MASTER WORKSTATION FOR ROBOTIC SURGERY, STERILE SURGICAL FIELD, SURGICAL ROBOT SYSTEM AND METHOD

Abstract

A master workstation (301) for a surgical robotic system (300) adapted to be positioned within a sterile surgical field (311), comprising: a non-grounded master input handle (310) adapted to be held in a hand by a surgeon during surgery to control a slave robot assembly (330) of the surgical robotic system (300); and a console (302), the console (302) comprising a sterile drape (303) covering at least a portion of the console (302); and at least one sterile holder (306), the at least one sterile holder (306) comprising at least one cavity (345); and at least one mounting element (307) within the cavity (345) adapted for resting on the master input handle (310) when not being held in a hand.

Description

[Technical field]

[0001] The object of the present invention is a master workstation for robotic surgery.

[0002] The master workstation according to the present invention is particularly suited to be placed within a sterile surgical field.

[0003] The invention also relates to a surgical field and a surgical robotic system including at least said master workstation.

[0004] Additionally, the present invention relates to a method for performing surgery. [Background technology]

[0005] In the medical field in general, for example, a sterile holster for dropping off medical suction tubes is provided, as shown in document US-2005-0194507, and an organizer for consumables for medical patients is provided, as shown in document US-2009-0301927.

[0006] A robotic surgical device is used in robot-assisted surgery and generally comprises a surgeon master console for receiving manual commands from a surgeon, a robot slave central tower (or robot cart), and a number of robot slave arms extending from the slave central tower and carrying one or more surgical instruments (end effectors) controlled with said surgeon master console. The one or more slave surgical instruments are distally attached to the robot slave arms for performing a surgical procedure on a patient lying in a sterile surgical field. To avoid contamination of the sterile surgical field that may be caused by the robotic surgical instruments, a surgical drape is typically provided to drape the non-discarded parts of the robotic instruments. Straps and ties may be provided on the outer surface of the surgical drape for the purpose of tying the drape around the robot, reducing the volume of the drape to a substantially tight fit.

[0007] For example, documents WO-2017-064301 and WO-2018-189729 of the same applicant disclose solutions for robotic surgery systems that are particularly suitable for robot-assisted microsurgery and, as a result, for miniaturizing surgical instruments. Conventional (non-robotic) microsurgery requires the surgeon to work with a surgical microscope, typically an optical microscope, that can magnify the surgical field, and therefore a robotic surgical device for microsurgery is preferably equipped with a surgical microscope.

[0008] Microsurgery procedures are performed in several stages of the reconstruction of living tissues, for example in the performance of vascular anastomoses consisting of small vessels and nerves, as well as in the reconstruction of anatomical parts after the occurrence of traumatic lesions, revascularization of tissues, reattachment of limbs, transplants and replantations. In the field of microsurgery, robotic devices allow a high degree of miniaturization of surgical instruments compared to conventional microsurgery, while at the same time reducing the transmission of vibrations to the slave surgical instruments of the robotic surgical system.

[0009] The robotic surgical device is also suitable for robotically assisted laparoscopic surgery, where the surgical instruments and at least one camera are individually inserted into the patient's body using a set of percutaneous trocars, and a visualization screen visualizes laparoscopic images of the patient's interior taken from the cameras. The robotic assisted device reduces the fulcrum effect during surgery due to the lever arm formed over the length of each percutaneous rigid trocar when manipulating conventional (non-robotic) laparoscopic surgical instruments. Furthermore, thanks to the robotic assist, the laparoscopic surgeon is provided with improved comfort during surgery due to the ergonomic features of the surgeon master console.

[0010] Remote surgeon master consoles have been provided, for example as shown in documents US-2014-0018960 and EP-2845556. Typically, such remote surgeon master consoles consist of a visualization device, a surgeon seat and / or surgeon forearm rest elements, and a master input appendix hinged to the body of the master console for receiving manual commands from the surgeon to control the slave surgical instruments. Thereby, the comfort of the laparoscopic surgeon is further enhanced in that he / she is not even required to be present in the sterile field of the operating room, but can perform the operation from a non-sterile remote location.

[0011] However, having a large physical distance between the team at the sterile surgical field and the surgeon handling the master input accessories at the remote master console may create communication problems during surgery between the team, especially the surgeon. Summary of the Invention [Problem to be solved by the invention]

[0012] Thus, even in the presence of robotic surgical systems, the need for a surgeon to be present in a sterile operating room is felt.

[0013] Furthermore, in some applications of robotic microsurgery, the presence of a surgeon in a sterile surgical field during the robotic surgery is desirable, so that during a single operation, the microsurgeon can switch from robotic microsurgery to conventional (non-robotic) microsurgery by hand-holding conventional microsurgery tools such as tweezers and / or back to the surgeon's master console. Document WO-2014-151621 discloses a system for alternating between manual and robotic surgery using a mechanically ungrounded master controller designed to be hand-held by the surgeon.

[0014] Wearable, mechanically ungrounded master controllers are also known, for example from documents WO-2019-099854 and EP-2467082, and typically comprise a pair of rings that fit on the surgeon's fingers and are integrally associated with the grip command interface of the ungrounded master controller.

[0015] The same applicant's document WO-2019-220409 discloses a sterile console for robotic surgery including a surgical chair consisting of a pair of cups attached to the arms of the chair for dropping non-grounded master input tools.

[0016] Therefore, a need is felt for a solution that allows surgeons to effectively alternate between robotic-assisted surgery and traditional manual surgery.

