Adapter device for connecting a surgical instrument and robotic system for surgery

Abstract

The invention relates to an adapter device (1) for connecting a surgical instrument (2) to a robotic system which is incompatible for the surgical instrument (2), comprising an adapter housing (3), a series of first transmission elements (5) on a side surface of the adapter housing (3) for connecting to drives (14) of the robotic system, a series of second transmission elements (6), mechanically connected to the first transmission elements (5), for connecting to outputs (7) of the surgical instrument (2), and a mechanical transmission (8) arranged within the adapter housing (3) between at least one of the first transmission elements (5) and at least one of the second transmission elements (6). The invention also relates to a robotic system for surgery comprising an adapter device (1).

Description

ARTS GmbH KP-1571 -24018-WO Adapter device for connecting a surgical instrument and a robotic system for surgery

[0001] The invention relates to an adapter device for connecting a surgical instrument to a robotic system incompatible with the surgical instrument, comprising an adapter housing, a series of first transmission elements for connecting to drives of the robotic system on a side surface of the adapter housing and a series of second transmission elements mechanically connected to the first transmission elements for connecting to outputs of the surgical instrument.

[0002] Furthermore, the invention relates to a robotic system for surgery, comprising a first surgical instrument with drives and a first end effector mechanically connected to the drives, a drive unit with drives for a second surgical instrument with a second end effector, a control unit designed to deflect the second end effector by means of the drives, an adapter device arranged between the surgical instrument and the drive unit with a series of first transmission elements connected to the drives of the drive unit, and a series of second transmission elements mechanically connected to the first transmission elements and connected to the drives of the first surgical instrument.

[0003] Manual laparoscopic surgery uses instruments with a long shaft. An end effector (e.g., a grasper or scissors) is located at the distal end, while the handle is at the proximal end. The handle incorporates a mechanism to control the end effector. However, handling such instruments is challenging because they are inserted into the patient's body through a small incision, severely restricting their maneuverability. Furthermore, orientation is problematic for the surgeon, as the endoscope's field of view typically differs from the actual field of vision and must be compensated for. ARTS GmbH KP-1571 -24018-WO

[0004] Telemanipulators have been used successfully for many decades in a wide variety of areas that are difficult for humans to access. In recent decades, the field of laparoscopic robotic surgery has become established, combining concepts of robotics with those of virtual reality to overcome the disadvantages of manual laparoscopic surgery. Using suitable robotic systems, a surgeon can perform minimally invasive procedures by utilizing their eye-hand coordination.

[0005] In the operating room, the telemanipulator's input devices are typically located at a master console away from the patient, while the manipulators themselves, which hold and control the endoscope and surgical instruments, must be positioned close to the patient. To ensure sterility in the patient's area, the manipulators are usually wrapped in sterile plastic film.

[0006] Therefore, current best practices include equipping manipulators of surgical robotic systems with an instrument drive unit, which is sterilely packaged together with the manipulator. Sterile adapters are used to connect the surgical instruments to the instrument drive unit. These adapters are embedded in the sterile film and transmit force from the drives of the instrument drive unit to the outputs of the instrument via transmission elements, often designed as rotary discs. These components are typically positively coupled, which in turn requires aligning the transmission elements with the drives and ultimately with the outputs of the instrument.

[0007] The various systems available on the market from different manufacturers vary considerably and are therefore limited to a set of compatible instruments. This ensures the best possible match between instruments for the respective system, but restricts the user to a single platform and thus to a selection of instrument types and shapes predetermined by the manufacturers.

[0008] Furthermore, these instruments are regularly designed for multiple uses and must be sterilized and reprocessed between each use in an operation. This usually requires special sterilization procedures, which means additional specialized equipment for a hospital. These processes are also associated with a ARTS GmbH KP-1571-24018-WO involves considerable regulatory effort. Furthermore, the complex design of the end effectors of surgical instruments makes cleaning extremely difficult, as the instruments are generally not disassemblable.

[0009] Therefore, it is desirable that surgical instruments already on the market could also be used with other devices, or that the portfolio of instruments that can be operated with a particular type of robotic system could be expanded. Ideally, these should be usable without special sterilization or reprocessing procedures.

[0010] The object of the invention is to provide an adapter device which makes it possible to operate an incompatible instrument with a given system for robotic surgery.

