Compact actuation configuration and expandable instrument receiver for robotically controlled surgical instruments

Abstract

To provide a robotically controlled surgical instrument having a plurality of mechanical actuators at its proximal end.SOLUTION: A robotic system assembly comprises: a robotic manipulator including an actuator assembly; and a surgical instrument 102 having a base body mountable to the actuator assembly. A base 110 includes a first control input terminal and a second control input terminal, wherein the first and second control input terminals are positioned on different sides of the base. The actuator assembly is moveable between an open position and a closed position to facilitate removal and replacement of surgical instruments. When the actuator assembly is in the closed positions, drive elements of the actuator assembly are positioned to drive a first control input terminal and a second control input terminal of the surgical instrument to cause movement or actuation of an end effector.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] Inventors: Matthew Robert Penny, Kevin Andrew Hu fford, Paul Schnur This application is a continuation of U.S. Provisional Patent Application No. 62 / 874,988, filed July 17, 2019. and U.S. Provisional Patent Application No. 62 / 787,254, filed December 31, 2018. Beneficiary U.S. Patent Application No. 16 / 732,30 filed December 31, 2019 No. 7, filed on July 17, 2019. This application is a continuation-in-part of U.S. Pat. Provisional Application No. 62 / 874,988, filed July 17, 2019, U.S. Provisional Application No. No. 62 / 875,003, filed July 17, 2019, U.S. Provisional Patent Application No. 62 / 8 No. 74,985, and U.S. Provisional Patent Application No. 62 / 87, filed July 17, 2019. Claims benefit in No. 4,982.

[0002] The present invention relates to a class of surgical devices and systems, including those that use electromechanical actuation. Related to the field. [Background technology]

[0003] Several types of surgical robotic systems are commercially available or in development. The surgical robotic system uses multiple robotic arms. Each arm has a It is equipped with a camera that is used to acquire images from the surgical instrument and display them on a monitor or surgical instrument. A typical configuration would be for the system to support and operate two or three instruments and a camera. Input to the system is usually done by inputting the master using an input device such as an input handle. The system is generated based on input from the surgeon located at the computer console. The motion and actuation of the robot is controlled based on user input. The images captured by the camera are The display on the surgeon console is located at the patient side, in the sterile field, or can be placed outside the sterile field.

[0004] The robotic arm / manipulator typically has a surgical device assembly at the end of the arm. The surgical device assembly includes a portion designed to support and operate the surgical device. The surgical instrument includes a shaft and a distal end effector on the shaft. The vector is positionable within the patient.

[0005] Typically, the proximal housing of the instrument shaft carries the electrical current transmitted from the actuator that drives the instrument function. The end effector includes an actuation mechanism that receives the motion to be achieved. is one of many different types of endoscopic procedures used in surgery, including but not limited to: There can be two things: jaws that open and close, and a shaft that bends or articulates in one or more degrees of freedom. a distal end section of the manipulator arm, the tip of which rotates axially relative to the shaft; A motor or other type of motor (e.g., Tool actuators for driving the movement of the end effector, which may be hydraulic / pneumatic are often located at the end of the robot manipulator. They are disposed in the proximal housing of the surgical device assembly, and in other configurations, some One is located in the proximal housing, while the other is located in the robot manipulator. Some of the movements of the effector are controlled by one or more motors at the end of the manipulator. The actuator may be driven using a motor in the proximal housing, while the other motion may be driven using a motor in the proximal housing. It can be moved.

[0006] The instruments are interchangeable during the procedure, allowing one instrument to be removed from the manipulator and replaced with another. The proximal housing can be moved by the manipulator to the actuator interface. To engage the interface, the instrument must be able to withstand external forces from both the robot and the patient. Mechanical snap, magnetic engagement, or sliding engagement that securely docks the device to the manipulator The present invention may include the use of a mechanical interface for engaging a surgical instrument. This interface allows the control of instrument actuators in a robot manipulator. to one or more mechanical inputs of the proximal housing; Control the degree of freedom of the instrument and, if applicable, its jaw opening and closing function. This movement is performed with sterile and non-sterile instruments. This can be done through a drape placed between the sterile manipulator arms. In some current robotic systems, the mechanical control interface is located on one side of the instrument or on the The actuators are arranged only in a plane. For example, U.S. Pat. No. 6,491,701 In the configuration shown, all driven elements 118 that undergo mechanical motion are connected to the instrument shaft 10. 2 are on the same face of the housing 108 at the proximal end of the

[0007] In the embodiment shown in US Pat. No. 9,358,682, the lateral slider pin 3 14 extends laterally from one side of the case attached to the proximal end of the instrument. (Patent Figure 18) The instrument is attached to a manipulator arm. When the slider pin 314 is engaged, it engages with a corresponding component 430 in the manipulator arm. When the jaws need to be opened or closed, component 430 is received by the jaws. The laparoscopic instrument actuator 400 of the manipulator arm is driven by a motor on the carriage. 3, thereby advancing the slider pin 314 to actuate the jaws. Patent application No. 2016 / 20160058513 is a removable manipulator arm The figure also shows a robotically controlled surgical instrument mounted on a surgical table, with slider pins for jaw actuation. The authors also describe similar configurations that are used to manipulate jaws, as well as joint movements and A system capable of providing additional electromechanically driven movement of the end effector of the instrument, such as rotation. However, the motors for those additional movements are not included in the instrument. The motor is enclosed in a housing at the proximal end of the arm, so that the motor is not In this case, no mechanical motion needs to be transmitted to the mechanical actuator. Summary of the Invention

