Robot microsurgery assembly, operating arena, and method

Abstract

Robotic microsurgery assembly, surgical arena and method: A robotic surgery assembly (401) for robot-assisted microsurgery, comprising at least one transmission member (410), at least one motorized manipulator (420, 520) including at least one motorized linear slider (423; 424; 425), and at least one sterile adapter (430, 530) including a coupling device (433) suitable for connection to a surgical instrument (440, 540). In the robotic surgery assembly (401), the robotic-assisted microsurgery assembly (401) comprises a coupling device suitable for connecting surgical instruments, a transmission member (410) is interposed between at least one motorized manipulator (420, 520) and at least one sterile adapter (430, 530) to determine at least the relative mutual position of at least one motorized linear slider (423; 424; 425) of the motorized manipulator (420), and the coupling device (433) comprises a sterile adapter (430, 530).

Description

Technical Field

[0001] The object of the present invention is a robotic assembly for surgery. In particular, the present invention relates to a robotic assembly suitable for robot-assisted microsurgery. The present invention also relates to a transmission member for a robotic surgical assembly. The present invention also relates to an operating arena for surgery. The present invention also relates to a method of positioning a robotic surgical system.

Background Art

[0002] Robotic surgical devices are generally known in the art and typically have a slave robot central tower (or robot cart) and a plurality of robotic arms extending from the central tower. Each robotic arm consists of a remote-controlled robotic electric positioning system (or manipulator) for moving a surgical end effector attached distally thereto, and the surgical end effector is designed to perform a surgical procedure on a patient. A master controller is provided to control the slave electric positioning system and the surgical end effector.

[0003] Typically, the central tower of the robot is telescopically extendable in the vertical direction to adjust the height of multiple robotic arms relative to the operating bed. The central tower may also be telescopically extendable in the horizontal direction to move the robotic arms away from the trolley. Each robotic arm has a plurality of motor-driven rotary joints connecting a number of connecting rods such that each arm can expand from a folded configuration where the arm is close to the central tower to an extended configuration where the most distal connecting rod is at the maximum distance from the central tower. The most distal connecting rod typically carries a sterile adapter for connection to one surgical endoscopic instrument or, via an intervening sterile draping layer, to one laparoscopic camera. By selection of the number and size of the connecting rods, each robotic arm can assume a specific individual posture relative to the horizontal plane. It is also known to hinge the proximal root of each robotic arm to the same telescoping part of the robot tower to lift all the robotic arms simultaneously. This type of robotic device is shown, for example, in the documents US-2019-223969 and US-2011-27777.

[0004] Further examples of remote-controlled robots are shown in US-2006-0087746, US-6731988, WO-2016-201207, CN-106175851, EP-1815949 and US-2018-0116741.

[0005] One or more robotic surgical arms directly fixed to the operating bed are also known, as shown, for example, in WO-2017-083253, US-5876325, WO-97-29690 and US-2014-0069437.

[0006] The patient typically lies on an operating bed located within a sterile operating field, for example, within an operating room in a hospital. Usually, a disposable surgical drape wraps around part of the robot to protect the sterile environment of the operating room arena from contamination. Sterility of the robot system by the disposable drape avoids bacterial contamination by non-sterile parts of the robotic instruments.

[0007] Microsurgery procedures are performed in several stages of the reconstruction of living tissues, such as the execution of vascular anastomoses consisting of small-diameter blood vessels and nerves, as well as the reconstruction of anatomical parts after the occurrence of traumatic lesions, tissue revascularization, limb reattachment, transplantation, and replantation procedures. In the field of microsurgery, robotic devices can highly miniaturize surgical instruments compared to conventional microsurgery, and at the same time, reduce the transmission of vibrations to the slave surgical instruments of the robotic surgery system. Microsurgery is a method of open surgery. Conventional (non-robotic) microsurgery requires the surgeon to operate with a surgical microscope, typically an optical microscope, that can magnify the patient's anatomical structure. Therefore, a robotic surgical device for microsurgery preferably includes a surgical microscope. The field of view of the microscope regarding the patient's anatomical range is typically of a magnification and a size between 20 and 70 mm. It is an example of a known optical vision system for surgical applications shown in DE-102005031557.

[0008] Known robotic surgical devices are also suitable for robot-assisted laparoscopic surgery. The surgical instruments and at least one camera are individually inserted into the patient's body using a set of percutaneous trocars, and the visualization screen visualizes laparoscopic images regarding the patient's body obtained from the camera. An example of robot-assisted laparoscopic surgery is shown in US-2014-0179997.

[0009] The operating field surrounding the operating bed where the patient's anatomical structure is located during robot-assisted microsurgery often becomes congested due to the presence of the robot, the microscope, and the slave parts of the entire robot-assisted surgery.

[0010] Furthermore, some applications of robotic-assisted microsurgery desire the presence of a surgeon within the sterile operating room arena during robotic-assisted surgery. Thereby, during a single intervention, the same microsurgeon aims to switch from robotic-assisted microsurgery to conventional (non-robotic) microsurgery, and thus, grasps a conventional microsurgery tool such as forceps by hand and then returns to the surgeon robot master console by grasping the master controller of the robotic system by hand.

[0011] There is a need to provide a robotic surgical system with improved versatility regarding known solutions, and at the same time to be able to adapt to several surgical configurations, some of which can also temporarily exclude the use of the robot, without increasing the complexity of the robotic system or reducing the comfort of the surgeon during the operation.

[0012] There is a need to provide a robotic surgical system that enables a surgeon to switch from robotic-assisted microsurgery to non-robotic microsurgery, and thus, to reduce the size of the robotic microsurgery system within the field of view of the microsurgery, and for this reason, to reduce the size of the robotic microsurgery system without increasing the volume size of the slave robot device or reducing the comfort of the microsurgery during microsurgery.

[0013] There is a need to provide a robotic surgical system that enables at least two or three robotic instruments to be placed in the same and single movement under the magnified vision of a microscope in an open surgical field.

[0014] There is a need to provide a robotic surgical system that enables the instruments to be accurately moved within the same, or partially overlapping, microsurgery workspace.

[0015] WO-2017-064301 and US-10864051 of the same applicant disclose, inter alia, a solution for a robotic surgical assembly including a single robotic arm extending from a robotic carriage and having, at its distal end, a pair of slave remote robotic motorized positioning systems arranged in parallel and connected to the same distal link of the single robotic arm. The single distal link of the robotic arm has two joints, each joint having one of the two motorized positioning systems attached thereto. Each motorized positioning system has three orthogonal motorized sliders for positioning a surgical instrument having a shaft attached distally thereto along a set of three orthogonal directions. The two motorized positioning systems converge and extend towards each other such that the two tips of the surgical instrument are both included within one working volume. A control system for controlling the operation of the motorized sliders of the pair of converging motorized positioning systems shall also take into account the component of the gravity acting on the slide elements.