[0011] The problem is solved for the adapter device described above by the fact that the adapter device comprises a mechanical transmission arranged within the adapter housing between at least one of the first transmission elements and at least one of the second transmission elements. Such an adapter device allows the use of instruments from other systems, which are not normally mechanically compatible with a robotic system. The adapter device is preferably designed to be sterilizable, so that it can be directly connected to the sterile adapter provided for the specific robotic system. Alternatively, the adapter device itself can be connected to, or be connectable to, a sterile film.

[0012] In an advantageous embodiment, the mechanical transmission comprises several transmission elements, which are particularly preferably gears, shafts, toothed belts, V-belts, or chains. The first and second transmission elements are typically designed differently, enabling transmissions, for example, from a linear drive to a rotary drive or vice versa. Rotational speed conversion for rotary inputs and outputs can also be integrated. The transmission elements are arranged within and protected by the adapter housing and are connected to each other by positive locking, force locking, or friction locking.

[0013] Since surgical instruments connected to the adapter device typically differ from those intended for the robotic system The movements of the instruments intended for ARTS GmbH KP-1571-24018-WO are not transmitted directly without a translation mechanism. In addition to the movement mechanisms inherent in the external instruments, such as whether the end effectors on the instruments are operated by cables or other means, the kinematics of the end effectors may also differ from those typically used in the robotic system. This can be addressed through a suitable translation mechanism to ensure optimal operation of the external instruments.

[0014] The adapter is ideally designed to be fully sterilizable for multiple uses. This also eliminates the need to modify the sterile concept of the robotic system in which the adapter is used. An autoclavable adapter is particularly advantageous. During sterilization and autoclaving, the adapter is exposed to high temperatures, pressures, and potentially chemicals, necessitating the selection of appropriate materials. Furthermore, the adapter must be pressure-resistant, and its gear ratio must be appropriately adapted to prevent deterioration or damage from extreme conditions such as high temperatures and pressures during sterilization or in an autoclave.

[0015] In a further advantageous embodiment, the adapter housing comprises a lid and a cavity for receiving the surgical instrument, with the second transmission elements arranged within the cavity. The cavity is particularly preferably sealed in a fluid-tight manner. Such a solution protects the external instrument, allowing for more economical production. Especially when the adapter device is designed to be sterilizable, this can reduce the costs associated with using the robotic system.

[0016] Furthermore, it is advantageous if the adapter device includes a connection for an electrosurgical power supply and an electronic contact for the instrument connected to that connection. This allows the use of electrosurgical instruments that, with appropriate adjustment of the connectors, can be directly controlled by the robotic system, since this system typically either directly controls the electrosurgical power supply or has it integrated. This also allows for adaptation to new ARTS GmbH KP-1571 -24018-WO Generations of electrosurgical supply units without having to adapt the entire robotic system to them.

[0017] The problem is further solved for the robotic surgical system described above by the adapter unit incorporating a translation mechanism. This mechanism translates a first movement output by the drives, corresponding to a deflection of the second end effector defined by the control unit, into a second movement of the outputs that differs from the first movement, ensuring that the first end effector experiences the deflection defined by the control unit. Such a system allows the operation of instruments not normally used by the system (the first instruments) in the robotic system, just like the system's own second instruments. Furthermore, it improves the surgeon's flexibility in instrument selection, as different end effector kinematics can be employed.

[0018] As described above for the adapter device, it is also advantageous for the robotic system if the adapter device is designed to be fully sterilizable. This eliminates the need for sterile packaging of the adapter device itself, simplifying workflows in the operating room. Ideally, the adapter device can be fully sterilized using standard sterilization equipment. This can be achieved through a suitable design of the adapter device. Furthermore, due to the complexity of a surgical instrument and the delicate mechanics of the end effectors, removing any contamination is very time-consuming.

[0019] Furthermore, it is advantageous if the transmission includes one or more transmission elements, which are designed as gears, shafts, toothed belts, V-belts, or chains. The mechanical movements output by the drive unit can thus be transferred to an external instrument with a different design than those specified for the system. This increases the flexibility of the adapter device and expands its range of applications, as a variety of instruments can be operated with appropriate adjustment of the transmission elements. It is not strictly necessary for the adapter unit to have a second transmission element for each drive of the power unit. It is particularly advantageous to have several second transmission elements with different transmission ratios that can be moved by a single drive of the power unit, further increasing the selection of possible instruments. ARTS GmbH KP-1571 -24018-WO

[0020] Another advantageous embodiment provides that the first end effector is movable through the drives without any gearing. This significantly simplifies the design of the first surgical instrument, which is not part of the system. This reduces friction within the system, which is inevitably introduced by the gearing elements of the adapter device. Ideally, the first instrument has lower internal friction than the second instrument intended for the system, so that the total friction in the second instrument essentially corresponds to the friction of the adapter device in combination with the first instrument. Thus, the robotic system can operate the first, non-system instrument in the same way as the second, system-integrated instrument.

