Surgical instrument tip protector, assembly and method

Abstract

To protect a tip of a slave surgical instrument for robotic surgery.SOLUTION: A tip protector 601 for a surgical instrument 610 including a shaft 611 and an instrument tip 612 near a distal portion 613 of the shaft, includes a tip housing 602 for releasably receiving the instrument tip, a clamping system 603 suitable for gripping a portion of the surgical instrument to arrange the tip protector, and a distal through opening 605 provided at or near a distal end 604 of the tip housing, the distal through opening having an opening size that is adjustable.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The object of the present invention is a tip protector. In particular, the present invention relates to a tip protector for a surgical instrument. The present invention also relates to an assembly of a tip protector and a surgical instrument. Furthermore, the present invention relates to a method. [Background technology]

[0002] Robotic surgical devices are generally known in the art and typically include a master console, a robotic central tower (or robotic cart), and multiple robotic arms extending from the central tower, an example of which is disclosed in commonly assigned US Pat. No. 1,086,405. Each robotic arm typically includes a teleoperated robotic motorized positioning system (or manipulator) for moving a slave surgical instrument attached distally thereto to position said surgical instrument so as to reach a patient's anatomical volume. Commonly assigned WO-2019-220407, WO-2019-220408, and WO-2019-220409 disclose several embodiments of master-slave robotic surgical systems having a mechanically unconstrained, mechanically ungrounded master input tool designed to be handheld by a surgeon in a predefined volume to actuate the slave surgical instruments.

[0003] A slave surgical instrument typically has an elongated shaft at its distal end with an articulated or jointed tip designed for manipulation of the patient, usually with a metallic distal tip and / or a sharp blade for piercing and / or cutting patient tissue. Accordingly, motorized robotic positioning systems are designed to position at least one surgical instrument tip at or near a surgical volume in a patient's anatomy. Known cable-driven motorized positioning systems typically include a set of motorized capstans or pulleys that can wind and unwind cables to actuate the degrees of freedom of the surgical instrument, such as the gripping degree of freedom of the instrument tip.

[0004] After positioning the tip at or near the surgical volume of the patient's anatomy, the motorized robotic positioning system is typically frozen, and the articulated device provides the tip with the desired degrees of freedom of movement. Commonly assigned US-10582975, WO-2017-064303, WO-2017-064306, WO-2018-189721, and WO-2018-189722 disclose several embodiments of slave surgical instruments for robotic surgery having pitch-yaw grip distal articulated tips.

[0005] Slave surgical instruments having flexible robotic arms proximal to the instrument tip are also known in the art.

[0006] Several surgical procedures such as suturing, performing vascular anastomoses with small vessels and nerves, reconstructing anatomical parts after traumatic lesions, reconnecting tissue, limb reattachment, transplants and replantations can be performed with known slave surgical instruments.

[0007] Due to their high technical content, the articulating tips of known slave surgical instruments are delicate and fragile components, and as the size of the tip decreases, the fragility typically increases.

[0008] For at least the above reasons, there is a strong need to protect slave surgical instrument tips for robotic surgery.

[0009] Known solutions for protecting the tip of a slave surgical instrument include a cap or cage that fits over its distal tip. Protecting a sharp tip or sharpened blade prevents direct impact of the tip against hard objects within the surgical field, thereby preventing tip damage and thus allowing the same surgical instrument to be used for multiple procedures after proper sterilization. Furthermore, protecting a sharp tip or sharpened blade reduces the risk of unwanted damage to healthy organs, which may occur, for example, due to poor control over the robotic manipulation of the slave surgical instrument while approaching a patient's anatomy.

[0010] Robotic-assisted laparoscopy, in particular, requires a slave surgical instrument to penetrate beneath the skin of the body through a set of pre-placed surgical access holes in the form of hollow trocars that traverse the patient's skin. Therefore, it is crucial to protect the slave surgical instrument tip with a cap before inserting it into the hollow trocar. A known solution designed to protect laparoscopic surgical instrument tips is shown in US Patent No. 2017-0224191, which describes a "V"-shaped tip cap with a distal cap shield, two flexible arms extending rearward from the cap shield, each bearing a collar made of a half-pipe for receiving a laparoscopic surgical instrument tip, and a latch closure at the opposite end of the arms. Multiple through-holes are provided to allow fluid to escape from the tip cap. Abutment stop elements prevent the laparoscopic surgical instrument tip from protruding from the tip cap.

[0011] Another known example of a tip protector for a laparoscopic surgical instrument is disclosed in US-2019-0313889, which, among other things, shows an embodiment of a tip cap having a clamping device for attachment to the tip, a blocking device for locking the components of the clamping device in a predetermined configuration, and a plurality of through-holes for drainage. In one embodiment, the clamping device is made of two components hinged together near the distal end of the tip cap. US-2016-0213434 also shows a further known example of a tip protector.

[0012] In the field of microsurgery, robotic devices allow for a greater degree of miniaturization of surgical instruments compared to conventional microsurgery, while at the same time reducing the transmission of hand tremors to the slave surgical instruments of the robotic surgical system. Some applications of robotic-assisted microsurgery require the presence of a surgeon in a sterile operating field during the robotic-assisted surgery, allowing the same microsurgeon to switch from robotic-assisted microsurgery to conventional (non-robotic) microsurgery, or vice versa, during a single intervention. This allows the slave surgical instruments of the robotic microsurgery system to remain unused for the entire duration of the surgery, particularly since the use of robotic surgical instruments can be suspended for a period of time and then restored during the same surgery.

[0013] An example of a cap for protecting a retractable needle along an instrument shaft is disclosed in EP-2567662.

[0014] Although the need to expose the tip of the surgical instrument is felt, this does not require the surgical instrument to be moved away from the operative space of the patient's anatomy, and therefore does not require the surgical instrument to be repositioned within the operative space of such patient's anatomy.

[0015] Therefore, there is a strong need to protect the surgical instrument tip while the surgical instrument is positioned at or near the surgical space of the patient's anatomy. Summary of the Invention

[0016] It is within the scope of the present invention to overcome the deficiencies cited in reference to the prior art.

[0017] This range and others are achieved by the tip protector according to claim 1, as well as the assembly according to claim 12 and the method according to claim 18.

[0018] In accordance with one aspect of the devices, assemblies, and methods according to the present invention, there is provided a tip protector for a surgical instrument having a shaft and an articulating instrument tip at a distal portion of the shaft, the tip protector having a tip housing for releasably receiving the instrument tip, a clamping system suitable for grasping a portion of the surgical instrument for positioning the tip protector, and a distal through opening at or near the distal end of the tip housing.

[0019] The distal through opening may have an adjustable opening size to provide a through opening for at least the instrument tip, thereby allowing the tip protector to be repositioned at various locations along the shaft of the surgical instrument.

[0020] Locations along the shaft may provide features to hold the tip protector in place.

[0021] The distal opening of the tip protector may be resiliently adjustable.

[0022] The tip protector may include one or more abutment surfaces for constraining at least a portion of the degrees of freedom of the articulated instrument tip in a predefined configuration, for example, a straight configuration of the articulated instrument tip aligned with the shaft.

[0023] A method of restraining an articulated instrument tip may include placing and / or repositioning a tip protector on the articulated instrument tip, the tip protector having a tip housing including at least one tip abutment surface such that at least one tip abutment surface of the tip protector abuts against the instrument tip from an opposite side of the articulated instrument tip, exerting a restraining effect on the articulated instrument tip and preventing at least one degree of freedom of the articulated instrument tip.

[0024] The proposed solution allows for selective exposure of an articulated tip of a surgical instrument when the surgical instrument is in a surgical space near or within a patient's anatomy, while protecting the same tip of the surgical instrument when the surgical instrument is in the same surgical space.

[0025] With a repositionable tip protector, tip protection and exposure occurs more quickly and without the need to reposition the surgical instrument within the surgical space.