[0016] Despite being advantageous in several respects, such a solution for the converging surgical instrument shafts is prone to create disadvantages related to the control of the positioning of both surgical tips within the same working volume, and the motorized manipulators having the motorized sliders are oriented offset with respect to each other.

[0017] There is a felt need to simplify the control for a robotic surgical system, and for this reason, it is possible to simplify the control for a robotic surgical system without losing the ability for two surgical instruments respectively attached distally thereto to reach the same surgical volume. SUMMARY OF THE INVENTION

[0018] It is within the scope of the present invention to overcome the drawbacks described with reference to the prior art and to provide a robotic surgical system particularly suitable for microsurgery.

[0019] These and other ranges are achieved by the robotic surgery assembly according to claim 1 and claim 33, and by the operating arena according to claim 12 and claim 32.

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

[0021] According to one aspect of the present invention, a robotic surgery assembly for robotic-assisted microsurgery comprises a macro positioning arm and a pair of electric manipulators both attached to the same first link of the macro positioning arm. The macro positioning arm may be a passive macro positioning arm. The same first link may be the most distal link of the macro positioning arm. The first link may be a rigid link capable of rigidly determining the relative positions and orientations of the pair of electric manipulators. The passive macro positioning arm may include not only magnetic brakes but also electromagnetic means, such as one or more solenoid valves, for locking / unlocking at least some of the brakes.

[0022] According to one aspect of the present invention, each electric manipulator has at least three mutually orthogonal electric linear sliders. Each slider can be associated with respective guiding elements such as grooves and / or rails. Each manipulator may be an orthogonal manipulator. The manipulators may be arranged to be side by side with each other and may be at substantially the same distance from the same first link of the macro positioning device.

[0023] According to one aspect of the present invention, each electric manipulator is connected to a sterile adapter including a coupling device suitable for connecting to a surgical instrument. The surgical instrument is preferably detachable from the sterile adapter. The sterile adapter is preferably detachable from each manipulator. At least one motor box assembly is provided intervening between each of the transmission members and the sterile adapter, and the motor box assembly can have a rotary motor (461) suitable for rotating each surgical instrument having the shaft about the longitudinal deployment axis of the shaft. The rotation axis may be eccentric with respect to the shaft.

[0024] According to one aspect of the present invention, between each electric manipulator and each sterile adapter, each transmission member for rigidly determining the relative mutual position and orientation between at least one electric linear slider of the electric manipulator and the coupling device of each sterile adapter is interposed.

[0025] The transmission member may define both linear and angular offsets such that the shaft of each sterile adapter is offset with respect to each and all slide directions of the electric linear slider of each electric manipulator.

[0026] The surgical instrument may be detachably connected to each sterile adapter.

[0027] The shaft of the surgical instrument may extend convergently.

[0028] The electric linear slider of the first electric manipulator of the pair of electric manipulators may be parallel to the electric linear slider of the second electric manipulator of the pair of electric manipulators.

[0029] One of the electric linear sliders of at least one electric manipulator of the pair of electric manipulators may extend vertically.

[0030] The shafts of the surgical instruments may converge and extend toward each other with their respective distal ends facing forward.

[0031] A flexible and / or rigid case may be provided for individually enclosing each of the pair of electric manipulators, and the cases may be horizontally spaced apart from each other such that a window is at least partially defined by the two cases. The same first link of the macro positioning arm and the pair of enclosed electric manipulators form an inverted "U" shaped structure that at least partially defines the window.

[0032] The distal rotary joint may connect to the middle of the same first link to the second proximal link of the macro positioning arm, such that an operation of pivoting the same first link by a pivoting angle about the distal rotary joint determines the electric manipulator to invert its position with respect to the second link of the macro positioning arm.

[0033] The macro positioning arm may be connected to a robotic cart having at least one ground contact unit such as a plurality of wheels. The cart may have a polygonal shape and include a top portion defining a perimeter of the top portion forming a plurality of corner portions, and the macro positioning arm is connected near one of the corner portions via an intervening vertical link, in other words, the macro positioning arm is not connected at the geometric center of the cart so that the robot has a directionality and to minimize the distance between the same first link of the macro positioning arm and the operating table.

[0034] According to an embodiment, the operating field includes at least one robotic surgical assembly, an operating table, and a microscope assembly, and at least one eyeball of the microscope assembly is at least partially within the window defined between the two electric manipulators.

[0035] According to an embodiment, an operating room includes at least one robotic surgery assembly, an operating table, and a screen for visualizing the operating room.

[0036] Further features and advantages of the assembly and components will become apparent from the following description of its preferred embodiments, given by way of non-limiting example with reference to the accompanying drawings.

Brief Description of the Drawings

[0037]

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[0038] According to a general embodiment, a transmission member 410 for a robotic surgical assembly 401 is provided.

[0039] According to one embodiment, the transmission member is made of a metallic material.

[0040] According to an embodiment, in the robotic surgical assembly 401, a proximal-distal direction W-W is defined. According to an embodiment, the proximal-distal direction W-W substantially coincides with the longitudinal deployment direction of the robotic surgical assembly 401. According to an embodiment, the proximal-distal direction W-W substantially coincides with the longitudinal deployment direction of the robotic surgical assembly 401 and coincides with the force transmission direction between the passive macro-positioning arm and the sterile adapter, preferably the force transmission direction between the passive macro-positioning arm and the shaft of the surgical instrument distally attached to the sterile adapter. Those skilled in the art will understand that when the assembly 401 has a pair of motorized manipulators both connected to the same macro-positioning arm, a local proximal-distal direction may be defined for each of the two branches, i.e., between each motorized manipulator and its respective sterile adapter, preferably between each motorized manipulator and the shaft of the surgical instrument distally attached to its respective sterile adapter.

[0041] The transmission member 410 comprises at least one first fixing portion 411, i.e., a proximal fixing portion 411, suitable for rigidly connecting to the motorized manipulators 420, 520. According to an embodiment, the first fixing portion 411 has proximal fixing means 421 having, for example, at least one female element and / or at least one male element, locally oriented along the proximal-distal direction W-W.

[0042] According to an embodiment, the transmission member 410 comprises at least one second fixing portion 412, or a distal fixing portion 412, suitable for rigidly connecting to the sterile adapters 430, 530. According to an embodiment, the second fixing portion 412 comprises distal fixing means 422 having, for example, at least one female element and / or at least one male element, locally oriented along a local proximal-distal direction W-W.

[0043] For example, the fixing means 421 and / or 422 are each constituted by a threaded through-hole suitable for receiving a threaded screw for connecting the electric manipulators 420, 520 and the sterile adapters 430, 530 directly or indirectly with the intervention of further transmission elements.

[0044] According to an embodiment, the local proximal-distal direction W-W locally coincides with the transmission direction of the mechanical action from the electric manipulator to the sterile adapter.