[0021] In a further advantageous embodiment, the adapter device comprises an adapter housing with a lid and a cavity for receiving the first surgical instrument, with the second transmission elements arranged within this cavity. The first instrument is thus completely enclosed by the adapter unit, except for the instrument shaft and the end effector. This provides optimal protection for the second transmission elements both when the device is not in use and during storage.

[0022] In a further advantageous embodiment, the adapter unit features an RFID transponder readable by the robotic system, identifying the adapter unit as a valid instrument for the robotic system. A valid instrument for the robotic system is either a system-specific instrument or one recognized as compatible with the system. In robotic surgical systems, instruments are not only mechanically matched to the system's own instruments, but appropriate electronic measures are also in place to ensure that an instrument is permissible for the system, for example, that it has not been used or reprocessed too frequently. This is typically achieved using RFID transponders integrated into the system's own instruments.An RFID transponder in the adapter device allows the adapter device to be designed in such a way that it can be used by the robotic system as a replacement for the system's own instrument, i.e., it is recognized as a valid instrument.

[0023] Furthermore, it is advantageous if the adapter device has a connection for an electrosurgical supply unit and one with the connection ARTS GmbH KP-1571-24018-WO includes an integrated electronic contact for the first surgical instrument. This allows the use of non-ARTS electrosurgical instruments with the adapter. Integrating the instrument into the adapter unit further simplifies instrument design. Especially when combined with an adapter housing that largely encloses the instrument, the positioning of the contacts within the housing is highly flexible.

[0024] Furthermore, it is advantageous for the robotic system if the drive unit comprises a drive housing and a sterile adapter, and if the sterile adapter is positioned between the drive housing and the adapter device. In this way, using the adapter unit for surgery with the robotic system has little to no impact on the sterility of the robotic system. Typically, sterile coverings, for example, of the robotic system's manipulators, are attached to a sterile adapter, which is positioned between the drive unit and the instrument intended for use with the system. This adapter transmits mechanical movements and, if necessary, electrical signals from the drive unit to the instrument intended for use with the system via suitable means. The adapter device is particularly advantageously attached to the sterile adapter.Since it is itself sterilizable, the system continues to meet the sterility requirements without requiring any changes to the robotic system or its sterility concept.

[0025] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations given, but also in other combinations or on their own, without leaving the scope of the present invention.

[0026] The invention is explained in more detail below with reference to exemplary embodiments and the accompanying drawings, which also disclose essential features of the invention. These exemplary embodiments serve only for illustration and are not to be interpreted as limiting. For example, a description of an exemplary embodiment with a plurality of elements or components is not to be interpreted as meaning that all of these elements or components are necessary for implementation. Rather, other exemplary embodiments may also contain alternative elements and components, fewer elements or components, or additional elements or components. ARTS GmbH KP-1571 -24018-WO Elements or components from different embodiments can be combined unless otherwise specified. Modifications and variations described for one embodiment may also be applicable to other embodiments. To avoid repetition, identical or corresponding elements in different figures are designated with the same reference numerals and are not explained multiple times. The figures show:

[0027] Fig. 1 shows an adapter device with a surgical instrument and

[0028] Fig. 2 shows a robotic system with the adapter device.

[0029] Figure 1 shows an adapter device 1 together with an inserted surgical instrument 2. The adapter device 1 comprises an adapter housing 3, which here has an upwardly directed opening that can be closed with a lid 4 belonging to the adapter housing 3.

[0030] The adapter device 1 has a plurality of transmission elements that transmit externally applied mechanical movements to the surgical instrument 2. By way of example, a first transmission element 5, located on the outside of the adapter housing 3, and a second transmission element 6, which faces the surgical instrument 2 and is operatively connected to one of the typically several outputs 7 of the surgical instrument 2, are shown. The output 7 receives the movement of the second transmission element 6 and transmits it to the internal mechanics of the surgical instrument 2, resulting, for example, in the deflection of an end effector (not shown) of the surgical instrument 2 or the rotation of an instrument shaft 9 of the surgical instrument 2.

