Ergonomic robotic system for laparoscope positioning and manipulation

Abstract

The present invention relates to a robotic system (100) for laparoscope (6) manipulation during minimally invasive surgeries. The system comprises a movable base (1), a vertical column (3) with a curved configuration to shift the centre of mass for stability, and a SCARA system (4) that cooperates to align the Remote Center of Motion (RCM) (5). The system provides seven degrees of freedom, including vertical motion (7), horizontal motion (8, 9), and RCM-based pitch (11), yaw (10), roll (13), and zoom (12). At the distal end, a clamp securely holds the laparoscope (6) while allowing controlled roll, and an actuated cleaning module (19) enables in-situ cleaning without removal. A guiding ring (20) assists linear alignment, while interchangeable clamps permit use with various surgical tools. The foldable design reduces volumetric space by up to 50%, enhancing portability, precision, and efficiency in surgical operations.

Description

[0001] TITLE: ERGONOMIC ROBOTIC SYSTEM FOR LAPAROSCOPE POSITIONING AND MANIPULATION

[0002] CROSS REFERENCE

[0003] The patent application claims the priority date benefit of Indian Patent Application no. 202431069690 filed on Sep 14, 2024.

[0004] FIELD OF THE INVENTION

[0005] This invention pertains to the field of robotic surgical assistance targeting laparoscopic and endoscopic surgeries. It involves the use of robotic mechanisms to manipulate laparoscopes and endoscopes with high precision and ease, assisting surgeons in maintaining the laparoscope’s position and orientation during various surgical procedures.

[0006] BACKGROUND OF THE INVENTION

[0007] In the rapidly advancing field of robotics, automation has permeated many sectors, including healthcare. Laparoscopic surgeries, which are part of minimally invasive surgeries (MIS), have revolutionized patient care by reducing recovery times, minimizing scarring, minimising post trauma and pain and reducing blood loss. However, the current method of holding and manipulating laparoscopes often leads to fatigue in both the surgeon and the assistant.

[0008] Existing technologies, although functional, fall short in providing the level of stability, precision, and fatigue resistance required during long surgical procedures. Existing robotic laparoscope manipulators are often complex, cumbersome, or difficult to operate. There is a significant need for a solution that combines simplicity, precision, and ease of control in a robust and agile machine, enabling surgeons to focus on the procedure without worrying about manual errors or instrument instability.

[0009] Various patent and non-patent literatures were evaluated however they lack the solution to this problem, rather they are providing sophisticated devices and systems which are difficult to implement and not economical.

[0010] The inventors in the present invention have developed a solution which addresses these shortcomings by providing a robotic manipulator with a simplified control system that actively listens and responds to the surgeon’s commands, precisely controlling the laparoscope’s position with sub-millimeter accuracy. It aims to reduce surgeon fatigue, eliminate vibrations, and provide smoother control over laparoscopic movements.

[0011] OBJECT OF THE INVENTION

[0012] The primary object of the present invention is to provide a robotic system for laparoscope manipulation with simplified controls, specifically designed to assist surgeons during minimally invasive surgeries. The system aims to enhance surgical precision, efficiency, and ergonomics by addressing key limitations in existing manual and semi-robotic laparoscopic techniques.

[0013] A further object of the invention is to develop a smart, stand-alone robotic manipulator capable of precisely controlling the laparoscope’s position and orientation in response to the surgeon's commands, eliminating the need for human assistance during surgery.

[0014] Yet another object of the present invention is to offer a robotic system with multi-degree freedom of motion that maintains accuracy within less than a millimeter, ensuring precise laparoscopic manipulation and minimizing the impact of vibrations during long surgeries.

[0015] Another object of the present invention is to provide an intuitive and simplified control interface for surgeons, allowing easy manipulation of the robotic system while reducing physical and mental strain during procedures.

[0016] Yet another object is to design a system compatible with various types of laparoscopes and endoscopes, allowing its use in a wide range of minimally invasive surgeries, including gastrointestinal, urological, gynecological, and thoracic surgeries.

[0017] A further object of the present invention is to provide an innovative cleaning module for the laparoscope that can be automatically or manually operated during surgery, ensuring a clear view for the surgeon without requiring additional instruments or interruptions.