[0017] At the same time, the need is felt to simplify the switch from robotic to conventional surgery in a single intervention and vice versa. [Means for solving the problem]

[0018] It is within the scope of the present invention to overcome the shortcomings noted with reference to the known art.

[0019] These and other scopes are achieved by a master workstation according to claim 1.

[0020] Some preferred embodiments are the subject of dependent claims.

[0021] According to one aspect of the present invention, a master workstation for a surgical robotic system comprises at least one non-grounded master input handle suitable for being hand-held by a surgeon during surgery to control a slave robot assembly of the surgical robotic system; a console; a sterile drape covering at least a portion of the console; and at least one sterile holder.

[0022] According to one aspect of the invention, the at least one sterile holder defines at least one cavity and comprises at least one mounting element within the cavity suitable for resting on the master input handle when not being held by hand, and an opening for accessing the cavity.

[0023] The master workstation may include two sterile holders and two non-grounded master input handles, each suitable for receiving an individual one of the two non-grounded master input handles, and the two sterile holders may be attached to the same outer surface of the surgical drape at two spaced desired positions.

[0024] The at least one sterile holder and the surgical drape may be integral.

[0025] The at least one sterile holder may include a positioning element for positioning a cavity of the at least one sterile holder at a desired location relative to an outer surface of the surgical drape, the desired location may be near a console and within a sterile surgical field.

[0026] The positioning element of the at least one sterile holder may include an adhesive layer, such as an adhesive strip, for attaching the at least one sterile holder to an outer surface of the surgical drape.

[0027] The outer surface of the surgical drape may include an adhesive layer, such as an adhesive strip, for attaching at least one sterile holder to the outer surface of the sterile drape, where the at least one sterile holder may include marks and / or indicia that act as positioning elements.

[0028] The positioning element of at least one sterile holder may comprise a positioning clip, the positioning body comprising a convex body such that the positioning clip resiliently engages via the convex body, preferably across a sterile drape, while maintaining sterility of the surgical field.

[0029] Thanks to the proposed solution, a console such as a surgical chair, when draped with a sterile barrier assembly, can expose a cavity for the purpose of providing a resting element on which to rest a master input handle, e.g. during manual surgery.

[0030] The proposed solution is particularly suitable, although not exclusively limited to, robotic-assisted microsurgery. Moreover, the proposed solution is particularly suitable, although not exclusively limited to, microsurgery procedures that contemplate an alternation between manual and robotic-assisted microsurgery.

[0031] Further features and advantages of the master workstation, system, sterile surgical field and method according to the invention will become apparent from the following description of preferred embodiments thereof, given as an indicative and non-limiting example, with reference to the accompanying drawings, in which: [Brief description of the drawings]

[0032] [Figure 1] FIG. 1 is a schematic perspective view of a surgical robotic system located within a sterile surgical field and having a master workstation, in accordance with an embodiment. [Diagram 2] FIG. 2 is a schematic perspective view of a surgical robotic system positioned within a sterile surgical field near a surgical bed, according to an embodiment. [Diagram 3] FIG. 3 is a schematic perspective view of a master workstation consisting of a surgical chair, a sterile holder, and a master input handle with drape, according to an embodiment. [Figure 4] FIG. 4 is a perspective view showing a portion of a console covered by a surgical drape and a sterile holder, according to an embodiment. [Diagram 5] FIG. 5 is a perspective view of a sterile holder, according to an embodiment. [Figure 6A]FIG. 6A is a schematic side view of a sterile holder and a sterile drape, according to an embodiment. [Figure 6B] View BA is a perspective view of a sterile holder integral with a sterile drape from the inside of the sterile drape, according to an embodiment. [Figure 7] FIG. 7A is a perspective view showing a sterile holder, according to an embodiment. [Figure 8] FIG. 8 is a perspective view of a sterile holder according to an embodiment. [Figure 9] FIG. 9 is a schematic perspective view of a master workstation including a draped console, a sterile holder, and a draped master input handle, according to an embodiment. [Figure 10] FIG. 10 illustrates a schematic of a pair of sterile holders associated with an outer surface of a surgical drape, according to an embodiment. [Figure 11] FIG. 11 illustrates a schematic of a pair of sterile holders associated with an outer surface of a surgical drape, according to an embodiment. [Figure 12] FIG. 12 illustrates a schematic of a master workstation including a drape console, a pair of sterile holders, and a drape master input handle, according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] According to one general embodiment, there is provided a master workstation 301 for a surgical robotic system 300. The master workstation 301 is adapted to be positioned within a sterile surgical field 311.

[0034] The master workstation 301 includes at least one mechanically ungrounded master input handle 310 suitable for being hand-held by a surgeon during surgery to control a slave robot assembly 330 of the surgical robotic system 300.

[0035] As used herein, a "mechanically ungrounded master input handle 310" refers to a master controller that is not constrained with respect to possible positional and directional movements in a larger working environment, e.g., an operating field or a room, and is kinematically isolated from the ground, e.g., is not mechanically supported by a console, any support, or other object attached to the ground. In some implementations, the mechanically ungrounded master input handle 310 may be tethered or untethered with one or more associated components, such as a control processor, a data source, a sensor, a power source, etc. For example, the master input handle 310 may be tethered, e.g., physically connected to these components via a cable or wire, or untethered, e.g., not physically connected to these components and communicating with the components via wireless communication signals. According to this embodiment, the master input handle 310 is not mechanically constrained from said console 302. Moreover, the term "handle" refers to an ungrounded master input tool designed to be held in the hand of a surgeon when in an operational state. For example, said master input handle 310 may be comprised of a manipulandum portion suitable to be grasped by the hand of a surgeon when in an operating state. For example, the master input handle 310 may comprise a ring or circular band or bracelet for being worn by the surgeon's hand or finger or wrist.