[0026] Thanks to the proposed solution, any mechanical loads can be transferred from the tip protector to the shaft, thereby protecting the instrument tip from any overload effects.

[0027] Thanks to the proposed solution it is possible to constrain at least some of the degrees of freedom of the instrument tip in a predefined configuration.

[0028] Further features and advantages of the tip protector, assembly, system and method will emerge from the hereinafter reported description of preferred embodiments, given by way of example and not intended to be limiting, with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0029] [Figure 1] FIG. 1 is a schematic axial view of a robotic surgical system, according to an embodiment. [Figure 1bis] FIG. 1bis is an axial view diagrammatically illustrating an assembly of a tip protector and a surgical instrument according to an embodiment. [Figure 2] FIG. 2 is an elevated side view diagrammatically illustrating several steps of the method according to an embodiment, with the tip protector and surgical instrument assembly in different configurations and possible modes of operation, with FIG. 2 showing partial cross sections for clarity. [Figure 3]FIG. 3 is an elevated side view diagrammatically illustrating several steps of the method according to an embodiment, including the assembly of the tip protector and the surgical instrument in different configurations and possible modes of operation. [Figure 4] FIG. 4 is an elevated side view diagrammatically illustrating several steps of the assembly of the tip protector and surgical instrument in different configurations and possible modes of operation according to an embodiment. [Figure 5] FIG. 5 is a longitudinal cross-sectional view showing a tip protector over an instrument tip, according to an embodiment. [Figure 6] FIG. 6 is an axial view of a tip protector, according to an embodiment. [Figure 7] FIG. 7 is an axial view of a tip housing of a tip protector, according to an embodiment. [Figure 8] FIG. 8 is an elevated side view taken at the point indicated by arrow VIII in FIG. [Figure 9] FIG. 9 is an elevated side view diagrammatically showing a tip protector clamped to different portions of a shaft of a surgical instrument according to an embodiment, as well as several steps of the method according to possible modes of operation. [Figure 10] FIG. 10 is an elevated side view diagrammatically illustrating a tip protector clamped to different portions of a shaft of a surgical instrument according to an embodiment, as well as several steps of the method according to possible modes of operation. [Figure 11] FIG. 11 is a cross-sectional view of a tip protector fitted onto the shaft of a surgical instrument, according to an embodiment, and several steps of the method with possible modes of operation. [Figure 12] FIG. 12 is a cross-sectional view of a tip protector fitted onto the shaft of a surgical instrument, according to an embodiment, and several steps of the method with possible modes of operation. [Figure 13] FIG. 13 is an axial view illustrating a clamping system of a tip protector, according to an embodiment. [Figure 14]FIG. 14 is an axial view of the tip protector of FIG. 13, with only one of the two pieces of the tip protector shown. [Figure 15] FIG. 15 is a schematic axial view of an instrument tip of a surgical instrument, in accordance with an embodiment. [Figure 16] 16(a) and 16(b) are schematic diagrams illustrating the assembly of a tip protector and a surgical instrument in different configurations, according to an embodiment. [Figure 17] FIG. 17 is a perspective longitudinal cross-sectional view showing a tip protector covering an instrument tip, according to an embodiment. [Figure 18] FIG. 18 is a perspective longitudinal cross-sectional view showing a tip protector covering an instrument tip, according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0030] According to a general embodiment, a tip protector 601 is provided for a surgical instrument 610. The surgical instrument 610 comprises a shaft 611 extending along a longitudinal direction XX and an articulating instrument tip 612 at a distal portion 613 of the shaft 611.

[0031] The tip protector 601 comprises a tip housing 602 for releasably receiving an articulating instrument tip 612, a clamping system 603 suitable for grasping a portion of the shaft 611 for positioning the tip protector 601, and a distal through-opening 605 at or near the distal end 608 of the tip housing 602.

[0032] The distal through opening 605 has an adjustable opening size 606 to provide a through opening for at least the instrument tip 612, thereby allowing the tip protector 601 to be repositioned at various locations along the shaft 611.

[0033] Preferably, the tip housing 602 has at least one tip abutment surface 609', 609'', 609''' suitable for biasing against the instrument tip 612 from its opposite side to exert a restraining effect on the instrument tip 612 at least in a direction transverse to the longitudinal direction XX of the shaft 611, with the purpose of blocking at least one degree of freedom of the articulated instrument tip 612.

[0034] As a result, when the articulated tip 612 is accommodated within the cavity of the tip housing 602, the at least one abutment surface 609', 609'', 609''' protrudes from the opposite side of the tip 612 toward the articulated tip 612 and exerts a restraining effect on the articulated tip 612, which blocks at least one degree of freedom of the articulated tip 612.

[0035] The articulated tip 612 may also have one or more translational degrees of freedom blocked by the tip protector 601 when the articulated tip 612 is received within the housing 602 .

[0036] According to a preferred embodiment, the at least one tip abutment surface 609', 609", 609'" is adapted to block each and every degree of freedom of the articulated instrument tip 612, whereby, when the articulated instrument tip 612 is housed within the cavity of the tip housing 602, the at least one abutment surface 609', 609", 609'" protrudes towards the articulated tip 612 from an opposite side of the tip 612 and exerts a constraining effect on the articulated tip 612, said constraining effect blocking each and every degree of freedom of the articulated tip 612, such as the pitch P, yaw Y and grip G degrees of freedom.

[0037] Preferably, the constraint action is adapted to block at least one degree of freedom of the articulated instrument tip 612 even when said at least one degree of freedom is actuated. In the case where the constraint action blocks each and every degree of freedom of the articulated instrument tip 612, said constraint action blocks each and every degree of freedom of the articulated instrument tip 612 even when at least one of said degrees of freedom is actuated.

[0038] According to a preferred embodiment, the tip protector 601 includes one or more further abutment surfaces, also referred to as shaft abutment surfaces 629′, 629″, suitable for bearing against the instrument shaft 611 of the surgical instrument 610 and configured to act as a reference for exerting said restraining effect on the articulating instrument tip 612.

[0039] According to a preferred embodiment, the at least one tip abutment surface 609', 609'', 609''' is connected to at least one elastic element such that the restraining action is an elastic restraining action, preferably the elastic restraining action is an automatic (i.e., self-centering) restraining action.

[0040] According to a preferred embodiment, the tip protector 601 includes a locking mechanism 607 for temporarily restricting the distal opening size 606 to within a predetermined size opening value, which prevents the instrument tip 612 from passing through the distal through opening 605 of the tip housing 602 to enhance the restraining effect.

[0041] According to a preferred embodiment, the tip protector 601 is made of two pieces 601' and 601'', each of which is a rigid body including at least one elastically flexible portion.

[0042] As described above, the surgical instrument 610 comprises a shaft 611 and an articulated instrument tip 612 located at or near a distal portion 613 of the shaft 611, as shown diagrammatically in the example of FIG. 1bis. According to one embodiment, the articulated instrument tip is located at the distal end of the shaft 611. Preferably, the instrument tip 612 of the surgical instrument 610 is articulated relative to the shaft 611 of the surgical instrument 610 and is designed to operate within a predefined surgical space 625. According to an embodiment, the shaft 611 of the surgical instrument 610 defines a longitudinal direction XX that substantially coincides with the axis of longitudinal extension of the shaft 611. Preferably, the shaft 611 also defines a radial direction RR that is perpendicular to the longitudinal direction XX and incident on the longitudinal direction XX, and a circumferential direction CC that is perpendicular to both the longitudinal direction XX and the radial direction RR. Preferably, the longitudinal direction XX, the radial direction RR, and the circumferential direction CC are also defined on the tip protector 601 when considered separately. A longitudinal direction XX coincides with a centerline xx of the tip protector 601. The tip protector 601 may have a body that is substantially symmetrical about the centerline xx, but according to some embodiments does not have a symmetrical body. The symmetry of the tip protector 612 may be functional about the centerline xx and / or about the longitudinal direction XX of the shaft 611.

