Parallel movement device interface for surgical robot and surgical robot system equipped with the same

Abstract

To provide a surgical device to be used in a surgical robot.SOLUTION: A device 10 is a part of a parallel movement device interface 200, and is joined to a surgical robot removably. In one aspect, the parallel movement device interface includes a slave hub mounted on a distal end of a slave unit 30, a sterilization shield that can be inserted into the slave hub, and a device 500 having an end effector to come in contact a tissue that can be inserted into the sterilization shield. The device can be disposable after a single use. A handle 100 of the surgical robot is joined to the parallel movement device interface so that the operation in the handle generates the movement of the end effector for performing surgery.SELECTED DRAWING: Figure 1A

Description

[Technical field]

[0001] (Citation of Related Application) This application is a direct sequel to U.S. Provisional Application No. 62 / 505,018 (filed May 11, 2017). No. 60 / 339,363, filed on Oct. 13, 2003. Priority is claimed, and the entire contents of the above application are incorporated herein by reference.

[0002] (Field of use) The present application generally relates to a remotely actuated surgical robot and a disposable device therefor. Concerning equipment. [Background technology]

[0003] (background) Many environments and applications call for remote actuation using teleoperated surgical devices. These applications include assembly tasks, tight spaces, dangerous or Operation in a contaminated environment, operation in a clean room or sterile environment, and Includes operations within a surgical environment, whether open or minimally invasive These applications vary with precise tolerances and typical end-user parameters. However, each one can perform dexterous manipulations with high stiffness and precision along with force feedback. The GSMA requires many of the same features from remotely operated systems, such as the ability to

[0004] Surgical applications are used herein as representative examples of applications for remotely operated device systems. There are known devices, discussed in more detail, but they have major drawbacks that make them the current state of the art. This is clear in

[0005] Open surgery remains the standard technique for most surgical procedures. It has been used by the medical community for decades because traditional surgical tools The surgical task is performed by making a long incision in the abdomen or other area of ​​the body through which However, due to the long incision, this approach is It is extremely invasive due to substantial blood loss during surgery and is typically performed in a hospital setting. This results in a long and painful recovery period.

[0006] To reduce the invasiveness of open surgery, a minimally invasive technique, laparoscopy, has been developed. Instead of a single long incision, several small incisions are made in the patient through which the Long surgical instruments and an endoscopic camera are inserted. Due to the minimally invasive nature of the procedure, This technique reduces blood loss, pain, and hospital stays. When performed in a controlled manner, this technique can achieve clinical outcomes similar to open surgery. Despite the aforementioned advantages, laparoscopy requires extremely long and rigid instruments. The entry incision serves as a rotation point and allows for the insertion of instruments. Reduces the freedom to position and orient the device inside the patient. The movement of the instrument is reversed and magnified relative to the tip (the "fulcrum effect"), which increases dexterity and This reduces the sensitivity of the instrument and increases the surgeon's hand tremors. In addition, long, straight instruments It forces the surgeon to work in uncomfortable positions for the hands, arms, and body, , which can be very tiring during an operation lasting several hours. Due to their shortcomings, these minimally invasive techniques are primarily limited to use in simple surgical procedures. However, only a minority of surgeons are able to use them in complex procedures.

[0007] To overcome these limitations, surgical robotic systems are being developed to perform complex minimally invasive surgical procedures. Developed to provide an easier-to-use approach to surgery. With a coordinated robotic interface, these systems allow the surgeon to The patient sits at the table, operates two master manipulators, and performs surgery through several small incisions. Like laparoscopy, the robotic approach also allows It is minimally invasive and has the aforementioned advantages over open surgery in terms of pain, blood loss, and recovery time. In addition, it offers better operative results compared to open and laparoscopic techniques. However, while technically easier, robotic surgery However, they do bring with them some negative aspects. The main disadvantage of these systems is that they require complex mechatronics. Regarding the extremely high complexity of existing robotic devices with their systems, This leads to huge acquisition and maintenance costs that are not acceptable for most surgeries in the country. Another drawback of these systems is that current surgical robots are large and difficult to fit into an operating room environment. This stems from the fact that they compete for valuable space and significantly increase preparation time. Access is therefore impaired, which, together with the general lack of force feedback, Another potential drawback of robotic systems is that they can be used by any computer. Data errors can lead to undesirable positioning of a surgical end effector tool on or within a patient. Such computer errors can lead to large drifts or movements. , 3 translational degrees of freedom, i.e., left / right, up / down, inward / outward This is problematic with large end effector movements in the , when positioned on or within a patient during a surgical procedure, can result in fatal injury.

[0008] Madhani, WO97 / 43942 (Patent Document 1); Cooper, WO9 No. 8 / 25666, and U.S. Patent Application Publication No. 2010 / 001190 to Burbank. No. 0 is a robotic teleoperated device designed to replicate the movements of a surgeon's hands inside a patient's body. A steerable surgical instrument is disclosed. By having the instrument installed, the surgeon can perform remote laparoscopy without having to sit at the console. The surgeon sits down, operates two joysticks, and performs surgery through several small incisions. However, this system does not have autonomy or artificial intelligence and is essentially a surgical It is a sophisticated tool that is fully controlled by the physician. The control commands are sent via complex computer A controlled mechatronic system controls the robot master and the robot slave. Mechatronic systems are extremely costly to produce and maintain. , making it difficult for hospital staff to use.

[0009] WO2013 / 014621 to Beira (the entire contents of which are incorporated herein by reference) The present invention relates to a remote-controlled mechanical device for remote operation. It describes a system in which slave units are driven by a kinematically equivalent master unit. Each part of the slave unit is connected to the master unit. The mechanical transmission system mimics the movement of the corresponding parts of the device. However, low friction routing of the cable from the handle through the entire kinematic chain to the instrument is required. Calibration is costly, complex, and requires precise calibration and careful handling and maintenance. request.

[0010] In addition, current teleoperated surgical instruments require a large amount of force between the drive unit and the surgical instrument. Use rotational couplings for individual degrees of freedom, or a combination of rotational and translational couplings. For example, U.S. Patent Application Publication No. 2016 / 0151115 to Karguth (Patent Document 3) discloses , a translational element aimed at translational tip movement, and a rotational element for rotary instrument tip movement In addition, Hares's WO2016 / 18928 describes a binding mechanism involving No. 4 describes a drive mechanism with combined translational and rotational engagement and Tiern U.S. Patent Application Publication No. 2002 / 0072736 to ey provides a rotational coupling of actuable degrees of freedom. The associated interface will be described.

[0011] High manufacturing costs and complex use of rotationally coupled degrees of freedom for robotic teleoperated surgical instruments With mechanical teleoperated surgical instruments, such instruments can be used across multiple surgical procedures. must be reused, adding complex reliability, reprocessing, and performance requirements.

[0012] It would therefore be desirable to provide a remotely operated device with simple interchangeable distal instruments. Further, the interchangeable distal instruments may be surgical instruments. It would be desirable to have an instrument designed for use in the environment. [Prior art documents] [Patent documents]

[0013] [Patent Document 1] International Publication No. WO 97 / 43942 [Patent Document 2] International Publication No. 2013 / 014621 [Patent Document 3] US Patent Application Publication No. 2016 / 0151115 Summary of the Invention [Means for solving the problem]

[0014] (summary) The present invention provides a surgical instrument for removably coupling to a surgical robot. Advantageously, the present invention overcomes the shortcomings of previously known systems by providing a method for The relatively low cost surgical instruments that contact tissue are removable and disposable. While the more complex and expensive components of a surgical robot may be reusable, the more complex and expensive components of a surgical robot may be reusable. The surgical robot preferably includes one or two teleoperated surgical arms. Each is removed to the surgical instrument through an interface, e.g., a sterile shield. In this manner, sterility is maintained throughout the surgical procedure.

[0015] The handle of the surgical robot is mechanically and / or mechanically coupled to the translational instrument interface. In a preferred embodiment, the translational instrument interface is a slave hub having a number of drive units, the slave hub being a slave hub mounted on the distal end and a sterile shield insertable into the slave hub and a surgical instrument having an end effector and insertable into the sterile shield. The sterile shield may be disposable after a single use and may be pre-sterilized. The actuation actuates the movement of an end effector of a surgical instrument in one or more degrees of freedom. To make.

