Master workstation for robotic surgery, sterile operating field, surgical robotic system and method

Abstract

A master workstation (301) for a surgical robotic system (300) adapted to be installed within a sterile surgical field (311), the master workstation (301) comprising: an ungrounded master input handle (310) adapted to be handheld by a surgeon during surgery to control a slave robot assembly (330) of said surgical robotic system (300); and at least one positioning body (312). The surgical instrument includes a console (302) having a main body (309), a sterile drape (303) covering at least a portion of the console (302), and at least one sterile holder (306) having at least one cavity (345), at least one placement element (307) within the cavity (345) suitable for placement of the master input handle (310) when the master input handle (310) is not being held by hand, and at least one positioning clip (308) coupled with at least one convexity (309) of the console (302) across and through the sterile drape (303) while maintaining the sterility of the sterile drape (303), the positioning clip (308) being suitable for positioning the cavity (345) of the sterile holder (306) at a desired location within a sterile operating field (311) near the console (302).

Description

[Technical Field]

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

[0002] A master workstation according to the present invention is particularly suited for placement within a sterile operating room.

[0003] The present invention also relates to a surgical theater and a surgical robotic system comprising at least the master workstation described above.

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

[0005] In the medical field, for example, a sterile holster for lowering 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] Robotic surgical devices used in robotic-assisted surgery generally include a surgeon master console that receives manual commands from the surgeon, a robotic slave central tower (or robot cart), and multiple robotic slave arms extending from the slave central tower and carrying one or more surgical instruments (end effectors), controlled by the surgeon master console. The one or more slave surgical instruments are attached distally to the robotic slave arms to perform a surgical procedure on a patient lying within a sterile surgical field. Surgical drapes covering non-disposable components of the robotic device are typically provided to avoid contamination of the sterile surgical field that may be caused by the robotic surgical device. Straps and ties can be provided on the exterior of the surgical drape to tie the drape around the robot, reducing its volume and providing 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 suitable for miniaturizing surgical instruments, and in particular for robotic-assisted microsurgery. As conventional (non-robotic) microsurgery requires the surgeon to operate with an operating microscope, usually an optical microscope, which allows the surgeon to enlarge the surgical field, robotic surgical devices for microsurgery are suitably equipped with an operating microscope.

[0008] Microsurgery is performed in several stages of the reconstruction of biological tissues, for example, performing vascular anastomoses involving small diameter blood vessels and nerves, reconstructing anatomical parts after trauma, revascularizing tissues, reattaching limbs, transplantation and reimplantation surgeries, etc. In the field of microsurgery, robotic devices allow for 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, in which surgical instruments and at least one camera are individually inserted into the patient's body through a pair of percutaneous trocars, and a visualization screen visualizes the laparoscopic images of the patient's interior obtained from the cameras. Robotic assistance reduces the fulcrum effect during surgery due to the lever arm formed across the length of each percutaneous rigid trocar during manipulation of conventional (non-robotic) laparoscopic surgical instruments. Furthermore, robotic assistance improves the laparoscopic surgeon's comfort during surgery due to the ergonomic features of the surgeon master console.

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

[0011] However, the large physical distance between the sterile operating room team and the surgeon handling the master input attachment at the remote master console can create communication problems between the team, especially with the surgeon, during surgery.

[0012] Therefore, 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, it is desirable for the surgeon to be present in the sterile operating field during the robotic surgery. This allows the microsurgeon, during a single intervention, to switch from robotic microsurgery tools to microsurgery with traditional (non-robotic) microsurgery tools such as forceps, and / or back to the surgeon's master console. Document WO-2014-151621 discloses a system designed to alternate between manual surgery and robotic surgery using a mechanically ungrounded master controller designed to be held by the surgeon's hand.

[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 including a set of cups attached to the chair arms for placing an ungrounded master input tool. Summary of the Invention [Problem to be solved by the invention]

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

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

[0018] It is within the scope of the present invention to overcome the drawbacks mentioned 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 includes a non-grounded master input handle suitable for being handheld by a surgeon during surgery to control a slave robot assembly of the surgical robotic system, a console having at least one positioning body, 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 sterilization holder defines at least one cavity, and the master input handle is adapted to be inserted into the cavity when the master input handle is not being held. Placement at least one in said cavity adapted to be Placementand at least one positioning element coupled with the at least one positioning body of the console.