[0036] The master workstation 301 further comprises a console 302 and a sterile drape 303 for draping or covering at least a portion of the console 302. The surgical drape 303 preferably has a body having an inner surface 304, i.e. a non-sterile surface, and an outer surface 305, i.e. a sterile surface, opposite the inner non-sterile surface 304. Thereby, the inner surface 304 of the surgical drape 305 is designed to face the console 302 and the outer surface 305 of the surgical drape 303 is designed to face the sterile surgical field 311. According to a preferred embodiment, the surgical drape 303 forms a drape cavity 322 for surrounding a portion of the console 302 for the purpose of maintaining the sterility of the sterile surgical field 311. The inner surface 304 thereby faces the cavity 322, which may be sealed or open forming an opening 331 for accessing the cavity 322 leading to said outer surface 305 of the surgical drape 303. For example, an edge or other portion of said opening 331 of the drape 303 may conform to the body of the console 302 by cooperation with adhesive strips, elastic strips, magnetic attraction or any suitable means. For example, the body of the surgical drape 303 may be formed from any suitable drape material, such as flexible sheets of polyethylene, and / or polyurethane, and / or polyester, and / or paper, and / or woven and / or nonwoven, and / or any combination thereof.

[0037] The console 302 may, for example, include at least one positioning body 309, and the sterile drape 303 drapes or covers at least a portion of said positioning body 309 of the console 302. As used herein, the term "convex body" does not necessarily exclude that the positioning body 309 may exhibit a concave surface, but must also constitute a convex portion or convex surface. For example, the term "convex body" also encompasses an upright body of the console 302 having a substantially cylindrical outer surface that is a convex body, but is comprised of localized concave surfaces or portions or flutes, which in turn define a concave surface.

[0038] The master workstation 301 comprises at least one sterile holder 306 that includes at least one cavity 345. The at least one sterile holder 306 thereby functions as a sterile basket and / or a sterile pouch for dropping the at least one non-grounded master input handle 310.

[0039] The at least one sterile holder 306 preferably includes at least one opening 333 for accessing the cavity 345 .

[0040] The opening 333 may open in the outer surface 305 of the surgical drape 303 .

[0041] According to this embodiment, the at least one sterile holder 306 is made of plastic, preferably a hard plastic material, and the cavity is for example molded or thermoformed. According to this embodiment, the holder 306 is formed of a sterilizable metallic material.

[0042] According to this embodiment, the at least one sterilizable holder 306 is made of plastic, preferably a loose plastic material. According to this embodiment, the at least one sterile holder 306 is formed of the same material as the surgical drape 303.

[0043] According to this embodiment, the at least one sterile holder 306 is integral with the outer surface 305 of the surgical drape 303, for example as shown in Figure 11. For example, the at least one sterile holder 306 forms at least one pouch that opens onto the outer surface 305 of the sterile drape 303.

[0044] According to this embodiment, at least one sterile holder 306 is disposable.

[0045] Advantageously, the at least one sterile holder 306 comprises at least one mounting element 307 in said cavity 345. The at least one mounting element 307 may be formed by an inner surface of the at least one sterile holder 306. By providing the at least one mounting element 307, e.g. at least one mounting surface 307, in the cavity 345 of the at least one sterile holder 306, the master input handle 310 can be placed thereon when not being held in hand, e.g. when not being held in hand temporarily by the surgeon during an operation. The at least one mounting element 307 thereby at least partially supports the master input handle 310 in the cavity 345 of the at least one sterile holder 306.

[0046] According to this embodiment, the at least one sterile holder 306 includes at least one positioning element 308 for positioning the at least one sterile holder 306 at a desired location near the console 302, preferably within the sterile surgical field 311.

[0047] According to this embodiment, the positioning element 308 of at least one sterile holder 306 engages with at least one positioning body 309 of the console 302 through the sterile drape 303 while maintaining the integrity of the sterile barrier formed at least in part by the sterile drape 303.

[0048] According to this embodiment, the sterile barrier is formed by the sterile drape 303 and a portion of the outer wall 332 of the holder 306. The sterile drape 303 may be attached to the holder 306 and may define a through passage 348 to allow the positioning element 308 to pass therethrough. A boundary 350 of the through passage 348 may be glued or welded or otherwise fixed to the outer wall 332 of the sterile holder 306, for example as shown in FIG. 6B. The portion of the outer wall 332 of the holder 306 thereby functions as a sterile barrier together with the sterile drape 303.

[0049] According to a preferred embodiment, at least one sterile holder 306 comprises at least one positioning clip acting as a positioning element 308 for engaging said at least one positioning body 309 through the sterile drape 303 while maintaining the integrity of the sterile barrier formed at least in part by said sterile drape 303. Said positioning clip 308 thereby covers a part of the outer surface 305 of the sterile drape 303, whereby the sterile drape 303 is encased between the positioning clip of at least one sterile holder 306 and the positioning body 309 of the console 302, resulting in a local preservation of the sterile surgical field 311 in the vicinity of the clip. At the same time, the positioning element 308 tightly engages with said positioning body 309 of the console 302, allowing the holder 306 to be positioned in a desired location in the vicinity of where the surgeon stands or sits during the operation. Also, the positioning body 309 may be concave, may define a slot or may have a positioning surface suitably treated or machined for engaging with the positioning element 308. The positioning element 308 may have any shape and features for engaging with said positioning surface. For example, the positioning element 308 may constitute a snap-fit ​​device or the positioning element 308 may constitute an attachment means for engaging with said positioning body. According to this embodiment, the positioning element 308 consists of a clip that mechanically and releasably engages with the positioning body 309. According to this embodiment, the clip of the positioning element 308 snaps into the positioning body 309 of the console 302, preferably in this embodiment the positioning body 309 consists of said convex body. The positioning element 308 is suitable for positioning the cavity 345 of the sterile holder 306 at a desired location in the sterile surgical field 311 near the console 302.