[0016] According to one aspect, the device includes a proximal region, a distal region, and a lumen extending therebetween. The instrument includes an elongate shaft having one or more degrees of freedom disposed within the distal region. The actuator includes an end effector disposed in the proximal region. The actuator may be arranged in a plurality of force transmission elements, e.g., cables and pulleys, or in a lumen. The force transmission chain is connected to the end effector of the surgical robot. a sterile shield releasably engaged with the sterile shield and responsive to translational movement of the actuator; The instrument may be configured to move the end effector. The instrument can be disposed in a proximal region having a rotatable portion and a locking pin. The rotatable portion and the locking pin may also include an instrument head that is positioned on the sterilization shield. The instrument head has a caliper that axially aligns the instrument with the sterility shield. The instrument may also include at least one tension cable providing tension to the plurality of force transmission elements. The actuator may further include at least one tension cable coupled to the actuator. do.

[0017] According to one aspect, the actuator is configured such that the movement of one of the plurality of drive units is A translational movement of a first one of the engagers in a first direction and a translational movement of a second one of the pair of engagers in a second direction. and a corresponding translational movement in the opposite direction to the engagement mechanism, thereby providing a multi-free of the slave hub to move the end effector in a first degree of freedom of A pair of receptacles sized and shaped to be releasably coupled to the respective receptacles. Each pair of engagers is preferably attached to a sterile shield of the surgical robot. In response to translational movement in the proximal region, the longitudinal axis of the elongated shaft is moved along a path in the proximal region. The actuator may further include second and third pairs of engagers, each , respectively, in response to translational motion of the sterile shield of the surgical robot. independently movable to actuate movement in the second and third degrees of freedom. The first, second, and third pairs of engagers are preferably first, second, and third pairs of engagers, respectively. The force transmission element couples the force to the end effector. The translational motion actuates the movement of the end effector in one degree of freedom. In this state, each pair of engagers connects a corresponding receptacle in the sterile shield to the surgical robot. The hook includes a pair of hooks configured to engage the hook.

[0018] A slave hub is also used herein as a slave unit mounted on a remotely operated surgical arm. According to one aspect, the slave hub is provided to be mounted on a sterilization shield and and an opening sized and shaped to receive the elongated shaft. The shield provides thermal insulation between the surgical instruments, the slave hub, and the remote surgical arm. The sterile shield is then received through an opening in the slave hub to provide a microbial barrier. a proximal component configured to be inserted into the slave hub opening, the proximal component being disposed within the slave hub opening; The proximal configuration may include a distal component configured to be engaged with the proximal component. Either the element or the distal component may be connected to a slave hub. The slave hub may have an asymmetric shape that is oriented relative to an opening in the end face. The vector can be rotated about the axis of the slave unit such that the vector also rotates about the axis.

[0019] According to one aspect, the slave hub includes a receptacle that releasably interengages with the actuator. and a translational movement of the receptacle and the actuator when interengaged. The slave hub is a device that acts on the end effector via a force transmission element. so that at least one tension cable provides tension to the receptacle when the The drive unit may further include at least one tension cable coupled to the receptacle. The actuator is operably coupled to the receptacle and configured to control translation of the receptacle and the actuator. The actuator may be, for example, an electric motor, a hydraulic element, or other mechanical means that produces the motion. For example, the rotary motion of an electric motor is achieved by a system of cables and pulleys, or by gears, feed Translational motion in the actuator via a screw and lead screw nut system Therefore, a sterility shield is coupled between the actuator and the receptacle. Preferably, the slide element is configured to connect the receptacle and the actuator. Automatically align.

[0020] The teleoperated surgical instrument may include a control system coupled to a plurality of drive units. In addition, the appliance is configured to detect information about the appliance from an identification tag. , identification tags. For example, the identification tags may include instrument type, serial number, calibration data, exercise Encodes one of the following: range data, end-effector kinematics, or control offsets The control system may also be coupled to a sensor that can sense misalignment of the instrument. The control system generates an alert in response to the sensor detecting misalignment of the instrument. obtain.

[0021] According to one aspect of the present invention, a translator includes a surgical instrument having an end effector. The tool interface may be purely mechanical, purely electromechanical, or mechanical. and a remotely operated surgical instrument, which may be a combination of electrical and electromechanical. In one example, a small Movement is electromechanically actuated in three degrees of freedom, e.g., open / close, pitch, and yaw. On the other hand, the end effector has three translational degrees of freedom, namely left / right, up / down, and inward. Large inward / outward movements are mechanically controlled by remotely operated surgical instruments. The seventh degree of freedom, pronation / supination, is, in the example, electromechanically or mechanically controlled. Preferably, the surgical instrument is a slave unit of a teleoperated surgical instrument. In one embodiment, the teleoperated surgical instrument is designed to be removably coupled to comprises a force transmission element, e.g., a plurality of rigid master links and / or cables and pulleys a master unit having a master joint and a handle; and a force transmission element, e.g. and a slave joint. The master unit includes a slave unit. The master unit is configured to detect whether the slave unit is moving. During such a movement, each rigid link of the master unit is reproduced in the slave unit. The master and slave units are aligned so that they remain parallel to the corresponding rigid links of the units. The actuator is kinematically connected to the slave unit via multiple force transmission elements on both the actuator and the slave unit. obtain. [Brief description of the drawings]

[0022] [Figure 1A] FIG. 1A illustrates an exemplary teleoperated surgical robot constructed in accordance with the principles of the present invention. [Figure 1B] FIG. 1B illustrates a four degree of freedom end effector controllable by the handle of FIG. 1A. [Figure 1C] 1C and 1D show additional exemplary teleoperated surgical robots having the translating instrument interface of FIG. 1A. [Figure 1D] 1C and 1D show additional exemplary teleoperated surgical robots having the translating instrument interface of FIG. 1A. [Diagram 2] FIG. 2 illustrates a partial view of an exemplary translating instrument interface constructed in accordance with the principles of the present invention. [Diagram 3] FIG. 3 illustrates an example slave hub of the translation instrument interface of FIG. [Figure 4] FIG. 4 illustrates an exemplary sterility shield of the translating instrument interface of FIG. [Figure 5A] 5A-C illustrate the insertion of the sterile shield of FIG. 4 into the slave hub of FIG. [Figure 5B] 5A-C illustrate the insertion of the sterile shield of FIG. 4 into the slave hub of FIG. [Figure 5C] 5A-C illustrate the insertion of the sterile shield of FIG. 4 into the slave hub of FIG. [Figure 6A] FIG. 6A shows the example instrument of FIG. 2, FIGS. 6B-C show the instrument head of FIG. 6A, and FIG. 6D shows the end effector of FIG. 6A. [Figure 6B]FIG. 6A shows the example instrument of FIG. 2, FIGS. 6B-C show the instrument head of FIG. 6A, and FIG. 6D shows the end effector of FIG. 6A. [Figure 6C] FIG. 6A shows the example instrument of FIG. 2, FIGS. 6B-C show the instrument head of FIG. 6A, and FIG. 6D shows the end effector of FIG. 6A. [Figure 6D] FIG. 6A shows the example instrument of FIG. 2, FIGS. 6B-C show the instrument head of FIG. 6A, and FIG. 6D shows the end effector of FIG. 6A. [Figure 7A] 7A-C illustrate the insertion of the instrument of FIG. 6A into the sterile shield of FIG. 4 within the slave hub of FIG. [Figure 7B] 7A-C illustrate the insertion of the instrument of FIG. 6A into the sterile shield of FIG. 4 within the slave hub of FIG. [Figure 7C] 7A-C illustrate the insertion of the instrument of FIG. 6A into the sterile shield of FIG. 4 within the slave hub of FIG. [Figure 8] FIG. 8 illustrates another exemplary translation instrument interface constructed in accordance with the principles of the present invention. [Figure 9A] 9A-9D illustrate yet another exemplary translation instrument interface constructed in accordance with the principles of the present invention. [Figure 9B] 9A-9D illustrate yet another exemplary translation instrument interface constructed in accordance with the principles of the present invention. [Figure 9C] 9A-9D illustrate yet another exemplary translation instrument interface constructed in accordance with the principles of the present invention. [Figure 9D] 9A-9D illustrate yet another exemplary translation instrument interface constructed in accordance with the principles of the present invention. [Figure 10A] 10A and 10B show another example slave hub with seven degrees of freedom mechanically actuated. [Figure 10B] 10A and 10B show another example slave hub with seven degrees of freedom mechanically actuated. [Figure 10C]FIG. 10C illustrates a mounting interface for mounting the slave hub of FIGS. 10A and 10B to a teleoperated surgical instrument. [Figure 11A] FIG. 11A illustrates a mounting interface for attaching a slave hub to a teleoperated surgical instrument having four mechanically actuated degrees of freedom and three electromechanically actuated degrees of freedom. [Figure 11B] FIG. 11B illustrates a mounting interface for attaching the slave hub to a teleoperated surgical instrument having three mechanically actuated degrees of freedom and a fourth electromechanically actuated degree of freedom. [Figure 12] FIG. 12 depicts the translational motion of a translating instrument interface, according to an exemplary embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] (Detailed Description) Constructed in accordance with the principles of the present invention may be used in minimally invasive surgical procedures or other applications. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A teleoperated surgical instrument is described herein. Referring to FIG. The steerable surgical instrument 10 is shown having a translational instrument interface 200. The interface 200 includes a removable surgical handpiece having an end effector 506. The teleoperated surgical instrument 10 includes a surgical instrument 500 in a master-slave configuration. The slave unit is designed and constructed from multiple rigid slave links and slave joints. The master unit 30 is made of a plurality of rigid master links and master joints. Preferably, each part of the slave unit 30 is kinematically driven by a digital During the operation of the vice, the master unit 20 As will be appreciated by those skilled in the art, two identical remotely operated Surgical instruments may, for example, be designed so that one is for the surgeon's left hand and the other is for the surgeon's right hand. Preferably, the remotely operated instruments are It is optimized for use in surgical procedures.