[0023] This allows the cavity of the sterile holder to be positioned in a desired location within the sterile operating field near the console.

[0024] The positioning element may comprise a positioning clip and the positioning body may comprise a convex body, whereby the positioning clip resiliently couples with the convex body through, preferably via, a sterile drape while maintaining sterility of the surgical field.

[0025] Thanks to the proposed solution, the console, such as a surgical chair, when covered by the sterile barrier assembly, can be used for resting the master input handle during hand surgery, for example. Placement A cavity is exposed for the purpose of providing the element.

[0026] The proposed solution is particularly suitable for, but not limited to, robotic-assisted microsurgery.Furthermore, the proposed solution is particularly suitable for, but not limited to, microsurgical procedures that consider the substitution of manual and robotic-assisted microsurgery.

[0027] Further features and advantages of the master workstation, system, sterile operating field and method according to the present invention will become apparent from the following description of preferred examples of embodiments, given by way of illustrative and non-limiting examples, with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 1 is a schematic axonometric view of a surgical robotic system having a master workstation located within a sterile operating room, according to an embodiment.

[0029] [Figure 2]FIG. 2 is a schematic axonometric view of a surgical robotic system positioned within a sterile operating field near an operating table, according to an embodiment.

[0030] [Figure 3] FIG. 3 is a schematic axonometric view of a master workstation including a console, a sterile holder, and a draped master input handle, according to an embodiment.

[0031] [Figure 4] FIG. 4 is an axonometric view showing a portion of a console covered by a surgical drape and a sterile holder, according to an embodiment.

[0032] [Figure 5] FIG. 5 is an axonometric view of a sterilization holder, according to an embodiment.

[0033] [Figure 6A] FIG. 6A is a side view diagrammatically illustrating a sterile holder and a sterile drape, according to an embodiment.

[0034] [Figure 6B] FIG. 6B is an axonometric view of a sterile holder integral with a sterile drape as viewed from the inside of the sterile drape, according to an embodiment.

[0035] [Figure 7] FIG. 7 is an axonometric view of a sterilization holder, according to an embodiment.

[0036] [Figure 8] FIG. 8 is an axonometric view of a sterilization holder, according to an embodiment.

[0037] [Figure 9] FIG. 9 illustrates a possible surgical mode of the method, according to an embodiment.

[0038] [Figure 10]FIG. 10 is a schematic diagram 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 INVENTION

[0039] According to a general embodiment, a master workstation 301 is provided for a surgical robotic system 300. The master workstation 301 is adapted to be located within a sterile surgical field 311.

[0040] The master workstation 301 includes a mechanically ungrounded master input handle 310 suitable for hand-holding by a surgeon during surgery to control a slave robot assembly 330 of the surgical robotic system 300 .

[0041] As used herein, the term "mechanically ungrounded master input handle 310" refers to a master controller that is unconstrained with respect to positional and orientational movements that may occur in a larger work environment, such as a surgical theater or room, and is kinematically isolated from the ground, e.g., not mechanically supported by a console, support, or other object attached to the ground. In some implementations, the mechanically ungrounded master input handle 310 can be connected, either tethered or untethered, to one or more associated components, such as a control processor, data source, sensor, power source, etc. For example, the master input handle 310 can be physically connected to these components and tethered, e.g., via cables or wires, or can be unphysically connected to such components and tethered, and communicate with the components via wireless communication signals, for example. According to an embodiment, the master input handle 310 is mechanically unconstrained from the console 302.

[0042] Furthermore, the term "handle" refers to an ungrounded master input tool designed to be handheld by a surgeon in a surgical situation. For example, the master input handle 310 may comprise a manipulative portion suitable for being handheld by a surgeon in a surgical situation. For example, the master input handle 310 may comprise a ring, circular band, or bracelet worn by the surgeon's hand, finger, or wrist.