[0018] Another object is to reduce surgeon fatigue and increase overall procedural efficiency by eliminating the need to manually hold or adjust the laparoscope, especially during long, complex surgeries.

[0019] Yet another object of the present invention is to provide an innovative clamping and zoomroll module for the laparoscope that holds the laparoscope in place yet allows the laparoscope to roll along its longitudinal axis. The clamp mechanism uses a disposable / sterilizable knob that is in contact with the endoscope maintaining sterile / non-sterile environment separation.

[0020] In another system, the clamp mechanism does not have a disposable / sterilizable knob and the sterile / non-sterile environment separation is done through the drape.

[0021] A further object of the invention is to modify the robotic system by providing compatible clamps for various surgical and relevant tools that requires precise controlling of the tool’s position and orientation in response to the surgeon's or the medical practitioner's commands, eliminating the need for human assistance during any medical procedure and thus enhancing the robotic system’s intended use.

[0022] Yet another object of the present invention is to make the system cost-effective and easy to operate, enabling adoption in various healthcare settings, including hospitals and surgical centers, thereby improving access to advanced robotic assistance in surgery.

[0023] SUMMARY OF THE INVENTION

[0024] The present invention is a robotic system designed to assist in laparoscopic surgeries by simplifying the control mechanism for manipulating the laparoscope. The present invention also seeks to revolutionize laparoscopic surgeries by integrating advanced robotic technology, ensuring precision, stability, and ease of operation, ultimately enhancing patient outcomes and surgeon efficiency.

[0025] The system comprises a base with manual locking castor wheels, a vertically adjustable base column, and a two link SCARA system (Selective Compliance Assembly Robot Arm) that ensures accurate movement in the horizontal plane. The system also includes a Remote Center of Motion (RCM) maintaining sub-system that facilitates precise movement of the laparoscope with respect to the RCM. The robotic system can be easily adjusted to different heights and angles, ensuring consistent, fatigue-free positioning of the robot around the patient before the surgery.

[0026] The system according to the present invention incorporates a movable base and a unique vertical column which enables an optimised center of gravity for easy positioning and a compact folded position for easy stowability. The system also comprises a cleaning mechanism that helps clean the laparoscope during the surgery as well as a unique clamping mechanism compatible with different laparoscopes while providing sterility and rotation to the laparoscope along its axis

[0027] BRIEF DESCRIPTION OF DRAWINGS

[0028] The invention will be better understood and objects other than those set forth above will become apparent when consideration is given to the following description thereof. Such description makes references to the annexed drawings wherein:

[0029] Figure 1: Basic skeleton of the floor mounted robotic system (100) highlighting the various important components.

[0030] Figure 2: Basic skeleton of the floor mounted robotic system (100) highlighting the various Degrees of Freedom of the system.

[0031] Figure 3: Image showing axis of insertion

[0032] Figure 4: Cleaning Mechanism of the robotic system (100) Endoscope / Laparoscope during the surgery:

[0033] (a) The endoscope / laparoscope retracting,

[0034] (b) endoscope / laparoscope rotating to align with the cleaning module,

[0035] (c) endoscope / laparoscope inserting into the cleaning module.

[0036] Figure 5: Cleaning mechanism where the endoscope / laparoscope aligns itself to the cleaning module, (a & d) endoscope / laparoscope retracting, (b & e) endoscope / laparoscope rotating as shown to align with the fixed cleaning module, (c & f) endoscope / laparoscope entering the cleaning module.

[0037] Figure 6: Cleaning mechanism where the cleaning module mounted on the endoscope holder aligns itself to the endoscope / laparoscope, (a & d) endoscope / laparoscope retracting, (b & e) cleaning module rotating as shown to align with the endoscope / laparoscope, (c & f) endoscope / laparoscope entering the cleaning module.

[0038] Figure 7: Cleaning module possible locations, (21) inside the patient body, (22) outside between the cannula and the patient body wall, (23) on the endoscope holder as shown.

