Surgical robotic systems, their applications, and components

Abstract

The present invention relates to an end effector (200) for a surgical, microsurgical, or sub-microsurgical robotic arm, the end effector (200) comprising at least an end effector base (202) and a first and a second movable finger (204) extending from the end effector base (202), the first and second movable fingers (204) configured and adapted to hold and manipulate at least one surgical instrument (116, 118). Additionally, the present invention relates to an end effector system (300) for a surgical, microsurgical, or sub-microsurgical robotic arm.

Description

TECHNICAL FIELD

[0001] The present invention pertains to the technical field of robots for use in surgical procedures, microsurgical procedures or ultramicrosurgical procedures. In particular, the present invention relates to an end effector for use in surgery, microsurgery or ultramicrosurgery, an end effector system, and a robotic arm comprising the aforementioned end effector system.

BACKGROUND ART

[0002] In particular, the end effector, the end effector system and the robotic arm can be used when performing anastomosis.

[0003] During surgical, microsurgical or ultramicrosurgical procedures, different types of surgical instruments are usually required.

[0004] The surgical instrument can be configured to be manually held and operated by an operator (e.g., a surgeon) during a surgical procedure.

[0005] Alternatively, the surgical instrument may be adapted to be robotically operated.

[0006] Robotic manipulator interfaces for use in surgical (or even microsurgical) robots are known in the art.

[0007] European Patent No. 3363401 discloses a robotic manipulator interface for coupling a hinged surgical tool to the manipulator of a surgical robot, the interface comprising a first interface member coupled to the manipulator and a second interface member coupled to the first interface member, the second interface member being arranged to mount the hinged surgical tool, and the first interface member comprising a clamping mechanism for clamping the hinged surgical tool when the second interface member is coupled to the first interface member.

[0008] European Patent No. 1232836 discloses a robotic carrier for tweezers, which is mounted on a robotic arm and comprises a housing enclosing a motion drive unit for tweezers, and a mounting and indexing support unit. A motor actsuates a pusher cam arm to engage with the legs of the tweezers, thereby opening and closing the legs of the tweezers. The housing is open at one end to receive the tweezers.

[0009] Even surgical instruments of the same type, even those from the same manufacturer, may have some minor structural differences from one another, especially if they are hand-finished or if the manufacturer has made some slight structural modifications.

[0010] In these cases, known end effectors may not be able to reliably interface with slightly modified surgical instruments. Additionally, a considerable number of instruments for use in surgical, microsurgery, or ultramicrosurgery procedures are specifically designed for manual use.

[0011] These manual instruments have inadequate interfaces with known end effectors and therefore need to be operated manually.

[0012] Another limitation of the known solutions is that it is often difficult to maintain a sterile barrier during the exchange of surgical instruments.

[0013] Since surgical instruments are changed over the patient's open wound, maintaining a sterile barrier is fundamental to preventing the risk of infection or other diseases in patients undergoing surgery.

[0014] Another limitation of the known solutions is that the instruments do not always allow the operator to easily and safely change surgical instruments.

[0015] In particular, there is a risk of accidental interaction with the patient and / or other devices or objects in the surrounding area.

[0016] Another problem with the aforementioned known solutions concerns the risk of undesirable interference with medical gloves worn by the operator. [Prior art documents] [Patent Documents]

[0017] [Patent Document 1] European Patent No. 1232836 [Patent Document 2] European Patent No. 3363401 [Overview of the project] [Problems that the invention aims to solve]

[0018] In light of the foregoing, an object of the present invention is to provide an improved end effector and end effector system, in particular the end effector and end effector system having improved adaptability and being able to reliably interface with surgical instruments designed for manual operation, further an object of the present invention is to provide an end effector and end effector system that enables the exchange of surgical instruments while maintaining a sterile barrier, thereby preventing the risk of infection or other disease to the patient, and to provide an end effector and end effector system that enables the operator to easily and safely exchange surgical instruments without the risk of undesirable interaction with the patient and / or other devices or objects in the surroundings and / or interference with medical gloves worn by the operator. [Means for solving the problem]

[0019] The above objective is achieved by providing the end effector described in claim 1 and the end effector system described in claim 3.

[0020] Therefore, an end effector is provided for surgical, microsurgical, or microsurgical robotic arm, and the end effector is, - End effector base and, - An end effector base comprising at least a first movable finger and at least a second movable finger, wherein the first and second movable fingers are configured and adapted to hold and manipulate at least one surgical instrument, It must have at least the following:

[0021] The concept of this end effector according to the present disclosure and the present invention is based on, but in no way limited to, the idea that the end effector can hold and manipulate a surgical instrument even when the surgical instrument is not adapted to the end effector. Furthermore, the end effector must be capable of holding the surgical instrument directly or indirectly, as it should also be able to operate with a sterile drape so that cleaning and sterilization of the end effector becomes easier and faster. This addresses, inter alia, the object that surgical instruments are primarily designed for manual use, but not for robotic use. As a result, manual instruments are available, but their interface with existing end effectors of surgical robots is insufficient. Typically, surgical robots are fitted with specific robot-compatible instruments. However, these are not readily available. With the end effector disclosed herein, it is possible to use surgical instruments that have a proven track record of being suitable for the intended surgical procedure. In particular, the surgical instrument does not have to be adapted to mate with the end effector; rather, the end effector can operate with any surgical tool in the same way a surgeon can do manually.