[0043] Master workstation 301 further comprises a console 302 and a sterile drape 303 loosely covering or draping at least a portion of console 302. Surgical drape 303 preferably has a body having an inner surface 304, or non-sterile surface, and an outer surface 305, or sterile surface, opposite inner surface 304, or non-sterile surface. Thus, inner surface 304 of surgical drape 305 is designed to face console 302, and outer surface 305 of surgical drape 303 is designed to face the sterile operating field. According to a preferred embodiment, surgical drape 303 forms a drape cavity 322 that surrounds a portion of console 302 for the purpose of maintaining the sterility of sterile operating field 311. Thus, inner surface 304 faces cavity 322, which may be sealed or open to form an opening 331 for accessing cavity 322 leading to the outer surface 305 of surgical drape 303. For example, opening 331 or a margin of drape 303 may fit to the body of console 302 by cooperating with adhesive strips, elastic strips, magnetic attraction, or any suitable means. For example, the body of surgical drape 303 may be made of any suitable drape material, such as a soft sheet of polyethylene, polyurethane, polyester, etc., and / or paper, and / or woven fabric, and / or nonwoven fabric, and / or any combination of the above.

[0044] The console 302 includes at least one positioning body 309 , for example, a convex body 309 , and the sterile drape 303 covers or conceals at least a portion of said convex body 309 of the console 302 .

[0045] The term "convex body" as used herein does not necessarily exclude that the convex body 309 may also exhibit a concave surface, but must also comprise a convex portion or surface. For example, the term "convex body" also encompasses an upright of the console 302 having a substantially cylindrical outer surface that is a convex body, including localized concavities or portions or longitudinal grooves that in turn define a concave surface.

[0046] The master workstation 301 comprises a sterile holder 306 with at least one cavity 345. The sterile holder 306 thereby functions as a sterile basket. According to an embodiment, the holder 306 is made of plastic, preferably a hard plastic material, and the cavity is, for example, molded or thermoformed. According to an embodiment, the holder 306 is made of a sterilizable metallic material. According to an embodiment, the holder 306 is disposable.

[0047] Advantageously, the sterile holder 306 has at least one Placement It comprises element 307.

[0048] At least one sterile holder 306 is provided in cavity 345. Placement Element 307, e.g., at least one Placement The surface 307 allows the master input handle 310 to be placed on it when the master input handle 310 is not being held, such as when the master input handle 310 is temporarily not being held by a surgeon during surgery. Placement This allows at least one Placement Element 307 supports master input handle 310 at least partially within cavity 345 of said sterile holder 306 .

[0049] According to a preferred embodiment, the sterile holder 306 comprises at least one positioning element 308 (or positioning clip 308 or clip 308) that couples with at least one positioning body 309 (or convex body 309) through the sterile drape 303 while maintaining the integrity of the sterile barrier formed at least in part by the sterile drape 303.

[0050] According to an embodiment, the sterile barrier is formed by the sterile drape 303 and by a portion of the outer wall 332 of the holder 306. The sterile drape 303 may be attached to the holder 306 and may include a through passage 348 for passing the connector 308. A border 350 of the through passage 348 may be glued, welded, or otherwise secured to the outer wall 332 of the sterile holder 306, as shown, for example, in FIG. 6B. In this way, the portion of the outer wall 332 of the holder 306 functions as a sterile barrier together with the sterile drape 303.

[0051] According to a preferred embodiment, sterile holder 306 comprises at least one positioning clip 308 that couples with at least one convex body 309 through sterile drape 303 while maintaining the integrity of the sterile barrier formed at least in part by the sterile barrier, such that said positioning clip 308 covers a portion of the outer surface 305 of sterile drape 303, thereby encasing it between positioning clip 308 of sterile holder 306 and convex body 309 of console 302, localizing a sterile operating field 311 near clip 308. At the same time, positioning clip 308 rigidly couples with said convex body 309 of console 302 to position holder 306 in a desired position near where the surgeon stands or sits during surgery.

[0052] The positioning body 309 may be concave, may include a slot, or may have a positioning surface that is appropriately treated or machined to couple with the positioning element. The positioning element 308 may have any shape and features that couple with the positioning surface. For example, the positioning element 308 may include a snap-fit ​​device or may include attachment means for coupling with the positioning body.

[0053] Preferably, the positioning clip 308 mechanically and removably couples to the convex body 309 .

[0054] According to an embodiment, the clip 308 snaps into the convex body 309 .

[0055] The positioning clip 308 is adapted to position the cavity 345 of the sterile holder 306 in a desired location within the sterile operating field 311 near the console 302 .

[0056] By providing a cavity 345 in the sterile holder 306, the surgeon can lower the mechanically ungrounded master input handle 310 into the cavity 345 and connect it to at least one Placement On element 307 Placement By virtue of the cavity 345 in the sterile holder 306, the mechanically ungrounded master input handle 310 is placed in the sterile holder 306 within the sterile operating field 311 when not being held by the surgeon.

