design of the concave interface parts 430, the operator is naturally induced to place his / her fingers F between the distal protruding portion 432 and the proximal protruding portion 434.

[0319] Then, the operator exerts a force with his / her fingers F toward the proximal direction (see arrow F1 in Fig. 14), thereby determining engagement between the first and second protrusions 436 and corresponding grooves 610, formed in the locking element 606 (Fig. 11), as shown in Figs. 16-17.

[0320] The proximal protruding portions 434 allow optimizing the force exerted by the operator toward the proximal direction.

[0321] Accordingly, engagement between the protrusions 436 and corresponding grooves 604 can be achieved without exerting any additional pressure on the interface parts 430. That is, it is only required to exert a force in the proximal direction.

[0322] When the protrusions 436 engage with a corresponding groove 610, a “click” provides a feedback for the operator, confirming that connection has been correctly accomplished.

[0323] At this point, the adapter 400 is connected and maintained in place with respect to the locking element 606 and, in turn, to the end-effector 300.

[0324] Then, the user places his / her fingers on the first and second movable fingers 304, 306 of the end-effector 300 as shown in Fig. 21 , and exerts a pressure to engage the tip portion of the first and second movable fingers 304, 306 with a corresponding grip portion 414, 416 defined at the distal end of each of the first and second movable arms 402, 404 of the adapter 400.

[0325] Fig. 22 shows a detail of the tip portion of the movable fingers 304, 306 and corresponding grip portions 414, 416, prior to connection. Fig. 23 shows a detail of the tip portion of the movable fingers 304, 306 and corresponding grip portions 414, 416, after being connected to one another. Here, the first and second movable fingers 304, 306 are still in a closed state due to the pressing force exerted by the operator on the same.

[0326] Connection is achieved through snap-fitting.

[0327] Similar as above, a “click” provides a feedback for the operator, confirming that connection has been correctly accomplished.

[0328] At this point, the instrument adapter 400 is connected to the end-effector 300 both at its proximal end, by way of the locking element 606 (in particular, through the engagement between the protrusions 436 and corresponding grooves 610), and its distal end, by way of the engagement between the first and second grip portions 414, 416 and a corresponding tip portion of the movable fingers 304, 306.

[0329] This allows obtaining a stable and reliable connection which improves the overall level of reliability and precision of the system 200 during operation.

[0330] The pressure exerted on the movable fingers 304, 306 also determines the engagement between the first and second U-shaped portions 418, 420 and a corresponding portion of a surgical instrument 500.

[0331] The connection between the U-shaped portions 418, 420 and the surgical instrument 500 is as well achieved through snap-fitting.

[0332] Similar as above, a “click” provides a feedback for the operator, confirming that connection has been correctly accomplished.

[0333] A detail of the end-effector system 200 in an assembled stated is shown in Fig. 24.

[0334] The same user interface portion 410 is used for removing the adapter 400 (with the surgical instrument 500 mounted thereon) from the locking element 606.

[0335] In the absence of other sufficiently large surfaces, the operator will naturally grasp the interface parts 430 of the user interface portion 410 with his / her fingers F, as illustrated in Fig. 25.

[0336] By exerting a pressing force on said interface parts 430 (here, in the shape of concave levers), the protrusions 436 formed on the first locking portion 408 disengage from the corresponding grooves 610 (as illustrated in Figs. 18-19), thereby disconnecting the first locking portion 408 from the locking element 606.

[0337] At this point, the adapter 400 can be easily removed from the locking element 606 (and, in turn, from the end-effector 300) by exerting a force downwards toward the distal direction (see arrow F2 in Fig. 14), while holding the adapter 400 through the user interface portion 410.

[0338] Although the adapter 400 is connected / removed with respect to the locking element 606 with the surgical instrument 500 mounted thereon, there is no risk for the operator to accidentally contact the sharp tip of the instrument 500 with his / her hand.

[0339] In particular, due to the structure of the adapter 400, the operator will naturally place his / her fingers F on the user interface portion 410, which allows keeping the operator’s hand away from the sharp tip of the instrument 500.

[0340] Accordingly, the risk of injuries and / or contamination with organic matter of the patient can be largely avoided.