[0031] A mechanical transmission 8 is arranged between the first and second transmission elements 5, 6. This transmission converts a movement of the first transmission element 5 into a different movement of the second transmission element 6. The transmission 8 comprises one or more transmission elements such as gears, shafts, toothed belts, V-belts, or chains.

[0032] In the present embodiment, the surgical instrument 2 is inserted into a cavity 10 of the adapter housing 3 of the adapter device 1 and ARTS GmbH KP-1571-24018-WO is secured there by a snap closure (not shown). The cover 4 is then tightly and fluid-tightly closed. Thus, the proximal part of the surgical instrument 2 is completely enclosed by the adapter housing 3. On the underside of the adapter housing 3, there is another opening through which the instrument shaft 9 is guided when the surgical instrument 2 is inserted into the cavity 10 of the adapter housing 3.

[0033] In order to also be able to use electrosurgical instruments 2 with the adapter device 1, the adapter device 1 has a connection on the adapter housing 3. Connection 11, which in other versions may also be located on the cover 4, has an outward-facing socket for a connector, allowing an electrosurgical power supply unit to be connected. On the inside, facing the cavity 10, connection 11 has contacts that align with mating contacts of the surgical instrument 2 when it is correctly inserted into the adapter device 1. Corresponding leads inside the instrument 2 conduct the current to the end effector of the surgical instrument 2, provided the surgical instrument 2 is designed for this application.

[0034] Fig. 2 schematically shows how the adapter unit 1 described above is used on a robotic system. The robotic system has a manipulator. The manipulator 12 is operated by a control unit 18. The control unit 18 translates the surgeon's hand movements, which are received via a master console (not shown), processes them, and ultimately controls the movement of the end effector 16 of the surgical instrument 2. The manipulator 12 comprises a drive unit 13 with several drives 14, to which the adapter device 1 is attached via a sterile adapter 15, which is mounted on a drive housing. The drives 14 are typically motor-driven.A movement generated at the drives 14, for example a linear or a rotational movement, is transmitted via suitable means directly through the sterile adapter 15 to the first transmission elements 5 of the adapter device 1. These, in turn, translate the movement via the mechanical connection described above by means of the transmission 8 and transmit it via the second transmission elements 6 to the outputs 7 of the surgical instrument 2 inserted into the adapter unit 1. From the outputs 7, the now translated movement is transmitted via an internal mechanical transmission to an end effector 16 of the surgical instrument 2 located at the distal end of the instrument shaft 9. ARTS GmbH KP-1571 -24018-WO

[0035] The drive unit 13 generates a movement of the drives 14, which, in the case of a system-integrated instrument, causes a defined end-effector movement, for example, a deflection by a defined angle. The end-effector 16 of the surgical instrument 2, which is an external instrument, has a different design than that of the system-integrated instrument, so that a transmission 8 is necessary, as described above. This ensures that the end-effector 16 performs the defined end-effector movement despite the different mechanics, whereby the internal mechanics of the surgical instrument 2 are designed such that the end-effector 16 can move through the outputs 7 without any transmission.In an alternative embodiment, the end effector 16 is kinematically identical to that of the system's own instrument, but the internal mechanics are designed differently, so that the surgical instrument 2 still cannot be operated without the adapter device 1 with the corresponding transmission 8. It is also possible that the end effector 16 and the internal mechanics of the surgical instrument 2 are both different from those of the system's own instrument.

[0036] The sterile adapter 15 is typically embedded in a sterile film that encloses the drive unit 13 and the manipulator 12, ensuring that the area near the patient undergoing surgery is free of non-sterile parts of the robotic system. To further guarantee sterility, the adapter unit 1 is also designed to be sterilizable. This is achieved primarily through the selection of suitable materials.