[0057] Preferably, said sterile holder 306 has a box-like body with an opening 333 for accessing the cavity 345, preferably facing the surgeon and / or upwards in a surgical situation.

[0058] The positioning clip 308 can be positioned on the outer surface 332 of the sterile holder 306, the specific location of which can be selected for the purpose of positioning the sterile holder 306 to receive the mechanically ungrounded master input handle 310 at a desired location within the sterile operating field 311.

[0059] According to a preferred embodiment, sterile holder 306 is integral with sterile drape 303, as shown, for example, in FIG. 6B. For example, sterile holder 306 is welded or glued to the outer surface of the sterile drape. Positioning element 308 is integral with the sterile drape and can simultaneously be removably coupled to positioning body 309. Sterile drape 303 can be attached to holder 306, preferably at its outer surface 332, and can include a through passage 348 to allow connector 308 to pass through while maintaining the integrity of the sterile barrier.

[0060] According to an embodiment, the positioning clip 308 is attached to the convex body 309 of the console 302 to which the clip 308 is attached. Placement Element 307, e.g., Placement To strictly determine the position and spatial orientation of surface 307, it may be formed of a separate part, but is integral with outer surface 332 of sterilization holder 306.

[0061] According to a preferred embodiment, the positioning clip 308 functions as a restraining element that locally restrains the surgical drape 303 against the convex body 309 of the master sterilization console 302 in order to locally reduce the volume burden of the surgical drape 303. The surgical drape 303 may have a non-rigid body that covers air other than the console 302, and thus, by virtue of the provision of the at least one clip 308, it is permitted to restrain a portion of the drape to a portion of the console 302, preferably near the or at least one convex body 309.

[0062] At least one clip 308 thereby simultaneously locally seals the body of the sterile drape 303 against the convex body 309 of the master sterile console 302 and holds the sterile holder 306 in place within the sterile operating field 311.

[0063] According to an embodiment, the at least one clip 308 may be attached to, for example, a cable connection of the console 302. 325The at least one clip 308 includes at least one cable guide 314 for guiding cable connections, such as power and / or data cables, of the master console 302. 325 For example, the cable guide 314 may include a groove that receives an indentation in the elongated body of the clip 308 in the wall that faces the outer surface 305 of the body of the surgical drape 303.

[0064] Preferably, at least one clip 308 has an arched concave surface 321 facing the outer surface 305 of the surgical drape 303 and adapted to fit over the convex body 309 of the console 302. For example, the arched concave surface 321 of the at least one clip 308 may be substantially "C" shaped.

[0065] According to a preferred embodiment, for example as shown in FIG. 4, said at least one Placement Element 307 is Placement surface 307, e.g., Placement Surface 307 is the surface of the bottom wall 347 of said sterilization holder 306 facing cavity 345 .

[0066] According to an embodiment, at least a portion of the master input handle 310 is supported by a Placement In order to Placement The surface is the bottom surface of a basket, i.e., a substantially cup-shaped container, said basket corresponding to a sterile holder 306. In a preferred embodiment, said holder 306 is designed to temporarily support a master input tool 310 when not being held by a surgeon in a sterile operating field 311, and includes at least one Placement Surface 307 includes the bottom surface of holder 306 .

[0067] According to an embodiment, the sterilization holder 306 comprises an opening 333 for accessing the cavity 345. Preferably, the opening 333 is PlacementOpposite face 307. According to an embodiment, holder 306 also includes a side face 322 that defines a cavity 332. This allows the surgeon to easily access the sterile surgical field 311 exposed to the sterile surgical field 311 during surgery. Placement A master input tool 310 can be lowered onto the surface 307 .

[0068] Thanks to the provision of such a surface 307, the surgeon can alternate between manual and robotic microsurgery during a single intervention without for this reason compromising the sterility of the sterile surgical field 311. This avoids the need to sterilize a master input tool every time the surgeon switches from manual to robotic microsurgery or vice versa during a single surgical intervention.