[0045] The transmission member 410 includes a component body 415 between the first fixing portion 411 and the second fixing portion 412.

[0046] The first fixing portion 411 and the second fixing portion 412 are held in their respective relative positions by the component body 415. According to an embodiment, the component body 415 has a volume account having a body thickness 414. According to an embodiment, the body thickness 414 extends locally parallel to the proximal-distal direction W-W when in the operating state [i.e., connected to the electric manipulators 420, 520].

[0047] According to an embodiment, the component body 415 constitutes at least a part of the plate 413.

[0048] According to an embodiment, the plate 413 of the component body 415 has a first plate surface 416 suitable for facing proximally and a second plate surface 417 opposite to the first plate surface 416.

[0049] According to a preferred embodiment, the first fixing portion 411 and the second fixing portion 412 are spaced apart from each other by an offset distance d1. The offset distance d may be evaluated with respect to the vertical direction Z-Z when in the operating state and depends on the orientation of the transmission member 410 with respect to the upstream electric manipulators 420, 520. According to an embodiment, at least one edge 473 of the plate 413 is oriented parallel to the offset distance d.

[0050] The offset distance d may be evaluated in a direction orthogonal to the local proximal-distal direction W-W such that the operating motion received from the electric manipulators 420 and 520 shifts the offset distance d1 and is transmitted to the sterile adapters 430 and 530. Preferably, the operating motion is a translational motion directed along three mutually orthogonal directions X-X, Y-Y, and Z-Z. Thereby, the local proximal-distal direction W-W on the downstream side of the transmission member 410 is offset by the offset distance d1 with respect to the local proximal-distal direction W-W on the upstream side of the transmission member 410. In other words, the local proximal-distal direction W-W evaluated at the first fixing portion 411 is an offset of the offset distance d1 with respect to the proximal-distal direction W-W evaluated at the second fixing portion 412. For the evaluation of the offset distance d, when the first fixing portion 411 and / or the second fixing portion 412 have a predetermined global surface area A1 and / or A2, each fixing portion 411 and / or 412 is the evaluation geometric center G1 and / or G2 of the predetermined global surface area A1 and / or A2.

[0051] According to an embodiment, the mutual orientation of the global surface area A1 of the first fixing portion 411 and the global surface area A2 of the second fixing portion 412 is angularly offset in at least one plane, for example, at least in a horizontal plane and / or a vertical plane. Preferably, the mutual orientation of the global surface area A1 of the first fixing portion 411 and the global surface area A2 of the second fixing portion 412 is offset at an angle in at least two planes [i.e., horizontal and vertical] so as to form a solid angle ω.

[0052] According to an embodiment, the component body 415 has at least one rigid locking joint 418 suitable for providing a first angular offset between the global surface area A1 of the first fixing part 411 and the global surface area A2 of the second fixing part 412. Thereby, the local proximal-distal direction W-W evaluated distally with respect to the transmission member 410 is oriented in the direction of the first angular offset with respect to the local proximal-distal direction W-W evaluated proximally with respect to the transmission member 410. According to an embodiment, the second fixing part 412 is attached to brackets 419, 419', and the brackets 419, 419' are in turn oriented in the direction of a second angular offset with respect to the first fixing part 411. According to an embodiment, the distance d2 between the bracket 419 and the first fixing part 411 is greater than the offset distance d1.

[0053] According to an embodiment, the component body 415 includes at least one bracket 419, 419' connecting the second surface 417 of the plate 413 and the second fixing part 412. According to an embodiment, the at least one bracket 419, 419' includes at least one rigid locking joint 418, and the rigid locking joint 418 is interposed between a first bracket part 419 and a second bracket part 419'. According to an embodiment, the distance d3 is defined between the second surface 417 and the joint 418. According to an embodiment, the at least one second bracket part 419' constitutes the second fixing part 412 and is preferably in an "L" shape. Thanks to the provision of a plurality of bracket parts 419, 419' integrally connected to the plate 413 via fixing means such as screw connection elements, it is possible to adjust the relative positions and orientations of the bracket parts 419, 419' and the plate 413 so as to adjust the relative positions and orientations of the first fixing part 411 and the second fixing part 412.

[0054] According to an embodiment, "rigidly locked joint 418" means a rigid element lacking a relatively movable part in the rigidly locked joint, and the rigid element lacking a relatively movable part may be integrally formed. According to an embodiment, "rigidly locked joint 418" does not necessarily mean a blocked robot rotational / prismatic joint.

[0055] According to an embodiment, the component body 415 is formed as a single-piece convex solid element as shown in FIG. 18, for example.

[0056] According to a general embodiment, a robotic surgery assembly 401 is provided.

[0057] According to an embodiment, the robotic surgery assembly 401 comprises at least one transmission member 410 according to any one of the above-described embodiments.

[0058] The robotic surgery assembly 401 comprises at least one electric manipulator 420, 520 including at least one electric linear slider 423; 424; 425.

[0059] According to an embodiment, the at least one electric linear slider 423, 424, 425 is preferably slidable with respect to respective linear guides 423', 424', 425'.

[0060] According to an embodiment, the at least one electric manipulator 420, 520 comprises three electric linear sliders 423, 424, 425, and each of the electric linear sliders is preferably slidable along directions X-X, Y-Y, Z-Z that are orthogonal to the sliding direction of the other electric linear sliders. Thereby, the electric manipulators 420, 520 are orthogonal electric manipulators 420, 520. According to a preferred embodiment, the at least one electric linear slider 423; 424; 425 has at least one vertical slider 425 that is suitable for sliding along a substantially vertical direction Z-Z with respect to the vertical guide 425'. Thanks to the vertical linear slider 425 and the two further sliders 423, 424 that are respectively suitable for sliding along two mutually orthogonal horizontal directions X-X, Y-Y, gravity affects only the sliding of the vertical linear slider 425. Thereby, the control of the electric manipulator is simplified. Also, the natural movement does not require synthesizing respective movements for each slider, so the control can be further simplified.

[0061] According to an embodiment, the vertical linear slider 425 is associated with a counterweight 426 for compensating the gravitational acceleration that affects the vertical linear slider 425.

[0062] According to an embodiment, the vertical linear slider 425 is the most distal slider among the at least one, preferably three, electric linear sliders 423, 424, 425.

[0063] According to an embodiment, the orthogonal electric manipulators 420 and 520 include a first horizontal linear guide 424' and a first horizontal electric linear slider 424 adapted to slide along a first horizontal direction Y-Y with respect to the first horizontal linear guide 424'. The first horizontal electric linear slider 424 is integral with a second horizontal linear guide 423. The orthogonal electric manipulators 420 and 520 include a second horizontal electric linear slider 423 adapted to slide along a second horizontal direction X-X with respect to the second horizontal linear guide 423'. The second horizontal electric linear slider 423 is integral with the vertical guide 425'. The vertical electric slider 425 is adapted to slide along a vertical direction Z-Z with respect to the vertical guide 425'.