[0022] In other words, it is as follows.

[0023] The present disclosure provides an end effector.

[0024] The end effector is configured and adapted for use on a robotic arm for surgical, microsurgical or ultramicrosurgical procedures.

[0025] In particular, the robotic arm can be configured and adapted to perform anastomosis.

[0026] The end effector includes an end effector base.

[0027] The end effector further includes a first movable finger and a second movable finger.

[0028] The first and second movable fingers extend from the end effector base. The first and second movable fingers are configured and adapted to hold and manipulate at least one surgical instrument.

[0029] The first and second movable fingers of the end effector may be hollow.

[0030] Therefore, the overall weight of the end effector can be significantly reduced.

[0031] In addition, the space defined within the hollow body may be used to accommodate additional components of the end effector. Thus, one or more additional components can be provided without increasing the overall size of the end effector.

[0032] The present invention further provides an end effector system. Thus, an end effector system is provided for a robotic arm for surgical, microsurgical, or ultramicrosurgical procedures, and the end effector system is -The end effectors described herein, in particular, - At least one sterile drape configured to cover the end effector, - At least one surgical instrument adapter configured to slide onto the draped first and second fingers of the end effector and to be locked in place by a locking mechanism, It has at least the following features: - The surgical instrument adapter includes a connecting element for connecting to at least one surgical instrument in order to hold at least one surgical instrument in a predetermined orientation relative to the end effector. - The surgical instrument adapter is configured to transmit the movement of the tips of the first and second fingers of the end effector to at least one surgical instrument, thereby enabling the operation of at least one surgical instrument.

[0033] The end effector system is configured and adapted for use with robotic arms for surgical, microsurgery, or ultramicrosurgery.

[0034] In particular, robotic arms for surgical, microsurgical, or ultramicrosurgical procedures can be configured and adapted to perform anastomoses. End effector systems include the end effectors described above.

[0035] Furthermore, the end effector system includes a sterile drape configured to cover the end effector. This facilitates post-use cleaning and simplifies sterilization, thus simplifying and streamlining the handling of the end effector. In particular, the use of the sterile drape enables faster and easier handling and use of the end effector.

[0036] Furthermore, the end effector system includes a surgical instrument adapter.

[0037] In particular, the surgical instrument adapter is configured to slide onto the draped first and second fingers of the end effector and to be locked in place by a locking mechanism.

[0038] The surgical instrument adapter includes a connecting means for connecting to at least one surgical instrument.

[0039] The connecting means (e.g., a clip) allows at least one surgical instrument to be held in a predetermined orientation relative to the end effector during surgical procedures.

[0040] Advantageously, the connecting element may include a clip, or may be embodied as a clip.

[0041] The concept of clipping allows for fastening without the need for tools.

[0042] The clip is part of the adapter. The adapter is positioned on the finger of the end effector when in use. In this state, the finger can be covered by the drape.

[0043] The adapter can also be held by shape fitting onto a finger, or a finger covered by a drape.

[0044] The device is placed inside the clip and held in place during use.

[0045] The clip can allow the device to move. A live hinge may be present for this purpose so that the clip can move relative to the adapter while still being physically connected to the adapter.

[0046] In other words, in the use of the system, the fingers of the end effector may be covered with a drape, the adapter may be positioned on the fingers and drape, and the surgical instruments may be clipped to the clips of the adapter and secured to the clips, thereby securing them within the end effector. In this way, the securing of the surgical instruments and the end effector is safe and easy to use.

[0047] In the case of surgical instruments designed for manual operation, the surgical instrument adapter may be connected to the portion of the surgical instrument intended as the human interface of the instrument (i.e., the part designed to be held by the operator's fingers during surgery).

[0048] Alternatively, the surgical instrument adapter may be configured to connect to a different part of the surgical instrument other than the one intended as the human interface.

[0049] The surgical instrument adapter is configured to transmit the movement of the tips of the first and second fingers of the end effector to at least one surgical instrument, thereby enabling the manipulation of at least one surgical instrument.

[0050] Therefore, at least one surgical instrument is operated by the first and second fingers of the end effector via a surgical instrument adapter.

[0051] The presence of sterile drapes makes it possible to maintain the sterile barrier.

[0052] Surgical instrument adapters allow for improved adaptability of end effectors.

[0053] In particular, surgical instrument adapters ensure that the end effector reliably interfaces with each type of surgical instrument, even in cases of slight structural differences (for example, as a result of hand-finishing or if some minor structural modifications have been made by the manufacturer).