[0008] The present application relates to a robotically controlled surgical instrument having a plurality of mechanical actuators at its proximal end. These mechanical actuators control the jaw actuation, pitch, rotation, and / or manipulators to drive various end effector functions or motions, such as the configured to receive motion transmitted from an electromechanical actuator in the actuator arm. The actuators are arranged in a compact configuration, and the manipulator arm The system can be adapted to engage instruments and adapters of various sizes. , the working interface includes opposing surfaces of the instrument or adapter. This allows for the configuration of the instrument or adapter so that it can reside on a surface. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view of a robotic-assisted surgical system that may include arrangements described herein. [Diagram 2] FIG. 1 is a perspective view of a robotic manipulator arm with a receiver and an instrument assembly attached. [Diagram 3] FIG. 3 is a perspective view of the receiver of FIG. 2 and a surgical instrument separated from the receiver. [Figure 4] 1 shows the surgical instrument with the base removed. [Diagram 5] 1 shows a proximal portion of a surgical instrument. [Figure 6] FIG. 6 is similar to FIG. 5, but showing a portion of the housing removed. [Figure 7] FIG. 7 is similar to FIG. 6, but showing a portion of the upper carriage removed. [Figure 8] 3 shows the receiver of FIG. 2. [Figure 9] FIG. 9 is similar to FIG. 8, but showing a portion of the arm removed. [Figure 10] FIG. 13 is a side view of the carriage and motor assembly of one arm of the receiver. [Figure 11] 13 is an alternative embodiment of a carriage for an instrument base. [Figure 12] FIG. 13 is a perspective view of an alternative embodiment of a carriage for one of the arms of the receiver. [Figure 13] FIG. 13 is a perspective view of an alternative embodiment of a carriage for one of the arms of the receiver. [Figure 14] FIG. 2 is a top view of the receiver shown in an open position. [Figure 15] FIG. 2 is a top view of the receiver shown in a closed position. [Figure 16] FIG. 13 is a perspective view showing an instrument attached to a receiver. [Figure 17] FIG. 13 is a perspective view showing the lever and linkage of the receiver. [Figure 18] FIG. 16 is similar to FIG. 15, but shows a portion of the receiver housing removed to reveal the extension mechanism. [Figure 19] FIG. 18 is a side view of the instrument and lever and associated motor of FIG. 17. [Figure 20A] FIG. 2 is a perspective view showing the receiver when draped. [Figure 20B] Similar to FIG. 16, but showing the drape in place. [Figure 21] FIG. 2 is a perspective view of a drape connector. [Figure 22] FIG. 2 is a rear plan view of the base of the appliance. [Diagram 23] FIG. 13 is a perspective view of an alternative embodiment of a base. [Figure 24] FIG. 24 is similar to FIG. 23, but showing a portion of the housing removed. [Diagram 25] FIG. 24 is a perspective view showing the pulley mechanism and one of the springs of the embodiment of FIG. 23. [Figure 26A] 1 shows an example of a drape with integrated EMI shielding. [Figure 26B] FIG. 26B is a cross-sectional view of a portion of the drape shown in FIG. 26A. [Figure 26C] FIG. 26B is similar to FIG. 26B, but shows an embodiment including electrical connectors and terminations integrated into the drape. [Figure 27] 17 is similar to FIG. 16, but further showing a graphical user interface disposed on the manipulator end effector. [Figure 28] FIG. 28 is similar to FIG. 27, but illustrates the force feedback feature provided to the user during manual repositioning of the manipulator. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The concepts described herein can be used in a variety of robotic surgical systems, including: The embodiment will be described with reference to a system of the type shown in FIG. The surgeon console 12 has two input devices, such as handles 17 and 18 . The input device 12 is used to command the movement of the robotic control device in multiple degrees of freedom. The device is configured to be operated by a user to generate a signal that is The two handles 17 and 18 are connected to the robot manipulators 13, 14 and 15. Selectively assign one to the other, so that the surgeon can always assign the patient to the work site (patient in bed 2). to control two of the placed surgical instruments 10a, 10b, and 10c. To control the third of the instruments located at the work site, as described in the next paragraph , operatively disconnecting one of the two handles 17, 18 from one of the first two instruments. It can then be operationally paired with a third fixture or controlled with another form of input. A fourth robotic manipulator, not shown in FIG. 1, supports and manipulates additional instruments. It may be optionally provided to operate

[0011] One of the instruments 10a, 10b, 10c is a camera that captures images of a surgical field within a body cavity. The camera can be mounted on the handles 17 and 18, on additional controls on the console, on foot pedals, on the lights, Various types of keyboards, including but not limited to one of the following: tracker 21, voice controller, etc. The input from the input device is used to move the robot by the corresponding robot manipulator. The console can also be configured to display images captured by the camera. Optionally configured with a display or It may include a monitor 23.

[0012] A control unit 30 is operatively connected to the robot arm and a user interface. The control unit receives user input from an input device that corresponds to a desired movement of the surgical instrument. The robot arm is adapted to receive user input and manipulate the surgical instrument accordingly. .

[0013] The input devices 17, 18 allow a user to generate signals that are processed by the system. and used to command the movement of the manipulator. Generate commands to move the instrument in multiple degrees of freedom and, if necessary, control the end effector of the instrument. Controlling the operation of electromechanical actuators / motors that drive the motion and / or actuation of do.