[0050] By providing said cavity 345 of said at least one sterile holder 306, the surgeon can drop the at least one mechanically non-grounded master input handle 310 into the cavity 345 and place it on said at least one mounting element 307 of the at least one sterile holder 306. Thanks to said cavity 345 of the at least one sterile holder 306, the at least one mechanically non-grounded master input handle 310 ends up being boxed in the sterile holder 306 in the sterile surgical field 311 when not being held by the surgeon in hand. According to this embodiment, said at least one sterile holder 306 has a box-like body with an opening 333 for accessing the cavity 345, preferably facing the surgeon and / or facing upwards during the surgical situation.

[0051] The positioning element 308 may be disposed on an outer surface 332 of the at least one sterile holder 306, the particular location of which may be selected for the purpose of positioning the at least one sterile holder 306 at a desired location within the sterile surgical field 311 for receiving the at least one mechanically non-grounded master input handle 310.

[0052] According to a preferred embodiment, at least one sterile holder 306 is integral with the sterile drape 303, for example as shown in FIG. 6B. For example, the sterile holder 306 is welded or glued to the outer surface of the sterile drape. The positioning element 308 may be integral with the sterile drape 303 and at the same time releasably engaged with the positioning body 309. The sterile drape 303 may be attached to the at least one sterile holder 306, preferably to its outer surface 332, and may include a through passage 348 for passing the positioning element 308, for example consisting of a clip, therethrough while maintaining the integrity of the sterile barrier. According to this embodiment, the positioning element 308 is integral with the outer surface 332 of the sterile holder 306, although they may be made separately, in order to precisely determine the position and spatial orientation of, for example, the resting surface 307 with respect to the positioning body 309 of the console 302 with which the positioning element 308, for example consisting of a clip, engages. According to a preferred embodiment, said clip of the positioning element 308 serves as a restraining element for locally restraining the surgical drape 303 against said positioning body 309 of the master sterile console 302 in order to locally reduce the volumetric enclosure of the surgical drape 303. The surgical drape 303 may have a loose body draping the air outside the console 302, and thus, thanks to the provision of said positioning element 308 consisting of said clip, it is possible to restrain a part of the drape 303 close to a part of the console 302, preferably close to at least one positioning body 309 of the console 302. Thereby, at the same time, the at least one clip locally closes the body of the sterile drape 303 against the positioning body 309 of the console 302 and holds at least one sterile holder 306 in a fixed position in the sterile surgical field 311.

[0053] According to this embodiment, the clip of the positioning element 308 comprises at least one cable guide 314 for guiding, for example, a cable connection 325 of the console 302. Thereby, the clip has the further advantage of guiding a cabled connection 325, for example a power and / or data cable, of the master console 302. For example, the cable guide 314 comprises a groove for receiving an elongated body recess in a wall of the clip facing the outer surface 305 of the body of the surgical drape 303. Preferably, the clip of the positioning element 308 has an arcuate concave surface 321 facing the outer surface 305 of the surgical drape 303, suitable for fitting to the convex body of the positioning body 309 of the console 302. For example, the arcuate concave surface 321 of the at least one clip 308 substantially presents a "C" profile.

[0054] According to a preferred embodiment, for example as shown in FIG. 4, said at least one resting element 307 consists of a resting surface 307 , for example said resting surface 307 being a surface of a bottom wall 347 of said sterile holder 306 facing a cavity 345 .

[0055] According to this embodiment, the resting surface 307 for supporting at least a portion of the non-grounded master input handle 310 thereon is the bottom surface of a basket, i.e. a substantially cup-shaped container, said basket corresponding to a sterile holder 306. According to this embodiment, said holder 306 is designed for temporarily supporting the master input tool 310 when not being held by the surgeon in the sterile surgical field 311, and the at least one resting surface 307 is constituted by the bottom surface of the at least one sterile holder 306.

[0056] As mentioned above, the at least one sterile holder 306 comprises an opening 333 for accessing the cavity 345. Preferably, the opening 333 is on the opposite side of the cavity 345 from the resting surface 307. According to this embodiment, the at least one sterile holder 306 comprises a side surface 332 that separates the opening 333 and the cavity 345. Thereby, the surgeon can drop the at least one non-grounded master input tool 310 onto the sterile resting surface 307 exposed in the sterile surgical field 311 during the operation. Thanks to the provision of such a surface 307, the surgeon can alternate between manual microsurgery and robotic-assisted microsurgery during a single operation without compromising the sterility of the sterile surgical field 311 for this reason. Thereby, the need to sterilize the non-grounded master input tool 310 each time the surgeon switches from manual to robotic-assisted microsurgery or vice versa during a single surgical intervention can be avoided.