[0039] Figure 8: Scope Clamping and Zoom-Roll Unit. Figure 9: Break down of the Scope Clamping and Zoom-roll Unit explaining the Zoom-Roll Mechanism.

[0040] Figure 10: Break down of the Scope Clamping and Zoom-roll Unit explaining the Clamping Mechanism

[0041] Figure 11: Completely folded / homing position of the floor mounted robotic system (100).

[0042] DESCRIPTION OF THE INVENTION

[0043] The following description is merely exemplary in nature and is not intended to limit the described embodiments or the application and uses of the described embodiments. This description is not intended to be a detailed catalogue of all the different ways in which the invention may be implemented, or all the features that may be added to the instant invention. For example, features illustrated with respect to one embodiment may be incorporated into other embodiments, and features illustrated with respect to a particular embodiment may be deleted from that embodiment. In addition, numerous variations and additions to the various embodiments suggested herein will be apparent to those skilled in the art in light of the instant disclosure, which do not depart from the scope of the instant invention. Hence, the following descriptions are intended to illustrate some particular embodiments of the invention, and not to exhaustively specify all permutations, combinations, and variations thereof.

[0044] The terms “for example” and “such as,” and grammatical equivalences thereof, the phrase “and without limitation” is understood to follow unless explicitly stated otherwise.

[0045] As used herein, the term “about” is meant to account for variations due to any experimental errors which may be commonly accepted in the field for a numeric value, for example such a variation can be considered as a ±10% of the said numeric value. All measurements reported herein are understood to be modified by the term “about,” whether or not the term is explicitly used, unless explicitly stated otherwise. Further for the purposes of the present invention, ranges may be expressed as from “about” one particular value to “about” another particular value. When such a range is expressed, another embodiment includes from the one particular value to the other particular value. The recitation of numerical ranges by endpoints includes all the numeric values subsumed within that range. As used herein, the singular forms “a”, “an”, and “the” include plural referents unless the context clearly dictates otherwise.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Methods and materials are described herein for use in the present disclosure; other suitable methods and materials known in the art can also be used. The materials, methods and examples are illustrative only and not intended to be limiting by any means. All publications, patent applications, patents and other references mentioned herein are incorporated by reference in their entirety. In case of a conflict, the present specification, including definitions, will control.

[0047] Throughout this specification, unless the context requires otherwise the word “comprise”, and variations such as “comprises” and “comprising”, will be understood to imply the inclusion of a stated element or step or group of elements or steps but not the exclusion of any other element or step or group of elements or steps.

[0048] The term “including” is used to mean “including but not limited to”, “including” and “including but not limited to” are used interchangeably.

[0049] As used herein, the phrases “robotic system” or “system” is used interchangeably and refers to the robotic system (100), which is to use for manipulation of different types of surgical devices not limited to but including an endoscope or a laparoscope and many other similar surgical instruments / equipments to be used for surgery or visualisation of internal organs.

[0050] The present invention provides a floor mounted robotic system (100) for laparoscope or endoscope manipulation with simplified controls. The said system comprises of: a base (1), a base column (2), a vertical column (3), a SCARA (Selective Compliance Assembly Robot Arm) system (4), an RCM (Remote Center of Motion) maintaining a sub-system (5), for precise manipulation of the laparoscope or endoscope (6) in four degrees of freedom during the surgery. In one aspect of the above embodiment, in the said system (100) the base (1) is provided with castor wheels for mobility, including locking mechanisms manual or electronically actuated for stability during surgery. The base column (2), which supports the vertical column (3), is mounted on linear guides allowing vertical motion. The vertical column (3) houses actuators that provide the necessary movement for the SCARA Arm 1 (4. 1). The SCARA system (4) in turn houses actuators that control the necessary movement of SCARA Arm 2 (4.2) and the RCM maintaining sub-system . The unique shape of the vertical column (3) ensures optimal stability by keeping the center of gravity close to the base (1).

[0051] In one aspect of the above embodiment the said a vertical column (3) design that shifts the center of mass towards the base, enhances system stability.