[0054] Furthermore, the surgical instrument adapter ensures that the end effector can reliably interface with surgical instruments designed for manual operation.

[0055] The surgical instrument adapter further enables the operator to easily and safely change surgical instruments during surgical procedures.

[0056] In particular, it can significantly reduce the risk of undesirable interactions with the patient and / or other devices or objects in the surrounding area.

[0057] Similarly, this can prevent the risk of undesirable interference with the operator's gloves, which could lead to tearing of the gloves and thus damage to the sterile barrier.

[0058] The present invention is based on the fundamental idea that by providing surgical instrument adapters as defined above, it is possible to improve the adaptability of end effectors, and as a result, the end effectors can reliably interface with each type of surgical instrument, even in the case of slight structural changes. Furthermore, the surgical instrument adapters enable the end effectors to reliably interface with surgical instruments designed for manual operation. Moreover, the surgical instrument adapters enable operators to easily and safely change surgical instruments during the course of a surgical procedure, thereby avoiding the risk of undesirable interaction with the patient and / or other devices or objects in the surroundings, and / or not interfering with medical gloves worn by the operator. In addition, the presence of sterile drapes enables the maintenance of a sterile barrier throughout the entire course of a surgical procedure, thereby reducing the risk of infection and / or other diseases in patients undergoing surgery.

[0059] Therefore, the need to replace surgical instruments during surgical procedures can be reduced.

[0060] The locking mechanism is, - The first unlocked state, - The surgical instrument adapter is fixed in place on the first and second fingers of the end effector in a second locked state. It can be configured to switch between these states.

[0061] The locking mechanism allows for intuitive and easy unlocking and locking of surgical instruments. This is necessary to ensure safety during operation.

[0062] When the locking mechanism is set to the second locked state, a spring force may be generated from the sterile drape as a result of the compression applied by the locking mechanism.

[0063] In this way, the locking mechanism can be kept stably in place. Providing the necessary locking force to secure surgical instruments is a simple and safe design solution.

[0064] Alternatively, a spring force may be generated from the adapter as a result of the compression applied by putting the locking mechanism into a second locked state, working together to maintain the locking mechanism in place.

[0065] Here again, the benefit is that the locking mechanism can be kept stably in place.

[0066] Furthermore, this is a simple and safe solution. It can be combined with the aforementioned option where spring force is generated from a sterile drape.

[0067] As a further alternative, a spring force may be generated from the sterile drape as a result of the extension of the sterile drape, which is determined by putting the locking mechanism into a second locked state.

[0068] Here again, the benefit is that the locking mechanism can be kept stably in place. Furthermore, this is a simple and safe solution. It can be combined with the previously mentioned options.

[0069] The locking mechanism is part of the adapter, and using the adapter, the locking mechanism can slide onto the sterile drape and be secured to the fingers of the end effector without the risk of generating particles due to friction between surfaces.

[0070] Therefore, the sterility and safety of the surgical site can be further improved.

[0071] The locking mechanism may be a bistable mechanism that naturally prioritizes the unlocked state.

[0072] This ensures that the locking mechanism is always open when in position, thereby preventing any interference with handling.

[0073] In such cases, when positioned on the draped finger of the end effector, the locking mechanism is manually engaged into a second locked state.

[0074] Alternatively, the locking mechanism may be a bistable mechanism that naturally prioritizes the locked state.

[0075] This ensures that the locking mechanism automatically locks when placed over the draped finger of the end effector.

[0076] The locking mechanism can be switched between the locked and unlocked states using a locking tool. The surgical instrument adapter can be configured to maintain alignment between the longitudinal axis of the surgical instrument and the rotation axis of the end effector during surgery.

[0077] Alternatively, the surgical instrument adapter may be configured to hold the surgical instrument in a position during surgery where the longitudinal axis of the surgical instrument is offset by a predetermined angle relative to the rotation axis of the end effector.

[0078] Advantageously, the surgical instrument adapter may be configured to hold additional surgical instruments.

[0079] In particular, additional surgical instruments may include scissors.

[0080] For surgeons, it is important that they can use several surgical tools, which are adapted to the current state of surgical procedures provided and enabled by end-effector systems.

[0081] Furthermore, the surgical instrument adapter is configured to maintain alignment between the longitudinal axis of at least one surgical instrument and the rotation axis of the end effector during surgery. In this way, the precision required for microsurgery or ultramicrosurgery can be ensured.

[0082] Furthermore, the surgical instrument adapter can be configured to hold at least one surgical instrument in a position where its longitudinal axis is offset by a predetermined angle relative to the rotation axis of the end effector during surgery. In this way, greater design flexibility is possible while still maintaining the precision required for surgery.

[0083] Advantageously, the sterile drape may be a glove-like drape that covers the end effector.

[0084] This allows for a better fit of the sterile drape to the shape of the end effector.

[0085] Advantageously, the glove-like drape and the end effector may have complementary shapes.