[0057] Said side surface 332' faces towards the cavity 345 and said outer side surface 332 faces the opposite direction, preferably said positioning element 308 being integrally connected to at least one of said outer sides 332. According to this embodiment, said outer side surface 332 is substantially flat in order to favour the attachment of the clip of the positioning element 308. The orientation of the clip, i.e. the longitudinal extension direction of the "C" shaped seat 346 defined by said arcuate surface 321 of said clip of at least one sterile holder 306, may be substantially aligned with the deployment direction of the cavity 345 of at least one sterile holder 306. A cavity 345 may thereby be defined by said placement surface 307, said bottom wall 347 and said side surface 332'.

[0058] According to a variant, said clip of the positioning element 308 and the side surface 332' of the at least one sterile holder 306 defining said cavity 345 may have a relative degree of freedom, for example a rotational joint such as a hinge or a universal joint, for adjusting the position of the cavity 345 upon engagement of the clip with the positioning body 309. It may be provided that the clip 308 articulates with the side surface 332' of the sterile holder 306 in order to rotate the holder 306 when the clip 308 engages with the positioning body 309 of the console 302, and / or that a slider connects the clip with the outer surface 332 of said at least one sterile holder 306.

[0059] According to a preferred embodiment, the positioning body 309 of the console 302 faces towards the inner surface 304 of the surgical drape 303. Thereby, the need to sterilize the positioning body 309 of the console 302 is avoided. According to this embodiment, the at least one positioning body 309 comprises at least one convex surface 313, with which the clip of the positioning element 308 engages. According to this embodiment, the sterile drape 303 is interposed between the positioning body 309 of the console 302 and at least one sterile holder 306. According to this embodiment, the body of the sterile drape 303 is interposed between the clip of the positioning element 308 and the positioning body 309 of the console 302, preferably in contact with both. According to this embodiment, the body of the sterile drape 303 is interposed between the arcuate surface 314 of the clip and the convex surface 313 of the positioning body 309 of the console 302, preferably in contact with both.

[0060] According to an embodiment, for example as shown in FIG. 3, the console 302 comprises a surgical chair 320. The term "chair" as used herein is intended to encompass a "saddle stool". According to a preferred embodiment, the at least one positioning body 309 is an upright 319 of a surgical chair 320 of the console 302. According to a preferred embodiment, the at least one positioning body 309 is an upright 319 of the surgical chair 320 supporting an armrest 340, preferably of rounded shape, on which the surgeon can rest his elbow. According to this embodiment, the chair 320 comprises at least one armrest 340 having a connecting element connecting the positioning body 309, for example the armrest, to the seat surface 318 of the chair 320, and the positioning element 308 of the sterilization holder 306 is engaged with the positioning body 309 of the armrest 340.

[0061] According to this embodiment, the console 302, e.g., the chair 320, is equipped with a tracking field generator 339 designed to track the position and orientation of at least one mechanically ungrounded master input handle 310.

[0062] The tracking field generator 339 may be an optical tracking field generator, such as at least one camera of a stereoscopic camera set.

[0063] As previously described, the master workstation 301 of a surgical robotic system 300 suitable for being positioned within a sterile surgical field 311 comprises at least one non-grounded master input handle 310 suitable to be held in the hand of a surgeon during surgery to control a slave robot assembly 330 of said surgical robotic system 300, a console 302, a sterile drape 303 draping at least a portion of said console 302 at least partially forming a sterile barrier, and at least one sterile holder 306 comprising at least one cavity 345, at least one opening 333 for accessing said at least one cavity 345, and at least one mounting element 307 in said cavity 345 suitable for resting said master input handle 310 thereon when not being held in the hand.

[0064] According to this embodiment, the at least one sterile holder 306 is associated with an outer surface 305 of the surgical drape 303 .

[0065] According to this embodiment, the at least one sterile holder 306 is adhered to the outer surface 305 of the surgical drape 303. The outer surface 305 of the surgical drape 303 may be comprised of an adhesive layer, such as an adhesive strip, for adhering the at least one sterile holder 306 to the outer surface 305 of the sterile drape 303. In such a case, the at least one sterile holder 306 may be comprised of marks and / or indicia acting as positioning elements 308.

[0066] According to this embodiment, the at least one sterile holder 306 is removably associated with an outer surface 305 of a surgical drape 303 .

[0067] According to this embodiment, the at least one sterile holder 306 comprises at least one positioning element 308 for positioning the at least one sterile holder 306 at a desired location within the sterile surgical field 311 near the console 302.

[0068] According to this embodiment, the at least one positioning element 308 of at least one sterile holder 306 is engaged with at least one positioning body 309 of the console 302 through the sterile drape 303 while maintaining the integrity of a sterile barrier. According to this embodiment, the positioning element 308 rigidly determines the relative position and spatial orientation of the placement surface 307 within the cavity 345 and the convex body 309 of the console 302.

[0069] According to this embodiment, the positioning element 308 is releasably engaged with the positioning body 309 of the console 302 .

[0070] According to this embodiment, the positioning element 308 comprises a positioning clip that elastically engages with the positioning body 309 of the console 302. The clip is preferably elastically loaded. According to this embodiment, the positioning element 308 comprises at least one flap 312 for disengaging the positioning element 308 from the positioning body 309 of the console 302. The flap 312 may be elastically loaded and cooperate with the clip of the positioning element 308. The positioning element 308 may consist of a pair of flaps 312. The flap 312 may function as a handle for releasing the clip of the positioning element 308. The clip may be formed by two elastically connected parts, at least one flap 312 being attached to one of the two parts of the clip. Two flaps 312 may be provided, each flap 312 being attached to one of the two pieces of the clip. The provision of the at least one flap 312 may determine the opening of the clip of the positioning element to avoid damaging the surgical drape 303 during removal of the clip, thereby allowing the clip to have a stronger elastic clamping force without compromising the integrity of the sterile drape 303.