[0052] In yet another aspect of the above embodiment the degrees of freedom divided into vertical (7), horizontal (8)(9) i.e. movements of SCARA Arm 1 (4.1) and SCARA Arm 2 (4.2), and RCM motion sets i.e. Yaw (10), Pitch (11), Zoom (12), and Roll (13), each independently controlled degree of freedom.

[0053] In another aspect of the above embodiment, the height variation through the vertical degree of freedom (7) and the horizontal positioning of SCARA (4) through (8) and (9) degrees of freedom, is to position the RCM of the robotic system (100), to the desired location on the patient’s body. Once the positioning is completed these three degrees of freedom are locked and are not active during the surgery.

[0054] In some related embodiments the unique design of the vertical column (3) also allows for rapid and easy manufacturing, ease of assembly of the components, easy mounting of the relevant components, and ease of routing the wires internally.

[0055] In yet another embodiment, the unique design of the vertical column (3) and the system (100), allows a unique homing orientation of the system when not in use, enhancing the system folding capabilities, reducing the overall acquisition of the space by 50%. This also ensures easy transportability across the OTs and floors.

[0056] In yet another embodiment the system (100) according to the present invention is enabled by the SCARA System for Horizontal Movement of the arm.

[0057] In one aspect of the above embodiment the SCARA system (4) allows rapid and accurate positioning of the Remote Center of Motion (RCM) (5) in the horizontal plane. The two horizontal arms i.e. first arm (4.1) and the 2ndarm (4.2) enable the precise location of the laparoscope at the surgical incision, and the system’s design ensures minimal deviation in motion. The SCARA’s (4) design allows for rapid, accurate positioning of the RCM during surgical setup, improving efficiency.

[0058] In yet another embodiment the system (100) according to the present invention has a Remote Center of Motion (RCM) Maintaining System (5).

[0059] In one aspect of the above embodiment the RCM maintaining sub-system (5) includes a Double Parallelogram Mechanism (DPM) that controls the pitch (11) of the laparoscope. The RCM maintaining sub-system (5) controls the yaw (10), the pitch (11), roll (13) and the linear actuation (12) i.e. the zoom ofthe laparoscope. The RCM maintaining sub-system (5) ensures that the laparoscope maintains its alignment with the patient’s body about the RCM while allowing precise adjustments. The RCM maintaining sub-system (5) also houses a laparoscope Holding sub-system (16) that enables the roll (13) and the linear actuation or zoom (12) ofthe laparoscope as mentioned above. The Laparoscope Holding sub-system (16) as a part of the RCM maintaining sub-system (5) houses a Scope Clamping and Zoom-roll unit (18) that holds the laparoscope firmly but allows rotation along the axis of insertion (14) i.e. roll (13) as mentioned above.

[0060] In another aspect of the above embodiment the DPM links that control the pitch (11), are uniquely separated to provide the gap for the endoscope / laparoscope (6) to be housed and controlled between the DPM links.

[0061] The unique Scope clamping and Zoom-roll unit (18), uses a coupled mechanism which when actuated by two sets of actuators, separately actuates zoom (12) and roll (13). The actuators when actuated in a particular direction locks the roll (13) degree of freedom and allows only the zoom (12) degree of freedom, and in another particular direction, locks the zoom (12) degree of freedom and allows only the roll (13) degree of freedom.

[0062] In one aspect of the above embodiment the said holding system (16) includes a modular scope clamping and Zoom-Roll Unit (18) that can accommodate endoscopes / laparoscopes (6) of various diameters. The guiding ring (20) ensures linear motion along the axis of insertion (14). A cleaning module (19) is also incorporated, which can either align with the endoscope / laparoscope (6) or be moved into position for cleaning during surgery. In some embodiments according to the present invention the robotic system (100) is further coupled with a cleaning module (19) which comes handy when used for cleaning the laparoscope during the surgery.

[0063] In one aspect of the above embodiment the cleaning module (19) can be positioned either outside or inside the abdominal cavity.

[0064] In one exemplary configuration, the endoscope / laparoscope (6) retracts, changes its axis, and aligns with the cleaning module (19) for cleaning. Alternatively, the cleaning module (19) moves to align itself with the laparoscope (6) for rapid cleaning. A cleaning module is deployed either inside the patient body (21) just between Cannula (15) and the patient body, or on the Laparoscope Holding Subsystem (16), depending on the requirement.