[0069] The side surface 332' faces towards the cavity 345, the outer surface 332 faces the opposite side, and preferably the positioning clip 308 is integrally connected to at least one of the outer surfaces 332. According to an embodiment, the outer surface 332 is substantially flat, which is advantageous for the attachment of the clip 308. The orientation of the clip 308, i.e. the longitudinal extension direction of the "C" shaped seat 346 defined by the arched surface 321 of the clip 308 in the holder 306, may substantially coincide with the direction of deployment of the cavity 345 of the sterilization holder 306. This allows the cavity 345 to be Placement It may be defined by face 307, bottom wall 347, and side wall 332'.

[0070] According to a variant, the positioning clip 308 and the side surface 332' of the sterile holder 306 defining the cavity 345 may have a relative degree of freedom for adjusting the position of the cavity 345 when the clip 308 is coupled with the convex body 309, for example a rotary joint such as a hinge or a universal joint, which rotates the holder 306 when the clip 308 is coupled with said convex body 309 of the console 302, articulating the clip 308 with the side surface 332' of the sterile holder 306, and / or a slider may be provided connecting the clip 308 with the outer surface 332 of said holder 306.

[0071] According to a preferred embodiment, the convex body 309 faces the inner surface 304 of the surgical drape 303. This avoids the need to sterilize the convex body 308 of the master sterilization console 302.

[0072] According to an embodiment, the at least one convex body 309 comprises at least one convex surface 313, such that the clip 308 couples with the convex surface 313. According to an embodiment, the sterile drape 303 is inserted between the convex body 309 and the holder 306. According to an embodiment, the body of the sterile drape 303 is inserted between the clip 308 and the convex body 309, preferably in contact with both. According to an embodiment, the body of the sterile drape 303 is inserted between the arched surface 314 of the clip 308 of the attachment 306 and the convex surface 313 of the convex body 308, preferably in contact with both.

[0073] For example, according to the embodiment shown in Figure 3, the console 302 comprises a chair 320. As used herein, the term "chair" is intended to encompass a "saddle stool." According to a preferred embodiment, the at least one convex body 309 is an upright 319 of the surgical chair 320 of the master sterilization console 302. According to a preferred embodiment, the at least one convex body 309 is an upright 319 of the surgical chair 320 that supports armrests 340, preferably having a rounded shape to allow the surgeon to rest his elbows on them.

[0074] According to an embodiment, the chair 320 comprises at least one armrest 340 having the convex body 309, e.g. a connecting element connecting the armrest to the seat 318 of the chair 320, and the positioning clip 308 of the sterilization holder 306 coupling to the convex body 309 of the armrest 340. Preferably, the console 302, e.g. the chair 320, is provided with the tracking field generator 339 designed to track the position and orientation of at least one mechanically ungrounded master input handle 310. The tracking field generator 339 may be an optical tracking field generator, such as at least one camera of a stereoscopic camera set.

[0075] According to an embodiment, the at least one sterile holder 306 is associated with an outer surface 305 of a surgical drape 303. According to an embodiment, the opening 333 of the at least one sterile holder 306 is drilled into the outer surface 305 of the sterile drape 303.

[0076] According to an embodiment, the at least one positioning element 308 of at least one sterile holder 306 couples with at least one positioning body 309 of console 302 through the sterile drape 303 while maintaining the integrity of the sterile barrier. According to an embodiment, the positioning element 308 is positioned within the cavity 345 and the convex body 309 of console 302. Placement The relative positions and spatial orientations of the surfaces 307 are precisely determined.

[0077] According to an embodiment, the positioning element 308 is removably coupled to the positioning body 309 of the console 302 .

[0078] According to an embodiment, the positioning element 308 comprises a positioning clip that resiliently couples with the positioning body 309 of the console 302. The clip is preferably resiliently attached. According to an embodiment, the positioning element 308 comprises at least one flap 312 for detaching the positioning element 308 from the positioning body 309 of the console 302. The flap 312 is resiliently attached and can cooperate with the clip of the positioning element 308. The positioning element 308 may comprise a pair of flaps 312. The flaps 312 may function as a handle for releasing the clip of the positioning element 308. The clip may be formed by two resiliently connected parts, with at least one flap 312 attached to one of the two parts of the clip. Two flaps 312 may be provided, with each flap 312 attached to one of the two parts of the clip. By providing the at least one flap 312, it is possible to decide to open the clip of the positioning element, thereby avoiding damaging the surgical drape 303 during clip removal, thereby allowing the clip to have a stronger elastic clamping force without compromising the sterility of the sterile drape 303.