[0086] Therefore, undesirable rotation and arbitrary movement of the glove-like drape and end effector relative to each other can be prevented. Rather, their relative positions to each other can and will be maintained.

[0087] The sterile drape may be connected to another sterile drape that covers the robotic arm.

[0088] For example, the sterile drape may be a separate component temporarily or permanently fixed to the sterile drape covering the robot arm.

[0089] However, when connected to a sterile drape covering the robotic arm, the sterile drape can maintain its degree of freedom to rotate around the rotation axis of the end effector.

[0090] In particular, the sterile drape can have full degrees of freedom to rotate around the rotation axis of the end effector.

[0091] Alternatively, the rotation of the sterile drape around the rotation axis of the end effector can be limited to a specific maximum angle.

[0092] The sterile drape may have a uniform thickness.

[0093] This will lead to a more economical and easier-to-manufacture solution.

[0094] Alternatively, the sterile drape may have local variations in thickness.

[0095] This allows for an improved configuration of the sterile drape, significantly reducing the occurrence of rupture and / or puncture.

[0096] For example, the sterilization drape can be made thicker in the areas that are subjected to greater stress.

[0097] Furthermore, some sterile drapes can be optimized for use as compression or extension springs.

[0098] Furthermore, by providing sterile drapes of varying thicknesses, improved compliance with end effectors can be achieved.

[0099] Sterilization drapes may include a sealing interface.

[0100] In particular, the sealing interface may be configured to connect to other parts of a surgical, microsurgical, or ultra-microsurgical robotic arm.

[0101] Alternatively, the sterilization interface may be configured to connect to a sterile drape covering a surgical, microsurgical, or ultra-microsurgical robotic arm.

[0102] In particular, the sealing interface may have a circular lip shape.

[0103] Furthermore, the sealing interface can be embodied as a circumferential lip for sealing or having a circumferential lip.

[0104] Sterilization drapes can be made from insulating materials.

[0105] During surgical procedures, the surface temperature of end effectors and surgical instruments must remain below 43°C.

[0106] By providing insulated sterilization drapes, it becomes possible to easily maintain a desired temperature below 43°C, especially when compared to sterilization bags used in this field.

[0107] Additionally or alternatively, sterile drapes can be made from electrically insulating materials.

[0108] During surgical procedures, it is important to shield the patient from harmful electric currents.

[0109] By providing electrically insulated sterilization drapes, it becomes possible to obtain improved electrical insulation and, therefore, better protection for patients, especially when compared to sterilization bags used in this field.

[0110] Advantageously, the end effector system may further include an indicator element for indicating whether the locking means is in a first unlocked state or a second locked state.

[0111] This provides the operator with intuitive feedback regarding the correct positioning and orientation of the adapter on the end effector's finger, thereby preventing errors.

[0112] In particular, the indicator element may include an alignment mechanism that visually indicates whether the locking element is in a first unlocked state or a second locked state by the alignment or misalignment between the surface of the alignment element and the surface of the surgical instrument adapter.

[0113] Additionally or alternatively, the indicator element may include means for emitting visual and / or acoustic signals to the operator.

[0114] Finally, the present invention provides a robotic arm for surgical, microsurgical, or ultramicrosurgical procedures, including the above-described end-effector system.

[0115] In particular, the robotic arm can be configured and adapted to perform anastomosis.

[0116] Further advantages of the present invention are disclosed herein in connection with the drawings. [Brief explanation of the drawing]

[0117] [Figure 1] This is a schematic perspective view of a surgical robotic system during surgical procedures in an operating room.

[0118] [Figure 2] Figure 1 is a perspective view detailing the surgical robotic system, where the different parts of the surgical robotic system are identified.

[0119] [Figure 3] Figure 1 is a perspective view showing details of the end effector of the surgical robot system.

[0120] [Figure 4] This is a plan view of an end effector for a surgical, microsurgical, or ultra-microsurgical robotic arm according to one embodiment of the present invention.

[0121] [Figure 5]Figure 4 is a plan view of an end effector system according to one embodiment of the present invention, including the end effector, sterile drape, and surgical instrument adapter.

[0122] [Figure 6] Figure 5 is a cross-sectional view of the end effector system.

[0123] [Figure 7] Figure 5 is a perspective view of the end effector system.

[0124] [Figure 8] This is a cross-sectional view along line aa.

[0125] [Figure 9] This is a magnified view of detail b in Figure 8. [Modes for carrying out the invention]

[0126] Figure 1 shows a perspective view of a surgical robot system 100 during surgical procedures, as well as its applications and components.

[0127] Here, the first surgeon S1 and the second surgeon S2 are positioned on opposite sides of bed B and perform surgery on patient P who is lying on bed B.

[0128] The surgical robot system 100 includes a base station 102.

[0129] The surgical robot system 100 further includes a base column 104.

[0130] In the illustrated embodiment, the base column 104 is a cylindrical column.