[0341] The present invention further provides a surgical instrument adapter 400 for an endeffector system, such as the above-described end-effector system 200, said surgical instrument adapter 400 comprising the adapter features defined in the foregoing.

[0342] Still further, the present invention provides a surgical, microsurgical or super- microsurgical robot arm comprising the end-effector system 200 as described above.

[0343] In connection with the above disclosure, the following aspects are explicitly disclosed:

[0344] Aspect 1 : A surgical instrument adapter configured to transmit a movement of a tip portion of first and second movable fingers of an end-effector to at least one surgical instrument to be operated through the robot arm, characterized in that it comprises: a first movable arm; a second movable arm, and a base portion, wherein the first movable arm and the second movable arm are hingedly connected through said base portion, wherein the base portion the surgical instrument adapter comprises a first locking portion, comprising or defining a connection means for detachably connecting the surgical instrument adapter to the end-effector, wherein said first locking portion is configured to switch between: a first, locked state where the first locking portion is configured to secure the surgical instrument adapter to the end-effector (300), and a second, unlocked state for removing the surgical instrument adapter from the end-effector base, wherein the base portion the surgical instrument adapter further comprises a user interface portion, configured to be operated through the fingers of a user to switch the first locking portion between the first, locked state and the second, unlocked state, and wherein the surgical instrument adapter further comprises a second locking portion, comprising or defining a connection means for detachably connecting the surgical instrument adapter to the at least one surgical instrument to be manipulated trough the robot arm.

[0345] Aspect 2: The surgical instrument adapter according to aspect 1 , wherein: the first movable arm comprises or defines a first grip portion at its distal end, said first grip portion being configured to detachably connect the distal end of the first movable arm to the tip portion of the first movable finger of the end-effector, and the second movable arm comprises or defines a second grip portion at its distal end, said second grip portion being configured to detachably connect the distal end of the second movable arm to the tip portion of the second movable finger of the end-effector.

[0346] Aspect 3: The surgical instrument adapter according to aspect 2, wherein: the shape of the first and second grip portions is complementary with respect to the shape of the tip portion of the first and second movable fingers of the end-effector, preferably wherein the first and second grip portions are configured for connection with respect to the tip of the first, respectively second movable fingers of the end-effector through snap-fitting.

[0347] Aspect 4: The surgical instrument adapter according to aspects 2 or 3, wherein: the first grip portion is made in one-piece with the first movable arm of the surgical instrument adapter, and the second grip portion is made in one-piece with the second movable arm of the surgical instrument adapter.

[0348] Aspect 5: The surgical instrument adapter according to any one of the preceding aspects, wherein the second locking portion comprises: a first U-shaped portion, inwardly extending from the first movable arm, preferably from the distal end of the first movable arm; and a second U-shaped portion, inwardly extending from the second movable arm, preferably from the distal end of the second movable arm, preferably wherein the first and second U-shaped portions are configured for connection with respect to the at least one surgical instrument through snap-fitting.

[0349] Aspect 6: The surgical instrument adapter according to aspect 5, wherein: the first U-shaped portion comprises a first opening and a first protruding portion, and the second U-shaped portion comprises a second opening and a second protruding portion, wherein the first protruding portion and the second opening, respectively the second protruding portion and the first opening have complementary shapes.

[0350] Aspect 7: The surgical instrument adapter according to any one of the preceding aspects, wherein: the user interface portion includes a first interface part and a second interface part, configured to be grasped and operated through the user’s fingers to control a state of the first locking portion, wherein said first and second interface parts are configured to switch between: a first position, where said first and second interface parts are spaced apart from one another and the first locking portion is maintained in the first, locked state, and a second position, where said first and second interface parts are brought closer to one another by exerting a pressing force on said first and second interface parts, and the first locking portion is switched to the second, unlocked state, preferably wherein the first and second interface parts have a concave shape.

[0351] Aspect 8: The surgical instrument adapter according to aspect 7, wherein each of the first and second interface parts includes a distal protruding portion and / or a proximal protruding portion.

[0352] Aspect 9: The surgical instrument adapter according to any one of the preceding aspects, wherein the first locking portion includes a first protrusion and a second protrusion, formed on opposite sides, said first and second protrusions being configured to engage with corresponding first and second grooves formed in the endeffector base, preferably through snap-fitting.