[0071] According to this embodiment, the positioning body 309 of the console 302 is a convex body.

[0072] According to this embodiment, the positioning element 308 functions as a restraining element to locally restrain the surgical drape 303 against the positioning body 309 of the master sterile console 302 .

[0073] According to this embodiment, the non-grounded master input handle 310 includes a wired connection 325 and the positioning element 308 functions as a restraining element for locally restraining the wired connection 325 to the positioning body 309 of the master sterile console 302.

[0074] According to this embodiment, said at least one positioning element 308 of at least one sterile holder 308 consists of an adhesive layer. Preferably, the outer surface 332 of at least one sterile holder 306 consists of said adhesive layer.

[0075] According to this embodiment, the at least one sterile holder 306 is integral with the surgical drape 303 .

[0076] According to this embodiment, the opening 333 of the at least one sterile holder 306 opens into the outer surface 305 of the surgical drape 303 .

[0077] According to this embodiment, the master workstation 301 comprises a further sterile holder 306 to constitute at least two sterile holders 306 and a further non-grounded master input handle 310 to include two master input handles 310, preferably each sterile holder 306 for individually accommodating one master input handle 310. According to this embodiment, said two sterile holders 306 are spaced apart on the same outer surface 305 of the same surgical drape 303.

[0078] According to this embodiment, the two sterile holders 306 are attached to different positioning bodies 309 of the console 302. For example, the different positioning bodies 309 of the console 302 are spaced apart.

[0079] According to this embodiment, the two sterile holders 306 are attached to the same positioning body 309 of the console 302 .

[0080] According to this embodiment, the console 302 comprises a chair 320 and the surgical drape 303 covers the chair 320 .

[0081] According to this embodiment, the console 302 includes a tower 315, as shown diagrammatically in FIG. 12, and the surgical drape 303 covers the tower 315. The tower may include a screen 316. The screen 316 may display a portion of the sterile surgical field 311, such as a portion of a slave workspace in which at least one surgical instrument 337 operates. The tower 315 may be comprised of a ground contact unit, such as a number of wheels. An optical and / or magnetic tracking field generator 339 may be provided integrally with the tower 315 to track the position and orientation of at least one non-grounded master input handle 310. The tower 315 of the console 302 may be equipped with the positioning body 309, such as a convex body.

[0082] According to this general embodiment, there is provided a sterile surgical field 311 including at least one master workstation 301 according to any one of the above embodiments.

[0083] The sterile surgical field 311 includes at least one operating room bed 341 that provides support for the patient anatomy to be treated.

[0084] According to this embodiment, the sterile surgical field 311 is delimited by a sterile barrier formed by at least one sterile drape 303. According to this embodiment, the sterile barrier is formed by at least one sterile drape 303 and by at least a part of at least one sterile holder 306, preferably by at least a part of an outer wall 332 of at least one sterile holder 306. The positioning element 308 of the at least one sterile holder 306 may be located within the sterile surgical field 311 or outside the sterile surgical field 311.

[0085] By virtue of such a master workstation 301, the sterility of the sterile surgical field 311 is maintained.

[0086] According to this embodiment, the sterile surgical field 311 further comprises a slave robotic assembly 330 that is controlled by the master workstation 310.

[0087] According to this general embodiment, there is provided a surgical robotic system 300 comprising at least one master workstation 301 according to any one of the above embodiments.

[0088] According to a preferred embodiment, the system 300 further comprises a slave robot assembly 330 including at least one surgical arm 334 suitable for manipulating at least one surgical instrument 337, preferably said at least one surgical arm comprising at least one motor-driven manipulator 335 controlled by the master workstation 301 for manipulating said at least one surgical instrument 337.

[0089] According to this embodiment, the slave robot assembly 330 comprises at least one surgical arm 334 for manipulating the surgical instrument 337. According to this embodiment, the slave robot assembly 330 comprises at least one micromanipulator 335 for manipulating the surgical instrument 304. Preferably, the at least one micromanipulator 335 is directly connected in series to the surgical arm 334 for manipulating the surgical instrument 337, forming a kinematic chain with the surgical arm 334. According to this embodiment, at least two micromanipulators 335 are directly connected in series to the surgical arm 334 for forming at least two-branched kinematic chain with the surgical arm 334. According to this embodiment, the slave robot assembly 330 comprises at least one robot cart 336, and the at least one arm 334 extends from the robot cart 336.

[0090] Preferably, the robotic surgical system 300 comprises at least a control unit adapted to receive a position and orientation associated with the at least one mechanically ungrounded master input handle 310, and a control unit adapted to send command signals to the slave robot assembly 330 for actuating the surgical instrument 337.

[0091] According to a preferred embodiment, the control unit is adapted to receive a first command signal comprising information regarding the manual command and to transmit a second command signal comprising information regarding the manual command to the slave robot assembly 330 for actuating the surgical tool 337. According to a preferred embodiment, the robotic microsurgical system 300, preferably the draped console 302 of the robotic microsurgical system 300, further comprises at least one tracking system comprising a field generator 339 adapted to detect the position and orientation of the master input tool 310 within a predefined tracking volume, e.g. the field generator 339 is a magnetic and / or optical field generator arranged integral with the seat 318 of the chair 320 of the console 302. At least one slave drape 338 may be provided for draping at least a part of the robotic slave assembly 330.