[0014] Optionally, sensors are used to measure the force applied to the patient by the robotic surgical tool during use. For example, the force / torque of a surgical robot manipulator can be determined. The force sensor is used to provide the force feedback to the surgeon at the console. Tactile information can be determined. U.S. Patent No. 9,855,662 describes the surgical procedure performed by a robotic surgical tool on a patient during use. The present invention describes a surgical robotic system in which sensors are used to determine the forces being applied. Tactile information required to provide force feedback to the surgeon in a user interface As a method to determine the force / force of a 6-DOF robot attached to a surgical robot manipulator, The use of a torque sensor will now be described. In the presently disclosed embodiment, this type of The sensor may optionally be located on or immediately proximal to the receiver 104 . The surgical system allows operating room staff to select and operate the robotic manipulators based on surgical needs. The surgical instruments 10a, b, c carried by the If an instrument needs to be replaced, the surgeon removes the instrument from the manipulator arm and inserts a different instrument. Replace with equipment.

[0015] Generally, the assembly includes a drive member (a drive element for actuating the function of the end effector of the instrument) and a drive mechanism (a drive element for actuating the function of the end effector of the instrument). a plurality of side surfaces, faces, or facets of the base of the proximal end of the instrument, the ... The surgical instrument includes a surgical instrument having a base configured to be placed on a flat surface or a surface. is received by the arm in use, including the one that drives the mechanical output. There are electromechanical or hydraulic actuators that are used to maintain the sterility of surgical instruments. The system is disposed between the base of the surgical instrument and a corresponding mechanical drive output of the arm. The device is designed to facilitate the use of surgical drapes that are fitted over the device actuator. When placed on multiple sides, facets, surfaces, or planes of a fixture, these actuators This distributes the forces and deflections applied to the drape, allowing multiple mechanical The input can be transmitted to the instrument.

[0016] 2 and 3, the present disclosure relates to an arrangement of a surgical instrument 102 and a receiver 104. The assembly 100 is illustrated in FIG. 1. The receiver 104 removably receives the instrument 102. The receiver can be attached to a support or manipulator 15. The support or manipulator can then rotate the instrument 102 in one or more degrees of freedom during the procedure. A robot manipulator operated by a robot or a surgical device for a robotic surgical system The surgical instrument 10 may be a support that remains stationary during the course of a surgical embodiment of the surgical instrument. When the receiver 104 and the receiver 104 are assembled, the receiver is Electromechanical actuators (e.g., motors or hydraulic / pneumatic actuators) in the system 15 The motion generated by the actuator is transferred to a mechanical actuator of the instrument to move a part of the instrument. Examples of types of motion include: Articulation, bending in one or more degrees of freedom, end effector roll, jaw actuation, etc. As described above, the surgeon may input the following through the input devices 17, 18 ( (Figure 1) to provide input to the system, which processes the information and moves the instrument. and, if necessary, an associated electromechanical actuator for operating the end effector of the instrument. Expand the tutor's commands.

[0017] The surgical instrument 102 includes an elongated shaft 106, which is preferably rigid but , in alternative systems it may be flexible or partially flexible. A proximal body or base assembly 110 is disposed at the distal end of the shaft 106. The base assembly 110 (also referred to as the "base") is a housing or It may include an enclosed or partially enclosed structure such as a box, or it may be a frame. The base 110 may be a metal or a plate. The actuators 112 are mechanical input actuators. In FIG. The second two actuators 112 are exposed on a first side of the base 110. 10, preferably, but optionally, in the same configuration as shown in FIG. 22. In the embodiment shown in FIG.

[0018] Each of the actuators 112 is movable relative to the base 110 between a first position and a second position. In the particular configuration shown in the drawings, the actuator is movable relative to the The housing is disposed between a first (more distal) position and a second (more proximal) position such that However, the direction of movement need not be longitudinal. It can be stretched in any direction.

[0019] Therefore, in this configuration, the base assembly has four exposed drive inputs on its exterior. In this configuration, the base has two parallel flat The proximal body has two inputs, one on each side. While this may be preferred, other arrangements of inputs on multiple sides of the proximal body may alternatively be used. Each of these configurations can be driven in a way that maximizes the distance between the control inputs. The input is advantageously positioned between the proximal body and the receiver 104, as described below. This minimizes stress on the sterile drape that is placed over the

[0020] Referring to FIG. 4, a drive cable 114 is passed through the shaft 106 to the end effector 108. In the disclosed system, many different sensors having any of a variety of functions can be used. The type of equipment shown in the drawing is as of December 2019. Articulating Surgical Instruments, filed on the 31st Co-pending case owned by the same applicant entitled "Attorney Reference Number: TRX-12700R" 16 / 732,306, filed on Dec. 13, 2002, which is incorporated herein by reference. It utilizes four drive cables 114, two of which are connected to one jaw. one ends in a jaw member, and the other two end in the other jaw member. This loops together at the end effector. Two cables are connected together (so that each of the two free ends of each cable loop is The cable can be a single cable (one at the end of the cable) or four separate cables. As explained in, the tension in the cable varies with the pitch of the jaw members. Other devices useful in the system include: There are a number of cables, the particular number being determined by the function of the instrument, the degrees of freedom of the instrument, and the actuation configuration of the instrument. It is determined by the particular configuration of the elements. The terms "wire" and "cable" refer to any type of device that can be used for the purpose described. Note that the term is used broadly to encompass tendons of the