[0131] The base station 102 includes a display module 106 for displaying information to one or more operators, such as surgeons S1, S2, or other personnel.

[0132] Furthermore, the display module 106 may be used to provide a user interface that allows one or more operators to insert user input.

[0133] Furthermore, in the illustrated embodiment, the surgical robot system 100 is equipped with a suspension arm 108, a fork-shaped element 110, a first surgical, microsurgical, or supermicrosurgical robot arm 112, a second surgical, microsurgical, or supermicrosurgical robot arm 114, a first surgical instrument 116, and a second surgical instrument 118. In other possible embodiments, a different number of robot arms 112, 114, i.e., one or more robot arms, or one or more surgical instruments 116, 118 may be equipped.

[0134] The base station 102 is equipped with wheels 120 (two are shown in Figure 1). This makes it possible to easily position the surgical robot system 100 at a desired location within the operating room.

[0135] In the illustrated embodiment, the suspension arms 108 are arranged horizontally. The suspension arms are also adjustable in length, as they have two parts that allow for length adjustment by moving the parts of the suspension arms 108 in a nested manner relative to each other. Other mechanisms for length adjustment, such as a SCARA mechanism or a hinge solution, may also be used.

[0136] The suspension arm 108 is connected to the base column 104.

[0137] The suspension arm 108 supports the fork-shaped element 110 (bracket 110).

[0138] Here, the fork-shaped element 110 supports the first surgical, microsurgical, or supermicrosurgical robotic arm 112 and the second surgical, microsurgical, or supermicrosurgical robotic arm 114 (Figure 2).

[0139] Each of the first and second surgical, microsurgical, or ultramicrosurgical robotic arms 112 and 114 is connected to an end effector system that carries surgical instruments 116 and 118.

[0140] The end effector system may be the end effector 200 described later.

[0141] System 100 may also be used in combination with the end effector system 300, which will be described later.

[0142] The surgical instruments 116 and 118 may be of the same type or they may be different from each other.

[0143] The suspension arm 108 is configured to rotate around the longitudinal axis of the base column 104 in order to enable the desired positioning of the fork-shaped element 110 and the robot arms 112 and 114 relative to the surgical site.

[0144] Similarly, the fork-shaped element 110 is configured to rotate around the axis of the suspension arm 108, that is, parallel to the longitudinal axis of the base column 104.

[0145] In the illustrated configuration, the surgical robot system 100 is adapted for use with a conventional microscope M (Figures 1 and 2).

[0146] Alternatively, a fully digital microscope or a so-called hybrid microscope (not shown in Figure 1) can also be used. In such a case, one or more surgeons are positioned at separate consoles, and a robotic trolley is positioned at the location of one of the surgeons S1, S2 in Figure 1.

[0147] The surgical robot system 100 is designed to provide one large patient-side setup, which means no assembly is required after draping.

[0148] Figure 2 shows different sections A, B, and C of the surgical robot system 100.

[0149] In Section A, there is no movement; everything is stationary.

[0150] The display means 106 (included in Section A) can be operated by one or more operators.

[0151] In Section B, there is some movement during the surgery to precisely reposition the surgical instruments 116 and 118 on patient P.

[0152] As shown in Figure 2, a space for a microscope (not shown, but symbolized in Figure 2) is defined between the surgical robot arms 112 and 114.

[0153] Section C includes, in particular, the end effector (such as the end effector 200, which will be discussed later). Several movements occur here during the surgical procedure.

[0154] Figure 3 shows a detail of one of the end effectors 200 that hold the respective surgical instruments 116 and 118.

[0155] The function of the end effector is, among other things, to actuate surgical instruments 116, 118, provide a mounting interface, and rotate them around the instrument axis.

[0156] Figure 4 shows a plan view of an end effector 200 for a surgical, microsurgical, or ultramicrosurgical robotic arm according to one embodiment of the present invention.

[0157] The end effector 200 may be used in combination with the surgical robot system 100 shown in Figures 1 and 2.

[0158] In such cases, each end effector 200 is connected to one of the surgical, microsurgical, or ultra-microsurgical robotic arms 112, 114 (Figure 2).

[0159] The end effector 200 includes the end effector base 202.

[0160] The end effector 200 further includes a first movable finger 204 and a second movable finger 204 extending from the end effector base 202.

[0161] In particular, the first and second movable fingers 204 of the end effector 200 are configured and adapted to hold at least one surgical instrument 116, 118, and the movement of the robotic arm facilitates the movement of the surgical instrument 116, 118 in six degrees of freedom. Additional to the six degrees of freedom mentioned is the opening and closing motion of the instrument, which is also provided.

[0162] In the illustrated embodiment, the first and second movable fingers 204 are covered by a drape 302 (Figure 5).

[0163] Drape 302 is a sterile drape, as will be described later. Furthermore, it fits onto the movable finger 204 and is adapted to completely cover at least its open surface the end effector 200 during use, that is, to cover all parts exposed to the patient and the surgical site.