[0092] According to a preferred embodiment, the robotic micro-surgery system 300 further comprises at least one surgical microscope 342. A microscope drape 343 may be provided for draping at least a portion of the microscope 342.

[0093] According to this embodiment, the sterile surgical field 311 further comprises at least a portion of at least one robotic slave manipulator 330 according to any one of the above-mentioned embodiments, thereby causing the sterile surgical field 311 to further comprise at least a portion of at least one robotic surgical system 300 according to any one of the above-mentioned embodiments.

[0094] According to this embodiment, the sterile surgical field 311 includes the robotic surgical system 300 .

[0095] It allows the surgeon to alternate between performing microsurgery and robotic-assisted microsurgery during the same procedure without the need to sterilize the master console for this reason.

[0096] By virtue of the provision of such at least one sterile holder 306, sterility can be maintained and at the same time, even when switching to manual microsurgery, the at least one non-grounded master input handle 310 can be easily manipulated within the sterile surgical field 311, allowing the surgeon to drop or grasp the mechanically non-grounded master input handle 310 with minimal effort, as the cavity 345 of the at least one sterile holder 306 is located in a nearby desired location within the sterile surgical field 311, while allowing the surgeon to return to robotic-assisted microsurgery if desired.

[0097] According to this embodiment, the cavity 345 of at least one sterile holder 306 has a depth that is shallower than the length of the non-grounded master input handle 310 such that a portion of the non-grounded master input handle 310 protrudes from the opening 333, allowing a surgeon to more easily mechanically grasp the non-grounded master input handle 310 from the mounting element 307 within the cavity 345 of the sterile holder 306.

[0098] The following describes a method for performing the surgery.

[0099] A method for performing surgery, preferably robotic assisted surgery, includes the following steps.

[0100] The method includes providing a master workstation 301 within a sterile surgical field 311, preferably including at least one mechanically non-grounded master input handle 310 suitable for being held in a surgeon's hand to control a slave robotic assembly including at least a surgical instrument 337. The master workstation 310, the sterile surgical field 311, and the slave robotic assembly 330 may be any of those described in any of the embodiments above.

[0101] The positioning element 308 may mechanically engage a positioning body 309 of the console 302 .

[0102] The method preferably comprises the step of draping the console 302 of the master workstation 301 with a surgical drape 303 .

[0103] According to an operational aspect, the method comprises associating at least one sterile holder 306 with an outer surface 305 of a surgical drape 303, which is capable of opening at least one opening 333 for accessing a cavity 345 on the outer surface 305 of the surgical drape 303.

[0104] According to an aspect of operation, the method comprises releasably associating at least one sterile holder 306 with the outer surface 305 of the surgical drape 303. According to one aspect of operation, the method comprises detaching at least one sterile holder 306 from the outer surface 305 of the surgical drape 303.

[0105] According to an embodiment of operation, the method comprises a step of releasably associating at least one sterile holder 306 with an outer surface 305 of a surgical drape 303 by mechanically engaging said positioning element 308, e.g. said clip, of at least one sterile holder 306 with a positioning body 309 of the console 302, which is preferably a convex body. This step may comprise acting on said at least one flap 312 of at least one sterile holder 306. Acting on said at least one flap 312 may determine that a positioning element 308, e.g. a clip, opens. According to an embodiment of operation, the method comprises a step of moving at least one sterile holder 306 away from the outer surface 305 of a surgical drape 303 by means of mechanically disengaging said positioning element 308, e.g. said clip, from said positioning body 309 of the console 302, which is preferably a convex body.

[0106] According to an aspect of operation, the method comprises clipping the sterile holder 306 to a positioning body 309 of the console 302 such that the holder cavity 345 is within the sterile surgical field 311. The clipping step may include acting on the at least one flap 312.

[0107] In operation, the method includes defining a desired location within the sterile surgical field 311 for the purpose of positioning the sterile holder 306 there.

[0108] In operation, the method includes manually holding the master input handle 310, which is not mechanically grounded, for the purpose of controlling the surgical instrument 337 of the slave robot assembly 330.

[0109] The method further comprises a step of dropping or placing at least one non-grounded master input handle 310 into the cavity 345 of at least one sterile holder 306 such that the non-grounded master input handle 310 rests on the mounting element 307 within the cavity 345.

[0110] According to an operational aspect, the method includes the further step of lifting or grasping at least one ungrounded master input handle 310 from the sterile holder 306, preferably from the mounting element 307 within the cavity 345 of the sterile holder 306 placed at a desired location within the sterile surgical field 311, thereby again holding the master input handle 310 in hand.

[0111] Preferably, the method is performed by a master workstation 301 and / or a sterile surgical field 311 and / or a surgical robotic system 300 according to any of the embodiments described above.

[0112] Thanks to the above-mentioned features provided separately or together in a particular embodiment, it is possible, and in particular, to address the above-mentioned needs providing the above-cited advantages.

[0113] -The surgeon can easily drop the ungrounded master controller into the cavity of the sterile holder at any time during surgery.

[0114] - Sterility of the surgical field is maintained.

[0115] - The volumetric obstruction of the sterile drape covering the console may be reduced.

[0116] -The risk of damaging the sterile drape is reduced.

[0117] -The integrity of the sterile barrier surrounding the sterile surgical field is maintained.

[0118] -The holder can function as a holster within the sterile surgical field to receive ungrounded master input tools when not being held in the hand, for example during an alternation between manual surgery and robotic microsurgery.

[0119] - The sterile drape may be held in place by a sterile holder with positioning clips.