[0021] The four cables run to the base 110 assembly. The base contains the housing In this embodiment, the cable extends from the shaft 106 into the housing where it is actuated. 6 allows a clearer view of the actuator 112. 1 shows the base with a portion of the housing removed to allow for the actuators 11 to be mounted on the base. 2 includes a carriage 118 that is movable along a rail 120. Although these structures are oriented for longitudinal movement of the carriage, other embodiments may A portion of the carriage 118 is exposed through a window in the base. and extending laterally from the carriage and optionally through an outermost plane of the window. In FIG. 7, the upper actuator includes a drive input or member 122 that can The carriage of the printer is partially disassembled, and the proximal end of cable 114 is attached to carriage 118. The cable must be routed around the pulley or base assembly. The second cable may extend through a cable path defined by the function of the assembly. The cable end of the second actuator is similarly connected to the carriage 118 of the lower actuator of FIG. The two cable ends are connected to the carriage on the opposite side (not shown) of the base 100. In this manner, the base assembly is configured such that the actuator 112 is at least partially supported by the base. Each actuator 112 is disposed so as to be exposed on at least two sides or faces. 114, thereby moving the actuator in a first direction relative to the base. As it moves, tension in the corresponding cable increases, causing it to move in a second, different (or opposite) direction. Moving the actuator reduces tension in that cable. Movement of the actuator carriage 118 in the direction creates tension on that cable (cable The distal carriage movement is increased or decreased by the cable tension has the opposite effect to

[0022] In this embodiment, an extension spring 124 is provided between the carriage 118 and the support structure of the base. (In this case, the outer housing 126 or the interior of the housing is divided into two laterally adjacent regions. A force is applied to the carriage to cause the carriage to spring. Active movement in the direction opposite to the force (in this case, distal) increases the corresponding cable tension. When the applied force is released, the spring force moves the carriage back to the home position. The robot returns to the original position or moves toward the home position, reducing tension in the cable. In an embodiment, instead of using a spring force for one-way motion, the carriage can be moved in both directions. It can be actively moved.

[0023] Referring to FIG. 8, the receiver 104 in the illustrated embodiment has a generally U-shaped cross section and includes two The "U" has an elongated side and a seat that spans between the two sides. The side of the "U" is The system is assembled by a pair of arm sections 130a, 130b extending from each other. The receiver is provided with an opening through which the base 110 is received when the receiver is inserted (FIG. 3). A drive member 132, also referred to as a "drive output," extends inwardly from arm sections 130a,b. They are connected to the respective drive input members of the instrument when the instrument is attached to the receiver 104. 122 (FIGS. 5 and 6) are positioned to contact a corresponding one of the drive output members 132. In FIG. 8, two drive members 132 are shown. The other two are from arm 130b. 9, a portion of arm 130a is removed. The drive member 132 is supported by a carriage 134 housed within the arms 130a, 130b. The motor 136 in the receiver 104 (FIG. 10) drives the carriage 1 34 and thus drives the drive member 132 to the respective arm section 132a, b.

[0024] Contact between the driving members 132 of the receiver and their corresponding driven members 122 of the instrument The type is selected based on the nature of the drive motion being transmitted to the driven member 122. In a linear drive configuration, the components are driven by corresponding drive components in the receiver. The carriage can be pushed, pulled, or both pushed and pulled. Furthermore, different carriages may have different configurations. Some parts are push only, others are pull only (or other combinations with push, pull, and bidirectional drive) (combination).

[0025] When motion is driven in one direction, the contact between the driving member 132 and the driven member 122 is Only the direction of movement is required. 122 is configured such that the driving member 132 pushes the driven member in a distal direction, as shown in FIG. Due to the presence of the spring 124 discussed in conjunction with this, there is no need to pull the driven member in a proximal direction. Therefore, the face or area of ​​each drive member 132 facing the direction of movement (here, the distal direction) The area contacts the driven member 122. Thus, in this example, the driving member and the driven member are They do not have to fit together or otherwise engage, although they could. Instead, these members 122, 132 have opposing surfaces (optionally flat) that contact each other. In this embodiment, the driving force may be simply configured to have a driving surface. If the motion is driven in a proximal direction rather than a distal direction, the proximal face of the driving member will contact the driven member. I will touch it.

[0026] In another embodiment, the movement of the driven member is driven in two directions. In such a linear drive configuration, this means that the drive member both pulls and pushes the driven member. In such an embodiment, the driving member and the driven member may be Configured to be designed to engage, mate, or contact regardless of the direction of motion For example, FIG. 11 shows an alternative carriage 120a for an instrument, which includes a drive member 132 (FIG. 10).

[0027] FIG. 12 shows a drive member 132a receiving a driven member 122 of the type shown in FIG. FIG. 1 shows a receiver carriage constructed of a female receptacle wall shaped to accommodate the Figure 13 shows a receiver carriage with two different drive member designs. In the carriage, the drive member 132 is similar to that described above. In the lower carriage, the drive Member 132a is shaped to receive a driven member 122 of the type shown in FIG. In this configuration, the upper carriage is fitted with a corresponding driven Drives a member in one direction (pushing or pulling) while the lower carriage is the corresponding driven member The members may be driven both in a pushing and pulling manner.