[0164] Advantageously, the first and second movable fingers 204 may be configured as hollow bodies.

[0165] This significantly reduces the overall weight of the End Effector 200.

[0166] Additionally, the hollow body may be adapted to accommodate additional components without increasing the overall dimensions of the end effector 200.

[0167] In this embodiment, the end effector 200 is manufactured as a standalone unit. This prevents risks associated with play and assembly.

[0168] Figure 5 shows an end effector system 300 according to one embodiment of the present invention.

[0169] The end effector system 300 may be used in combination with the surgical robot system 100 shown in Figures 1 and 2.

[0170] In such cases, each end effector system 300 is connected to the surgical, microsurgical, or ultra-microsurgical robotic arms 112, 114, respectively.

[0171] The end effector system 300 includes the end effector 200 described above, with reference to Figure 5.

[0172] Furthermore, the end effector system 300 includes a sterile drape 302, which is described further below.

[0173] As shown in Figure 5, the sterilization drape 302 is configured to cover the end effector 200.

[0174] Furthermore, the end effector system 300 includes a surgical instrument adapter 304.

[0175] In particular, the surgical instrument adapter 304 is configured to slide onto the draped first and second fingers 204 of the end effector 200 and to be locked in place by a locking mechanism (not shown), which will be further described below.

[0176] In this embodiment, the surgical instrument adapter 304 is substantially U-shaped.

[0177] A partially rounded recess 312 is formed proximal to the curved portion 314 of the U-shaped surgical instrument adapter 304.

[0178] In the illustrated embodiment, the curved portion 314 is thinner and has increased elasticity than the other parts of the U-shaped surgical instrument adapter 304 (Figures 5 and 7).

[0179] The surgical instrument adapter 304 is designed for a specific type or family of surgical instruments.

[0180] The surgical instrument adapter 304 may be configured to connect to a portion of at least one surgical instrument 116, 118 that is intended to be the human interface of the instrument.

[0181] The surgical instrument adapter 304 may be provided with labeling elements, such as print, QR codes, barcodes, and / or RFID codes or tags, to provide information about the adapter.

[0182] Alternatively, the surgical instrument adapter 304 may be configured to connect to a portion of at least one surgical instrument 116, 118 that is not intended as a human interface.

[0183] The surgical instrument adapter 304 includes connecting means 306, in this case a clip 306, for connecting at least one surgical instrument 116, 118 to the end effector 200 in a predetermined orientation.

[0184] For example, at least one surgical instrument 116, 118 can be positioned and held in place such that the longitudinal axis of at least one surgical instrument 116, 118 is aligned with the rotation axis of the end effector 200.

[0185] Alternatively, at least one surgical instrument 116, 118 can be positioned and held in place such that there is a slight offset of distance and / or angle between the longitudinal axis of at least one surgical instrument 116, 118 and the rotation axis of the end effector 200.

[0186] As a further alternative, at least one surgical instrument 116, 118 can be positioned and held in place such that there is a large offset between the longitudinal axis of at least one surgical instrument 116, 118 and the rotation axis of the end effector 200.

[0187] In the illustrated embodiment, the locking mechanism 308 of the surgical instrument adapter 304 includes a movable part that grips the fingers and drape by shape fitting (Figures 5, 7, and 8).

[0188] The structure of the locking mechanism 308 according to this embodiment is shown in detail in the cross-sectional views provided in Figures 8 and 9.

[0189] In this embodiment, the locking mechanism 308 has two movable arms 316, each having a first arm portion 318 and a second arm portion 320 located inside the first arm portion 318. The second arm portion 320 has a plastic outer layer 322, a silicone intermediate layer 324, and a metal inner layer 326. The inner layer 326 defines a void 328 (empty or unfilled space 328).

[0190] When the locking mechanism 308 is positioned to connect the instrument adapter 304 to at least one surgical instrument 116, 118 in their operating positions, the actuating force AF acts as shown in Figure 9 (see also the following description) to generate a resultant force RF, which locks the surgical instruments 116, 118. Thus, at least one surgical instrument 116, 118 is held stably in a fixed position at the desired position relative to the end effector 200.

[0191] The instrument adapter 304 has an instrument clip 306, which holds surgical instruments 116, 118 and can move relative to the instrument adapter 304 by a compliant connection, such as a live hinge.

[0192] The surgical instrument adapter 304 is configured to transmit the movement of the tips of the first and second fingers 204 of the end effector 200 to the at least one surgical instrument 116, 118 connected to the end effector 200, so that the at least one surgical instrument 116, 118 can be moved, thereby facilitating movement of the instrument in opening and closing, in addition to the six degrees of freedom of the at least one surgical instrument 116, 118.

[0193] In the illustrated embodiment, a space is defined between the intersection of the proximal ends of the surgical instruments 116 and 118 and the instrument adapter 304, and the end effector base 202 (Figures 4 and 5).

[0194] In other words, the aforementioned intersection does not come into contact with the end effector base 202.

