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WO2024133976A1 - Adaptateur stérile pour une unité d'entraînement pouvant être montée sur un bras de robot - Google Patents

Adaptateur stérile pour une unité d'entraînement pouvant être montée sur un bras de robot Download PDF

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Publication number
WO2024133976A1
WO2024133976A1 PCT/EP2024/054185 EP2024054185W WO2024133976A1 WO 2024133976 A1 WO2024133976 A1 WO 2024133976A1 EP 2024054185 W EP2024054185 W EP 2024054185W WO 2024133976 A1 WO2024133976 A1 WO 2024133976A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive unit
sterile adapter
surgical instrument
housing part
sterile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2024/054185
Other languages
German (de)
English (en)
Inventor
Jochen Stefan
Sven Grüner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Karl Storz SE and Co KG
Original Assignee
Karl Storz SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Karl Storz SE and Co KG filed Critical Karl Storz SE and Co KG
Publication of WO2024133976A1 publication Critical patent/WO2024133976A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes

Definitions

  • the present invention relates to a sterile adapter for a drive unit that can be attached to a robot arm for operating a surgical instrument.
  • the present invention also relates to a surgical instrument for coupling a drive unit on which such a sterile adapter is arranged.
  • the present invention also relates to a sterile drive system.
  • Surgical instruments are known from the state of the art that can be coupled to a drive unit that can be attached to a robot arm. These surgical instruments can be guided manually or by a robot and have tools whose tool tips can be swiveled by means of several interlocking swivel members. These swivel members are connected to a large number of steering wires or steering cables in order to achieve a sensitive control of the tool tip. The steering wires can be used to achieve an even distribution of force in all directions of development.
  • DE 102019 121 092 A1 discloses a surgical instrument that has a steering gear.
  • the steering gear can be used to transfer the setting angles of two drives directly to a spatially adjustable disk (swash plate) in order to align it to control the tool tip.
  • swash plate spatially adjustable disk
  • the steering wires mentioned are attached to the swash plate so that the tool tip can be controlled continuously and smoothly by aligning the swash plate.
  • an interface is provided that enables a detachable coupling of the surgical instrument to the drive unit. Since the robot arm itself cannot be sterilized, care must be taken to ensure that the drive unit and associated components are and remain sterile.
  • the sterile adapter according to the invention for a drive unit that can be attached to a robot arm for operating a surgical instrument has at least a first housing part and a second housing part.
  • the first housing part and the second housing part are connected to one another via an elastic section.
  • the second housing part is designed to transmit movements to the at least one surgical instrument.
  • the second housing part has at least one holding element that is designed to hold the sterile adapter on the drive unit.
  • the sterile adapter can be attached to a drive unit that can be attached to a robot arm.
  • the sterile adapter is designed in such a way that it covers the interface or interfaces of the drive unit to a surgical instrument in order to form a germ-impermeable sterile barrier, but at the same time allows the movements generated by the drive unit to be transmitted to the surgical instrument. Due to the at least one elastic section of the sterile adapter, in particular the pivoting movements of a pivoting mechanism of the drive unit can be elastically absorbed and transmitted by the sterile adapter. At the same time, the sterile adapter according to the invention forms a germ-impermeable sterile barrier that surrounds the non-sterile drive unit.
  • the sterile adapter can be coupled to the drive unit in a direction perpendicular to the longitudinal axis of the drive unit.
  • the surgical instrument can be coupled to the drive unit from the proximal side along its shaft axis.
  • the shaft axis can determine the coupling direction.
  • the sterile adapter can be placed on the drive unit perpendicular to the coupling direction.
  • the drive unit can have a first axis of rotation and a second axis of rotation. The first axis of rotation and the second axis of rotation can run perpendicular to one another.
  • the sterile adapter can be coupled to the drive unit in a direction that runs parallel to one of the axes of rotation but perpendicular to the other of the axes of rotation.
  • the sterile adapter can be designed such that it essentially completely surrounds the drive unit.
  • the sterile adapter can be designed in the shape of a hood.
  • the first housing part and the second housing part can be made of a material that is different from the material of the elastic section.
  • the same material can be used for the first housing part and the second housing part.
  • the second housing part can be made of plastic, for example.
  • the material for the elastic section can have a higher elasticity than the material used for the first housing part and/or the second housing part.
  • the at least one holding element can be designed to produce a positive connection with the drive unit.
  • the at least one holding element on the second housing part can have at least one locking element.
  • the at least one locking element can be, for example, a locking projection or a locking recess.