[0037] To enable the robotic system to operate with the external surgical instrument 2, mechanical compatibility alone is generally insufficient. Therefore, the adapter unit is equipped with an RFID transponder 17, which identifies the adapter unit as a valid instrument for the robotic system. The control unit 18 of the robotic system regularly monitors the instruments in use with regard to type, ID, and the number of uses. The RFID transponder 17 is configured so that the control unit 18 assumes a valid instrument is being used. Typically, the electrosurgical function of the instrument can be activated directly at the master console, provided this function is enabled. This can also be implemented using a suitably configured RFID transponder 17. ARTS GmbH KP-1571 -24018-WO will be used so that this function can also be used with the non-system surgical instrument 2 if required. ARTS GmbH KP-1571 -24018-WO Reference sign 1 adapter device 2 surgical instruments 3 adapter housings 4 lids 5 first transmission element 6 second transmission element 7 Drive 8 Translation 9 Instrument set 10 Cavity 11 connection 12 Manipulator 13 Drive unit 14 Drive 15 sterile adapters 16 End effector 17 RFID transponders 18 Control unit

Claims

ARTS GmbH KP-1571 -24018-WO patent claims 1. Adapter device for connecting a surgical instrument (2) to a robotic system incompatible with the surgical instrument (2), comprising an adapter housing (3), a series of first transmission elements (5) for connecting to drives (14) of the robotic system on a side surface of the adapter housing (3), a series of second transmission elements (6) mechanically connected to the first transmission elements (5) for connecting to outputs (7) of the surgical instrument (2), and a mechanical transmission (8) arranged within the adapter housing (3) between at least one of the first transmission elements (5) and at least one of the second transmission elements (6).

2. Adapter device according to claim 1, wherein the mechanical transmission (8) comprises several transmission elements.

3. Adapter device according to claim 2, wherein the transmission elements are gears, shafts, toothed belts, V-belts or chains.

4. Adapter device according to one of claims 1 to 3, wherein the adapter housing (3) comprises a cover (4) and a cavity (10) for receiving the surgical instrument (2) and the second transmission elements (6) are arranged inside the cavity (10).

5. Adapter device according to claim 4, wherein the cavity (10) can be sealed in a fluid-tight manner.

6. Adapter device according to any one of claims 1 to 5, wherein the adapter device (1) has a connection (11) for an electrosurgical ARTS GmbH KP-1571 -24018-WO includes a power supply unit and an electronic contact for the instrument (2) connected to the port (11).

7. Adapter device according to one of claims 1 to 7, wherein the adapter direction (1) is designed to be fully sterilizable.

8. Robotic system for surgery, comprising a first surgical instrument (2) with drives (7) and a first end effector (16) mechanically connected to the drives (7), a drive unit (13) with drives (14) for a second surgical instrument with a second end effector, a control unit (18) designed to deflect the second end effector by means of the drives (14), and a connection between the first surgical instrument (2) and the drive unit. (13) arranged adapter device (1 ) with a series of first transmission elements (5) connected to the drives (14) of the drive unit (13), and a series of second transmission elements (6) mechanically connected to the first transmission elements (5) and connected to the outputs (7) of the first surgical instrument (2), wherein the adapter unit (1 ) comprises a transmission (8) which is one of the drives (14) first motion output, which corresponds to a deflection of the second end effector defined by the control unit (18), is translated into a second motion of the outputs (7) that differs from the first motion, so that the first end effector (16) experiences the deflection defined by the control unit (18).

9. Robotic system according to claim 8, wherein the adapter device (1) is designed to be fully sterilizable.

10. Robotic system according to claim 8 or 9, wherein the translation (8) comprises one or more translation elements which are designed as gears, shafts, toothed belts, V-belts or chains.

11. Robotic system according to one of claims 8 to 10, wherein the first end effector (16) is movable without transmission through the outputs (7). ARTS GmbH KP-1571 -24018-WO 12. Robotic system according to one of claims 8 to 11, wherein the adapter device (1) comprises an adapter housing (3) with a lid (4) and a cavity (10) for receiving the first surgical instrument (2) and the second transmission elements (6) are arranged inside the cavity (10).

13. Robotic system according to one of claims 8 to 12, wherein the adapter unit (1) has an RFID transponder (17) readable by the robotic system, which identifies the adapter unit (1) as an instrument valid for the robotic system.

14. Robotic system according to one of claims 8 to 13, wherein the adapter device (1) comprises a connection (11) for an electrosurgical supply unit and an electronic contact connected to the connection (11) for the first surgical instrument (2).

15. Robotic system according to one of claims 8 to 14, wherein the drive unit (13) comprises a drive housing and a sterile adapter (15) and that the sterile adapter (15) is arranged between the drive housing and the adapter device (1). - 15 -

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