[0353] Aspect 10: The surgical instrument adapter according to any one of the preceding aspects, wherein the first locking portion has a tapered shape.

[0354] Aspect 11 : The surgical instrument adapter according to any one of the preceding aspects, wherein the first and second U-shaped portions are configured to maintain alignment between the longitudinal axis of the at least one surgical instrument and the longitudinal axis of the end-effector at the point of interaction between the surgical instrument adapter and the surgical instrument.

[0355] Aspect 12: The surgical instrument adapter according to any one of the preceding aspects, wherein the first locking portion is configured to maintain alignment of the surgical instrument adapter along the longitudinal axis of the at least one surgical instrument. Reference list

[0356] Robotic system

[0357] Base station

[0358] Base column

[0359] Display module

[0360] Suspension arm

[0361] Fork-like element

[0362] (First) surgical, microsurgical or super-microsurgical robot arm

[0363] (Second) surgical, microsurgical or super-microsurgical robot arm

[0364] Surgical instrument

[0365] Surgical instrument

[0366] Wheels

[0367] End-effector system

[0368] End-effector

[0369] End-effector base

[0370] First movable finger

[0371] Second movable finger

[0372] Surgical instrument adapter

[0373] First movable arm

[0374] Second movable arm

[0375] Base portion

[0376] First locking portion User interface portion

[0377] Second locking portion

[0378] First grip portion

[0379] Second grip portion

[0380] First U-shaped portion

[0381] Second U-shaped portion

[0382] First opening

[0383] First protruding portion

[0384] Second opening

[0385] Second protruding portion

[0386] (First and second) interface part(s)

[0387] Distal protruding portion

[0388] Proximal protruding portion

[0389] (First and second) protrusion(s)

[0390] Surgical instrument

[0391] Sterile drape

[0392] Glove-like portion

[0393] Cuff

[0394] Locking element

[0395] Recessed portion

[0396] First and second grooves

[0397] Rim portion B Operating bed

[0398] M Microscope

[0399] 51 First surgeon

[0400] 52 Second surgeon

[0401] P Patient

[0402] R Operating room

[0403] F User’s finger(s)

[0404] F1 Force direction

[0405] F2 Force direction

Claims

Claims1. An end-effector system (200) for a surgical, microsurgical or super- microsurgical robot arm, comprising: an and-effector (300) comprising: an end-effector base (302), a first movable finger (304), and a second movable finger (306), said first and second movable fingers (304, 306) distally extending from the endeffector base (302); a sterile drape (600), configured to cover the end-effector (300), and a surgical instrument adapter (400), configured to transmit a movement of a tip portion of the first and second movable fingers (304, 306) of the end-effector (300) to at least one surgical instrument (500) to be operated through the robot arm, said surgical instrument adapter (400) comprising: a first movable arm (402); a second movable arm (404), and a base portion (406), the first movable arm (402) and the second movable arm (404) being hingedly connected through said base portion (406), wherein the base portion (406) of the surgical instrument adapter (400) comprises: a first locking portion (408), comprising or defining a connection means for detachably connecting the surgical instrument adapter (400) to the end-effector (300), wherein said first locking portion (408) is configured to switch between:a first, locked state where the first locking portion (408) is configured to secure the surgical instrument adapter (400) to the end-effector (300), and a second, unlocked state for removing the surgical instrument adapter (400) from the end-effector base (302), and a user interface portion (410), configured to be operated through the fingers (F) of a user to switch the first locking portion (408) between the first, locked state and the second, unlocked state, and wherein the surgical instrument adapter (400) further includes a second locking portion (412), comprising or defining a connection means for detachably connecting the surgical instrument adapter (400) to the at least one surgical instrument (500) to be manipulated trough the robot arm.

2. The end-effector system (200) according to claim 1 , characterized in that the first movable arm (402) comprises or defines a first grip portion (414) at its distal end, said first grip portion (414) being configured to detachably connect the distal end of the first movable arm (402) to the tip portion of the first movable finger (304) of the end-effector (300), and the second movable arm (404) comprises or defines a second grip portion (416) at its distal end, said second grip portion (416) being configured to detachably connect the distal end of the second movable arm (404) to the tip portion of the second movable finger (306) of the end-effector (300).