[0064] According to an embodiment, one or more electric linear sliders 423; 424; 425 of the first electric manipulator 420 among the pair of electric manipulators 420 and 520 are arranged in parallel with one or more electric linear sliders 423; 424; 425 of the second electric manipulator 520 among the pair of electric manipulators 420 and 520.

[0065] Preferably, both of the electric manipulators 420 and 520 are attached to the same link 454 of the macro positioning passive arm 450.

[0066] Thanks to the provision of the transmission member 410 fixed to the vertical electric slider 425 via the first fixing portion 411, the operating actions applied by the electric manipulators 420 and 520 can be translated in the horizontal direction X-X by at least the offset distance d1.

[0067] According to an embodiment, the robotic surgery assembly 401 further includes at least one sterile adapter 430, 530 including a coupling device 433 suitable for connecting to the surgical instruments 440, 540. According to an embodiment, the sterile adapters 430, 530 together with the surgical drape 431 form a draping assembly 432 suitable for preventing cross-contamination between the part of the robotic surgery assembly 401 proximate to the sterile adapters 430, 530 and the surgical instruments 440, 540.

[0068] According to an embodiment, the local proximal-distal direction is defined as W-W, the word "upstream" has the same meaning as "proximal", and the word "downstream" has the same meaning as the word "distal".

[0069] According to an embodiment, the transmission member 410 is directly or indirectly interposed between the at least one electric manipulator 420, 520 and the at least one sterile adapter 430, 530. Thereby, the transmission member 410 rigidly determines the relative mutual position and / or orientation of the at least one electric linear slider 423, 424, 425, preferably the electric vertical linear slider 425 of the electric manipulators 420, 520 and the coupling device 433 of the sterile adapters 430, 530.

[0070] According to a preferred embodiment, a motor box assembly 460 is interposed between the transmission parts 410 and the sterile adapters 430, 530. Thereby, the transmission member 410 rigidly determines the relative mutual position and / or orientation of the at least one electric linear slider 423, 424, 425 of the electric manipulators 420, 520 and the motor box assembly 460. According to a preferred embodiment, the vertical electric slider 425 has a distal fixing portion of a vertical slider 435 connected to the proximal fixing portion 411 of the transmission member. Thereby, the transmission member 410 connects the vertical electric slider 425 to the motor box assembly 460.

[0071] According to an embodiment, the robotic surgery assembly 401 includes at least one surgical instrument 440, 540 that can be connected to the coupling device 433 of the sterile adapters 430, 530. According to an embodiment, the at least one surgical instrument 440, 540 can be removably connected to the sterile adapters 430, 530. According to an embodiment, the at least one surgical instrument 440, 540 includes shafts 441, 541, and the shafts 441, 541 preferably extend locally along the local proximal-distal direction W-W.

[0072] Thereby, the shafts 441, 541 are offset with respect to the sliding directions X-X, Y-Y, Z-Z of the at least one electric linear slider 423, 424, 425. According to an embodiment, the shafts 441, 541 are offset with respect to each and all of the sliding directions X-X, Y-Y, Z-Z of the three electric linear sliders 423, 424, 425.

[0073] According to an embodiment, the motor box assembly 460 comprises at least one actuator suitable for actuating at least one respective degree of freedom of the surgical instruments 440, 540 with respect to the sterile adapters 430, 530. According to an embodiment, the motor box assembly 460 comprises a rotary motor 461 and a roll actuator having, for example, a transmission belt 462, which is suitable for rotating the surgical instruments 440, 540 having the shafts 441, 541 about the longitudinal deployment axis of the shafts 441, 541, preferably about the local proximal-distal direction W-W. According to an embodiment, the motor box assembly 460 has a rotary motor 461 and a roll actuator 462 suitable for pivoting the sterile adapters 430, 530 about the local proximal-distal direction W-W, preferably about the axis of the longitudinal deployment of the shafts 441, 541. Preferably, the surgical instruments 440, 540 are integral with the sterile adapters 430, 530 when connected to the sterile adapters 430, 530. Thereby, the rotary motor 461 is upstream with respect to the draping assembly 432.

[0074] According to a preferred embodiment, the robotic surgical assembly 401 has two electric manipulators 420, 520 forming a pair of electric manipulators 420, 520. Thereby, the robotic surgical assembly 401 has a first electric manipulator 420 and a second electric manipulator 520. According to an embodiment, each electric manipulator 420, 520 has a case 427, 527 individually enclosing each of the at least two electric manipulators 420, 520. Thereby, the robotic surgical assembly 401 has two cases 427, 527, namely, a first case 427 and a second case 527.

[0075] According to a preferred embodiment, both of the two electric manipulators 420 and 520 have the macro positioning arm 450 fixed at substantially the same height such that they are side by side in the horizontal direction X-X. According to an embodiment, each of the electric manipulators 420 and 520 includes a fixing portion 451, such as a fixing bracket, for fixing to the macro positioning arm 450. According to an embodiment, the fixing portion 451 is integral with one of the linear guides 423', 424', 425', preferably with the horizontal linear guides 423', 424', more preferably with the second horizontal linear guide 424'.

[0076] According to a preferred embodiment, each of the cases 427 and 527 surrounds at least one of the transmission members 410. According to an embodiment, each of the cases 427 and 527 includes a proximal case portion 428, 528 and a distal case portion 429, 529 that is distal with respect to the proximal case portion 428, 528. The proximal case portion 428, 528 includes the respective electric manipulator 430, 530, and the distal case portion 429, 529 includes the respective transmission member 410.

[0077] By providing the transmission members 410 downstream of the electric manipulators 420 and 520 respectively, the two shafts 441 and 541 of the surgical instruments 440 and 540 converge towards each other. Thereby, the distal ends 442 and 542 of the respective shafts 441 and 541 reach the same shared working volume 404. At the distal ends of the respective shafts 441 and 541, an articulated end tool 475 such as an end effector, which has a tip portion suitable for performing surgery on a patient, may be provided. According to an embodiment, the articulated end tool 475 provided at the distal end of each shaft 441 and 541 has one or more degrees of freedom P, Y, G, preferably at least one pitch P degree of freedom, at least one yaw Y degree of freedom, and at least one grip G degree of freedom. According to an embodiment, the articulated end tool 475 has a plurality of links 476, 477, 478, 479 that are articulated to each other, and a plurality of operating cables 480, 481, 482 that operate the degrees of freedom P, Y, G of the links 476, 477, 478, 479 of the articulated end tool 475. Each link 476, 477, 478, 479 is preferably integrally formed by wire electrical discharge machining. The operating cables 480, 481, 482 are in sliding contact with the convex outer surfaces of the links 476, 477, 478, 479.