[0065] In yet another aspect of the above embodiment the said cleaning module (19) enables for the movement of the laparoscope (6) off-axis for cleaning or moves the cleaning module into alignment.

[0066] In a further aspect of the above embodiment the said a cleaning system (19) actuated automatically or manually, enabling rotation and axial movement for cleaning.

[0067] In another aspect of the above embodiment the system (100), is conveniently controlled by the surgeon, either by foot pedal or by bed-side mounted controller or by a surgical tool mounted controller or by voice commands, but not limited to these.

[0068] In one embodiment, the robotic system (100) comprises a controller that may be configured as an on-tool controller mounted directly on the surgical instrument, such as the endoscope (6) or laparoscope (6), or as an off-tool controller positioned externally and operable by the surgeon or assistant. The controller enables fine control of pitch (11), yaw (10), roll (13), and zoom or linear actuation (12) of the instrument with respect to the RCM (5), post accurate positioning of the RCM to the cannulae.

[0069] Some of the exemplary applications of the robotic system (100) according to the present invention are provided herein below as:

[0070] - Applicable to laparoscopic surgeries, including gastrointestinal, urological, gynecological, thoracic, and thyroid surgeries.

[0071] Can be used to mount rigid or flexible laparoscopes for minimal access surgery or diagnostic procedures. - Applicable for mounting surgical tools in semi-robotic or robotic procedures. Can also be utilized for mounting surgical microscopes in open surgeries. Suitable for diagnostic equipment mounting, such as ultrasound probes.

[0072] Some of the key attributes of the robotic system that also distinguish the said system over other existing products includes multi-degree freedom for accurate movement, Stability mechanisms to eliminate vibration, Ease of use and mobility around the surgical area, a modular clamp for holding and incorporating roll motion, a cleaning module for the endoscope / laparoscope. EXAMPLE

[0073] The following examples include only exemplary embodiments to illustrate the practice of this disclosure. It will be evident to those skilled in the art that the disclosure is not limited to the details of the following illustrative examples and that the present disclosure may be embodied in other specific forms without departing from the essential attributes thereof, and it is therefore desired that the present embodiments and examples be considered in all respects as illustrative and not restrictive. The examples are described herein below with reference to the drawings in which like reference numerals designate or corresponding elements in each of the several views.

[0074] Components and reference numerals for robotic system (100):

[0075] Example 1: System Setup and Initial Positioning (As shown in Figures 1, 2 and 3)

[0076] Before starting the surgery, the robotic system is brought closer to the operating table. As shown in Figure 1 or 2, the system is securely clamped to the surgical table, and its castor wheels are locked to prevent unwanted movement. To adjust the system to the required height, the vertical motion mechanism (7) is used which is electronically actuated. The SCARA system (4), composed of two arms (4.1) and (4.2), which are then manually or through the HMI interface manipulated to align the Remote Center of Motion (RCM) with the desired incision point on the patient's body. The SCARA system (4) operates in the horizontal plane, allowing the RCM to move horizontally by changing the orientation of arms through (8) and (9) (depicted in Figure 2). Once the RCM is aligned with the incision point, both the vertical motion mechanism (7) and the SCARA system, (8) and (9), are electronically and mechanically locked to secure the setup for surgery. At this stage, the endoscope / laparoscope is attached to the holding system (16) as shown in Figure 3 and Figure 8. The cannula (15) is connected to the laparoscope holding system (16) using the cannula connector (17), which ensures that the axis of insertion (14) remains in line with the endoscope / laparoscope (6). The entire system is now ready for precise manipulation of the endoscope during surgery.

[0077] Example 2: Endoscope Manipulation and Movement (As shown in Figure 1, 2, 3, 4 & 8)

[0078] Once the system is set up, the RCM maintaining system (5) takes control of the endoscope's / laparoscope’s orientation with respect to the RCM. The endoscope / laparoscope (6) can perform various manipulations including yaw (10), pitch (11), linear translation (or zoom) (12) along the axis of insertion (14), and roll (13), as depicted in Figure 2.