3. The end-effector system (200) according to claim 2, characterized in that the shape of the first and second grip portions (414, 416) is complementary with respect to the shape of the tip portion of the first and second movable fingers (304, 306) of the end-effector (300),preferably wherein the first and second grip portions (414, 416) are configured for connection with respect to the tip of the first, respectively second movable fingers (304, 306) of the end-effector (300) through snap-fitting.

4. The end-effector system (200) according to claims 2 or 3, characterized in that the first grip portion (414) is made in one-piece with the first movable arm (402) of the surgical instrument adapter (400), and the second grip portion (416) is made in one-piece with the second movable arm (404) of the surgical instrument adapter (400).

5. The end-effector system (200) according to any one of the preceding claims, characterized in that the second locking portion (412) comprises: a first U-shaped portion (418), inwardly extending from the first movable arm (402), preferably from the distal end of the first movable arm (402); and a second U-shaped portion (420), inwardly extending from the second movable arm (404), preferably from the distal end of the second movable arm (404), preferably wherein the first and second U-shaped portions (418, 420) are configured for connection with respect to the at least one surgical instrument (500) through snap-fitting.

6. The end-effector system (200) according to claim 5, characterized in that the first U-shaped portion (418) comprises a first opening (422) and a first protruding portion (424), and the second U-shaped portion (420) comprises a second opening (426) and a second protruding portion (428),wherein the first protruding portion (424) and the second opening (426), respectively the second protruding portion (428) and the first opening (422) have complementary shapes.

7. The end-effector system (200) according to any one of the preceding claims, characterized in that the user interface portion (410) includes a first interface part (430) and a second interface part (430), configured to be grasped and operated through the user’s fingers (F) to control a state of the first locking portion (408), wherein said first and second interface parts (430) are configured to switch between: a first position, where said first and second interface parts (430) are spaced apart from one another and the first locking portion (408) is maintained in the first, locked state, and a second position, where said first and second interface parts (430) are brought closer to one another by exerting a pressing force on said first and second interface parts (430), and the first locking portion (408) is switched to the second, unlocked state, preferably wherein the first and second interface parts (430) have a concave shape.

8. The end-effector system (200) according to claim 7, characterized in that each of the first and second interface parts (430) includes a distal protruding portion (432) and / or a proximal protruding portion (434).

9. The end-effector system (200) according any one of the preceding claims, characterized in thatthe sterile drape (600) comprises: a glove-like portion (602); a cuff (604), configured for connection to the glove-like portion (602) and to the end-effector (300), and a locking element (606), configured for connection to the end-effector base (302), wherein the glove-like portion (602) is configured to cover at least the first and second movable fingers (304, 306) of the end-effector (300) and the locking element (606), and wherein the first locking portion (408) of the adapter (400) is configured for shape-coupling with respect to the draped locking element (606).

10. The end-effector system (200) according to claim 9, characterized in that the first locking portion (408) has a tapered shape and the locking element (606) comprises a correspondingly-recessed portion (608).11 . The end-effector system (200) according to claim 9 or 10, characterized in that the first locking portion (408) includes a first protrusion (436) and a second protrusion (436), said first and second protrusions (436) being configured to engage with corresponding first and second grooves (610) formed in the locking element (606), preferably through snap-fitting.

12. The end-effector system (200) according to any of claims 9 to 11 , characterized in thatthe locking element (606) is circular in cross-section and comprises a rim portion (612) allowing for connection of a proximal end of the glove-like portion (602) to the cuff (604).

13. The end-effector system (200) according to any one of the preceding claims, characterized in that the first and second U-shaped portions (418,420) are configured to maintain alignment between the longitudinal axis of the at least one surgical instrument (500) and the longitudinal axis of the end-effector (300) at the point of interaction between the surgical instrument adapter (400) and the surgical instrument (500).

14. The end-effector system (200) according to any one of the preceding claims, characterized in that the first locking portion (408) is configured to maintain alignment of the surgical instrument adapter along the longitudinal axis of the at least one surgical instrument (500).

15. A surgical instrument adapter (400) for an end-effector system (200), comprising the adapter features as defined in claims 1 to 12.

16. A surgical, microsurgical or super-microsurgical robot arm including the endeffector system (200) according to any one of claims 1 to 14.

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