[0078] According to an embodiment, each of the cases 427 and 527 is in close contact with the respective electric manipulators 420 and 520 and the transmission parts 401 as much as possible, and forms an elbow between the respective proximal case portions 428 and 528 and the distal case portions 429 and 529. Thereby, the two cases 427 and 527 have recesses [i.e., elbows] facing each other such that the shafts 441 and 541 of the surgical instruments 440 and 540 attached distally thereto reach the shared working volume 404 at their distal ends 442 and 542.

[0079] According to an embodiment, the distal end 442 of the first shaft 441 reaches the first working volume 403, and the distal end 542 of the second shaft 541 reaches the second working volume 503. The first working volume 403 and the second working volume 503 together define the shared working volume 404. The shared working volume 404 can be reached by the distal portions 442, 542 of each shaft 441, 541 for any operating position of the sliders 523, 524, 525. In other words, the shared working volume 404 is given by the volume where the first working volume 403 and the second working volume 503 intersect.

[0080] Thanks to the provision of the sliders, each working volume 403, 503 is parallel to the sliding directions X-X, Y-Y, Z-Z of the sliders 423, 424, 425 of the respective electric manipulators 420, 520. Thanks to the provision of the vertical slider 425 and the horizontal sliders 423, 424, the same shared working volume 404 is a rectangular parallelepiped. The word "rectangular parallelepiped" as used herein also includes the case where the same shared working volume 404 is a cube. Preferably, the same shared working volume 404 is at least 50% of each of the first and second working volumes 403, 503, preferably at least two-thirds of each of the first and second working volumes 403, 503, and more preferably substantially 90%. According to an embodiment, the first and second working volumes 403, 503 completely come together to form a single shared working volume 404.

[0081] Thanks to such a robotic surgical system, the distal ends of both shafts 441, 541 reach the shared working volume and can move parallel to each other within the shared working volume.

[0082] A surgeon controlling a slave robotic surgical assembly from an operator, e.g., a master console, can thereby sense that one or both of the shafts have reached the boundary of the shared working volume. In this way, comfort for the surgeon is enhanced.

[0083] According to a preferred embodiment, the cases 427, 527 are spaced apart from each other in a range of a predetermined horizontal distance X2 along the horizontal directions X-X, Y-Y, preferably along the first horizontal direction X-X. According to a preferred embodiment, the predetermined horizontal distance X2 is greater than the offset distance d1. According to a preferred embodiment, the predetermined horizontal distance X2 is greater than twice the offset distance d1.

[0084] The predetermined horizontal distance X2 may vary along the local proximal-distal direction W-W. According to a preferred embodiment, the predetermined horizontal distance X2 is greater in the proximal case portions 428, 528 enclosing the respective electric manipulators 430, 530 than in the distal case portions 429, 529 enclosing the respective transmission members 410. Thereby, the predetermined horizontal distance X2 preferably decreases downstream toward the sterile adapter.

[0085] Advantageously, a window 434 or a passage 434 is at least partially delimited by the two cases 427, 527. Preferably, the window 434 is delimited by the two cases 427, 527 in the first horizontal direction X-X. By providing the window 434, a through-passage is formed along the second horizontal direction Y-Y between the two electric manipulators 420, 520. Thanks to the window 434, a volume that may be left free is provided between the cases 427, 527 enclosing the electric manipulators 420, 520. The window 434 preferably has the same width as the predetermined horizontal distance X2 in the first horizontal direction X-X.

[0086] Thanks to the relative positions and orientations of the two electric manipulators 420, 520 included in the respective cases 427, 527 partitioning the window 434, the surgeon 402 can occupy a position behind the window 434 such that the manipulators 420, 520 are consequently located above the surgeon's 402 shoulder 402'.

[0087] According to an embodiment, the robotic surgical assembly 401 is associated with a microscope assembly 470 including an image acquisition unit 471 connected to a vision device 472 suitable for providing the surgeon with an enlarged image of the shared working volume 404. The vision device 472 preferably has at least one eyeball, preferably a pair of eyeballs. According to a preferred embodiment, the image acquisition unit 471 is an optical microscope for microsurgery. A microscope drape may be provided to drape at least the oculars of the vision device 472.

[0088] According to a preferred embodiment, such as shown in FIG. 9, the at least one eyeball 472 of the microscope assembly 470 is at least partially within the window 434. Thereby, the at least one eyeball 472 is between the cases 427, 527.

[0089] Thanks to the provision of the transmission members 410 within each case 427, 527, the shafts 441, 541 of the surgical instruments 440, 540 are also provided with an angular offset along a second horizontal direction Y-Y such that their distal ends 442, 542 converge towards each other towards a position advanced with respect to the vertical slider 425 along the second horizontal direction Y-Y. Thereby, the shared working volume 404 is on or above the operating table 405 located in front of the surgeon 402. Thereby, the surgeon 402 can alternately perform robotic-assisted microsurgery looking at the eyeball 472 and conventional hand microsurgery looking directly down at the anatomical structure of the patient on the operating table 405. When the surgeon 402 faces the window 434 in the surgical state, the second horizontal direction Y-Y is substantially parallel to the sagittal plane of the surgeon 402.

[0090] Thanks to the provision of the transmission members 410 within each of the cases 427, 527 as described above, the eyeballs 427, 527 appear on the surgical instruments 440, 540, which in turn are present on the operating table 405. The surgeon 402 approaches the operating table from the front [i.e., along the second horizontal direction Y-Y]. The shafts 441, 541 of the surgical instruments 440, 540 both have their distal ends 442, 542 approaching the shared working volume 404 from the front [i.e., along the second horizontal direction Y-Y] and from above [i.e., along the vertical direction Z-Z], converging towards each other in the first horizontal direction X-X [i.e., the lateral direction]. Thereby, the volumetric enclosure of the robotic surgical system 401 enables the surgeon 402 to view the shared working volume 404 and the relevant parts of the patient's anatomy with their own eyes 402'' just by directing their line of sight, regardless of the presence or absence of the eyeball 472 of the microscope assembly 470. In other words, the volumetric enclosure of the robotic surgical system 401 avoids hiding the working volume 404 from the surgeon's line of sight thanks to the transmission members 401 enclosed within the cases 427, 527.

[0091] According to an embodiment, the robotic surgical system 401 comprises a macro-positioning arm 450.

[0092] Preferably, the macro-positioning arm 450 can be moved passively and does not require a motor for its positioning. Thereby, the macro-positioning arm 450 has at least one handle 453 for manual operation of the macro-positioning arm 450 by an operator, such as the surgeon 402 and / or a member of the surgical equipment. A dynamic brake may be provided within the rotary joint to dampen the displacement of the macro-positioning arm 450.