[0079] The endoscope / laparoscope (6) is securely held in place by the scope clamping and zoom-roll unit ( 18), shown in Figure 3 and Figure 8, which prevents any relative motion with the clamp along the axis of insertion (14). The cross-section of the clamp is shown in Figure 10. However, the scope clamping and zoom -roll unit (18) allows for rotational movement (roll) (13) along the axis of the endoscope, ensuring controlled manipulation during surgery. A guiding ring (20) helps maintain the linear motion along the axis of insertion, ensuring precise movements.

[0080] Example 3: Cleaning Mechanism (1) - Endoscope Aligns with the Cleaning Module (As shown in Figure 4 and 5)

[0081] During surgery, when the endoscope / laparoscope needs cleaning, the system initiates a retraction sequence. As shown in Figure 4 and Figure 5, the endoscope / laparoscope retracts out of the guiding ring (20) and rotates to align with the cleaning module ( 19) . In this example, the endoscope first retracts (Figures 5(a) and 5(d)), then rotates (Figures 5(b) and 5(e)) and align itself in the line of the cleaning module (19), and finally enters the cleaning module (19) (Figures 5(c) and 5(f)) to clean the lens). Once cleaned, the endoscope / laparoscope returns to its original position for continued use in the surgery.

[0082] Example 4: Cleaning Mechanism (2) - Cleaning Module Aligns with the Endoscope (As shown in Figure 6)

[0083] In an alternate cleaning sequence, as shown in Figure 6, the cleaning module (19) aligns with the endoscope. The endoscope / laparoscope retracts from the guiding ring (20) (Figures 6(a) and 6(d)). Next, the cleaning module (19) moves and rotates to align itself with the endoscope / laparoscope (Figures 6(b) and 6(e)). The endoscope then enters the cleaning module (Figures 6(c) and 6(f)), where the tip is cleaned, before returning to its original position.

[0084] Example 5: Various Cleaning Module Positions (As shown in Figure 7)

[0085] The cleaning module's positioning can vary based on surgical requirements, as shown in Figure 7. The cleaning module can be deployed in multiple configurations:

[0086] - Figure 7 (21) shows the cleaning module deployed inside the insufflated patient body (24), allowing for rapid cleaning during surgery.

[0087] - Figure 7 (22) shows the cleaning module positioned just outside the patient body near the cannula opening, enabling quick access for cleaning.

[0088] - Figure 7 (23) depicts the cleaning module attachment to the endoscope / laparoscope holding system, a setup more aligned with the cleaning mechanism described in previous examples.

[0089] These positions highlight the versatility of the cleaning module, which is also crucial for surgery.

[0090] Example 6.1: Clamping and zoom-roll unit for Endoscope / Laparoscope (As shown in Figure 8)

[0091] Figure 8, shows the Clamping and zoom -roll unit ( 18) in the Laparoscope / endoscope holding subsystem (16). It consists of two actuators, which when actuated together gives coupled motion. The actuators are placed underneath the lead screws, one right-handed (26) and the other left-handed (25). It also houses the endoscope clamping and zoom roll unit (18). The endoscope Clamping Mechanism also has a quick release button (27). The knob (28) is rotated to grab the endoscope and the quick release button (27), is used to release the endoscope in case of emergency. The endoscope can also be released by turning the knob (28) in the opposite direction.

[0092] Example 6.2: Clamping and zoom-roll unit for Endoscope / Laparoscope to incorporate zoom and roll motion

[0093] Figure 9 (a) and (b), shows the internal of Clamping and Zoom-Roll unit (18). The driving gears (29)(30) are mounted on the respective lead screw nuts. The driving gears (29)(30), rotates the two sets of idler gear (31), which in turn rotates the two sets of driven gear (32). When the left-handed lead screw (25) and the right-handed lead screw (26) is rotated in the clock-wise rotation for example. The linear translation is restricted, since both the lead screws are trying to move the unit ( 18) in opposite directions . But the same clock-wise motion rotates i.e. roll (13) the clamped endoscope in clockwise direction since the driving gears (29)(30) are rotating in clock-wise direction which in turn rotates the idler gears (31) in anticlockwise direction, that in turn rotates the driven gears (32) in clock-wise direction and vice versa. When both the lead screws are rotated in opposite directions, the roll (13) is restricted due to locking of internal gears, but the opposite handedness of lead screws translates the unit (18) in the particular direction i.e. zoom (12).