[0024] As shown in FIG. 1A, the slave unit 30 includes a plurality of slave joints and a plurality of slave joints. Force transmitting slave elements, e.g., rigid links, cables and pulleys, and / or The master unit 20 has a head-based force transmission chain, and the master unit 20 has multiple master joints and multiple force Transmission master elements, e.g., rigid links, cables and pulleys, and / or rod bearings The slave unit 30 has a slave joint and the master unit 20 has a force transmission chain. The master joints are a plurality of master joints of the master unit 20 and a plurality of slave joints of the slave unit 30. and a slave joint coupled via a plurality of force transmitting master and slave elements extending between the slave joints. The force of the master unit 20 can be reproduced by the slave unit 30. For example, movement of the master unit 20 via the handle 100 may The distal end 40 of the subunit 30 is positioned and the translational movement of the surgical instrument 500 is controlled by the In one embodiment, a rigid link controls the master unit in three translational degrees of freedom. During such movement, each rigid link of 20 is coupled to a corresponding rigid link of slave unit 30. The example master in FIG. 1A is used to transform the movement so that it remains parallel to the The slave configuration is described in Beira's WO2016 / 162752, the entire contents of which are incorporated herein by reference. The present invention is conceptually described in US Pat. No. 6,399,433, which is incorporated herein by reference.

[0025] As seen in FIG. 1A, the teleoperated surgical instrument 10 includes a handle 100 and a parallel and a mobile tool interface 200. The handle 100 preferably includes a handle 1 00 is reproduced by the translational instrument interface 200. A transmission element, for example, a handle joint of the handle 100 and a slave joint of the slave unit 30 Rigid links, cables and pulleys, and / or rod bases extending between the joints A plurality of rigid hands are kinematically connected to the slave unit 30 via a force transmission chain of the For example, the movement of the handle 100 is The force applied to the rigid link of the master unit 30 is applied to the multiple rigid links of the master unit 30, This applies a force to the multiple rigid links of the slave unit 20, which in turn transmits the force to the end As effector 506 is added, three translational degrees of freedom, e.g., left / right, up / down , the end effector 50 of the translational instrument interface 200 in the inward / outward direction 1A, the handle 100 in the left direction 21 can cause a movement of 6. The movement of the end effector 506 of the translation instrument interface 200 moves in the left direction 31 and movement of the handle 100 in the right direction 22 causes the translation instrument interface The end effector 506 of the sensor 200 is moved in the right direction 32. Movement of the handle 100 causes the end effector 50 of the translation instrument interface 200 to 6 in an upward direction 33, and the movement of the handle 100 in a downward direction 24 is parallel Move the end effector 506 of the moving instrument interface 200 in the downward direction 34 Movement of the handle 100 in the outward direction 25 moves the translation instrument interface 2 00 end effector 506 in the outward direction 35 and The movement of the handle 100 is controlled by the end effector 506 of the translational instrument interface 200. In addition, the handle 100 is rotated to move the instrument 500 in the inward direction 36. supination, e.g., rotation of the device 500 about its longitudinal axis.

[0026] The handle 100 is electrically coupled to a translation instrument interface 200, and is operable by a user. Interfaces, including, for example, multiple sensors, tactile elements, buttons, switches, triggers, etc. When actuated, the user interface may include a first degree of articulation freedom (e.g., pitch) and a second articulation degree of freedom (e.g., yaw, providing dexterity similar to that of a human wrist. In the third degree of actuation freedom (e.g., opening and closing), the translational instrument interface For example, the handle 10 0 is from the handle 100 through the master unit 20 and the slave unit 30, The translation instrument is connected to the translation instrument interface 200 via electrical wires extending to the translation instrument interface 200. 2. The interface 200 may be coupled to the

[0027] Advantageously, the teleoperated surgical instrument 10 has three degrees of freedom, e.g., open / close, pitch, and yaw. Small movements of the end effector in the While mechanically actuated, the end effector has three translational degrees of freedom, i.e. left / right, The seventh can be designed so that the upward / downward and inward / outward directions are mechanically controlled. The degree of freedom, pronation and supination, can be controlled electromechanically or mechanically, for example. Thus, the teleoperated surgical instrument 10 combines the advantages of small electromechanically controlled movements with It offers the advantage of large mechanically controlled movements.

[0028] As shown in FIG. 1B, movement of the handle 100 along direction 42 about axis 43 causes the axis 53 Translation along direction 52 of end effector 5 of instrument interface 200 Movement of the handle 100 along direction 44 about axis 45 produces a yaw of axis 506. 5. Translation along a direction 54 around the end effector 50 of the instrument interface 200 Actuation of handle 100, e.g., handle 1 in direction 46, produces a pitch of .6. Pulling the trigger of 00 activates the end effector 5 of the translation instrument interface 200. 06 opens and closes along direction 56. In one embodiment, the handle 100 can be, for example, When actuated along direction 41, a fourth rotational degree of freedom, e.g., rotation along axial direction 51, is achieved. Translating Instrument Interface 200 End Effector 506 Movement in Pronation and Inversion The interface may include, for example, a button, a switch, The input signal may include a switch, a trigger, etc.

[0029] The translational instrument interface 200 may be configured in a variety of ways, as will be readily understood by those skilled in the art. With the remotely operated surgical instrument, e.g., electromechanically and / or mechanically operated In addition, as described in more detail below, a translational instrument interface 2 00 may be electromechanically actuated, for example via an electric motor, or mechanically actuated. For example, a translational rigid link drive transmission, a hydraulic cylinder, and / or a pneumatic element. For example, the translation instrument interface 200 may be actuated via an electromechanical When the translational instrument interface 200 is in operation, the translational instrument interface 200 is adapted to communicate with a mechanical teleoperated surgical instrument. The surgical instrument 10 may be attached to and operated by a surgical instrument, such as a teleoperated surgical instrument 10. ,Translation degrees of freedom, e.g. left / right, up / down, in / out, are mechanically actuated While the degrees of articulation freedom, e.g., pitch and yaw, and degrees of actuation freedom, e.g. For example, the opening / closing can be electromechanically actuated. The face 200 may be mechanically driven, for example, by a translational rigid link drive transmission, a hydraulic cylinder, or translational degrees of freedom, e.g. left / right, upward, when actuated via pneumatic elements Up / down and in / out are mechanically actuated and articulation degrees of freedom, e.g. The yaw and yaw degrees of freedom, as well as the actuation degrees of freedom, e.g., open / close, are mechanically actuated. The rotational degree of freedom, e.g., the pronation and supination movements, are controlled by the handle 100 and the translational instrument interface. Electromechanical or other communication is provided via one or more cables and pulleys extending between the base 200 and the Thus, in various examples, the translational instrument interface 2 may be The teleoperated surgical instrument 10 with 00 has (i) seven mechanically actuated degrees of freedom; (ii) 4 degrees of freedom mechanically actuated and 3 degrees of freedom electromechanically actuated; or (iii) three degrees of freedom mechanically actuated and electromechanically actuated It has four degrees of freedom.