[0093] According to an embodiment, the macro positioning arm 450 has a plurality of arm links 454, 455, 456 that are connected in series with each other and articulate via rotational joints 457, 458, 459. Thereby, the macro positioning arm 450 has an elongated distal link body that is oriented substantially horizontally, and has a most distal link 454, i.e., a first link 454, that is proximally connected to a second link 455 via a distal rotational joint 457. Preferably, the distal rotational joint 457 is substantially connected to a central portion 444 of the distal link 454 such that the distal link 454 can pivot about the distal rotational joint 457. Preferably, the central portion 444 is at about half the length of the distal link 454. According to a preferred embodiment, the axis of the distal rotational joint 457 is oriented vertically.

[0094] According to an embodiment, the macro positioning arm 450 includes a distal link 454 connected to the pair of electric manipulators 420, 520, and a second link 455 that is connected to the distal link 454 via a distal rotary joint 457 with a rotation axis substantially perpendicular, in proximity to the distal link 454. The distal link 455 in proximity to the distal link 454 includes the distal rotary joint 457 with a rotation axis perpendicular in proximity to the distal rotary joint 457. And it consists of a third link 456 connected to the second link via a second rotary joint 458 with a rotation axis substantially perpendicular, in proximity to the second link 455. The second link 455 is oriented horizontally and extends over both the second link 454 and the first link 456 such that the distal link 454 and the first link 456 are substantially at the same height. According to a preferred embodiment, the third link 456 is connected via a third rotary joint 459 to a telescopic portion 446 suitable for extending in the vertical Y - Y direction to adjust the height of the macro positioning arm 450 relative to the operating table 405 and the surgeon 402. The robotic surgery assembly 401 further includes a robotic cart 447 or tower 447, and the telescopic portion 446 is telescopic relative to the cart 447. According to an embodiment, the cart 447 includes a ground contact unit 448 such as wheels 448. At least one surgical drape 431 may be provided to drape at least a portion of the macro positioning arm 450 and the cart 447. The cart 447 may include at least one cart handle 449 for moving the cart 447 within the perimeter of the operating bed 405. According to an embodiment, the macro positioning arm 450 is connected to the robotic cart 447.

[0095] According to an embodiment, the distal link 454 further includes two mounting portions 445 and 545, respectively, suitable for connecting to one electric manipulator 420, 520, preferably to the fixing portions 451 of the respective electric manipulators 430, 530. Since the distal rotary joint 457 is between the mounting portions 445 and 545 of the distal link 454, a pivoting operation P4 of the pivoting angle is performed on the distal link 454 with respect to the pivoting joint 457. For example, by a pivoting angle measuring substantially 180 degrees or a half rotation, the electric manipulators 420, 520 are determined to reverse their positions with respect to, for example, the second link 455 of the macro positioning arm 450, and / or with respect to the carriage 477, and / or with respect to the surgeon 402, and / or with respect to the operating table 405.

[0096] According to a preferred embodiment, the positions of the mounting portions 445 and 545 of the distal link 454 are arranged symmetrically with respect to the distal rotary joint 457. In other words, a first distance X4 between the rotation axis of the distal rotary joint 457, which is preferably vertical, and the first mounting portion 445 connected to the first electric manipulator 420, 520 is equal to a second distance X5 between the rotation axis of the distal rotary joint 457 and the second mounting portion 545. Thereby, the dynamic and static balance of the robot elements downstream of the macro positioning arm 450 is enhanced to improve its stability in the operating state.

[0097] According to a preferred embodiment, the distal link 454 and the electric manipulators 420, 520 enclosed within respective cases 427, 527 together delimit the window 434 both upwardly and laterally. According to a preferred embodiment, the distal link 454 and the electric manipulators 420, 520 enclosed within respective cases 427, 527 form a "reverse U" shaped structure that partially delimits the window 434. In other words, the distal link 454 and the electric manipulators 420, 520 enclosed within respective cases 427, 527 form a horseshoe shaped structure that partially delimits the window 434. According to an embodiment, both of the at least two electric manipulators 420, 520 are attached to the same link 454 of the macro positioning passive arm 450.

[0098] According to an embodiment, the robot carriage 447 includes a first side surface 437 and a second side surface 438, and the first side surface 437 and the second side surface 438 are horizontal and face each other with respect to the telescopic portion 446, preferably facing each other in the first horizontal direction X-X. By combining the macro positioning arm 450 having a plurality of rotary joints 457, 458, 459 that connect and articulate the plurality of links 454, 455, 456 where the distal link 454 is connected to the second link 455 at its central portion 444, with the robot carriage 477 having the opposite side surfaces 437, 438, a shared working volume 404 can be arranged to face either the first side surface 437 or the second side surface 438, improving the versatility of the robotic surgical assembly 401. Thereby, the robot carriage 477 can be arranged at substantially any position with respect to the operating room bed 405. Thereby, the surgeon 402 can face the window 434 and access the patient's anatomical structure through the window 434 at any mutual position of the robot carriage 477 and the operating room bed, while the distal ends 442, 542 of the shafts 441, 541 of the surgical instruments 440, 540 always approach the operating room bed 405 from the front, and the manipulators 420, 520 are at the same horizontal position with respect to the surgeon 402.

[0099] According to an embodiment, the carriage 477 has a polygonal shape and includes a top 439 that defines a periphery 435 around the top and forms a plurality of corner portions 436, and the macro positioning arm 450 is connected to one of the corner portions 436. The top portion 439 of the carriage 477 may include a screen 452 for displaying information regarding the state of the robotic surgical assembly 401.

[0100] According to an embodiment, the robotic surgical assembly 401 includes a robotic slave portion 407 formed by the at least one surgical instrument 440, 540, the electric manipulators 420, 520, and the at least one motor box assembly 460. According to an embodiment, the robotic surgical assembly 401 includes a master controller assembly 406 that includes at least one master input tool 465, 565 suitable for detecting manual commands and the slave portion of the robot 407 suitable for activating at least one of, for example, the at least one of the surgical instruments 440, 540 and / or the at least one of the electric manipulators 420, 520. For example, the position and orientation of the at least one master input tool 465, 565 are tracked by an electromagnetic and / or optical tracking device including a field generator 443 that generates a field for the purpose of detecting at least the position and preferably also the orientation of the at least one master input tool 465, 565 within the field in order to transmit a control signal to the slave portion of the robot 407.

[0101] According to an embodiment, the master controller assembly 406 further comprises a sterile console 463 that includes a surgical chair 464 and a master drape assembly 467 that drapes the surgical chair 434 and preferably also the at least one master input tool 465, 565. According to an embodiment, the surgical chair 464 has at least one stationary element 468, 568, such as a domed shape, for the surgeon 402 to rest an elbow on during surgery so as to define a cone 469, 569 of freedom of movement for the master input tools 465, 565 when grasped by the surgeon's hand. For the purpose of facilitating the alternation between manual microsurgery and robot-assisted microsurgery, a drop holster 474, 574 for the surgeon 402 to drop the at least one master input tool 465, 565 may also be provided in the master controller assembly 406. Hand surgical tools 466, 566 may also be provided in the master console assembly 406 to facilitate the surgeon 402 for performing manual microsurgery and robot-assisted microsurgery alternately.