[0120] To the above-described embodiments, those skilled in the art may make numerous modifications, adaptations and substitutions with other functionally equivalent elements to meet fortuitous and particular needs, but without departing from the scope of the appended claims. [Explanation of symbols]

[0121] 300 Surgical Robot System 301 Master Workstation 302 Console 303 Surgical or sterile drapes 304 Non-sterile surface inside drape 305 Sterile outer surface of drape 306 Sterile holder or holder 307 Rest element or surface 308 Positioning Elements 309 Console positioning body 310 Mechanically ungrounded master input handle or master input tool 311 Sterile surgical field 312 Positioning element flap 313 Convex surface of a convex body 314 Cable guide 315 Console Tower 316 screens 318 Seat or saddle seat 319 Armrest connection element 320 Console Surgical Chair or Saddle Stool 321 Arched Clip Surface 322 Drape Cavity 325 Wired connection 330 Slave Robot Assembly 331 Drapery opening 332 Outer surface of holder 332' holder side surface 333 holder opening 334 Robot Arm 335 Electric Manipulator 336 Robot Cart 337 Surgical instruments 338 Slave Drape 339 Tracking Magnetic Field Generator 340 Armrest 341 Operating Bed 342 Surgical microscope 343 Microscope Drape 344 Mustard Drape 345 Holder Cavity 346 Clip seat 347 Holder bottom wall 348 Drapery passages or holes 350 Passage boundary line

Claims

1. A master workstation (301) for a surgical robotic system (300) adapted to be placed within a sterile surgical field (311), comprising: - at least one non-grounded master input handle (310) suitable to be held in the hand of a surgeon during surgery to control a slave robot assembly (330) of said surgical robot system (300); - a console (302); - a sterile drape (303) covering at least a portion of said console (302) forming at least a partial sterile barrier, said drape having an inner surface (304) facing said console (302) and an outer surface (305) facing said sterile surgical field (311); - at least one sterile holder (306); Equipped with The at least one sterilization holder (306) comprises: - at least one cavity (345) and at least one opening (333) for accessing said at least one cavity (345); - at least one resting element (307) within said cavity (345) suitable for said non-grounded master input handle (310) to rest on when not being held by hand; Equipped with A master workstation (301), wherein the at least one sterile holder (306) is associated with an outer surface (305) of the sterile drape (303).

2. 2. The master workstation (301) of claim 1, wherein the at least one sterile holder (306) is adhered to an outer surface (305) of the sterile drape (303).

3. 2. The master workstation (301) of claim 1, wherein the at least one sterile holder (306) is removably associated with an outer surface (305) of the sterile drape (303).

4. 4. A master workstation (301) according to any one of claims 1 to 3, wherein the at least one sterile holder (306) comprises at least one positioning element (308) for positioning the at least one sterile holder (306) near the console (302) and at a desired position within a sterile surgical field (311).

5. the at least one positioning element (308) of the at least one sterile holder (306) engages with at least one positioning body (309) of the console (302) through the sterile drape (303) while maintaining the integrity of the sterile barrier; and / or the positioning element (308) rigidly determines the relative position and spatial orientation of the positioning element (307) in the cavity (345) and the positioning body (309) of the console (302); and / or the positioning element (308) releasably engages with the positioning body (309) of the console (302); and / or the positioning element (308) comprises at least one flap (312) for removing the positioning element (308) from the positioning body (309) of the console (302); and / or the positioning element (308) comprises a positioning clip that resiliently engages with a positioning body (309) of the console (302); and / or the positioning body (309) of the console (302) comprises a convex body; and / or the positioning element (308) acts as a restraining element for locally restraining the sterile drape (303) against the positioning body (309) of the console (302); and / or 5. The master workstation (301) of claim 4, wherein the ungrounded master input handle (310) comprises a wired connection (325), and the positioning element (308) functions as a restraining element for locally restraining the wired connection (325) to the positioning body (309) of the console (302).

6. 5. The master workstation (301) of claim 4, wherein the at least one placement element (308) of the at least one sterile holder (306) consists of an adhesive layer.

7. 2. The master workstation (301) of claim 1, wherein the at least one sterile holder (306) is integral with the sterile drape (303).

8. 8. The master workstation (301) of claim 1, wherein the opening (333) of the at least one sterile holder (306) opens onto an outer surface (305) of the sterile drape (303).

9. 9. A master workstation (301) according to any one of claims 1 to 8, comprising a further sterile holder (306) to form at least two sterile holders (306) and a further non-grounded master input handle (310) to form two non-grounded master input handles (310), each sterile holder (306) individually housing one non-grounded master input handle (310).

10. 10. The master workstation (301) of claim 9, wherein the two sterile holders (306) are spaced apart on the same outer surface (305) of the same sterile drape (303).

11. 11. The master workstation (301) of any one of claims 1 to 10, wherein the console (302) comprises a chair (320) and the sterile drape (303) covers the chair (320).

12. 11. The master workstation (301) of any one of claims 1 to 10, wherein the console (302) comprises a tower (315) and the sterile drape (303) covers the tower (315).

13. the at least one sterile holder (306) is made of a loose plastic material; and / or 13. The master workstation (301) of any one of claims 1 to 12, wherein the at least one sterile holder (306) is formed of the same material as the sterile drape (303).

14. A robotic surgery system (300) comprising at least one master workstation (301) according to any one of claims 1 to 13, and said slave robot assembly (330).

15. - at least one master workstation (301) according to any one of claims 1 to 13; - at least one surgical bed (341) providing support for the anatomical structure of the patient to be treated; A sterile surgical field (311) comprising:

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