[0030] As shown in FIG. 1C, the translational instrument interface 200′ is a mechanical remote control. The parallel axial translation of FIG. 1C can be attached to and operated by a parallel axial translation of FIG. The translational instrument interface 200' is similar to the translational instrument interface 200 of FIG. 1A. The exemplary master-slave configuration of FIG. 1C is described in U.S. Pat. No. 2014 / 0195010, the entire contents of which are incorporated herein by reference. and as described in WO 2016 / 162752 by Beira, incorporated above. Similar to the teleoperated surgical instrument 10, the teleoperated surgical instrument 11 has a flat surface. Row movement freedom, e.g., large movement left / right, up / down, in / out , mechanically actuated, while the articulation freedom of the translational instrument interface 200' Small degrees of movement and actuation freedom, e.g. in pitch and yaw, e.g. to open / close Small movements in the instrument can be electromechanically actuated. The face 200' has translational degrees of freedom, e.g., left / right, up / down, in / out Orientation is mechanically actuated and articulation degrees of freedom, e.g., pitch and yaw, as well as The degree of freedom of actuation, e.g. open / close, can be mechanically actuated, e.g. Actuated via a row-moving rigid link drive transmission, hydraulic cylinder, or pneumatic element In addition, the rotational degrees of freedom of the teleoperated surgical instrument 11, e.g., pronation and supination, can be controlled by the hand. One or more cables extending between the handle 100' and the translation tool interface 200'. It can be electromechanically or mechanically actuated via cables and pulleys. In this example, a remotely operated surgical instrument 11 with a translational instrument interface 200′ is (i) seven mechanically actuated degrees of freedom; (ii) four mechanically actuated degrees of freedom and three degrees of freedom that are electromechanically actuated; or (iii) mechanically actuated It has three degrees of freedom that can be controlled by actuators and a fourth that can be electromechanically actuated. The instrument 11 has three mechanically actuated translational degrees of freedom and an electromechanically actuated In an example having three articulation / actuation degrees of freedom, the teleoperated surgical instrument 11 is electro-mechanically provides the advantages of small electrically controlled movements and large mechanically controlled movements. .

[0031] As shown in FIG. 1D, the translation instrument interface 200″ is an electromechanical Attached to the robotic slave unit 12 of the remotely operated surgical instrument, thereby As will be appreciated by those skilled in the art, the robot slave unit 12 may be , for example, via electrical wiring extending from the robot slave unit 12 to the handle ( 1. The surgical instrument is electrically connected to a master unit of an electromechanical teleoperated surgical instrument having a The translation tool interface 200'' of FIG. 1D may be combined with the translation tool interface 200 of FIG. The tool interface 200 is constructed similarly to the tool interface 200. Thus, translational degrees of freedom, e.g., left / right , up / down, in / out, articulation degrees of freedom, e.g., pitch and yaw, actuation The degrees of freedom, e.g., opening / closing, as well as the rotational degrees of freedom, e.g., pronation / supination, are electromechanically Thus, in various examples, a translational instrument interface 200'' is The teleoperated surgical instrument 12 has seven electromechanically actuated degrees of freedom.

[0032] Referring now to FIG. 2, an exemplary translation instrument constructed in accordance with one aspect of the present invention is shown. The translating instrument interface 200 is a remotely operated surgical instrument. It is designed to be mounted to the distal end 40 of the slave unit 30 of the surgical instrument 10. The row transfer instrument interface 200 illustratively includes a slave hub 300 and a sterile shield. 2, the sterilization shield 400 is a sleigh. The instrument 500 is inserted into the lumen of the sterile shield 400. 500 , thereby forming a sterilization shield 400 between the slave hub 300 and the instrument 500 . Sterile shield 400 provides a sterile mechanical connection to the slave hub. 300 Can be removed and the instrument 500 is removably coupled to the sterility shield 400. The sterile shield 400 and the instrument 500 are adapted to insert and exchange the instrument 500 during a surgical procedure. and for inserting and removing the sterile shield 400 before and after surgical use. In order to do so, the slave hub 300 can be inserted into and removed from the slave hub 300. The unused surgical instruments are then removed and another surgical procedure is performed using the unused surgical instruments. For this purpose, the surgical instruments may be exchanged for unused surgical instruments.

[0033] Referring now to FIG. 3, an exemplary slave hub constructed in accordance with one aspect of the present invention includes: The slave hub 300 is a controller for controlling the remotely operated surgical instrumentation described herein. The slave hub 300 may be mounted at the distal end of the slave unit 30 such that the slave hub 300 is The slave hub 300 is preferably rotatable about an axis (e.g., pronation and supination). a lumen 302 sized and shaped to receive a sterilization shield 400; To actuate the movement of the end effector 506 of the instrument 500 in one or more degrees of freedom. and a drive unit 304.

[0034] The drive unit 304 illustratively comprises three individual actuators, each of which controls one of the three degrees of freedom. In the example of serial motion of the end effector 506, one drive unit The drive unit can actuate the end effector to open and close, and another drive unit can The drive unit can articulate the pitch of the end effector, and the other drive unit articulates the yaw of the end effector. In an example of serial-parallel kinematics of the end effector 506, one drive unit The arms can articulate the end effectors to yaw, each of which Two drive units each controlling one blade of the rotor 506 perform pitch articulation. In one embodiment, the drive unit 304 may be A fourth drive unit is included to articulate the pronation and supination of the doe effector. Given that the units can be structurally and functionally identical, the degrees of freedom with which they can be actuated Since the arrangement of the components of the end effector is dependent on the drive unit 30, the following description will be limited to the drive unit 30 only. 4 as representative of each individual drive unit.

[0035] In FIG. 3, a slave hub 300 includes an upper plate 301 and a lower plate 303. The driving unit 304 is connected to the upper plate 301 from one side of the upper plate 301. The drive unit 303 passes between the lower plate 303 and the lower plate 303, and extends to the opposite side of the lower plate 303. 304 includes a motor 306 and a linear pointer 308 coupled to a receptacle 310. The motor 306 is preferably controlled by the handle 100 via its user interface. For example, electrical wires and and a control system, electrically coupled to the handle 100. 6 rotates the driver pulley 314 to move the linear pointer 308 to the rod 3 12, and the driver pulley 314 is connected to a cable 316, e.g. Through flexible elements such as metal or polymer cables, or through semi-rigid elements such as metal bands. The drive unit 304 is kinematically connected to the linear pointer 308. The movement of the cable 316 caused by the axial rotation of the reed 314 translates the linear pointer 308. A pulley 318 may be included to convert translational motion to motion.

[0036] The linear pointer 308 may have two individual linear pointers, each of which may be Each of the pulleys is kinematically connected to the driver pulley 314 via a cable or band and pulley. The linear pointers move in opposite directions, e.g., when the driver pulley 314 When one linear pointer moves in one direction, the other linear pointer moves proportionally in the opposite direction. In one embodiment, the two linear pointers are connected to the drive via a single cable. Each drive unit is coupled to a linear pointer 308. The movement of the two receptacles can be actuated via the movement of two of the linear pointers. The linear pointer 308 moves linearly along the rod 312 in response to actuation of the motor 306. In one embodiment, the linear pointer is designed to move linearly. is a pneumatic piston.

[0037] Inserting the instrument 500 into the lumen of the sterility shield 400 within the lumen 302 of the slave hub 300 Prior to insertion, the slave hub 300 maintains a minimum "rest" tension on the cable 31. 6 in its proper path and prevent it from unraveling. The force is applied through a cable 320, e.g., a metal or polymer cable, and a pulley 322. 3, a force is applied to the linear pointer 308 to close the loop of the cable 316. The pulley 322 allows the cable 320 to move in a linear pointer. From one of the linear pointers, via a pulley 322, to the other linear pointer of the linear pointer 308. , thereby urging the linear pointer 308 towards the lower plate 303. It may be disposed on the opposite side of the lower plate 303 .

[0038] An instrument 500 is inserted into the sterile shield 400 within the lumen 302 of the slave hub 300. As will be explained in more detail below, the slave hub 300 will then have "in use" tension. The translation instrument interface 200 may transmit force from the slave hub 300 to the instrument 500. The "in use" tension may be a minimum of This "in use" tension can be much higher than the "out of use" tension of the upper plate 30. 1 and the driving plate 305. For example, a sterility shield 400 within the lumen 302 of the slave hub 300 may be provided. Prior to insertion of the instrument 500 into the lumen of the catheter, the spring 324 is in a relaxed, uncompressed state. Upon insertion of the instrument 500 into the lumen of the sterilization shield 400, the engager of the instrument 500 , contacts the linear pointer 308 and applies a force to the drive unit 304 in the direction of the lower plate 303. This force compresses the spring 324, causing the cable 316 of the slave hub 300 and the instrument 5 00 force transmission elements are set under proper tension and alignment.

[0039] Referring now to FIG. 4, an exemplary sterility shield constructed in accordance with one aspect of the present invention includes: The sterile shield 400 is adapted to shield the non-sterile slave hub 300 from sterile instruments within a sterile environment. 500, and the upper component 404 and the lower component In this manner, the instrument 500 can be kept sterile throughout the surgical procedure. The sterile shield 40 remains sealed and can then be reprocessed or discarded after a single use. The sterile shield 400 may also be disposable after a single use, but the sterile shield 400 may be re-sterilized after the surgical procedure. Advantageously, the remotely operated surgical instruments that contact tissue during surgery are While the instrument portion (preferably only the instrument 500) is disposable, the remote surgical procedure The more complex and expensive components of the instrument are reusable.