[0043] The shaft 611 may be a rigid straight shaft with a single longitudinal axis of deployment, a rigid curved shaft, or a flexible shaft made of a chain of multiple shaft links with local longitudinal axes of deployment.

[0044] The surgical instrument 610 is preferably designed as part of a master-slave robotic surgical system 620 including a master console 621 that controls the surgical instrument 610, for example as shown in FIG. 1, to perform robotic surgery, such as robotic-assisted microsurgery and / or robotic-assisted laparoscopic surgery.

[0045] As described above, the tip protector 601 includes a tip housing 602 or first housing 602 for releasably receiving the articulated instrument tip 612. The size, shape, and material of the tip housing 602 may be selected to receive the articulated instrument tip 612 of a particular surgical instrument 610.

[0046] According to an embodiment, the tip housing 602 has at least one protective distal wall 608 adapted to at least partially contour the articulating instrument tip 612 to protect the tip from impact with other objects and / or anatomical parts, while also protecting the patient's anatomy from unwanted interaction with the articulating instrument tip 612 of the surgical instrument 610.

[0047] According to an embodiment, the tip housing 602 further comprises a proximal through-opening 623. The body of the tip housing 602 thereby defines the proximal through-opening 623, the distal through-opening 605, and a housing cavity 624 therebetween.

[0048] According to an embodiment, the tip housing 602 has at least one tip abutment surface 609', 609'', 609''', 609'''', and preferably at least one pair of tip abutment surfaces 609', 609''', 609''''', suitable for abutting against the instrument tip 612 from the opposite side of the instrument tip 612 in a direction transverse to the longitudinal direction XX of the shaft 611.

[0049] As mentioned above, the at least one tip abutment surface 609', 609', 609", 609''' biases against the bite tip 612 from the opposite side thereof in a direction that is transverse to the longitudinal direction XX of the shaft 611. According to an embodiment, the at least one tip abutment surface 609', 609', 609", 609''' can bear against the articulated tip 612 in the longitudinal direction XX, whereby the instrument tip 612 bears against it in the longitudinal direction XX and in the radial direction RR.

[0050] Preferably, the at least one tip abutment surface 609', 609'', 609''' is adapted to prevent the articulating instrument tip 612 from tilting at an unwanted angle relative to the shaft 611 when the tip protector 601 accommodates the tip 612.

[0051] According to an embodiment, the protective distal wall 608 of the tip housing 602 has the at least one abutment surface 609', 609'', 609''', 609''', in other words, according to an embodiment, the at least one abutment surface 609', 609'', 609''' belongs to the protective distal wall 608.

[0052] According to an embodiment, the tip protector 601 has at least a pair of tip abutment surfaces 609', 609', 609", 609''', preferably opposite each other and facing the cavity of the housing 602, and the pair of tip abutment surfaces 609', 609", 609'", 609''' have an abutment surface and an abutment counter surface suitable for abutting against the articulated instrument tip 612 from opposite sides in the radial direction RR, thereby preventing the articulated instrument tip 612 from tilting at an unwanted tilt angle relative to the shaft 611 when the tip protector 601 accommodates the articulated tip 612. The pair of abutment surfaces having an abutment surface and an abutment counter surface may be formed by two portions of the same surface of the housing 602 of the tip protector 601. In the exemplary embodiment of tip protector 601 shown in Figures 17 and 18, two pairs of tip abutment surfaces 609', and 609", 609'" are shown, each pair having an abutment surface 609', 609" and an abutment counter surface 609', 609", as well as a pair of shaft abutment surfaces 629 having shaft abutment surfaces 629', 629". With further reference to Figures 17 and 18, the pair of abutment surfaces 609', 609" abut against the distal articulation portion of the articulated instrument tip 612 from opposite sides, which articulates links 644, 645, and 646 about the yaw Y axis, thereby blocking the yaw and grip degrees of freedom of the instrument tip 612. Further, still referring to Figures 17 and 18, the pair of abutment surfaces 609'', 609''' abut against an intermediate joint of the instrument tip 612 from opposite sides thereof, which articulates the links 643, 644 about the pitch P axis, thereby blocking the pitch degree of freedom of the articulated instrument tip 612.

[0053] The articulated instrument tip 612 is preferably thinner than the shaft 611. In other words, the radial dimension of the articulated instrument tip 612 is preferably thinner than the radial dimension of the shaft 611.

[0054] 15 , the articulated tip 612 has pitch P, yaw Y, and grip G degrees of freedom relative to the shaft 611. Thanks to the provision of said facing surfaces 609′, 609″, 609′″, 609′′ of the tip housing 602 designed to face the articulated instrument tip 612 while the tip protector 601 is fitted onto the instrument tip 612 and the tip housing 602 receives the instrument tip 612 opposite it, it is possible to position / orient the articulated instrument tip 612 in a predetermined configuration. Thereby, thanks to the tip protector 601 with such abutment surfaces 609′, 609″, 609′′ in the tip housing 602, the degrees of freedom of the surgical instrument can be frozen in a predetermined configuration. In other words, the tip protector 601 can temporarily constrain at least some of the degrees of freedom of the surgical instrument tip 612, such as the pitch P, yaw Y and instrument grip G degrees of freedom, and preferably constrain at least the instrument grip G degree of freedom of the instrument tip 612. According to an embodiment, the tip protector 601 having the abutment surfaces 609', 609'', 609''' constrains all of the degrees of freedom of the instrument tip 612, such as the pitch P, yaw Y and grip G degrees of freedom, when the tip protector 612 is fitted onto the instrument tip 612.

[0055] According to an embodiment, the tip protector 601 can also temporarily restrain the rolling degree of freedom of the surgical instrument tip 612.

[0056] Preferably, the tip protector 601 temporarily restrains the articulating instrument tip 612 in a straight configuration aligned along the longitudinal axis XX of the instrument shaft 611, such that when the tip housing 602 of the tip protector 601 is positioned or repositioned on the instrument tip 612, the instrument tip 612 returns to said predefined straight configuration, as shown, for example, in FIG.

[0057] The predefined configuration may be, for example, a non-straight section of the articulated instrument tip 612 that forms a predefined bend angle relative to the longitudinal direction XX of the instrument shaft 611 [i.e., a curved configuration]. If there is one or more rotational degrees of freedom, the curved configuration imposed by the tip protector 601 may define an array of predefined bend angles relative to the longitudinal direction XX of the instrument shaft 611.

[0058] The articulated instrument tip 612 has a plurality of articulated links 643, 644, 645, 646 and may be driven by actuation cables or tendons 647, 647', 648, 648', 649, 649'. Preferably, at least a portion of said tendons 647, 647', 648, 648', 649, 649' slide on an exterior surface of a portion of the links 634, 644, 645, 646, said exterior surfaces preferably being ruled planes formed by lines that are all parallel to one another and parallel to the axes of the degrees of freedom, e.g., pitch P and yaw Y of the articulated instrument tip 612. The articulated instrument tip 612, according to an embodiment, has pitch P, yaw Y and instrument grip G degrees of freedom. According to an embodiment, the surfaces on which the tendons 647, 647', 648, 648', 649, 649' slide are all produced by wire electrical discharge machining, preferably without requiring individual repositioning of the links to be machined in the machining fixture. The machining fixture may be rotated to allow machining of such surfaces. The articulated instrument tip 612 may also comprise a roll degree of freedom, in other words a rotational degree of freedom with respect to the longitudinal direction XX of the instrument shaft 611.

[0059] Preferably, the tip protector 601 restrains the instrument tip 612 in a predetermined configuration when the tip 612 is received in the tip housing 602 and the one or more abutment surfaces 609', 609", 609'" of the tip protector 601 abut against one or more portions (i.e., links 643, 644, 645, 646) of the articulating instrument tip 612. To this end, one or more shaft abutment surfaces 629', 629" may also be provided on the tip protector 601 for abutting against the instrument shaft 611 of the surgical instrument 610.