[0195] The locking mechanism 308 is The first unlocked state, The second lock state, It is configured to switch between these states.

[0196] In the second locked state, the locking mechanism fixes the surgical instrument adapter 304 in place on the first and second fingers 204 of the end effector 200.

[0197] In the end effector system 300, a spring force may be generated from the sterile drape 302 as a result of the compression applied by putting the locking mechanism into a second locked state.

[0198] This makes it easier to keep the locking mechanism in place.

[0199] Alternatively, a spring force may be generated from the adapter 304 as a result of compression applied by putting the locking mechanism into a second locked state.

[0200] This makes it easier to keep the locking mechanism in place.

[0201] As a further alternative, a spring force may be generated from the sterile drape 302 as a result of the extension of the sterile drape 302, which is determined by putting the locking mechanism into a second locked state.

[0202] This makes it easier to keep the locking mechanism in place.

[0203] In the illustrated embodiment, the end effector system 300 has a live hinge 330 (Figure 6). The live hinge 330 arises from the fact that a 3D printed shell is used as the chassis. This is a single part with the design intent that there is no stick-slip effect in the hinge and no hysteresis in the hinge movement. Furthermore, there is no machining, and the shell is a "one-part shell". The hinge becomes part of the whole as a result of a portion where the wall thickness is reduced, allowing movement in precisely this portion of the shell, thereby forming the hinge.

[0204] The locking mechanism may be a bistable system that naturally prioritizes the unlocked state. In such a case, when the locking mechanism is placed on the draped end effector 200, the lock must be manually activated to lock the mechanism. This solution has the advantage of ensuring that the locking mechanism remains unlocked during placement, thereby preventing interference with handling.

[0205] Alternatively, the locking mechanism may be a bistable system that naturally prioritizes the locked state. This ensures that the locking mechanism automatically locks after deployment.

[0206] The locking mechanism can be switched between the locked and unlocked states using a locking tool.

[0207] Advantageously, the surgical instrument adapter 304 may be configured to hold additional surgical instruments.

[0208] For example, scissors can be added to any other surgical instrument to eliminate the need to change instruments, thereby reducing the overall time required to perform a complete anastomosis.

[0209] The surgical instrument adapter 304 is configured to maintain alignment between the longitudinal axis of at least one surgical instrument 116, 118 and the rotation axis of the end effector 200 during surgery.

[0210] The surgical instrument adapter 304 may be configured to hold at least one surgical instrument 116, 118 in a position during surgery where the longitudinal axis of at least one surgical instrument 116, 118 is offset by a predetermined angle with respect to the rotation axis of the end effector 200.

[0211] In this embodiment, the sterile drape 302 is a glove-shaped drape 302 that covers the end effector 200 (Figures 5 to 7).

[0212] This allows for a better fit of the sterile drape 302 to the shape of the end effector 200.

[0213] In particular, in the illustrated embodiment, the glove-like drape 302 and the end effector 200 have complementary shapes (Figure 5).

[0214] This has the advantage of preventing undesirable rotation of the sterile drape 302 and the end effector 200 relative to each other.

[0215] The sterile drape 302 may have a uniform thickness.

[0216] The sterilization drape 302, having a uniform thickness, has the advantage of being easier and cheaper to manufacture.

[0217] Alternatively, the sterile drape 302 may have local variations in thickness.

[0218] Although more expensive to manufacture, this solution has the advantage of significantly preventing ruptures and / or punctures.

[0219] The sterile drape 302 may be provided with a sealing interface (not shown).

[0220] The sealing interface may be configured to connect to other components of a surgical, microsurgical, or ultra-microsurgical robotic arm.

[0221] Alternatively, the sealing interface may be configured to connect to a sterile drape 302 covering a surgical, microsurgical, or ultramicrosurgical robotic arm.

[0222] Preferably, the sealing interface includes a circular lip.

[0223] Advantageously, the sterile drape 302 may be made of an insulating material.

[0224] During surgical procedures, microsurgery, or ultramicrosurgery, it is necessary to maintain the surface temperature of the end effector 200 and surgical instruments 116 and 118 at a temperature of less than 43°C.

[0225] The use of sterile drapes 302 made of insulating material makes it easier to maintain the surface temperature of the end effectors 200 and surgical instruments 116, 118 at an appropriate temperature of less than 43°C, compared to conventional thin bag-type drapes.

[0226] Additionally or alternatively, the sterile drape 302 may be made of an electrically insulating material.

[0227] This allows for easy and effective shielding of patient P from harmful currents without the risk of damaging the sterile barrier.

[0228] The sterile drape 302 may be a fixed assembly having other sterile drape portions (not shown) that cover the entire surgical robot. In this case, a single sterile drape covers the entire robot arm.

[0229] In particular, the glove-like drape 302 can be permanently attached to a sterile drape covering a robotic arm (not shown). The glove-like drape 302 can rotate freely around the rotation axis of the end effector 200 to its maximum angle or even endlessly.