[0102] Preferably, two master input tools 465, 565 are provided, each master input tool controlling one branch of the robot system, and each branch including one of the electric manipulators and a downstream element attached thereto.

[0103] According to a general embodiment, the operating room arena 408 comprises at least one robotic surgery assembly 401 according to any one of the above-described embodiments, an operating room table 405 according to any one of the above-described embodiments, and a microscope assembly 470 according to any one of the above-described embodiments. As will be understood by those skilled in the art, an "operating table" means any place that supports a patient during surgery.

[0104] According to an embodiment, the operating room arena 408 has a master controller assembly 406 according to any one of the above-described embodiments. Preferably, two master input tools are provided, and each master input tool controls one branch of the robotic system, and each branch includes one of the electric manipulators and a downstream element attached thereto.

[0105] According to a general operation mode, a method for repositioning the slave robot components 407 of the robotic surgical assembly 401 in the operating room arena 408 according to any one of the above-described embodiments includes the following steps.

[0106] This method includes a pivoting operation P4 that causes the distal link 454 to pivot about the distal rotation joint 457 of the pivot angle so that the electric manipulators 420 and 520 reverse their positions with respect to the second link 455 of the macro positioning arm 450.

[0107] According to a possible operation mode, this method includes a step of applying a translational operation T4 to the distal rotation joint 457 so that the distal link 454 faces either the side or the opposite side of the robot carriage 477.

[0108] According to a possible operation mode, this method includes a step of pivoting the macro positioning arm 450 with respect to the robot carriage 477, preferably about a rotation joint having a vertical axis.

[0109] This method comprises repositioning the robot carriage 477 with respect to the operating table 405 while maintaining the shared working volume 404 on or above the operating table 405.

[0110] In certain embodiments, the above features provided separately or in any combination thereof can, and particularly do, meet the above needs providing the above advantages.

[0111] The shafts of the surgical instruments converge towards each other.

[0112] The shaft of the surgical instrument is not parallel to the slider.

[0113] The sliders of each electric manipulator are parallel to each other.

[0114] The shared working volume is maximized and approached forward, upward, and laterally by the distal end of the shaft and the end effectors respectively attached thereto.

[0115] The volumetric enclosure of the slave part of the robot enables the surgeon to position himself / herself within the operating arena such that both the microscope and the patient's anatomical structure are visible.

[0116] The surgeon is allowed to switch from manual microsurgery to robot-assisted microsurgery with minimal effort and without the need to sit / stand in another location.

[0117] The surgeon can be positioned on either the right or left side of the robot trolley.

[0118] The passive (i.e., without electric degrees of freedom) macro positioning arm can be moved even during surgery thanks to the brakes provided at its rotational joints.

[0119] The slave part of the robot is made symmetric with respect to the vertical direction.

[0120] Those skilled in the art can make many changes and adaptations to the above-described embodiments, or can replace them with other functionally equivalent elements to meet accidental needs without departing from the scope of the appended claims.

Description of Reference Numerals

[0121] 401 Robot surgical assembly 402 Surgeon Shoulder of the 402' Surgeon 403, 503 Workload 404 Shared Workload 405 Operating Table or Surgical Bed 406 Master Console Assembly 407 Slave Assembly 408 Operating Arena 410 Transmission Member 411 First Fixing Portion of Transmission Component 412 Second Fixing Portion of Transmission Component 413 Plate 414 Thickness 415 Transmission Member Body or Component Body Proximal Plane of the Plate Distal Plane of the Plate Joint of the Transmission Member 419, 419' Bracket of the Transmission Member 420, 520 Electric Manipulator 421 Proximal Fixing Means 422 Distal Fixing Means 423 Second Horizontal Electric Slider 424 First Horizontal Electric Slider 425 Vertical Electric Slider 426 Counterweight 427, 527 Case 428, 528 Proximal Portion of the Case 429, 529 Distal Portion of the Case 430, 530 Sterile Adapter 431 Surgical Drape 432 Draping Assembly 433 Distal Connecting Portion of the Sterile Adapter 434 Window or Passage 435 Polygonal Outer Periphery Corner Portion at the Upper Part of the Trolley 437 First Side Portion of the Trolley 438 Second Opposite Side of the Trolley 439 Upper End Portion of the Trolley 440,540 Surgical instrument 441,541 Shaft 442, 542 Distal end of the shaft 443 Magnetic field generating device 444 Central part of the distal link 445,545 Attachment part of the distal link 446 Telescopically extending part 447 Robot cart or tower 448 Grounding unit or wheels of the robot cart 449 Handle of the robot cart 450 Macro positioning arm 451 Fixed part of the electric manipulator 452 Screen 453 Handle of the macro positioning arm 454 Distal link of the first link of the macro positioning arm 455 Second link of the macro positioning arm 456 Third link of the macro positioning arm 457 Distal rotary joint or first joint of the macro positioning arm 458 Second rotary joint of the macro positioning arm 459 Third rotary joint of the macro positioning arm 460 Motor box assembly 461 Rotating motor 462 Transmission belt 463 Sterile console 464 Surgical chair 465, 565 Master input tool 466, 566 Hand surgical tool 467 Master drape 468, 568 Quiet element 469, 569 Degree of freedom cone 470 Microscope assembly 471 Image acquisition part of the microscope 472 Visual device 473 Edge 474, 574 Dropping holster 476, 477, 478, 479 Links of the multi-joint end tool 480, 481, 482 Actuating cables of the multi-joint end tool P Pitch Y Yaw G Grip X-X First horizontal direction Y-Y Second horizontal direction or forward direction Z-Z Vertical direction W-W Local proximal-distal direction A1 Total area of the first fixing part A2 Global surface area of at least one second fixing part G1 Geometric center of the global surface area of the first fixing part G2 Geometric center of the global surface area of the second fixing part d1 Offset distance of the transmission member X2 Predetermined horizontal distance X4 First distance X5 Second distance P4 Nodding motion T4 Translational motion Ω Solid angle