[0040] The sterility shield 400 is sized and shaped to receive the instrument 500 therein. The upper component 404 includes a lumen 402 that is connected to the proximal end of the upper plate 301, for example. The lower component 40 may be received by the upper end of the lumen 302 of the slave hub 300. 6, for example, at the lower end of the lumen 302 of the slave hub 300 proximal to the lower plate 303 The upper component 404 may be received by the lower component 406. The upper component 404 is molded to form a slit 408 through the lumen 402. 500 and sterility shield 400. For example, the slit 408 is sized so that the locking pin is aligned along the slit 408. 500 within the lumen 402 of the sterilization shield 400. The locking pin of the 00 is inserted and allowed to rotate with the rotation of the instrument 500, and the cable The compression of spring 324 is adjusted so that the spring is placed under tension "in use," as described above. The axial length of the slits may be sized and shaped to provide a mechanical advantage that allows for

[0041] The sterility shield 400 illustratively comprises a movable slider 41 which will be described in more detail below. 0, and the receptacle 310 of the slave hub 300 and the corresponding actuator of the device 500 The movable slider 410 provides a mechanical connection between the slave hub 300 and the In response to the mechanical forces transmitted from the sterilization shield 400 to the instrument 500, a path 44 parallel to the longitudinal axis of the sterilization shield 400 is formed. The movable slider 410 can move in a translational manner (e.g., in a slot) along the axis 12. Preferably, the number of receptacles on the slave hub 300 and the number of corresponding individual slide elements are For example, a slave hub 300 may have three linear pointers, each of which is coupled to two linear pointers. When the slave hub 300 has six drive units, the slave hub 300 has six receptacles, and thus The sterilization shield 400 has six slide elements. The entire slave unit 30 or the remotely operated surgical instrument is integrated on the sleeve 414. A sterile barrier for the entire 10 may also be created.

[0042] 5A-C, the insertion of the sterility shield 400 into the slave hub 300 As shown in FIG. 5A, the upper component 404 of the sterility shield 400 such that the upper component 404 is positioned within the lumen 302 of the slave hub 300. For example, through the upper end of the lumen 302 of the slave hub 300 proximal to the upper plate 301 The lumen 302 and upper component 404 of the slave hub 300 may be inserted into the upper component. The component 404 may be inserted through the lumen 302 only in a specific axial orientation. , may have a corresponding asymmetric shape, for example a water drop or an asymmetric triangle.

[0043] As shown in FIG. 5B, the upper component 404 of the sterility shield 400 is connected to the slave hub. When positioned within the lumen 302 of the 300, the receptacle 310 is movable relative to the movable slider 4. 5B, the movable slider 4 engages with one side, e.g., the bottom side, of the movable slider 4. 10 and the receptacle 310 are connected to the movable slider 410 from the receptacle 310. It may have a cross-sectional shape that maximizes the transmission of mechanical forces, for example, as described in more detail below. Thus, the receptacle 310 may have a hook shape, while the movable slider 410 may have a It has an S-shaped cross section and is fitted with a receptacle 310 on one side and a corresponding actuator of the device 500 on the other side. As will be appreciated by those skilled in the art, the movable slider 410 and The receptacle 310 may have another cross-sectional shape and may have a movable slide from the receptacle 310. Therefore, the linear pointer 308 may maximize the transfer of mechanical force to the slave hub 410. As it moves along the rod 312 of the 300, the receptacle 310 moves along the movable slide. Both the guide 410 and the receptacle 310 are aligned along the path 410 of the sterility shield 400. A mechanical force would be applied to the movable slider 410 so that it would move in a translational manner. cormorant.

[0044] As shown in FIG. 5C, the lower component 406 of the sterility shield 400 is 406 is positioned within the lumen 302 of the slave hub 300 and engages the upper component 404 For example, below the lumen 302 of the slave hub 300 proximal to the lower plate 303 For example, the lower component 406 can be inserted through the side end of the upper component 404. In another example, the lower component 406 may be configured to snap into the upper The side component 404 cannot rotate relative to the lumen 302 of the slave hub 300 404. As shown in FIG. 4, the upper component 404 is rotated into the upper component 404 to create a locking engagement therewith. Thus, upon insertion of the instrument 500 into the lumen 402 of the sterility shield 400, the locking pin 408 along the slit 408 to secure the device 500 within the lumen 402. The rotation of the instrument 500 rotates the instrument 500 over the sterility shield 402, as described in more detail below. The lumen 302 and the lower component 404 of the slave hub 300 do not rotate. The lower component 406 is configured to extend beyond the lumen 302 only in a particular axial orientation. It may have a corresponding asymmetric shape, a water drop or an asymmetric triangle, so that it can be inserted through.

[0045] Referring now to FIG. 6A, an exemplary device constructed in accordance with one aspect of the present invention is illustrated. As shown in FIG. 6A, the device 500 illustratively includes a proximal region of the device 500. a head 502 at a distal region of the instrument 500; and an end effector 506 at a distal region of the instrument 500, preferably The instrument 500 includes a head 50 and an elongated shaft 504 extending therebetween. 2 and a lumen 508 extending through the shaft 504. In one embodiment, the lumen Only the lumen 508 extends through the shaft 504. The instrument 500 is fitted with a sterile shield 40. 0 lumen 402 and is sized and dimensioned to linearly engage with the slave hub 300. The shape and size of the slave hub 300 are determined so that the force applied by the slave hub 300 is parallel to the instrument 500. The movement is transmitted in one or more degrees of freedom, e.g., one, two, three or four degrees of freedom. The instrument 500 is preferably reusable, but may also be repositioned to actuate the movement of the end effector 506. Alternatively, the instrument 500 may be disposable after a single use. The hook does not require any degree of freedom in the Sometimes that happens.

[0046] 6B-6C, head 502 will be described in further detail. As shown in FIG. 1, the head 502 includes a lumen 508 extending therethrough. 08 is an electrosurgical generator when the end effector 506 has an electrosurgical instrument. The electrical cable may be sized and shaped to be electrically coupled to the device. The head 502 may have a rotatable portion 510 and a fixed portion 512. At step 510, for example, an instrument 500 is positioned within lumen 402 of sterilization shield 400. 5, the rotatable portion 510 rotates relative to the fixed portion 512 about the longitudinal axis of the instrument 500. Rotation of the rotatable portion 510 causes the locking pin 514 to enter the slit 408, and the instrument 5 400. The upper component 40 of the sterilization shield 400 is secured to the sterilization shield 400. 4 includes a locking pin 514 sized and shaped to enter the slit 408 in the As will be appreciated by those skilled in the art, the locking pin 514 serves to sterilize the instrument 500. The rotatable portion 510 may have any shape that can be effectively secured within the hand 400. The operator of the surgical instrument 10 achieves an improved grip and rotates the rotatable portion 510. The rotatable portion 510 may have grooves 516 along its surface to make it easier to rotate. .

[0047] The head 502 ensures proper axial alignment of the instrument 500 within the sterility shield 400. The key 518 may be shaped and sized to provide a poka-yoke function. The lumen 402 of the sterile shield 400 is configured to receive the instrument 500 inserted into the sterile shield 400. Sometimes, the key 518 may include a channel for receiving the key.

[0048] In one embodiment, the head 502 stores information about the instrument 500, such as the instrument type, manufacturer, Serial number, calibration data, range of motion, series-series, series-parallel, yaw-pitch-actuation, pitch - Number of degrees of freedom including yaw-actuated, roll-pitch-yaw-actuated, pitch-roll-actuated, etc. and configured to store end effector kinematics, or control offsets, such as type Such instrument information may include an identification tag, such as an RFID or bar code, that may be used to identify the instrument. By scanning the identification tag and / or remotely controlling the surgical instrument, the instrument 5 00 via the control system of the remotely operated surgical instrument. The identification tag can be detected by the identification signal.

[0049] The head 502 preferably provides movement in an end effector in multiple degrees of freedom. in response to a user input at a handle of the teleoperated surgical instrument to actuate; The actuator 520 is preferably capable of translational movement. The controller 520 is coupled to the slave hub 300, for example, via the sterilization shield 400. The translational motion of the slave hub 300 is For example, the actuator 520 may include a plurality of engagers 521, The engager 521 is coupled to the shield 400 via a corresponding slider 410, for example. in response to translational motion in the corresponding receptacle 310 of the slave hub 300 , independently along a corresponding linear path 522 (e.g., a slot in the proximal region of the shaft). The translational motion in the receptacle 310 is carried by the teleoperated surgical instrument. The actuator 520 is a slave hub. On the opposite side of the receptacle 310 of the sterility shield 400, a movable strip of the sterility shield 400 is The actuator is sized and shaped to contact the rider 410. 520 has a hook shape or any other shape understood in the art, This can maximize the force transmission between the actuator 310 and the actuator 520. The actuator 520 is disposed within the lumen 508 of the shaft 504, as described in more detail below. The actuator 502 may be coupled to the end effector 506 via a number of force transmission elements that are actuated. When actuated, the actuator 520 applies a force to the end effector 506 via the force transmission element. , moving the end effector 506 in at least one degree of freedom. For example, The actuator 520 moves in a translational manner, e.g., along the longitudinal axis of the elongated shaft 504. and, in turn, through a force transmission element coupled between them, The effector 506 is moved.