[0079] According to an embodiment, the master workstation 301 further comprises a sterile holder 306 such that it comprises at least two sterile holders 306 and a further non-grounded master input handle 310 such that it comprises two master input handles 310, preferably each sterile holder 306 individually housing one master input handle 310. According to an embodiment, the two sterile holders 306 are spaced apart on the same outer surface 305 of the same surgical drape 303.

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

[0081] According to an embodiment, the two sterilization 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.

[0082] According to an embodiment, the two sterilization holders 306 are attached to the same positioning body 309 of the console 302 .

[0083] According to an embodiment, the console 302 includes a tower 315, with a surgical drape 303 covering the tower 315, as shown, for example, schematically in FIG. 10 . The tower may include a screen 316. The screen 316 may display a portion of the sterile operating field 311, such as a portion of a slave workspace in which at least one surgical instrument 337 operates. The tower 315 may include a grounding unit, such as a plurality of wheels. An optical and / or magnetic tracking field generator 339 may be integral with the tower 315 to track the position and orientation of at least one ungrounded master input handle 310. The tower 315 of the console 302 may be mounted by the positioning body 309, such as a convex body.

[0084] According to a general embodiment, a sterile surgical field 311 is provided that includes at least one master workstation 301 according to any one of the above embodiments.

[0085] The sterile surgical field 311 includes at least one surgical table 341 that supports the anatomy of a patient being treated.

[0086] According to an embodiment, the sterile surgical field 311 is defined by a sterile barrier formed by at least one sterile drape 303. According to an embodiment, the sterile barrier is formed by at least one sterile drape 303 and by at least a portion of the holder 306, and preferably by at least a portion of the outer wall 332 of the holder 306. The connector 308 of the holder 306 may be located within the sterile surgical field 311 or may be located outside of the sterile surgical field 311.

[0087] By virtue of such a master workstation, the sterility of the surgical field 311 as well as the integrity of the sterile surgical field 311 are maintained.

[0088] According to an embodiment, the sterile surgical field 311 further comprises a slave robotic assembly 330 controlled by the master workstation 310.

[0089] According to a general embodiment, a surgical robotic system 300 is provided that includes at least one master workstation 301 according to any one of the above embodiments.

[0090] 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 including at least one motorized manipulator 335 controlled by said master workstation 301 for manipulating said at least one surgical instrument 337.

[0091] According to embodiments, the slave robot assembly 330 includes at least one surgical arm 334 that manipulates the surgical instrument 337. According to embodiments, the slave robot assembly 330 includes at least one micromanipulator 335 that manipulates the surgical instrument 337. Preferably, the at least one micromanipulator 335 is directly connected in series to the surgical arm 334, forming a kinematic chain with the surgical arm 334 to manipulate the surgical instrument 337. According to embodiments, at least two micromanipulators 335 are directly connected in series to the surgical arm 334, forming the surgical arm 334. According to embodiments, the slave robot assembly 330 includes at least one robot cart 336, and the at least one arm 334 extends from the robot cart 336.

[0092] Preferably, the system 300 comprises a control unit adapted to receive at least a position and orientation associated with the mechanically ungrounded master input handle 310 and adapted to send command signals to a slave robot assembly 330 to actuate the surgical instrument 337.

[0093] 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 to actuate the surgical instrument 337. According to a preferred embodiment, the robotic microsurgical system 300, and preferably the covered console 302 of the robotic microsurgical system 300, further comprises at least one tracking system including a field generator 339 adapted to detect a predetermined tracking volume position and orientation of the master input tool 310. For example, the field generator 339 is disposed integrally with the seat 318 of the chair 320 of the console 302. At least one slave drape 338 may be provided to at least cover the position of the robotic slave assembly 330.

[0094] According to a preferred embodiment, the robotic microsurgery system 300 further comprises at least one surgical microscope 342. A microscope drape 343 may be provided to cover at least a portion of the microscope 342.

[0095] According to an embodiment, the sterile surgical field 311 includes the robotic surgical system 300.

[0096] According to a preferred 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-described embodiments, thereby causing the sterile surgical field 311 to further include at least a portion of at least one robotic surgical system 300 according to any one of the above-described embodiments.

[0097] This allows the surgeon to alternate between manual and robotic-assisted microsurgery during a single intervention without the need to sterilize the master console.