[0028] The receiver 104 may be expanded to accommodate the base 110. In an embodiment, the receiver 104 is configured to increase the spacing between the arms 130a, 130b. When moved to the open position, the receiver All held instruments can be removed and the first or replacement instrument placed in the base. The receiver also receives the power when the arm moves from the open position to the closed position. When the arms are in a closed position, the base is movable to reduce the distance between the arms. 110 is captured by 04. In a closed system with the base 110 between the arms 130a,b The base drive input 122 is connected to the receiver drive output (output terminal, output) 132. operatively engaged (but not necessarily physically engaged as described above) with (not available).

[0029] The expansion can be achieved in various ways. In the example shown in the drawings, the arms 130a, 130b b pivot between an open position (FIG. 14) and a closed position (FIG. 15). In other configurations, they When the receiver is closed and engaged with the base of the instrument, the actuator of the receiver 104 moves in parallel. The arms reach around both sides of the base 110 to hold the base and move the drive input to As described, drive outputs are arranged to actuate degrees of freedom or other functions of the instrument.

[0030] The receiver can be selectively opened and closed manually or electromechanically to allow the arm to be moved to another arm. In the first embodiment, the arms 130a, 1 30b has a rotatable linkage 140 spiraling outwardly therefrom. The lever / knob 138 is pivoted relative to its proximal end. When manually rotated in a first direction, the linkage 140 urges the arms 130a,b to the open position. Rotating the lever / knob in the opposite direction will cam the arm into the closed position. Alternatively, the linkage 140 may be rotated by actuation of a motor 142. A switch 144 on the receiver 104 can be used by a surgical assistant to turn the motor 142 can be actuated to easily open and close the receiver during instrument changes.

[0031] The system is configured to hold the instrument while the actuator assembly of the manipulator arm is open. The adapter may include features to facilitate alignment and retention. Examples include receiver 104. 20. The base 110 or the corresponding seat 148 (FIG. 20) of the base 110. The proximal surface of the base 110 includes an alignment feature 146 on the receiver 104. FIG. 22 illustrates a male part 15 as discussed in relation to the drape below. 21. A female part 150 (e.g., a recess, divot, hole, or similar location) that receives the female part 150 (FIG. 21). Thus, this embodiment has engagement features on three sides of the base 110. and / or control functions. The control points (drive inputs) can be on any side of the base, Electromechanical actuators for receivers / manipulators or bedside operators It should be understood that these control points can be driven by either They share an axis, or have parallel axes, slide linearly along the same plane, or are related combination of movements that are not parallel, planar, or share the same axis. could be.

[0032] Finally, the base does not need to have any planes or interface points defined. For example, the adapter body may be essentially spherical or cylindrical, with the control points extending across the surface of the body. To be placed.

[0033] The second embodiment is similar to the first embodiment and has a "U" structure, but with two "U"s. Instead of angling two sides to reach the open position, the sides expand while keeping the inner surfaces parallel. In this embodiment, a four-bar mechanism is used in cooperation with a lever or knob system or motor. can be used to drive the opening and closing of the system.

[0034] Each of these concepts allows the space between the "U" sides to be expanded, allowing this feature to accommodate instruments, cameras, Can accept bases of various widths for adapters, or other adapters (e.g. A removable adapter at the proximal end of the camera or instrument, allowing the use of cameras and instruments from various manufacturers For instruments with bases of different widths, the system The system identifies the instrument and closes the appropriate amount to hold the instrument base or adapter securely. For example, a non-contact reed switch board can be used to connect fixtures or adapters of various widths. One digital readout is 30 mm between the arms 130a, b. while another digital reading could result in a 40mm closure to the space. A mechanical solution is to use a lever system so that the device moves in a similar way to the lever system. For example, the lever system allows for inputs of 0 to 4 mm. , 0mm is fully open, 4mm is fully closed. One instrument pushes 4mm the arms 130a,b can be closed completely or provide a space of 30 mm between them; Meanwhile, another device can create a 40mm space by pushing 3mm.

[0035] In the shape and size of the "U" and the space defined by the arms 130a, b Note that the adapter can be adjusted to accommodate a wide variety of instruments or adapters. Additionally, a "U" shape may be preferred for this application, but should have at least two partially opposed Other shapes may be used that have opposing sides, where the sides do not have parallel opposing faces. There are cases.

[0036] A further advantage of the "U" shaped embodiment is that several instruments can be mounted together in a manner that shares a common axis with the receiver. When engaging one instrument, but not the other, ensure that the instruments do not share a common axis. For example, a receiver that engages a camera system may be attached to the camera shaft and If the camera can be held so that the transmitter and receiver axes are at up to 90 degrees to each other, This allows the camera and light cords to be routed through the receiver rather than around it. This allows the device to pass through the receiver. This allows other devices such as harmonic energy devices and staplers to pass through the receiver. Instruments could also benefit from this feature, but the mass of the instrument could be a 6-DOF force sensor. You can only get closer.

[0037] 20A and 20B, the receiver 104 typically contains sterile surgical instruments. A non-sterile component that is covered by a sterile drape 154 or barrier prior to installation. At the interface between the driving element and the driven element, the above motion is transmitted through the drape. In one embodiment of the drape 154, the drape material is , for covering the arms 130a,b which are shaped to fit the shape of the receiver and open and close. The drape has two "fingers". It is best to ensure that the area for the instrument is clear for engagement and removal. In this embodiment, the drape has a shape in which the connectors extend on both sides of the drape. The drape connector 156 includes an embedded plastic "drape connector" 156 that is bonded to the drape connector 156 so as to fit the drape connector 156. One side of the drape connector contains mating pins, posts, cone elements, etc. The female part of the seat of the sheath 104 (e.g., a depression, conical divot, hole or similar position) The other mates with the female part 150 on the proximal face of the base. may provide holding force for both the manipulator and the instrument, and provide orientation for the drape and the instrument. .