[0094] Example 7: Clamping and zoom-roll unit for Endoscope / Laparoscope to incorporate clamping mechanism (As shown in Figure 8, 9 and 10)

[0095] Figure 10, shows the cross-section of the clamping and zoom -roll unit (18). When the knob (28), is rotated over the threaded-core (35) the flexible part in the knob i.e. the leaf (33) slides over the wedge of the main core (34) and grabs on to the endoscope (6) and locks the endoscope relative to the knob (28). The driven gears (32), the threaded-core (35) and the main core (34) are assembled in such a way that they rotate together hence rotating the endoscope and incorporating roll (13). During the surgical procedure, when in case of emergency, provision of Quick-Release button (27) is given. When the spring loaded quickrelease button (27), is pushed down against the spring, the angled surface on the quick release button (27) slides over the angled surface on the main core (34), and the spring-loaded main core (34) is pulled away from the knob (28) against the spring. The leaf (33) in the knob (28) loses its grip over the endoscope, since the wedge of the main core (34) slides away, and the endoscope is free to come out. When the quick release button (27) is released back, the main core (34) comes back to its original position, which in turn pushes the leaf (33) against the endoscope hence grabbing the endoscope again. In a non-emergency case, the knob (28) can also be rotated in the reverse direction to free the endoscope (6).

[0096] Example 8: Completely folded / homing position of the robotic system (As shown in Figure 11)

[0097] After the surgery or during the idle condition, the robotic system folds itself to acquire 50 % lower volumetric space as compared to when it's fully functional. This enhances the system’s stowability and allows for rapid deployment and packaging of the system.

Claims

CLAIMS:

1. A robotic system ( 100) for laparoscope manipulation during minimally invasive surgery, comprising: a. a movable base (1); b. a vertical column (3) that slides on the base (1), enabling vertical linear motion and having a curved or angled shape that shifts the centre of mass closer to the rear of the system (away from the SCARA system (4)) for stability; c. the robotic system has seven degrees of freedom, divided into: i. vertical motion set (7) that enables motion of the Remote Center of Motion (RCM) (5) in the vertical direction; ii. horizontal motion set (8)(9) that enables motion of the RCM in the horizontal plane; and iii. RCM motion set that allows pitch (11), yaw (10), roll (13), and zoom (12) of the laparoscope (6) with respect to the RCM; d. a scope clamping and zoom-roll unit (18) mounted at the distal end of the system, configured to hold the laparoscope (6), preventing relative motion along the longitudinal axis of the scope with respect to the clamping unit (18), while allowing rotation about its axis (13); e . an actuated or locked cleaning module (19) attached to the distal end, that allows for cleaning of the endoscope or laparoscope (6) during the surgery without the need of complete removal of the laparoscope or endoscope (6); f. different control modules that allow the manipulation of the robotic system (100), including but not limited to: i. control panel interface operatively connected to the robotic arm 2 (4.2), allowing an assistant / surgeon to position the RCM (5) of the robotic system to the cannulae (15) with high precision also known as admittance control; ii. HMI integrated to the base of the robotic system (100), allowing an assistant / surgeon to position the RCM (5) of the robotic system (100) to the cannulae (15) with high precision electronically; and iii. controller, that can be mounted next to the surgeon during the surgery and is used by the surgeon for fine control of the endoscope (6) or thelaparoscope (6) for pitch (11), yaw (10), roll (13), and zoom or linear actuation (12) axial translation of the laparoscope with respect to the RCM, post accurate positioning of the RCM of the robotic system to the cannulae.

2. The robotic system ( 100) of claim 1 , wherein the scope clamping and zoom -roll unit (18) is configured to be easily engaged and disengaged, allowing quick release and easy installation of the scope clamping unit (18) as compliant with the outer diameter of the laparoscope or the endoscope (6).