[0098] Providing such a holder 306 provides a solution that covers the master console 302 to maintain sterility while simultaneously facilitating easy manipulation of the master input handle 310 within the sterile operating field 113, even when the surgeon switches to manual microsurgery. The cavity 345 of the holder 306 allows the surgeon to lower or grasp the mechanically ungrounded master input handle 310 with minimal effort, as it is positioned in a nearby desired location within the sterile operating field 311, while allowing the surgeon to return to robotic-assisted microsurgery as desired.

[0099] According to an embodiment, the cavity 345 of the sterile holder 306 has a depth that is shallower than the length of the master input handle 310 such that a portion of the master input handle 310 protrudes from the opening 333, allowing the surgeon to insert the mechanically ungrounded master input handle 310 into the cavity 345 of the sterile holder 306. Placement This makes it easier to grab from element 307.

[0100] The method for performing the surgery is described below.

[0101] A method for performing surgery, preferably robotic-assisted surgery, includes the following steps.

[0102] The method includes providing a master workstation 301 within a sterile surgical field 311, preferably including at least one mechanically ungrounded master input handle 310 suitable for being handheld by a surgeon to control a slave robotic assembly comprising at least a surgical instrument 337. The master workstation 310, sterile surgical field 311, and slave robotic assembly 330 may be as described in any of the above embodiments. Preferably, the clip 308 mechanically couples with the convex body 309.

[0103] The method includes covering the console 302 of the master workstation 301, preferably with a surgical drape 303.

[0104] The method includes clipping a sterile holder 306 onto the convex body 309 of the console 302 so that the holder cavity 345 is within the sterile surgical field 311 .

[0105] According to the surgical mode, the method includes associating at least one sterile holder 306 with the outer surface 305 of the surgical drape 303, which can open at least one opening 333 for accessing the cavity 345 on the outer surface 305 of the surgical drape 303.

[0106] According to the surgical mode, the method includes removably associating at least one sterile holder 306 with the outer surface 305 of the surgical drape 303. According to the surgical mode, the method includes removing the at least one sterile holder 306 from the outer surface 305 of the surgical drape 303.

[0107] According to the surgical mode, the method includes the step of removably coupling at least one sterile holder 306 to the outer surface 305 of the surgical drape 303 by mechanically coupling a positioning element 308, e.g., a clip, of the at least one sterile holder 306 to a positioning body of the console 302, the positioning body 309 preferably being a convex body. The step may include acting on at least one flap 312 of the at least one sterile holder 306. Acting on the at least one flap 312 may determine that the positioning element 308, e.g., a clip, opens. According to the surgical mode, the method includes the step of removing the at least one sterile holder 306 from the outer surface 305 of the surgical drape 303 by mechanically disengaging the positioning element 308, e.g., a clip, from the positioning body, the positioning body 309 preferably being a convex body.

[0108] According to the surgical mode, the method includes the steps of defining a desired location within the sterile surgical field 311 for placement of the sterile holder 306 therein.

[0109] According to the surgical mode, the method includes the step of holding a mechanically ungrounded master input handle 310 for the purpose of controlling the surgical instrument 337 of the slave robot assembly 330.

[0110] The method further comprises: inserting the master input handle 310 into the cavity 345; Placement On element 307 Placement or by lowering the master input handle 310 into the cavity 345 so that Placement The method includes the further step of:

[0111] According to the surgical mode, the method includes removing the master input handle 310 from the sterile holder 306, preferably positioned at a desired location within the cavity 345 of the sterile holder 306 within the sterile surgical field 311. Placement The further step involves manually re-grasping the master input handle 302 by lifting or grasping it from element 307 .

[0112] Preferably, the method is performed by a master workstation 310 and / or a sterile surgical field 311 and / or a surgical robotic system 300 according to any of the embodiments described above.

[0113] The above features, taken individually or together in a particular embodiment, can meet the above needs and provide the following advantages:

[0114] - The surgeon can easily lower the ungrounded master controller into the cavity of the sterile holder at any time during the procedure,

[0115] - Sterility of the operating room is maintained,

[0116] - the volumetric burden of sterile drapes covering the console may be reduced;

[0117] - Reduced risk of tearing the sterile drape

[0118] - The integrity of the sterile barrier surrounding the sterile operating field is maintained,

[0119] - the holder may serve as a sterile holster within the sterile operating room to receive the master input tool when not in hand, for example during a changeover between manual surgery and robotic microscopy;

[0120] - The sterile drape may be held in place with a sterile holder with positioning clips.