[0060] As mentioned above, the tip protector 601 preferably includes a clamping system 603 suitable for gripping / clamping a portion of the surgical instrument 610. According to a preferred embodiment, the clamping system 603 is designed to grip / clamp a portion of the shaft 611 of the surgical instrument 610 in order to securely position the repositionable tip protector 601. A gripping / clamping action on the shaft 611 of the surgical instrument 610 is thereby exerted by the clamping system 603.

[0061] According to an embodiment, the claim system 603 is comprised of the one or more further shaft abutment surfaces 629', 629" of the tip protector 601. In other words, according to an embodiment, the one or more shaft abutment surfaces 629', 629" belong to the clamping system 603 of the tip protector 601. According to an embodiment, the one or more shaft abutment surfaces 629', 629" belong to the housing 602 of the tip protector 601.

[0062] According to an embodiment, the clamping system 603 comprises at least one resilient element, such as a clip and / or a resilient tongue 615, biased toward gripping a portion of the surgical instrument 610. The gripping action is thereby an elastic gripping action exerted by the elastic return of the resilient element, such as the clip and / or the resilient tongue 615. Preferably, such an elastic gripping action is directed substantially along the radial direction RR. According to an embodiment, the resilient tongue 615 of the clamping system 603 comprises a base root, a free end, and at least one clamp abutment 616 located at or near the free end of the resilient tongue 615. The clamp abutment 616 may be an enlarged head of the resilient tongue 615. A protrusion designed to project radially inward, i.e., toward the shaft 611, may be provided at the free end of the tongue 615, forming the clamp abutment 616.

[0063] According to a preferred embodiment, the clamping system 603 is designed to substantially surround the shaft 611. For this purpose, the clamping system 603 has a sleeve 617, which may be made of two half-pipes 617' and 617'', the sleeve 617 of the clamping system 603 being a through-sleeve 617 which forms a through-channel 618 along the longitudinal direction XX. The through-channel 618 thereby has a first proximal channel opening 622 and a second, opposite distal channel opening 622', with the through-channel 618 extending therebetween. The clamp abutment 616 may preferably be part of the sleeve 617 which defines the through-channel 618. The sleeve 617 may preferably be rigid so as not to accommodate bending of the shaft 611, if any. This results in the proximal channel opening 622 and the distal channel opening 622' being substantially aligned.

[0064] According to a preferred embodiment, each of the half pipes 617' and 617'' includes at least one elastic tongue 615 having a free end and at least one clamp abutment 616 projecting radially inward from the free end.

[0065] According to an embodiment, the clamping system 603 includes a latch mechanism for gripping a portion of the surgical instrument 610. The gripping action on the portion of the surgical instrument 610 is thereby exerted by tightening the latch mechanism.

[0066] According to an embodiment, the clamping system 603 comprises a threaded coupling for gripping a portion of the surgical instrument 610. The gripping action on the portion of the surgical instrument 610 is thereby exerted by means of tightening the threaded coupling.

[0067] According to an embodiment, the at least one clamp abutment 616 of the clamping system 603 comprises a clamp abutment surface 619 that is designed to be elastically biased in a radial direction RR relative to the shaft 611 of the surgical instrument 610 in order to position the tip protector 601 relative to the shaft 611. Due to such elastic bias in the radial direction RR, the clamp abutment surface 619 is thereby in frictional contact with the shaft 611. Due to said frictional contact, unwanted sliding of the tip protector 601, and in particular of its clamping system 603, on the shaft 611 can be prevented.

[0068] According to an embodiment, said at least one clamp abutment 616 of the clamping system 603 corresponds to said one or more further shaft abutment surfaces 629', 629''.

[0069] As mentioned above, the tip protector 601 preferably includes a distal through-opening 605 located at or near the distal end 604 of the tip housing 602. According to embodiments, the at least one protective distal wall 608 of the tip housing 602 defines the distal through-opening 605 in the tip protector 601. The distal through-opening 605 in the tip housing may function for evacuation of liquid from the housing cavity 624 of the tip housing 602 of the tip protector 601.

[0070] As mentioned above, the distal through-opening 605 has an adjustable opening size 606, whereby the distal through-opening 605 can pass through the distal through-opening 605 of the tip housing 602 of the tip protector 601 for at least the instrument tip 612. In other words, the size 606 of the distal through-opening 605 of the tip housing 602 is adjustable and can be adjusted for the purpose of making the distal through-opening 605 a through-passage for at least the tip 612 of the surgical instrument 610. Preferably, the distal through-opening 605 is an opening that also passes through a portion of the shaft 611 of the surgical instrument 610. This allows the tip protector to be positioned and repositioned at various positions along the shaft 611 of the surgical instrument. According to a preferred embodiment, the term "opening size 606" as used herein refers to the dimension of the distal through-opening 605 evaluated in a direction transverse to the longitudinal direction XX, preferably along the radial direction RR. According to a preferred embodiment, the term "opening size 606" as used herein refers to the diameter of the distal through-opening 605. Thanks to such distal through-opening 605, the tip housing 602 of the tip protector can provide a through-channel for the instrument tip 612, and preferably also for at least the distal portion 613 of the shaft 611, and more preferably for the entire shaft 611. Thanks to such size adjustment of the distal through-opening 605 of the tip housing 602, the tip housing 602 can form a longitudinal abutment for the instrument tip 612, and by adjusting the size 606 of the distal through-opening 605, the tip housing 602 provides a longitudinal through-way for the instrument tip 612.

[0071] According to a preferred embodiment, the size 606 of the distal through-opening 605 is adjustable and can be set in an abutment configuration in which the tip abutment surfaces 609', 609'', 609''' abut against the instrument tip 612, and a pass-through configuration in which at least the instrument tip 612 passes through the distal through-opening 605. When in the pass-through configuration, the tip abutment surfaces 609', 609'', 609''' of the tip housing 602 abut against the shaft 611 of a surgical instrument 610.

[0072] According to embodiments, the opening size 606 of the distal through-opening 605 can be adjusted to temporarily close the distal through-opening 605. The distal through-opening 605 can then be adjusted in size to open. According to embodiments, when the opening size 606 of the distal through-opening 605 can be adjusted to temporarily close the distal through-opening 605, this configuration can correspond to an abutment configuration in which the tip abutment surface 609', 609'', 609''' abuts the instrument tip 612.

[0073] When in the operative state, the tip protector 601 is positioned at a location such that the instrument tip 612 of the surgical instrument 610 approaches the proximal opening 622 of the through channel 618 defined by said clamping system 603. The tip protector 601 is then retracted along the longitudinal direction XX toward the proximal portion 614 of the shaft 611 of the surgical instrument 610, as indicated by retraction arrow X1 in Figure 9. This causes the clamping system 603 of the tip protector 601, preferably the sleeve 617 and resilient tongue 615, to slidably fit over the distal portion 613 of the shaft 611 of the surgical instrument 610, and the articulated instrument tip 612 approaches the proximal through opening 623 of the receiving cavity 624 of the tip housing 602 of the tip protector 601. The tip protector 601 is then further retracted along the longitudinal direction XX toward the proximal portion 614 of the shaft 611 of the surgical instrument 610, as indicated by the retraction arrow X1 in FIG.

[0074] 9 , the tip protector 601 is further retracted along the longitudinal direction XX toward the proximal portion 614 of the shaft 611 of the surgical instrument 610, as indicated by the retraction arrow X1 in FIG. 9 .

[0075] The tip protector 601 can thereby be repositioned relative to the shaft 611, for example at a new position located proximally along the shaft 611 relative to its previous position, thereby exposing the instrument tip 612 distally relative to the tip housing 602, in other words, the articulated instrument tip 612 protrudes distally in the longitudinal direction XX from the protective distal wall 608 of the tip housing 602.