[0038] In this embodiment, the central male element 152 of the drape connector has two annular rings. This allows the mating features to snap together and provide retention. In this case, the mating shape may be a coil spring. During the draping process, the drape The inwardly facing surface of the drape connector 156 is disposed on the arms 130a,b. is inserted into the female part of the receiver sheet, and the outward facing of the drape connector The face similarly snaps into engagement with the proximal face of the instrument base 110 .

[0039] Drape connectors extend through both sides of the drape, providing a variety of mechanical, electrical, and optical These functions or tasks can be used as a sterile conduit for A non-exhaustive list of these is provided below: Drape connectors are used to transmit electrical signals such as power, ground, and communication to, for example, a robot manipulator. It can be used to provide a thermal barrier between the detector and the instrument. This electrical energy can be used by RFID transceivers, cameras, proximity sensors, or switches. Powers fixture recognition devices such as switches (including Hall sensors and reed switches) These devices can be used to connect specific bases / adapters to various fixture types. While common, it is possible to distinguish which instrument shaft is attached to a given base / adapter. It is possible. This energy can be used as a measure of force or torque as a measure of activity within the instrument or instrument adapter. These measurements can also be used to power sensors and displacement devices such as torque sensors. Allows for better tool control and user feedback such as force feedback and haptic response It becomes Noh. This electrical energy can be used for unipolar / bipolar or advanced energy devices. To prevent this, a cable must be wrapped around the manipulator or instrument when the manipulator is rotated. No more need for a blue board. Drape connectors provide optical signals or transmission between robot manipulators and instruments can be used to These optical signals can be used for communication purposes, including identification of instruments by spectroscopy or other methods. Cut. These optical signals can be fitted to a rod lens scope and used as a camera head like other endoscopes. This allows for an intraoperative view without the need for a monitor. The optical signal can be coupled to a sensor, e.g. an optical fiber, to measure deflection. This deflection can be used to interpret the force applied to the instrument or adapter.

[0040] The drape connector can also be used for other functions. In this embodiment, for example, The proximal face is used to clean the instrument adapter and instrument shaft after a surgical procedure. If left open during the procedure, this flushing The port provides a leak path for CO2 to escape from the surgical site. This flush is used to plug the port, eliminating leak paths and checking at the same time. Also eliminates instrument adapter components such as valves and elastomeric flush port covers .

[0041] Second embodiment As described, in the first embodiment, the assembly is configured for a push / pull type linear motion. The actuator is configured to transmit rotational or linear motion from the drive output to the drive input. Other embodiments can be envisioned that can transmit combinations of rotational motion. For example, see FIG. Referring to the second embodiment of Nos. 3 to 25, an alternative base 110b is shown. Each of the moving elements 122b is rotatably attached to a structure (e.g., a partition) within the base. Each cable extends from a corresponding one of the pulleys 123. The linear motion of the drive output 132 (FIG. 8) induces a corresponding rotation of the pulley 123. This causes a change in tension in the cable, which is the same as in the first embodiment. As described in detail below, the extension spring affects the movement or actuation of the end effector. 125 is a mechanism for adjusting the speed of a driving member relative to a driven member in a manner similar to that described in the first embodiment. Can help return the pulley to an unbiased position when force is removed or reduced do.

[0042] Drapery with built-in EMI shielding The manipulator and associated components are made of various types of materials suitable for surgical draping. The following is an example of a drape that can be used: 26A-26C. The drape is a drape for holding the disclosed components. To drape components of alternative surgical robotic systems other than those mentioned above for use in surgical procedures. and draping many other components of sterile equipment (other than surgical robotic systems) Note that the metric can be used to

[0043] When used with the embodiments described herein, the drape may be used to activate the proximal body 110. 20A and 20B on the receiver 104 of the embodiment before insertion into the actuator assembly. The electrodes can be arranged as shown in FIG. 20A and FIG. 20B.

[0044] The drape 200 includes an integral circuit printed with conductive (or insulating) ink 204. It is made of a stretchable multi-layer polymer. The printed circuit is resistant to static discharge and / or As a flexible Faraday cage to shield the contained device from electromagnetic interference The ink is suitable for creating mesh patterns or Faraday shields. Printed circuits can be used for capacitive sensing (buttons), resistive sensing (strain It can also function as a passive functional circuit, such as a sensor (measurement), antenna (RFID), etc. The traces may be sandwiched between laminates 202 of drape material. When transferred from one side to the other, the printed traces transmit electrical signals through the printed circuit The printed circuit may be connected to conductive pads 205 to provide access to the traces. 208. The connectors 210 and the vias 208 can be connected to molded components and features. The drape can take any form desired and can be a flat sheet of material (or It can be formed from a roll.

[0045] The drape 200 is generated by a high energy instrument that may be attached to an instrument driver. A low-cost, effective means of shielding instrument drivers from harmful ESD or EMI. In shielding applications, this method provides a method for shielding moving interfaces within a device. The design complexity of the electrical seal between the contacts (springs, etc.) is reduced, and the external cover is conductively plated. It also eliminates the need for additional EMI shielding in enclosed devices, which can be difficult to shield. It can also be used to span gaps in surgical instruments. Additional functionality may also be added to the distal drape.