[0230] Alternatively, sterile drape 302 may be separate from the other sterile drape portions that cover the entire surgical robot.

[0231] The end effector 200 may further include indicator means for indicating whether the locking means is in a first unlocked state or a second locked state.

[0232] In this embodiment, the indicating means includes an alignment element 310 that visually indicates whether the locking means is in a first unlocked state or a second locked state based on the alignment or misalignment between the surface of the alignment element 310 and the surface of the surgical instrument adapter 304.

[0233] Additionally or alternatively, the indicating means may include means for emitting visual and / or acoustic signals to the operator (not shown). [Explanation of Symbols]

[0234] 100 Surgical Robot Systems 102 Base station 104 Base Column 106 Display Module 108 Suspension Arm 110 Fork-shaped element 112 (First) Robotic arm for surgical, microsurgical, or ultramicrosurgical procedures 114 (Second) Robotic arm for surgical, microsurgical, or ultramicrosurgical procedures 116 Surgical instruments 118 Surgical instruments 120 wheels 200 End Effectors 202 End Effector Bass 204 Movable Fingers 300 End Effector System 302 Sterilized Drape 304 Surgical Instrument Adapter 306 Equipment Clip 308 Connection means (locking mechanism) 310 U-shaped alignment element 312 recess 314 Curved section of surgical instrument adapter 316 Clip Arm 318 First clip arm section 320 Second clip arm section 322 Outer layer (plastic) of the second clip arm 324. Second clip arm section, intermediate layer (silicone) 326 Inner layer (metal) of the second clip arm section 328 Empty space 330 Live Hinge B Bed M Microscope S1 The First Surgeon S2 The Second Surgeon P patient AF operating force RF resultant force

Claims

1. An end effector system for a robotic arm used for surgical, microsurgical, or ultra-microsurgical procedures, - An end effector comprising at least an end effector base and first and second movable fingers, - A sterile drape configured to cover the first and second movable fingers of the end effector, - A surgical instrument adapter configured to slide on the first and second movable fingers of the end effector to which the sterile drape is attached, and to be locked in place by a locking mechanism, It has at least the following features: The first and second movable fingers are a first movable finger and a second movable finger extending from the end effector base, configured and adapted to hold and manipulate at least one surgical instrument. The surgical instrument adapter includes a clip for the at least one surgical instrument to hold the at least one surgical instrument in a predetermined orientation relative to the end effector, and An end effector system in which the surgical instrument adapter is configured to transmit the movement of the tips of the first and second movable fingers of the end effector to the at least one surgical instrument, thereby operating the at least one surgical instrument.

2. The end effector system according to claim 1, characterized in that the first and second movable fingers of the end effector are configured as hollow bodies.

3. The locking mechanism, - The first unlocked state, - A second locked state in which the surgical instrument adapter is fixed in place on the first and second movable fingers of the end effector, It is configured to switch between the two states. The end effector system according to claim 1, characterized by the above.

4. As a result of the compression applied by putting the locking mechanism into the second locked state, a spring force is generated from the sterilization drape, and together they maintain the locking mechanism in place. The end effector system according to claim 3, characterized by the above.

5. As a result of the compression applied by putting the locking mechanism into the second locked state, a spring force is generated from the surgical instrument adapter, and together they maintain the locking mechanism in place. The end effector system according to claim 3, characterized by the above.

6. As a result of the extension of the sterilization drape, which is determined by putting the locking mechanism into the second locked state, a spring force is generated from the sterilization drape and works together to maintain the locking mechanism in place. The end effector system according to claim 3, characterized by the above.

7. The surgical instrument adapter is configured to hold additional surgical instruments. The end effector system according to claim 1, characterized by the above.

8. The surgical instrument adapter is configured to maintain alignment between the longitudinal axis of the at least one surgical instrument and the rotation axis of the end effector during surgery. The end effector system according to claim 1, characterized by the above.

9. The surgical instrument adapter is configured to hold the at least one surgical instrument in a position during surgery where its longitudinal axis is offset by a predetermined angle with respect to the rotation axis of the end effector. The end effector system according to claim 1, characterized by the above.

10. The sterile drape includes a sealing interface configured to connect to other parts of the robot arm or to the sterile drape covering the robot arm. The end effector system according to claim 1, characterized by the above.

11. The locking mechanism further includes an indicator element for indicating whether it is in the first unlocked state or the second locked state. The end effector system according to claim 3, characterized by the above.

12. The indicator element includes an alignment element that visually indicates whether the locking mechanism is in the first unlocked state or the second locked state by the alignment or misalignment between the surface of the alignment element and the surface of the surgical instrument adapter, and / or means for the indicator element to emit visual and / or acoustic signals to the operator. The end effector system according to claim 11, characterized by the above.

13. A robotic arm for surgical, microsurgical, or ultramicrosurgical procedures, comprising the end effector system according to any one of claims 1 to 12.

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