[0076] Thanks to such a tip protector 601, it is possible to expose the instrument tip 612 that was previously covered by the same tip protector 601 and in particular the tip housing 602, without having to move the surgical instrument 610 away from the surgical volume 625 and therefore without having to reposition the surgical instrument 610 and its instrument tip 612 within the surgical volume 625. Thanks to such a tip protector 601, the exposure of the instrument tip 612 is achieved by relative retraction of the tip protector 601 with respect to the instrument shaft 611.

[0077] At the same time, by retracting the tip protector 601, having an adjustable distal through-opening 605, toward the proximal end 614 of the shaft 611 while the tip protector 601 is still fitted onto the shaft 611, it is possible to reduce the volume of free space around the surgical instrument 610 required to expose the instrument tip 612. In particular, because the tip protector 601 can be repositioned to a retracted position relative to and along the shaft 611, it is sufficient to retract the tip protector 601 accordingly to expose the instrument tip 612, thereby avoiding the need to extract the tip protector from the distal end of the shaft. The tip protector 601 thereby makes exposure of the instrument tip 612 quicker and safer than known solutions. Furthermore, the ability to position the instrument tip 612 in a desired position before removing the tip protector 601 from the instrument tip 612 further improves surgical safety.

[0078] Furthermore, the tip protector 601 can cover or protect the instrument tip 612 before the surgical instrument 610 is removed from the surgical space 625. Covering the instrument tip 612 is achieved by advancing the tip protector 601 along the shaft 611, away from the proximal end 614 of the shaft 611, toward and past the distal portion 613 of the shaft 611, as shown by arrow X2 in FIG. 10 . In this configuration, the clamping system 603 biases against the shaft 611 in a position proximal to the instrument tip 612. Furthermore, as the tip protector 601 covers the articulated instrument tip 612, at least one abutment surface 609′, 609″, 609′″ of the housing 602 abuts against the articulated instrument tip 612 from its opposite side, exerting a restraining effect and forcing the links forming the articulated instrument tip 612 into a predetermined configuration. The predetermined configuration may be aligned with the shaft 611. By providing one or more such shaft abutment surfaces 629', 629'' against the shaft 611 at a position close to the instrument tip 612, the restraining action exerted by at least one abutment surface 609', 609'', 609''' of the tip protector 601 can be enhanced.

[0079] According to embodiments, the tip protector 601 avoids overloading the instrument tip 612 and transfers any load to the shaft 611. For example, any load applied to the distal wall 608 of the tip protector 601 is transferred to the instrument shaft 611, thereby greatly improving surgical safety for the patient and the integrity of the instrument tip 612.

[0080] According to an embodiment, tip protector 601 is made of a molded, hard plastic material, for example by injection molding, which allows tip protector 601 to be disposable (i.e., single use) and at the same time inexpensive to manufacture.

[0081] According to an embodiment, tip protector 601 is made of a material that can be sterilized using conventional sterilization procedures, for example, for surgery.

[0082] According to an embodiment, the tip protector 601 comprises a control interface 604 for controlling adjustment of an opening size 606 of the distal through-opening 605. By acting on the control interface 604, it is possible to adjust the size 606 of the distal through-opening 605. According to an embodiment, the control interface 604 is connected to at least one transfer element 626 which in turn is connected to at least a portion of the tip housing 602, whereby the at least one transfer element 626 transfers control actions from the control interface 604 to the tip housing 602 for adjusting the distal through-opening 605 of the tip protector 601. According to an embodiment, the control interface 604 has at least one interface surface 604', 604'', preferably two opposing interface surfaces 604', 604'', located opposite each other with respect to the tip housing 602, and the at least one transfer element 626 has a first transfer arm 626' and a second transfer arm 626'', each interface surface 604', 604'' integrally coupled to a respective one of the transfer arms 626', 626''. According to one embodiment, the control interface 604 has at least two opposing interface surfaces 604', 604'', located opposite each other with respect to the tip housing 602, and at least one of the at least two interface surfaces 604', 604'' is associated with a resilient element 627. For example, a resilient arm 627' or 627" integrally connected to each interface surface 604', 604", the resilient element 627 being such as to bias at least one of the at least two interface surfaces 604', 604" towards a predetermined position. Preferably, the predetermined position to which the at least one resilient element 627 biases at least one interface surface 604', 604" determines that the tip housing 602 assumes the abutting configuration. According to an embodiment, the two opposing interface surfaces 604', 604" are designed to be pressed one towards the other by an operator's fingers.Pressure manually applied to the two opposing interface surfaces 604', 604'' determines an elastic deformation, i.e., bending, of at least one elastic element 627, which simultaneously displaces a portion of the tip housing 602 by means of the at least one respective transmission element 626. Preferably, the tip housing 602 is formed by at least two portions 602' and 602'' or tip half-housings 602' and 602'' that cooperate to define the tip housing 602, and each of the two opposing interface surfaces 604', 604' is associated with a respective tip half-housing 602', 602'' through a respective transmission element 626', 626''. The paths described by the transmission elements 626', 626'' may overlap along the centerline xx of the tip protector 601, so that applying pressure to the first interface surface 604' determines the displacement of the first tip half housing 602' located on the opposite longitudinal side of the tip protector 601 relative to the first interface surface 604'.

[0083] According to an embodiment, the tip protector 601 is essentially a clip in which the size 606 of the distal opening 605 is elastically adjustable and the abutment surfaces 609', 609'', 609''' are elastically pre-stressed (i.e. towards each other) when closed.

[0084] The at least two resilient arms 627', 627" for biasing the respective interface surfaces 604', 604" and / or abutment surfaces 609', 609", 609"' may be fixed at their respective fixing roots 628, such that the respective interface surfaces 604', 604" project in the radial direction RR, preferably forming a bend on the body of the respective resilient arm 627', 627", and extending from each of the surface interfaces 604', 604" towards the centerline xx of the tip protector 601 and connecting to the respective tip half-housing 602', 602" located in the opposite longitudinal direction relative to the respective interface surfaces 604', 604".

[0085] According to an embodiment, the tip protector 601 has two parts 601', 601'' fixed together locally at the fixing root 628 such that the resilient arms 627', 627'' resiliently bias the respective interface surfaces 604', 604'' to project radially away from the centerline xx, the respective interface surfaces 604', 604'' being connected to respective tip half-housings 602', 602'' by respective transmission arms 626', 626'', the tip half-housings 602', 602'' together preferably partially defining the distal through-opening 605, while the resilient arms 627', 627'' resiliently bias the respective abutment surfaces 609', 609'', 609''' towards each other.

[0086] Fixing means may be provided to fix the two pieces 601', 601'' of the tip protector 601, for example the fixing means may comprise at least one rivet, and / or at least one screw, and / or at least one nail, and / or adhesive, etc.

[0087] According to an embodiment, the tip protector 601 comprises one or more stroke ends 633 for limiting the maximum size 606 of the distal opening 605, thereby preventing excessive biasing of the elastic element of the tip protector 601. According to an embodiment, the one or more stroke ends 633 comprise at least two opposing stroke ends 633' and 633'', preferably each of the at least two opposing stroke ends 633' and 633'' located opposite a respective interface surface 604' 604'' of the tip protector 601. According to an embodiment, each of the at least two opposing stroke ends 633' and 633'' is located on and behind the same piece of material of the respective interface surface 604' 604''. According to an embodiment, the one or more stroke ends 633' and 633'' are in the form of a protrusion extending towards the tip protector centerline xx. According to an embodiment, a through longitudinal passage 634 is defined in the stroke ends 633 ′ and 633 ″ for receiving the shaft 611 of the surgical instrument 610 .