[0046] Manipulator Graphical User Interface A graphical user interface can be placed on the manipulator. The present invention is applicable to any surgical robotic manipulator and is suitable for use in the above configuration, It is equally suitable for use in components of other surgical robotic systems.

[0047] In some robotic systems, for the convenience of the surgeon, each manipulator Color coding, color-coded tape, numbers, or other markings in one or more locations on the Other markings can be used to identify them individually. In addition, the car supporting each manipulator The computer has a screen for displaying error messages and a set of lights that indicate the machine's status. may be included.

[0048] During the course of the surgical procedure, the manipulator is repositioned by a surgical assistant or other operating room personnel This may require applying manual force to the robot arm to This can be done by physically moving the camera in the desired direction or position. It can be a purely manual activity, like conventional technology systems, or it can be an electrically powered activity. In either case, when the user is performing a manually driven action, It is an advantage to inform the user about the forces being applied to the instrument. Typically, the surgeon's console To move the manipulator when not actively teleoperating from ,The user can perform an action to unlock the manipulator (e.g., Press the two buttons simultaneously to manually position the end effector of the manipulator. to allow it to move to the desired position.

[0049] This section describes how to communicate instrument status and error messages, identify the manipulator, Regardless of the orientation of the manipulator's end effector, the user can easily access the A single site on the manipulator arm allows easy access for the user to operate the arm An embodiment in which the functions of touch points that can be used are integrated will be described.

[0050] The first embodiment is a surgical robotic system including at least one manipulator arm. As shown in FIG. 27, a manipulator arm (e.g., 13 and 1 in FIG. 1) 4, 15) is an endof-body motion sensor that is distal to at least one degree of freedom of the manipulator arm. In this particular embodiment, the receiver 104 is part of the end effector. In use, as described above, the surgical instrument 106 is removably attached to the end effector. It can be attached to.

[0051] The end effector is equipped with a capacitive sensor that can display various information. ve) a display screen 212. In this embodiment, the display screen 212 is cylindrical and The screen extends around the body of the do-effector. The screen displays information such as machine status, arm identification, and instrument identification. You can change the color, add text, icons, or other GUIs to communicate to the user what the It can be configured to display items such as icons by touching the capacitive screen. You can view and select the calibration, homing, or end effector tro It can perform tasks such as docking to Carl.

[0052] Furthermore, touch gestures by the user on the capacitive screen elicit responses from the machine. For example, touching two widely spaced points can lock the degrees of freedom. The joint is released and you can now manipulate or manually move the manipulator around the joint. Types can be changed between menus or to make the machine transition to a specific state (such as draping). Gestural interaction with the display can be used to give the system instructions. Places the manipulator in the next state or activates the manipulator's actuators. You can use the It is also possible to perform instrument docking, instrument exchange, calibration, homing, storage, draping, etc.).

[0053] In a preferred configuration, the touch screen completely encases the end effector. Capacitive points are always easily accessible. In addition, they can be easily mounted on or off the end effector. The inclusion of an Inertial Measurement Unit (IMU) within the end effector provides feedback to the system. Based on this feedback, the system The system maintains or changes the position and orientation of messages and menus displayed in the GUI and From the perspective of the controller, the message is sent regardless of the rotation of the end effector relative to the operator. This ensures that the camera / menu always faces a specific direction. The system's processor determines the area of ​​the screen that is displayed to the user in that orientation. Select the relevant messaging and menus in that area, preferably Display in an easy-to-read orientation.

[0054] This feature provides system benefits that are displayed in an easily accessible location at the patient site. By including all available information, the surgical system is made more convenient to use. The cut points can be wrapped around the entire end effector. It is always accessible and in the same place (from the user's perspective) regardless of the vector orientation. The display can use colors to indicate different operating states or to prompt the user to use different arms. The device may include a color changing display that allows the user to distinguish between the

[0055] Force notification during manual drive operation of the manipulator As explained in the sections above, during the course of a surgical procedure, surgical assistants or other operating room personnel It may be necessary for personnel to reposition the manipulator. This is done by By applying a dynamic force and physically moving the manipulator in the desired direction or position. This may be a purely manual activity, as in some commercial systems, or In either case, the activity is manually driven by the user. It is advantageous to inform the user about the forces being applied to the tool when performing an action.

[0056] As also described herein, a force / torque sensor may be a six degree of freedom force / torque sensor. Sensors are attached to the manipulator and provide force feedback to the surgeon via a user interface. The above envisioned haptic information can be used to determine the haptic information required to provide a visual cue. The manipulator shows a six degree of freedom force / torque control in the area proximal to the instrument location. There is a force sensor 214 which, as described above, is used to measure the force to which the surgical instrument is subjected. are used to allow the system to transmit these forces to the user via a haptic interface. Proximal to the sensor 214 is at least one notification component 216, which , a vibration transducer, and a visual indicator or light emitter. If a vibration transducer is used, it is placed on the manipulator proximal to the sensor 214. The placement helps to avoid interference with the force measurements of the sensor 214. The data can be a light, an LED or a collection of LEDs, a visual display, etc. If a GUI of the type described in the section is used, it is part of that GUI. These components are designed to reduce the force on the instrument while the system is being manually repositioned. Used to alert the user to its presence.