Claims

1. A robotic surgical assembly (401) for robotic-assisted microsurgery, a macro positioning passive arm (450), a pair of electric manipulators (420, 520), each of the pair of electric manipulators (420, 520) includes three electric linear sliders (423, 424, 425) that are orthogonal to each other, the three electric linear sliders (423, 424, 425) of one of the pair of electric manipulators (420) are parallel to the three electric linear sliders (423, 424, 425) of the other electric manipulator (520) of the pair of electric manipulators (420, 520), the pair of electric manipulators (420, 520) are both attached to the same link (454) of the macro positioning passive arm (450), a pair of electric manipulators (420, 520), a pair of sterile adapters (430, 530), each of the pair of sterile adapters (430, 530) includes a coupling device (433) suitable for connecting to a pair of surgical instruments (440, 540), a pair of sterile adapters (430, 530), the pair of surgical instruments (440, 540) respectively connected to the pair of sterile adapters (430, 530), the pair of surgical instruments each having a shaft (441, 541), a pair of surgical instruments (430, 530), a pair of transmission members (410), each of the pair of transmission members (410) a first fixing portion (411) suitable for rigidly connecting to at least one of the pair of electric manipulators (420, 520), a second fixing portion (412) rigidly connected to at least one of the pair of sterile adapters (430, 530), and a pair of transmission members (410) including a component body (415) that holds the first fixing portion (411) and the second fixing portion (412) in their respective relative positions between the first fixing portion (411) and the second fixing portion (412). Each of the component bodies (415) of the pair of transmission members (410) has the first fixing part (411) and the second fixing part (412) spaced apart by an offset distance (d1) in a first horizontal direction (X-X), and the operating motion received from the pair of electric manipulators (420, 520) is shifted by the offset distance (d1) and transmitted to the pair of sterile adapters (430, 530). Each of the component bodies (415) of the pair of transmission members (410) has at least one rigid locking joint (418) that provides an angular offset forming a solid angle (Ω) in a first horizontal direction (X-X) and a second horizontal direction (Y-Y) orthogonal to the first horizontal direction (X-X) between the first fixing part (411) and the second fixing part (412) of each of the pair of transmission members (410). Each of the pair of transmission members (410) is interposed between one of the pair of electric manipulators (420, 520) and each of the pair of sterile adapters (430, 530), and determines the relative mutual position and orientation between the three electric linear sliders (423, 424, 425) of the pair of electric manipulators (420, 530) and the coupling device (433) of the pair of sterile adapters (430, 530). Each of the shafts (441, 541) of the pair of surgical instruments (440, 540) is offset in each of the three electric linear sliders (423, 424, 425) of the pair of electric manipulators (420, 520) and in all slide directions (X-X, Y-Y, Z-Z). Each of the shafts (441, 541) of the pair of surgical instruments (440, 540) extends converging toward each other with their respective distal ends (442, 542) facing forward. Each of the pair of electric manipulators (420, 520) includes two cases (427, 527) that individually enclose each of the pair of electric manipulators (420, 520). The two cases (427, 527) are spaced apart from each other by a predetermined horizontal distance (X2) along the first horizontal direction (X-X) such that a window (434) is at least partially defined by the two cases (427, 527). The robot surgical assembly (401) is designed such that when the surgeon (402) occupies a position behind the window (434), the pair of electric manipulators (420, 520) are positioned above the surgeon's shoulders (402').

2. Interposed between each of the pair of transmission members (410) and each of the pair of sterile adapters (430, 530), Including a rotary motor (461)(461) suitable for rotating each of the pair of surgical instruments (440, 540) having the shafts (441, 541) about the longitudinal deployment axis of the shafts (441, 541) of the pair of surgical instruments (440, 540), The robot surgical assembly (401) according to claim 1, having at least one motor box assembly (460).

3. The distal end (442) of one of the shafts, the first shaft (441), reaches the first working volume (403), and the distal end (542) of the other of the shafts, the second shaft (541), reaches the second working volume (503), The first working volume (403) and the second working volume (503) overlap to form a common working volume (404), The robot surgical assembly (401) according to claim 1 or 2, wherein the common working volume (404) is such that the distal portions (442, 542) of both the first shaft (441) and the second shaft (441, 541) are reachable at any operating position of the three electric linear sliders (423, 424, 425).

4. The robot surgical assembly (401) according to claim 3, wherein the common working volume (404) is a parallelepiped.

5. The three electric linear sliders (423, 424, 425) of the pair of electric manipulators (420, 520) extend along the vertical direction (Z-Z), the robot surgical assembly (401) according to any of claims 3 or 4.

6. The predefined horizontal distance (X2) is greater than the offset distance (d1), Each of the two cases (427, 527) includes at least one transmission part (410), The two cases (427, 527) are such that the shafts (441, 541) of the pair of surgical instruments (440, 540) attached distally reach the shared working volume (404) at the distal ends (442, 542) of the shafts, and have recesses facing each other. The robotic surgical assembly (401) according to any one of claims 3 to 5.

7. The first link (454) included in the link and the pair of electric manipulators (420, 520) form an inverted "U" - shaped structure that partially partitions the window (434). The robotic surgical assembly (401) according to any one of claims 1 to 6.

8. The macro - positioning passive arm (450) includes a plurality of arm links (454, 455, 456) including the first link (454), the plurality of arm links (454, 455, 456) are connected in series with each other and are articulated via a plurality of rotary joints (457, 458, 459), the first link (454) to which the pair of electric manipulators (420, 520) are attached further includes two attachment portions (445, 545), the two attachment portions (445, 545) are each suitable for connecting to one of the pair of electric manipulators (420, 520), a distal rotary joint (457) connects the first link (454) and a second link (455) included in the link, the distal rotary joint (457) is provided between the attachment portions (445, 545) of the first link (454), a pivoting operation (P4) that pivots the same first link (454) by a predetermined pivoting angle about the distal rotary joint (457) determines the electric manipulators (420, 520) such that the position is reversed with respect to the second link (455) of the macro - positioning arm (450). The robotic surgical assembly (401) according to claim 7, characterized in that.

9. The positions of the attachment portions (445, 545) of the first link (454) are symmetrically arranged with respect to the distal rotary joint (457). The robotic surgical assembly (401) according to claim 8.

10. The macro positioning arm (450) is connected to a robot carriage (477) having at least one grounding unit (478), The at least one grounding unit (478) comprises a plurality of wheels, the robotic surgery assembly (401) according to any one of claims 1 to 9.

11. The robot carriage (477) has a polygonal shape and comprises a top (439) defining a periphery (435) around the top forming a plurality of corner portions (436), The macro positioning arm (450) is connected near one of the corner portions (436), the robotic surgery assembly (401) according to claim 10.

12. The upper surface portion (439) of the robot carriage (477) comprises a screen (452) for displaying information regarding the state of the robotic surgery assembly (401), the robotic surgery assembly (401) according to claim 11.

13. Comprises a master controller assembly (460) comprising at least one master input tool (465, 565) for controlling at least one of the surgical instruments (440, 540) and / or at least one of the pair of electric manipulators (420, 520), The at least one master input tool (465, 565) is not mechanically constrained and is tracked by an optical and / or electromagnetic tracking device, the robotic surgery assembly (401) according to any one of claims 1 to 12.

14. The master controller assembly (460) comprises a sterile console (463), the robotic surgery assembly (401) according to claim 13.

15. At least one robotic surgery assembly (401) according to any one of claims 1 to 14, An operating table (405), And a microscope assembly (470), At least one eyeball (472) of the microscope assembly (470) is at least partially within the window (434), characterized by an operating arena (408).

Images