[0088] According to an embodiment, the tip protector 601 has a locking mechanism 607 for temporarily restricting the distal opening size 606 to a predetermined size opening value that prevents the instrument tip 612 from passing through the distal through-opening 605 of the tip housing 602. Thanks to the locking mechanism 607, the tip protector 601 can temporarily block the maximum size of the distal through-opening 605 when at least one abutment surface 609', 609'', 609''' is applied against the articulating instrument tip 612 and / or when the abutment surface 629, 629' is applied against the shaft 611 in order to exert said restraining effect. At the same time, this allows for a more secure positioning of the tip protector 601 relative to the shaft 611. The size 606 of the distal through-opening 605 is thereby independent of the clamping action of the clamping system 603, which can allow for improved clamping forces.

[0089] Furthermore, thanks to the provision of the locking mechanism 607, the occurrence of undesired movement of the instrument tip 612 in the radial direction RR can be avoided when adjusting the size 606 of the distal through-opening 605. Preferably, the locking mechanism 607 has at least one locking tooth 630 located on the tip half-housing 602' or 602" near the distal through-opening 605 and engaging with a respective locking notch 631 on the other tip half-housing 602' or 602". Preferably, each half-housing has one locking tooth. Preferably, the locking mechanism 607 further comprises a cam surface 632 that rolls a part of one of the tip half-housings 602 over the cam surface 632 located on the other tip half-housing 602' or 602" and favors engagement and / or disengagement of the at least one locking tooth 630 with the respective locking notch 631. The rolling cam surface 632 thereby defines a fulcrum for engaging and / or disengaging said tip half-housings 602' and 602". According to an embodiment, the locking tooth 630 during the process of closing the distal opening is resiliently biased against said cam surface 632. According to a preferred embodiment, actuation of the locking mechanism 607 causes the tip protector 601 to resiliently deform when locked against a resilient bias exerted by the arms of the tip protector 601.

[0090] According to an embodiment, the clamping system 603 of the tip protector 601 has an anti-twist device 635 designed to avoid or at least reduce roll or twist or pivoting of the instrument shaft 611 relative to the tip protector 601 in the longitudinal direction XX while the tip protector 601 is clamped to the instrument shaft 611.

[0091] According to an embodiment, the anti-twist device 635 includes at least one O-ring 638 fitted onto the shaft 611 and received with clearance within a chamber 636 of the through channel 618 of the clamping system 603. The chamber 636 has walls defining at least a proximal O-ring stroke end 637' and a distal O-ring stroke end 637" each acting as a stroke end wall for the O-ring 638. Here, near or at one of the O-ring stroke ends 637' or 637" the walls of the chamber 636 define a narrower through passage 618' that traps the O-ring 638, thereby preventing relative roll, twist, or pivoting of the shaft 611 within the through passage 618 of the clamping system 603 through the body of the O-ring 638. Preferably, the proximal O-ring stroke end 637' defines the narrower through passage 618'. The term "narrower throughway" does not necessarily mean the narrowest portion of the throughway 618, although it may be so according to some embodiments.

[0092] According to an embodiment, the anti-twist device 635 has one or more guide elements, such as one or more guide grooves or guide protrusions, designed to guide the tip protector 601 along the shaft 611 in a predetermined direction. The shaft 611 may preferably include one or more reverse guide elements, such as guide protrusions or guide grooves, designed to engage with one or more guide elements of the tip protector 601. The predetermined direction may be a linear direction parallel to the longitudinal extension of the shaft XX. The predetermined direction may also be a helicoid direction wound around the shaft 611 and extending along the longitudinal extension of the shaft XX. By providing such one or more reverse guide elements of the shaft 611 designed to engage with one or more guide elements of the tip protector 601, control over the relative displacement of the tip protector 601 and the shaft 611 can be enhanced. At least one repositioning path for the tip protector 601 relative to the shaft 611 and / or instrument tip 612 can be defined, thereby preventing uncontrolled rotation about the longitudinal direction XX while repositioning the tip protector 601 along the shaft 611 and / or relative to the instrument tip 612. In this way, it can be ensured that when the tip protector 601 is moved distally from the shaft 611 and abuts against the instrument tip 612, the tip protector 601 abuts against a predetermined portion of the instrument tip 612.

[0093] According to an embodiment, at least one tip abutment surface 609', 609", 609'" of the pair of opposing tip abutment surfaces is made integral with at least one shaft abutment surface of the pair of opposing shaft abutment surfaces 629', 629". A resilient element may also be provided between said at least one tip abutment surface 609', 609", 609'" of the pair and said at least one shaft abutment surface 629', 629". The provision of a locking mechanism may lock the relative positions of said at least one tip abutment surface 609', 609", 609'" of the pair and said at least one shaft abutment surface 629', 629", and restrain each half of the tip protector 601 in an elastically deformed configuration by acting against the elastic preload provided by said resilient element.

[0094] According to an embodiment, at least one tip abutment surface 609′, 609″, 609′′ of the pair of opposing tip abutment surfaces is made integral with at least one clamp abutment portion 616 of the pair of opposing clamp abutments of the clamping system of the tip protector 601. Thereby, a pair of opposing clamp abutments may be provided. An elastic element may also be provided between the pair of at least one tip abutment surface 609′, 609″, 609′′ and the pair of at least one clamp abutment portion 616. The provision of a locking mechanism may lock the relative positions of the pair of at least one tip abutment surface 609′, 609′, 609″, 609′′ and the pair of at least one clamp abutment portion 616, acting against the elastic preload provided by the elastic element, thereby restraining each half of the tip protector 601 in an elastically deformed configuration.

[0095] According to a general embodiment, the assembly 600 comprises at least one tip protector 601 according to any one of the embodiments described above.

[0096] The assembly 600 also comprises at least one surgical instrument 610 having a shaft 611 according to any one of the embodiments described above. Preferably, the assembly 600 comprises a surgical instrument 610 having a shaft 611 extending along a longitudinal direction XX and an articulating instrument tip 612 at a distal portion 613 of the shaft 611.

[0097] The articulating instrument tip 612 is articulated relative to the instrument shaft 611 to define at least one degree of freedom.

[0098] The tip protector 601 is fitted onto the shaft 611 of the surgical instrument 610 such that the tip protector 601 is repositionable to various positions along the shaft 611 .

[0099] The tip housing 602 has at least one tip abutment surface 609', 609'', 609''' suitable for biasing against the instrument tip 612 from its opposite side to exert a restraining effect on the instrument tip 612 at least in a direction transverse to the longitudinal direction XX of the shaft 611, and is configured with the purpose of blocking at least one degree of freedom of said articulated instrument tip 612.

[0100] According to a preferred embodiment, the articulated instrument tip 612 has at least one grip G degree of freedom, and the constraining action exerted by the at least one abutment surface 609', 609'', 609''' constrains the grip G degree of freedom in a predetermined configuration.

[0101] According to a preferred embodiment, the articulated instrument tip 612 has at least one degree of freedom, preferably both, between pitch P and yaw Y, and the constraining action exerted by the at least one abutment surface 609', 609', 609'', 609''' constrains at least one of the pitch P and / or yaw Y degrees of freedom in a predetermined configuration.

[0102] According to a preferred embodiment, said predefined configuration is a linear configuration aligned with the longitudinal direction XX of the instrument shaft 611, so that said constraining action exerted by said at least one abutment surface 609', 609', 609'', 609''' constrains the articulated instrument tip 612 in a linear configuration aligned with the longitudinal direction XX of said instrument shaft 611.

[0103] According to a preferred embodiment, the instrument tip 612 of a surgical instrument 610 comprises one or more tendons 647, 647', 648, 648', 649, 649' for articulating the one or more degrees of freedom of the articulating instrument tip 612. The constraint exerted by at least one abutment surface 609', 609'', 609''' blocks at least one of the degrees of freedom of the articulating instrument tip 612 even when the one or more tendons 647, 647', 648, 648', 649, 649' apply a tensile load directed to actuate at least one of the degrees of freedom of the articulating instrument tip 612. This can be achieved, for example, by virtue of the provision of at least one appropriately adjusted elastic element of the tip protector 601 that makes the constraint an elastic constraint and / or by virtue of the provision of a locking mechanism of the tip protector 601.