[0057] During manual operation (when the user places their hand on the arm to control the arm's movement), When force is applied to the device attached to the device, the light emits a vibration and a visual warning. This is to ensure that the person moving the arm does not notice that the instrument is in contact with tissue or another structure. Additional precautions can be taken, if necessary, to warn of While the instrument is engaged with the arm, the instrument is inserted into a trocar placed at the incision site. This would be particularly useful when

[0058] The visual indicators are configured to provide directional information to the user to assist the surgeon. For example, it may be used to reduce forces between the instrument and tissue or other objects. The light can take up part of the arm and provide a visual indication of the direction in which the arm needs to be moved. If it's a ring of lights or LEDs that surrounds the device, the user has to push in on the arm. Quadrants of these lights may be illuminated to indicate the direction of force or force being applied to the instrument. If a flexible display or GUI is used, one or more arrows or Other symbols, icons, text, etc. may be displayed for the same purpose. In this state, the system measures the amplitude / frequency of vibration and the intensity / flashing of light with the force sensor 214. The force can be configured to be proportional to the measured force.

[0059] Remote drive motion (using one of the user input devices 17, 18 to remotely control the arm) During the exercise, which is performed by a user controlled by a force sensor, a force is applied to the device attached to the arm. When the object is struck (or subjected to a force above a defined threshold), a visual warning is issued from the light emitter. A notice may be issued.

[0060] This functionality can be used with any robotic manipulator and is not limited to the embodiments described herein. Generally, it consists of a manipulator arm, a manipulator that includes force and torque sensors. a surgical instrument mountable on a surgical robot arm, the surgical robot including a tactile user input device; The system includes at least one processor and at least one memory storage instruction executable by at least one processor; In response to user manipulation of the haptic user input device, the manipulator arm Move the surgical tool. The sensor signals during user operation of the tactile user interface In response, an actuator of the haptic user input device applies a force to the haptic user input device. The manipulator arm applies feedback and responds to signals from sensors during manual user movements of the manipulator arm. In response to the signal from the sensor, the command activates a vibration transducer in the arm. At least one processor must be configured to activate the arm's visual warning. It may be even more feasible.

[0061] Vibration transducers can be used in addition to, or instead of, force feedback to provide other types of feedback. Note that this can be used to provide feedback to the user. For example, U.S. Pat. As described in US Pat. No. 9,855,662, a force / torque is used to pass the instrument through the incision. If the system is configured to determine the tool's pivot point, activate the vibration warning. , the fulcrum determination process is complete and the user may be notified that the fulcrum has been set.

[0062] Although specific embodiments have been described above, these embodiments are presented by way of example and not limitation. It should be understood that the present invention is presented in a manner that is consistent with the spirit and scope of the present invention. It is understood that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention. This will be clear in light of the techniques and terminology in the related art that may be developed later. Moreover, the features of the various disclosed embodiments may be combined in various ways. In combination, various additional embodiments can be created.

[0063] Any and all patents, patent applications, and trademarks referred to above, including for purposes of priority. The printed publications are incorporated herein by reference.

Claims

1. 1. A robotic manipulator having an actuator assembly at a distal end thereof, The actuator assembly includes a base of a surgical instrument that is connected to the actuator assembly. and a closed position in which the base is releasably engaged with the robot. manipulator.

2. The actuator assembly includes a first surface having a first drive element and a second drive element. and a second surface having an element, the first surface and the second surface being different surfaces. Item 2. A manipulator as described in item 1.

3. The manipulator of claim 2 , wherein the first surface and the second surface are opposing surfaces. Ta.

4. The actuator assembly may pivot, rotate, slide, or otherwise move the actuator. The manipulator of claim 1 , wherein the manipulator is extendable.

5. The expansion and contraction are achieved by electrical or mechanical interactions between the instrument and the manipulator.

5. The manipulator of claim 4, wherein the manipulator is controlled via any of the interactions.

6. the robotic manipulator includes a pass-through for an instrument or camera cable.

2. The manipulator according to claim 1.

7. The manifold of claim 6 , wherein the pass-through comprises a portion of the actuator assembly. Purator.

8. The drive element is adapted to move the manipulator to advance a drive input on the base. The manipulator of claim 1 , wherein the manipulator is movable in a rotatable manner.

9. 1. A robotic system assembly comprising: A robot manipulator including an actuator assembly; a surgical instrument having a body attachable to the actuator assembly; Equipped with The body includes a first control input terminal and a second control input terminal, the first control input The power terminal and the second control input terminal are disposed on different sides of the body or on the front A robot system assembly extending in different directions from the body.

10. The first control input terminal and the second control input terminal extend in opposite directions from the body. The system of claim 9 .

11. The first control input terminal and the second control input terminal are arranged in a non-parallel direction from the body. The system of claim 9 .

12. The first control input terminal and the second control input terminal are configured to control the surgical instrument to be When attached to a head manipulator, the first drive of the actuator assembly The system of claim 9 operatively associated with the moving element and the second driving element.

13. When the surgical instrument is attached to the robotic manipulator, the drive element 13. The system of claim 12, wherein a sterile barrier is disposed between the control input terminal and the control input terminal.

14. The actuator assembly receives the body. an open position configured to receive the first and second control input terminals; is operatively associated with the first and second drive elements of the actuator assembly.

10. The robotic system assembly of claim 9, wherein the robotic system assembly is movable between a closed position and a linked closed position. Yellowtail.

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