[0050] According to one aspect of the invention, the instrument head 502 may have one standard size / diameter. On the other hand, the instrument shaft 504 and end effector 506 have a range of diameters. Specifically, the instrument head 502 may have a 10 mm diameter, while the instrument shaft 504 and and end effector 506 may have a diameter of 3 mm, 5 mm, 8 mm, or 10 mm. Thus, the slave hub 300 and sterilization shield 400 can accommodate instruments having different diameters. Clinically, it is believed that a range of tools can be sized and shaped to receive This allows it to be used according to the procedure.

[0051] As shown in FIG. 6C, the actuator 520 is A single actuator is provided to actuate the movement of the end effector 506 in one of three degrees of freedom. At the end, a force transmission element 524, e.g., a rigid body such as a steel, composite, or polymer rod Elemental, tungsten, steel, polymer, or Dyneema cable, wire, or may be connected to a flexible element such as a rope or a semi-rigid element such as a metal band, and the force transmission element 5 24 is coupled at its other end to a component of the end effector 506. As shown, the actuator 520 may also include a number of engagers 521. The actuator 520 controls the first configuration of the end effector 506 via a first force transmission element. a first engager coupled to the element and adapted to engage the first engager in a first degree of freedom in response to a force applied at the first engager; a first engager that moves (e.g., opens and closes) the end effector 506; and a second engager that A second engagement is coupled to the second component of the end effector 506 via a force transmission element. The end effector moves in a second degree of freedom (e.g., pitch) in response to a force applied to the end effector. The end effector 506 is moved by a second engager and a third force transmission element. a third component of the actuator 506 and responsive to a force applied at the third engager , a third degree of freedom (e.g., yaw) for moving the end effector 506. In addition to the first, second, and third engagers of the actuator 520, The force applied may be responsive to a user input at the handle 100, for example, to a first via a first, second, or third hydraulic system and / or a first, second, or third motor. In one embodiment, the actuator 520 may be configured to transmit force via a fourth force transmission element. a fourth component of the end effector 506 and responsive to a force applied to the fourth engager. and moving the end effector 506 in a fourth degree of freedom (e.g., pronation and supination). The force applied to the fourth engager may be, for example, a fourth hydraulic pressure, a parallel One or more cables extending from the mobility device interface 200 to the handle 100 and a pulley and / or a user interface at the handle 100. via a fourth motor coupled to

[0052] According to one aspect, each engager 521 is marked on the handle 100 of the surgical robot. The device may be independently operable in response to user input applied to the device. For example, the user may By moving the three-dimensional joystick, the user input is controlled by the handle 100. activating actuator 520 in response to user input applied to the interface to adjust the dimension Moving the joystick in turn activates a corresponding mode in the slave hub 300. Activating the actuator 504 and aligning the actuator 504 along the proximal end of the instrument 500, e.g., The engaging member 521 is moved in a translating manner in the row. Such a translating movement of the engaging member 521 is It moves the force transmission element 524 coupled to it, which in one degree of freedom The effector 506 is moved.

[0053] As will be readily apparent to one of ordinary skill in the art, a single engager is illustrated for each degree of freedom; however, , each engager may include a pair of engagers as shown. For example, three pairs of engagers can be used to control three degrees of freedom, with each pair of engagers controlling one degree of freedom. Each pair of engagers is coupled via one or more force transmission elements 524 that may control a respective degree of freedom. The pair of engaging members are kinematically connected to the respective components of the end effector 506. Each individual engager of the connector moves in opposite directions to each other, e.g., the receptacle When a force is applied to an engager to move it in one direction, the corresponding engager in the pair moves in the opposite direction. Therefore, each drive unit of the slave hub 300 will move by an equal amount. The movement of the pair of engagers is effected via two receptacles coupled to the linear pointer 308. It can be moved.

[0054] Prior to insertion of the instrument 500 into the sterile shield 400, the instrument 500 is Maintains tension during use, keeps force transmission element 524 in its proper path, and prevents unraveling For example, a minimum "non-use" tension may be applied to the cable 526, e.g., a metal or polymer The force is actuated through a pulley 528 disposed within the head 502. By applying force to the actuator 520, the loop of the force transmission element 524 is closed, thereby achieving The pulley 528 is configured such that the cable 526 is connected from one of the engagers to the pulley 52 8 to another of the pair of engagers of the actuator 520. , may be disposed toward the rotatable portion 510 of the head 502.

[0055] Referring now to FIG. 6D, an exemplary end effector is described. The interface 200 is electrically coupled to the handle 100 and the end effector 506 The movement in the multiple degrees of freedom of the handle 100 is connected to the movement controllability in the corresponding degrees of freedom of the handle 100. , whereby, when the teleoperated surgical instrument 10 is operated, an end effector The actuator 506 replicates the movement of the handle 100. As explained above, the actuator Each of the engagers 521 of 520 has a respective degree of freedom via a respective pair of force transmission elements 524. Each of the components of the end effector 506 may be coupled to the respective components that will control the For example, the first engager may be configured such that actuation of the first engager articulates the yaw degree of freedom of the end effector 506. The end effector 506 may be moved via the force transmission elements 524. The second engager may be coupled to the yaw component 530 of the end effector, and actuation of the second engager may be The elements of the force transmission element 524 may be arranged to articulate the pitch degree of freedom of the vector 506. 5, the third engager 532 may be coupled to the pitch component 532 of the end effector 506 via In other words, actuation of the third engager will actuate the open and closed degrees of freedom of the end effector 506. Thus, the opening and closing components 534 of the end effector 506 are actuated through the elements of the force transmission element 524. The pronation and supination degree of freedom of the end effector 506 can be coupled to a teleoperated surgical instrument. The instrument 10 can be actuated via a master-slave configuration, with rotation of the handle 100 Rotate the slave hub 300 to the slave unit 30 (e.g., from the handle 100 One or more cables extending to the slave hub 300, and in effect to the end effector 506. In one embodiment, the fourth engager is Force transmission would articulate the pronation-supination degree of freedom of the end effector 506 524 is coupled to the pronation / supination component of the end effector 506 obtain.

[0056] 7A-C, into the sterility shield 400 in the slave hub 300 The insertion of the instrument 500 will now be described. As shown in FIG. 7A, the instrument 500 is inserted into the sterile seal. The instrument head 502 may be inserted into the lumen 402 of the instrument head 400. As described above, the instrument head 502 may be As shown in FIG. 7B, the instrument 500 may be properly aligned within the sterility shield 400. For example, each of the engagers 521 of the actuator 520 is connected to a corresponding one of the slave hubs 300. The sterility shield 400 is fitted with a movable slider 410 of the corresponding receptacle 310. The sterility shield 400 may include a key 518 (not shown) to allow the slave hub 3 When positioned within the lumen 302 of the receptacle 310, At least one may not contact the corresponding movable slider 410. However, when an instrument 500 is inserted into the lumen 402 of the sterilization shield 400, a corresponding actuator The actuator 520 contacts the movable slider 410 and moves the movable slider 410 along a path. 412, thereby pushing the other side of the movable slider 410 The side contacts the corresponding receptacle 310, thereby allowing the actuator 520 to move. This ensures proper and automatic alignment of the movable slider 410 and the receptacle 310. There will be.

[0057] In one embodiment, the receptacle 310, the movable slider 410, and the actuator The actuators 520 collectively allow for reverse insertion of the instrument 500 into the sterile shield 400. For example, the instrument 500 may be first inserted into a trocar, Then, in a distal to proximal direction (e.g., from the lower component 406 to the upper component 404 3), may be pulled back to insert the sterility shield 400.

[0058] The teleoperated surgical instrument 10 includes a single The system may include a control system in communication with the above sensors and an alarm system. Activation of the needle 100 may occur when the instrument 500 is inserted into the sterility shield 400, e.g. Depending on the specific design of the trocar or the instrument insertion, the end effector may still be inserted into the trocar lumen. Due to potential collision with the trocar when inside the The receptacle is located in a position that attempts to cause undesired articulation of the effector 506. If present, at least one of the one or more sensors (e.g., a drive unit A torque sensor integrated in the unit 304 measures the current of the motor 306. By detecting the lack of proper alignment, the control system can take corrective action based on the detection by the sensor. The control system may alternatively generate an alarm via the alarm system. , the drive unit 304 can be caused to move the receptacle 310 in a direction that improves alignment.