[0104] As described above, at least one tip protector 601 is removably fitted onto the shaft 611 of at least one surgical instrument 610 .

[0105] According to an embodiment, the shaft 611 of the surgical instrument 610 has a counter clamping portion 639 suitable for biasing the clamping system 603, preferably the abutment portion 616 of the clamping system 603, onto and / or opposite it to prevent the tip protector 601 from slipping out of the shaft 611.

[0106] According to an embodiment, the opposing clamping portion 639 of the shaft 611 of the surgical instrument 610 has a surface treatment to enhance longitudinal friction and therefore adhesion with the clamping system 603. Preferably, the surface treatment is done by knurling.

[0107] According to an embodiment, the counter clamping portion 639 of the shaft 611 has protrusions for engaging, for example in an undercut manner, with the clamping system 603 of the tip protector 601. The counter clamping portion of the shaft may engage with the clamping portion of the tip protector according to any suitable strategy, for example by form fit, and / or threaded connection, and / or force fit, and / or similar means.

[0108] According to a general embodiment, a master-slave robotic surgical system 620 comprises at least one assembly 600 according to any one of the above-described embodiments and a master console 621 for controlling the surgical instrument 610 of the assembly 600.

[0109] A method for repositioning tip protector 301 will now be described.

[0110] The method for repositioning the tip protector 601 includes the following steps.

[0111] Positioning a tip protector 601 against a first portion 641 of a shaft 611 of a surgical instrument 610 having an instrument tip 612 near a distal portion 613 of the shaft 611 .

[0112] Applying an action 640 on the interface 604 of the tip protector 601 to increase the size 606 of the distal through-opening 605 of the tip protector 601, thereby allowing the distal through-opening 605 to become a through-passage for at least the instrument tip 612.

[0113] Moving the tip protector 601 along the shaft 611. Repositioning the tip protector 601 relative to the second portion 642 of the shaft 611.

[0114] According to one aspect of the preferred operation, the repositioning step includes releasing an action 640. Preferably, said action 640 is a manual action 640.

[0115] According to one mode of operation, the second portion 642 of the shaft 611 is located closer to the proximal end 614 of the shaft 611 along the longitudinal direction XX than the first portion 641 of the shaft 611 .

[0116] According to one mode of operation, the second portion 642 of the shaft 611 is closer to the proximal end 614 of the shaft 611 along the longitudinal direction XX than the first portion 641 of the shaft 611 .

[0117] According to one mode of operation, the method further includes repositioning the tip protector 601 relative to the shaft 611 of the surgical instrument 610 .

[0118] According to one aspect of operation, the moving step comprises retracting the tip protector 601 along the shaft 611 .

[0119] According to one mode of operation, the moving step comprises advancing the tip protector 601 along the shaft 611 towards the instrument tip 612 .

[0120] According to one mode of operation, the method comprises covering said instrument tip 612 with said tip protector 601 whereby the articulating instrument tip 612 is received within the cavity of the housing 602 and at least one abutment surface 609', 609'', 609''' exerts said constraining effect on the instrument tip 612, locking at least one, and preferably all, degrees of freedom of the articulating instrument tip 612.

[0121] According to one mode of operation, the method includes constraining the articulated instrument tip 612 in a predefined configuration.

[0122] According to one mode of operation, the constraining step includes constraining the articulated instrument tip 612 in a linear configuration aligned with the longitudinal direction XX of the shaft 611.

[0123] According to one preferred mode of operation, the method is performed by an assembly 600 according to any one of the embodiments described above.

[0124] The following describes a method for restraining the instrument tip (612) 612 with the tip protector 601.

[0125] The method for constraining the articulated instrument tip 612 includes the following steps.

[0126] Positioning a tip protector 601 having a tip housing 602 including at least one tip abutment surface 609', 609', 609'', 609''' on the articulated instrument tip 612 such that the at least one tip abutment surface 609', 609'', 609''' abuts against the instrument tip 612 from the side opposite the tip 612.

[0127] A step of exerting a restraining effect on the instrument tip 612 at least in a direction that is transverse to the longitudinal direction XX of the shaft 611.

[0128] Blocking at least one of the degrees of freedom of the articulated instrument tip 612.

[0129] According to one aspect of operation, the positioning step includes biasing at least one pair of opposing tip abutment surfaces 609', 609'', 609''', 609''' against links of the instrument tip from opposite sides of the articulated tip 612.

[0130] According to one mode of operation, the exerting step includes abutting one or more additional abutment surfaces 629', 629'' against shaft 611 to act as reference points for tip abutment surfaces 609', 609'', 609'''.

[0131] According to one mode of operation, the exerting step includes exerting a resilient restraining effect.

[0132] According to an aspect of operation, the blocking step comprises mechanically locking the tip protector 601 .

[0133] According to one aspect of operation, the blocking step comprises applying an actuation load to at least one of the degrees of freedom of the instrument tip 612 .

[0134] According to an aspect of operation, the method of restraining comprises one or more of the steps described above with reference to the method of repositioning.

[0135] According to an aspect of operation, the method for restraining is performed by the tip protector 601 and / or assembly 600 according to any one of the embodiments described above.

[0136] Thanks to the above features, provided together or separately in specific embodiments, the above-mentioned needs can be addressed providing the above-cited advantages.

[0137] In particular, it is possible to reposition the tip protector relative to the shaft of the surgical instrument.

[0138] The instrument tip can be exposed without having to reposition the surgical instrument in or out of the operating room volume.

[0139] The tip protector can be sterilized or disposable.

[0140] The degrees of freedom of the articulated instrument tip are frozen in a constrained configuration during any attempt to actuate said degrees of freedom.

[0141] When the articulated instrument tip is exposed from the tip protector, i.e., when the tip protector is retracted, the articulated instrument tip is in a known pose, which can be beneficial when the surgical instrument is a slave surgical instrument of a robotic platform controlled by a master input tool that is mechanically ungrounded / unconstrained.

[0142] The locking mechanism may restrain the tip protector in a resiliently deformed configuration, with the abutment surface abutting against the articulating instrument tip exerting a restraining effect on the instrument tip.

[0143] Those skilled in the art can make many modifications and adaptations to the above-described embodiments to meet their foreseeable needs, or can substitute other elements that are functionally equivalent, without departing from the scope of the appended claims. [Explanation of symbols]

[0144] 600 Assembly 601 Tip protector 601' First portion of tip protection member 601'' Second part of tip protector 602 Tip protector tip housing 602' Tip protector first tip half housing 602'' Tip Protector Second Tip Half Housing 603 Clamping system or clamping system of tip protector 604 Tip protector control interface 604' Tip Protector First Interface Surface 604'' Tip Protector Second Interface Surface 605 Distal penetration opening of tip protector 606 Opening size, or size of distal through opening 607 Locking mechanism 608 Distal protective wall of tip protector 609', 609''' Contact surface of tip housing 609'', 609'''' Contact surface of tip housing 610 Surgical instruments 611 Shafts of surgical instruments 612 Articulated instrument tip of surgical instrument 613 Distal portion of shaft 614 Proximal end of shaft 615 Elastic tongue of clamping system 616 Clamping system contact part 617 Clamping System Sleeve 617' clamping system for the first half pipe 617'' clamping system for second half pipe 618 Clamping system through groove 619 Clamping contact surface of clamping system 620 Robotic Surgery System 621 Master console or master controller of a robotic surgical system 622 Proximal channel entrance of the through passage 622' Distal channel mouth of through channel 623 Proximal through-hole in tip housing 624 Tip Housing Housing Cavity 625 Surgery space 626 Transmission Elements 626' First transmission arm 626'' Second Transmission Arm 627 Elastic Elements 627' First Elastic Arm 627'' Second Elastic Arm 628 Base 629', 629'' Shaft contact surface of tip protector 630 Locking teeth of the locking mechanism 631 Locking notch for locking mechanism 632 Cam surface of locking mechanism 633, 633', 633'' end stroke section 634 Longitudinal through-passage 635 Anti-twist or anti-roll devices 636 Chamber 637'' O-ring anti-twist device proximal stroke end 637'' O-ring at distal stroke end of anti-twist device 638 Anti-Twist Device O-Ring 639 Reverse clamping part of shaft 640 Applied Action or Action 641 First part of shaft 642 Second part of shaft 643, 644, 645, 646 Surgical Instrument Links 647, 647', 648, 648', 649, 649' Operating cables or tendons of surgical instruments XX Longitudinal direction RR radial direction CC Circulation Direction xx Center line of tip protector X1 Retraction direction X2 Approach direction P Degree of freedom of pitch of measuring instrument tip Y: Degree of freedom in the yaw direction of the device tip G Freedom of grip at tip