[0121] To the above-described embodiments, those skilled in the art may make numerous modifications, adaptations, and substitutions of elements with other functionally equivalent elements to meet fortuitous and particular needs without departing from the scope of the appended claims.

[0122] 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 Decision element or decision surface 308 Clips or positioning elements such as positioning clips 309 Positioning body of console such as convex body of console 310 Master Input Handle or Master Input Tool 311 Sterile operating theater 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 Surgical chair or saddle stool 321 Arched Clip Surface 322 Drape Cavity 325 cable connection 330 Slave Robot Assembly 331 Drape opening 332 Outer surface of holder 332' Holder side 333 Holder opening 334 Robot Arm 335 Electric Manipulator 336 Robot Cart 337 Surgical instruments 338 Slave Drape 339 Tracking Field Generation Unit 340 Armrest 341 Operating table 342 Surgical microscope 343 Microscope Drape 344 Mustard Drape 345 Holder cavity 346 Sheets of Clips 347 Bottom wall of holder 348 Passageway or Drapery Passageway 350 Passage Boundary

Claims

1. A master workstation (301) for a surgical robotic system (300) suitable for installation within a sterile surgical field (311), comprising: a mechanically ungrounded master input handle (310) suitable for being handheld by a surgeon during surgery to control a slave robot assembly (330) of said surgical robot system (300); a console (302) having at least one positioning body (309); a sterile drape (303) covering at least a portion of the console (302) and forming at least a partial sterile barrier; at least one sterile holder (306); The at least one sterilization holder (306) comprises: At least one cavity (345); and at least one resting element (307) within the cavity (345) suitable for resting the master input handle (310) when the master input handle (310) is not being held in hand; The at least one sterile holder (306) has at least one positioning element (308) that passes through the sterile drape (303) and couples with the at least one positioning body (309) while maintaining the sterility of the sterile barrier. A master workstation (301).

2. The positioning element (308) is adapted to position the cavity (345) of the sterile holder (306) at a desired location within the sterile operating field (311) near the console (302). The master workstation (301) of claim 1.

3. The positioning element (308) has a positioning clip that resiliently couples with the positioning body (309) of the console (302). A master workstation (301) according to claim 1 or 2.

4. The positioning body (309) of the console (302) has a convex body A master workstation (301) according to any one of claims 1 to 3.

5. The sterile holder (306) is integral with the sterile drape (303), and / or The outer surface (332) of the sterile holder (306) is formed with the sterile drape (303) of the sterile barrier. A master workstation (301) according to any one of claims 1 to 4.

6. The positioning element (308) acts as a local restraining constraint element relative to the positioning body (309) of the console (302). A master workstation (301) according to any one of claims 1 to 5.

7. The console (302) includes a chair (320); The chair (320) comprises at least one armrest (340) having the positioning body (309), and the positioning element (308) of the sterilization holder (306) is connected to the positioning body (309) of the armrest (340). A master workstation (301) according to any one of claims 1 to 6.

8. The console (302) comprises a tower (315); The sterile drape (303) covers the tower (315). A master workstation (301) according to any one of claims 1 to 6.

9. the at least one resting element (307) comprises a resting surface, and a bottom surface of the sterilization holder (306) defines the cavity (345); The sterilization holder (306) comprises an opening (333) for accessing the cavity (345). A master workstation (301) according to any one of claims 1 to 8.

10. The positioning element (308) is detachably connected to the positioning body (309). A master workstation (301) according to any one of claims 1 to 9.

11. The positioning element (308) comprises at least one cable guide (314) for guiding the cable connection (325) of the console (302). A master workstation (301) according to any one of claims 1 to 10.

12. The positioning element (308) is detachably connected to the positioning body (309) of the console (302). A master workstation (301) according to any one of claims 1 to 11.

13. The positioning element (308) comprises at least one flap (312) for detaching the positioning element (308) from the positioning body (309) of the console (302). A master workstation (301) according to any one of claims 1 to 12.

14. providing an additional sterile holder (306), thereby providing at least two sterile holders (306); providing an additional ungrounded master input handle (310), thereby providing at least two master input handles (310); Each sterile holder (306) houses one master input handle (310); The two sterile holders (306) are spaced apart on the same outer surface (305) of the same sterile drape (303). A master workstation (301) according to any one of claims 1 to 13.

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