[0059] As shown in FIG. 7C, when an instrument 500 is positioned within the sterility shield 400, The rotatable portion 510 of the instrument 500 is secured to the sterility shield 400 by a locking pin 514 that engages the slit 514 in the sterility shield 400. 408 and through groove 516 to secure instrument 500 within sterility shield 400. , and can be rotated.

[0060]

[0046] Referring now to FIG. 8, another exemplary translation instrument interface constructed in accordance with another aspect is shown. A translational instrument interface 600 is described. A sterile interface 604 is provided corresponding to the instrument 500 of the row transfer instrument interface 200. 2 to correspond to the sterility shield 400 of the translational instrument interface 200. The translation instrument interface is constructed similarly to the translation instrument interface 200 of the prior art. The base 600 includes a drive unit 606 that is a pair of single hydraulic A translational instrument interface in that it has pressure cylinders 608a and 608b. 200. The hydraulic cylinders 608a and 608b are The hydraulic cylinders 608a and 608b are actuated in response to mechanical movement in the handle. Each of the first and second linear pointers 610a and 610b directly correspond to a first and second linear pointer 610a and 610b, respectively. b, and first and second linear pointers 610a and 610b each correspond to a first and and second receptacles 612a and 612b (not shown), which Pressure cylinders 608a and 608b actuate the movement of the end effector of instrument 602. To achieve this, the end effector 602 of the instrument can be moved in the same manner as the translational instrument interface 200. The translation instrument interface 200 is therefore purely mechanical. The handle may be coupled to a slave unit of a teleoperated surgical robot, The end effector of 602 is connected to the master thread of the surgical robot from the end effector. The optional actuator may be actuated by a force transmission element extending through the lever arrangement to the handle. In another embodiment, the drive unit is a hydraulic cylinder instead of a , including a pneumatic drive element.

[0061] 9A, yet another exemplary translator constructed in accordance with another aspect. A translational instrument interface 700 is described. 2 corresponds to the instrument 500 of the translational instrument interface 200 and is a sterile interface The sterility shield 704 is adapted to mate with the sterility shield 400 of the translational instrument interface 200. The translation instrument interface is constructed similarly to the translation instrument interface 200 of FIG. The interface 700 includes a drive unit 706 that drives a feeder instead of a cable and pulley. Parallel in that it transfers linear motion to the instrument 702 via a system of screws and gears. Unlike the mobile instrument interface 200, for example, as illustrated in FIGS. Additionally, the drive unit 706 includes a motor 708 coupled to a motor gear 710. Gear 710 is operable with first and second actuator gears 712a and 712b. As shown, the motor gear 710 and the first and second actuators The motor gears 712a and 712b rotate in a clockwise direction, for example. The rotation of the first actuator gear 712a rotates the adjacent first actuator gear 712a in the opposite direction, e.g., counterclockwise. Rotating the second actuator gear 712b, which then rotates the second actuator gear 712b relative to the first actuator teeth Operable to rotate in the opposite direction to that of wheel 712a, e.g., clockwise. Therefore, the first actuator gear 712a and the second actuator gear 7 12b will move in the opposite direction.

[0062] Each of the first and second actuator gears 712a and 712b, respectively, 1 and 2, respectively, coupled to first and second lead screws 714a and 714b, each of which in turn are operatively engaged with first and second lead screw nuts 716a and 716b, respectively. For example, the motor 708 drives the first lead screw 714a through the motor gear 710 and the first When rotated via actuator gear 712a, first lead screw nut 716 rotates Depending on the direction of rotation of the first lead screw 714a, the first lead screw 714a rotates along its longitudinal axis. As shown in FIG. 9B, each drive unit 706 7, the linear position of the first and second lead screw nuts 716a and 716b are sensed by a linear position sensor 716b. For example, the first and second linear sensors 722a and 722b may be included to measure the The first and second lead screw nuts 716a and 716b each have a first and second linear The sensors 722a and 722b are coupled to first and second sensor tags 726a and 726b. Based on the sensed position of the first and second lead screw nuts 716a and 716b a first sensor and a second sensor coupled thereon, respectively, to sense a linear position of the In addition, first and second linear sensors 722a and and 722b are in electrical communication with the control system of the teleoperated surgical instrument 10 and control the endoscope. The sensor may transmit information indicating the location of the effector component.

[0063] Referring back to FIG. 9A, first and second lead screw nuts 716a and 716b are coupled to first and second receptacles 718a and 718b, respectively. , each of which is coupled to an actuator of the instrument 702, as described above. Therefore, the first and second actuator gears 712a and 712b rotate in opposite directions. As the receptacles 718a and 718b move in opposite directions, For example, as lead screw nut 716a moves upward, lead screw nut 71 6b will move downwards and vice versa. In addition, the first and second receptors The screws 718a and 718b correspond to the longitudinal axes of the first and second lead screws 714a and 714b. The first and second lead screws 714a and 714b are arranged such that translational movement is permitted only along the and the rotation of the first and second lead screw nuts 716a and 716b about the longitudinal axes of the lead screw nuts 714a and 714b. For example, the first and second receptacles 718a and 718b are As shown in FIG. 9C, first and second sterile interface sliders 7 24a (not shown) and 724b are coupled to the actuator of the instrument 702, They engage with the first and second receptacles 718a and 718b and rotate FIG. 9D illustrates a second receiver coupled to the actuator 728 of the device 702. The sterilization interface slider 718b is shown, and the second sterile interface slider 724b is shown for clarity. Therefore, it is omitted.

[0064] As will be appreciated by those skilled in the art, the translation instrument interface 700 may include two or more Each drive unit may include a plurality of drive units each capable of performing translational motion as described above. 702, thereby modulating the end effector of the instrument 702 in the corresponding degree of freedom. For example, the translation instrument interface 700 is designed to actuate a Small movements of the end effector in three degrees of freedom, e.g., open / close, pitch, and yaw. The seventh freedom may include three drive units so that the movement is electromechanically actuated. The pronation / supination in degrees is controlled by electromechanical or mechanical force via the pronation / supination pulley 720. For example, the pronation / supination pulley 720 can be controlled by a cable and pulley system. The translation device may be connected to the actuator via a rigid link or multiple rigid links, or via a cable, for example. It can be actuated via a fourth motor coupled to interface 700.

[0065] Referring now to FIG. 10A, an exemplary seven degree of freedom mechanically actuated slave hub is shown. The slave hub 800 is constructed similarly to the slave hub 300 of FIG. For example, driver pulleys 808a, 808b, and 808c are connected to driver pulley 31. 2. The slave hub 800 has one or more motors that are connected to the driver of the slave hub 800. Instead of rotating the driver pulleys 808a, 808b, and 808c, Each in its respective degree of freedom, e.g., open / close, yaw, and pitch, Dedicated to actuating the end effectors of the instruments coupled to the slave hub 800 , 803b, and 803c are coupled to planetary gears 803a, 803b, and 803c, respectively. The planetary gears 803a, 803b, and 803c are different from the hub 300. The actuation of the pulleys 808a, 808b, and 808c rotates, thereby 800 linear pointer to transfer linear motion to the slave hub 800 linear pointer, and the three freedoms of the end effector Each of the planetary gears 803a, 803b, and 803c operates at one of the following angles: Actuation pulleys 802a, 802b, or 802c suspended around a slave hub 800 , each of which in turn is coupled to one of 804a, 804b, 804 806a, 806b, 806c. Corresponding pulleys in each pair of pulleys 806a, 806b, and 806c are in opposite directions. The actuator and driver pulleys rotate in equal directions, thereby rotating each of them. In addition, the slave hub 800 actuates the seventh rotational degree of freedom, pronation and supination. For example, the pronation / supination pulley 802d includes , its rotation via cable 804d and paired pulley 806d causes slave hub 800 , thereby rotating the teleoperated surgical instrument, and thus the end effector. may be fixed to the slave hub 800 so as to rotate.

[0066] As shown in FIG. 10B, the rotation of the actuation pulley 802a causes the rotation of the planetary gear 803a. , which causes the rotation of the driver pulley 808a. Rotation of 8a rotates linear pointers 308a and 308b in opposite directions, as described above. 3, so that receptacles 310a and 310b are translated up and down by equal amounts. b is translated, the translation is transmitted to the teleoperated surgical instrument, and the end effector is Actuate in the first degree of freedom.