Claims

1. A tip protector (601) for a surgical instrument (610) having a shaft (611) extending along a longitudinal direction (XX) and an articulated instrument tip (612) at a distal portion (613) of the shaft (611), a tip housing (602) for releasably receiving said instrument tip (612); a clamping system (603) adapted to grip a portion of the shaft (611) for positioning the tip protector (601); a distal through-opening (605) at or near the distal end (608) of the tip housing (602); The distal through opening (605) has an adjustable opening size (606) such that the distal through opening (605) can be adjusted to become a through opening for at least the instrument tip (612), thereby allowing the tip protector (601) to be repositioned at various locations along the shaft (611).

2. 2. The tip protector (601) of claim 1, wherein the tip housing (602) comprises at least one tip abutment surface (609', 609'', 609''', 609'') suitable for abutting against the instrument tip (612) from both sides of the instrument tip (612) to exert a restraining effect on the instrument tip (612) in at least one direction transverse to the longitudinal direction (XX) of the shaft (611) for the purpose of blocking at least one degree of freedom of the instrument tip (612).

3. 3. The tip protector (601) of claim 2, wherein the at least one tip abutment surface (609', 609'', 609''', 609''') is adapted to block each and every degree of freedom of the instrument tip (612).

4. 4. A tip protector (601) according to claim 2 or 3, wherein the restraining action is adapted to block at least one degree of freedom of the instrument tip (612) even when said at least one degree of freedom is actuated.

5. A tip protector (601) as described in any one of claims 1 to 4, wherein the tip protector (601) is provided with one or more further abutment surfaces (629', 629'') suitable for abutting against the shaft (611) of the surgical instrument (610) to act as a reference for exerting the restraining effect on the instrument tip (612).

6. A tip protector (601) according to any one of claims 2 to 5, wherein the at least one tip abutment surface (609', 609'', 609''') is connected to at least one elastic element such that the restraining action is an elastic restraining action, preferably the elastic restraining action is a self-centering restraining action.

7. 7. A tip protector (601) according to any one of claims 2 to 6, wherein the at least one tip abutment surface (609', 609'', 609''') is suitable for abutting against the instrument tip (612) in the longitudinal direction (XX).

8. A tip protector (601) as described in any one of claims 1 to 7, comprising a control interface (604) for controlling adjustment of the opening size (606) of the distal through opening (605), preferably wherein the opening size (606) of the distal opening (605) is elastically adjustable.

9. 9. A tip protector (601) as described in any one of claims 1 to 8, further comprising a locking mechanism (607) for temporarily restricting the opening size (606) of the distal opening (605) to within a predetermined size opening value in order to enhance the restraining action, thereby preventing the instrument tip (612) from passing through the distal through opening (605) of the tip housing (602).

10. the tip protector (601) has two portions (601' and 601'') fixed together locally one to the other at a fixing root (628) such that resilient arms (627' and 627'') resiliently bias their respective interface surfaces (604' and 604'') to project radially away from a centerline (xx) of the tip protector; A tip protector (601) as described in any one of claims 1 to 9, wherein the interface surfaces (604', 604'') are each connected to a respective tip half housing (602', 602'') by a respective transmission arm (626', 626''), and the tip half housings (602', 602'') together define the distal through opening (605), and / or the tip protector (601) has two parts (601' and 601''), each of the two parts (601' and 601'') being a rigid body including at least one elastically flexible part.

11. 11. The tip protector (601) according to any one of claims 1 to 10, wherein the clamping system (603) comprises an anti-twist device (635) designed to prevent relative rotation of the tip protector (601) with respect to the shaft (611) about the longitudinal direction (XX).

12. A surgical instrument and tip protector assembly (600), comprising: The tip protector (601) according to any one of claims 1 to 11, and a surgical instrument (610) having a shaft (611) extending along said longitudinal direction (XX) and an articulated instrument tip (612) at a distal portion (613) of said shaft (611); the instrument tip (612) is articulated relative to the shaft (611) defining at least one degree of freedom; A surgical instrument and tip protector assembly (600) in which the tip protector (601) is attached to the shaft (611) of the surgical instrument (610) and the tip protector (601) is repositionable to various positions along the shaft (611).

13. the tip housing (602) comprises at least one tip abutment surface (609', 609'', 609'', 609''') suitable for abutting the instrument tip (612) from an opposite side of the instrument tip (612) to exert a restraining effect on the instrument tip (612) in at least one direction transverse to the longitudinal direction (XX) of the shaft (611); 13. A surgical instrument and tip protector assembly (600) as described in claim 12, which is suitable for exerting a restraining action on the instrument tip (612) (612) from at least one direction transverse to the longitudinal direction (XX) of the shaft (611) for the purpose of blocking at least one degree of freedom of the instrument tip (612) (612).

14. the instrument tip (612) has at least one gripping degree of freedom (G); 14. The surgical instrument and tip protector assembly (600) of claim 13, wherein the constraining action exerted by the at least one abutment surface (609', 609'', 609''') constrains a grip degree of freedom (G) in a predetermined configuration.

15. the instrument tip (612) has at least one pitch (P) and yaw (Y) degree of freedom, preferably both pitch (P) and yaw (Y) degrees of freedom; 15. A surgical instrument and tip protector assembly (600) as described in claim 13 or 14, wherein the restraining action exerted by the at least one abutment surface (609', 609', 609'', 609''') restrains at least one of the pitch (P) and / or yaw (Y) degrees of freedom in a predetermined manner.

16. the predetermined orientation is a linear orientation aligned with the longitudinal direction (XX) of the instrument shaft (611); 16. A surgical instrument and tip protector assembly (600) as described in any one of claims 13 to 15, wherein the restraining action exerted by the at least one abutment surface (609', 609'', 609''') restrains the instrument tip (612) in a linear manner aligned with the longitudinal direction (XX) of the instrument shaft (611).

17. the surgical instrument (610) comprises one or more tendons (647, 647', 648, 648', 649, 649') for articulating one or more degrees of freedom of the instrument tip (612); 17. A surgical instrument and tip protector assembly (600) as described in any one of claims 13 to 16, wherein the restraining action exerted by the at least one abutment surface (609', 609'', 609''', 609''') blocks at least one of the degrees of freedom of the instrument tip (612), even when one or more of the tendons (647, 647', 648, 648', 649, 649') apply a traction load directed to actuate at least one of the degrees of freedom of the instrument tip (612).

18. A method for restraining an instrument tip (612), comprising: positioning and / or repositioning the tip protector (601) with the tip housing (602) over the instrument tip (612) so that at least one tip abutment surface (609', 609', 609'', 609''') of the tip protector (601) abuts the instrument tip (612) from the opposite side of the instrument tip (612); applying a restraining action to the instrument tip (612); blocking at least one degree of freedom of the instrument tip (612).

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