3. The robotic system ( 100) of claim 2, wherein the scope clamping and zoom -roll unit (18) is configured to be easily engaged and disengaged, for quick release and easy installation of the different laparoscope or endoscope (6) during surgery if needed.

4. The robotic system ( 100) of claim 2, wherein the scope clamping and zoom -roll unit (18) can be subdivided into disposable and non-disposable components, wherein after the surgery the disposable components can be discarded and replaced with a new set for next surgery.

5. The robotic system ( 100) of claim 2, wherein the scope clamping and zoom -roll unit (18) uses a coupled mechanism inside the unit (18) which when actuated by two sets of actuators, separately actuates zoom (12) and roll (13). The actuators when actuated in a particular direction locks the roll (13) degree of freedom and allows only the zoom (12) degree of freedom, and in another particular direction, locks the zoom (12) degree of freedom and allows only the roll (13) degree of freedom.

6. The robotic system (100) of claim 1, wherein the controller is configured as either an on- tool controller mounted on the surgical instrument itself, operable by the surgeon without removing the grip from the instrument, or an off-tool controller (31) positioned externally and operable by the surgeon or assistant, both configured for fine control of the endoscope (6) or laparoscope (6) for pitch (11), yaw (10), roll (13), and zoom or linear actuation (12) with respect to the RCM (5), post accurate positioning of the RCM to the cannulae.

7. The robotic system ( 100) of claim 1 , further comprising a mechanism to lock or stabilize the clamping unit (18) to prevent unintended motion, ensuring precise laparoscope (6) positioning during surgery.

8. The robotic system (100) of claim 1, wherein the cleaning mechanism (19) comprises a spray nozzle for dispensing cleaning fluid and a wiper or airflow system or a swab for clearing the lens of the laparoscope (6).

9. The robotic system (100) of claim 1, wherein the cleaning mechanism (19) is actuated based on image quality detection, the actuation being automatically triggered when the clarity of the image degrades.

10. The robotic system (100) of claim 1, wherein the cleaning module (19) is detachable for ease of maintenance or sterilization or can be replaced between surgical procedures.

11. The robotic system (100) of claim 1, wherein the control interface allows manual activation of the cleaning mechanism, providing the surgeon with real-time control over the cleaning process during surgery.

12. The robotic system (100) of claim 1, wherein the cleaning mechanism (19) rotates or translates to aligns with the axis of the endoscope or laparoscope (6) axis post autoretraction from the guiding ring (20), and the laparoscope or the endoscope (6) subsequently enters the cleaning module (19) for cleaning the lens.

13. The robotic system (100) of claim 1, wherein laparoscope or the endoscope (6) rotates or translates to aligns with the axis of the cleaning module’s (19) axis post auto-retraction from the guiding ring (20), and then enters the cleaning module (19) for cleaning the lens.

14. The robotic system (100) of claim 1, wherein the cleaning module (19) is deployable in multiple positions including: inside the patient body (24), just outside the patient body near the cannula (15) opening and attached to the endoscope / laparoscope holding system (16).

15. The robotic system (100) as claimed in claim 1, wherein the system is configured with interchangeable scope clamping units (18) compatible with a range of surgical and diagnostic tools other than the laparoscope (6), the clamps being adapted to precisely control the position and orientation of tools in response to commands from the surgeon or medical practitioner, thereby eliminating the need for human assistance and enhancing the versatility of the system, wherein the applications includes: a. laparoscopic surgeries such as gastrointestinal, urological, gynecological, thoracic, and thyroid procedures;b. mounting of rigid or flexible laparoscopes for minimal access surgery or diagnostic procedures; c. mounting of surgical tools for semi-robotic or robotic procedures; d. mounting of surgical microscopes for open surgeries; and e. mounting of diagnostic equipment such as ultrasound probes or scanning devices for visual diagnostic procedures.

16. The robotic system (100) as claimed in claim 1, wherein the system utilises its multiple degrees of freedom and subsystem configuration to sequentially orient components into a homing position, thereby forming a foldable arrangement that reduces its volumetric space by up to 50% compared to its fully deployed configuration, enhancing stowability, ease of transport, and rapid deployment of the system.

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