[0067] Referring back to FIG. 10A, actuation pulleys 802a, 802b, and 802c, and Each of the pronation / supination pulleys 802a, 802b, and 802c includes a pair of pulleys 806a, 806b, 806c, and 806d and cables 804a, 804b, 804c, and 804 A pair of driver pulleys 810a, 810b, 810c, and 810d are driven by the pair of driver pulleys 810a, 810b, 810c, and 810d via the Pairs of driver pulleys 810a, 810b, 810c, and 810 d is the distance that the movement of the handle of the teleoperated surgical instrument is caused by the translational instrument interface. 801, and finally, a remotely operated surgical instrument for transmission to an end effector. For example, the slave hub 800 may be operably coupled to a , attached to the remotely operated surgical instrument via a mounting interface 801. As will be appreciated by those skilled in the art, more or fewer pulleys and cables may be used. The actuator pulleys 802a, 802b are connected to the actuator pulleys 802 for actuation thereof by a remotely operated surgical instrument. b, and 802c, and pronation / supination pulley 802d.

[0068] As described above, in various examples, remote manipulation with a translational instrument interface The surgical instruments include (i) four mechanically actuated degrees of freedom and electromechanically actuated (ii) three degrees of freedom mechanically actuated and three degrees of freedom electromechanically actuated or (iii) seven degrees of freedom that are mechanically actuated. Referring now to FIG. 11A, for example, the slave hub 300 may be a 4-port mechanically actuated The present invention relates to a teleoperated surgical instrument having three degrees of freedom, one arm and three electromechanically actuated degrees of freedom. A mounting interface 900 for mounting the device is described. The base 900 is coupled to the distal end of the teleoperated surgical instrument and receives the slave hub 300. As shown in FIG. 11A, the slave hub is sized and shaped to receive the 300 is a pronation / supination pulley for moving the slave hub 300 in a rotational degree of freedom. The pronation / supination pulley 902 is connected to a pronation / supination cable 904. The first and second actuation pulleys 906a and 906b are operatively coupled to the first and second actuation pulleys 906a and 906b. and the second actuating pulleys 906a and 906b rotate equal amounts in opposite directions. The pronation / supination cable 904 is connected to the pronation / supination pulley 902 to rotate the slave hub 300. As will be appreciated by those skilled in the art, any of the slave hubs described herein may or a translational instrument interface, e.g., translational instrument interface 600 A translational instrument interface 700 is coupled to a mounting interface 900. It is possible.

[0069] 11B, for example, the slave hub 300 can be mechanically actuated. Teleoperated surgical instrument having three degrees of freedom and an electromechanically actuated fourth degree of freedom - Patents.com A mounting interface 1000 for mounting to a The attachment interface 1000 is similar to the attachment interface 900, but is adapted for the pronation / supination phase. First and second actuating pulleys 906a and 906b for actuating the pulley 902. Instead, the mounting interface 1000 includes a motor 1002 and an actuation pulley 1006. For example, the motor 1002 controls the pronation and supination via the pronation and supination cable 1004. By rotating an actuation pulley 1006 operatively coupled to the motion pulley 902 , rotates the pronation / supination pulley 902. Any slave hub or translation instrument interface described in The moving instrument interface 600 or the translating instrument interface 700 is attached 10. The interface 1000 may be coupled to the

[0070] As shown in FIG. 12, the movement α of the receptacle 310 caused by the motor 306 is , is efficiently translated to actuator 520, thereby producing a corresponding translation β This will cause the end effector 506 to

[0071] Although various illustrative embodiments of the present invention are described above, various changes and modifications may be made to the present invention. It will be apparent to one skilled in the art that various modifications may be made therein without departing from the spirit and scope of the present invention. The claims are intended to cover all such variations and modifications that fall within the true scope of the invention. It is illustrated.

Claims

1. 1. An instrument for use with a surgical robot having an interface, the interface comprising: The interface is configured to be coupled to a slave hub that includes a plurality of drive units. Each drive unit is coupled to a receptacle, and the instrument includes: an elongate shaft having a proximal region, a distal region and a lumen extending therebetween; an end effector disposed within the distal region, the end effector including: an end effector configured to move with a degree of freedom; an actuator disposed within the proximal region; Equipped with The actuator is actuated by a plurality of force transmission elements disposed within the lumen. The actuator is coupled to an effector, and the actuator includes a pair of engagers, each of the engagers being are configured to be releasably coupled to the respective receptacles, thereby Movement of one of the plurality of drive units causes a first one of the pair of engagers in a first direction. A translational movement of one engager in the opposite direction to a second engager of the pair. and a corresponding translational movement in the first of the multiple degrees of freedom. An instrument for moving the end effector in degrees of freedom.

2. The device of claim 1 , wherein the device is disposable after a single use.

3. and an instrument head disposed within the proximal region, the instrument head including a rotatable portion. a rotatable portion and a locking pin, the rotatable portion and the locking pin connecting the instrument to the interposer; The instrument of claim 1 configured to engage a face.

4. The instrument head further includes a key for axially aligning the instrument with the interface. The device of claim 1 , comprising:

5. and at least one tension cable, the at least one tension cable comprising: coupled to the actuator, whereby the at least one tension cable is The apparatus of claim 1 , wherein tension is provided to the plurality of force transmission elements.

6. The pair of engagers are adapted to move the surgical robot in a translational manner at the interface. In response to the movement, the proximal region is moved along a path parallel to the longitudinal axis of the elongate shaft. The device of claim 1 , configured to move to

7. The actuator further comprises a second and a third pair of engagers, the second and third pairs being Each of the three pairs of engagers is connected to the interface of the surgical robot. and a second and a third of said multiple degrees of freedom are independently movable in response to translational motion in said first and second directions. and a third degree of freedom.

8. The interface includes a sterile shield, the sterile shield being adapted for use after a single use.

13. The method of claim 1, further comprising the steps of: system.

9. a slave hub having an opening, the opening being adapted to receive the interface of the instrument; a slave hub configured to receive the slave interface and the elongated shaft; a receptacle configured to releasably interengage with the actuator; The translational movement of the receptacle and the actuator, when interengaged, a receptacle for actuating the end effector via a number of force transmission elements; A receptacle is coupled to the receptacle, and generates a translational movement of the receptacle and the actuator. The drive unit that 13. A system configured for use with the instrument of claim 1, comprising:

10. The interface includes: a proximal component configured to be received through the opening in the slave hub; 、 When the proximal component is placed in the opening of the slave hub, the proximal component a distal component configured to be engaged with the A ride component configured to be coupled between the actuator and the receptacle. Raw and The system of claim 9 further comprising:

11. At least one of the proximal or distal components has an asymmetric shape. and the asymmetric shape is at least one of the proximal component or the distal component.

11. The method of claim 10, further comprising: orienting one of the slave hubs relative to the opening in the slave hub. The system is as follows:

12. A sliding element is adapted to automatically align the receptacle with the actuator. The system of claim 10 .

13. The slave hub has at least one tension cable coupled to the receptacle. and wherein the at least one tension cable provides tension to the receptacle. Item 10. The system described in item 9.

14. The opening of the slave hub lumen includes an axis, and the slave hub is The effector is configured to rotate about the axis such that the effector also rotates about the axis. The system of claim 9 .

15. The system of claim 9, further comprising a control system coupled to the drive unit. Stem.

16. The device further comprises an identification tag, and the control system stores information about the device. The system of claim 15 configured to detect from the identification tag.

17. The identification tag may include instrument type, serial number, calibration data, range of motion data, end effector 17. The method of claim 16, further comprising encoding one of: motion vector kinematics; motion vector motion vector offsets; system.

18. a sensor configured to sense misalignment of the instrument; the sensor is adapted to generate an alert in response to sensing misalignment of the instrument.

16. The system of claim 15, configured as follows:

19. The system of claim 9 , wherein the drive unit is an electric motor.

20. The rotary movement of the electric motor is transmitted to the actuator via a system of cables and pulleys.

20. The system of claim 19, further comprising: a actuator for inducing translational motion in the actuator.

21. The rotary motion of the electric motor is achieved by a system of gears, lead screws, and lead screw nuts.

20. The system of claim 19, wherein the actuator induces translational motion via a Tem.

22. The drive unit includes a hydraulic element operably coupled to the receptacle.

10. The system of claim 9.

23. The surgical robot includes: a slave unit coupled to the slave hub, the slave unit comprising: a slave unit including a plurality of slave links and slave joints; a master unit including a handle and a plurality of master links and master joints; a plurality of force transmission elements extending between the plurality of master joints and the plurality of slave joints; and Further equipped with The movements of the master unit are replicated in the slave unit, and the handle The use of the instrument of claim 1 , wherein the movement of the end effector is reproduced by the end effector. A system configured for

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