  • the at least one locking element can interact with corresponding locking elements on the drive unit in order to hold the sterile adapter on the drive unit.
  • the at least one holding element can have an insertion channel.
  • the insertion channel can have at least one insertion bevel.
  • the at least one insertion bevel can ensure a slight pre-tension of a corresponding locking element on the drive unit.
  • the insertion bevel can cause an elastic deformation of the corresponding locking element, so that the locking element of the drive unit can snap or lock into a corresponding locking element on the sterile adapter when the fastening position is reached.
  • the second housing part can be elastically deformable in order to remove the sterile adapter from the drive unit. For example, pressure can be exerted on the second housing part in order to release the locking connection between the sterile adapter and the drive unit.
  • the second housing part can, for example, be "pressed together" in order to be able to release the locking connection between the sterile adapter and the drive unit.
  • At least one gripping surface can be formed on the second housing part, via which the locking connection between the drive unit and the sterile adapter can be released.
  • the at least one gripping surface can, for example, be grooved. If a user presses on the at least one gripping surface, for example, and thereby causes an elastic deformation of the second housing part, this can lead to the sterile adapter being released from the drive unit.
  • the second housing part can have at least one receptacle for a transmission element for transmitting the movements generated by the drive unit to the surgical instrument.
  • the transmission element can be provided on the surgical instrument and accommodated in the receptacle of the second housing part.
  • the transmission element of the surgical instrument can preferably be positively mounted in the receptacle of the second housing part.
  • the transmission element of the surgical instrument can prevent the sterile adapter from being accidentally released from the drive unit.
  • the transmission element can be designed in such a way that it prevents elastic deformation of the second housing part, since such elastic deformation could lead to the sterile adapter being accidentally released. The transmission element can thus form a barrier for the elastic deformation of the second housing part and prevent the sterile adapter from being accidentally released.
  • the first housing part can have at least one locking mechanism that is designed to be connected to the drive unit.
  • the locking mechanism can have one or more locking projections that can engage in corresponding locking elements on the drive unit.
  • the locking mechanism can also have one or more locking recesses that can be brought into engagement with corresponding locking elements on the drive unit.
  • the first housing part can have coupling elements that are designed to transmit the rotary movements from the drive unit to the surgical instrument.
  • the coupling elements can be designed in the form of rotatable coupling disks that allow the rotary movements to be transmitted from the motor drive disks on the drive unit to the surgical instrument.
  • the coupling elements can be designed to be spring-loaded.
  • the coupling elements can be designed such that, when coupled, they create a positive connection with the motor drive disks of the drive unit and/or with the corresponding drive disks on the surgical instrument. This can ensure that the rotary movements can be transmitted from the drive unit to the surgical instrument via the sterile adapter.
  • the spring-loaded coupling elements can be positively coupled to the drive unit and/or the surgical instrument, for example, can be positively secured to the drive unit and/or the surgical instrument.
  • the sterile adapter can have a sterile cover for covering a robot arm.
  • the sterile cover can be a film, for example.
  • the sterile cover can be attached to a bottom side of the sterile adapter and extend from the bottom side at an angle to the sterile adapter.
  • the sterile cover can also be designed in the form of a shield that covers part of the robot arm and/or at least a section of a guide device attached to the drive unit.
  • the sterile adapter can have at least one region or element that allows the exchange of data between the drive unit and the surgical instrument.
  • the sterile adapter can accordingly be designed such that data can be exchanged via a data interface between the drive unit and the surgical instrument, although the sterile adapter is located between the drive unit and the surgical instrument.
  • the present invention further relates to a surgical instrument for proximal coupling with a drive unit that can be attached to a robot arm via the sterile adapter described above.
  • the surgical instrument has a housing and an interface for coupling with the drive unit, wherein the interface has a transmission element that is designed to transmit the movements generated by the drive unit to the surgical instrument.
  • At least the transmission element can be designed in such a way that it blocks the sterile adapter from being released when the surgical instrument is coupled to the drive unit.
  • the sterile adapter can be released by the surgical instrument in particular in a direction perpendicular to the longitudinal axis of the surgical instrument and/or perpendicular to the coupling direction of the surgical instrument with the drive unit. The release of the sterile adapter blocked by the surgical instrument can ensure that the sterile adapter cannot be accidentally removed from the drive unit during an operation.
  • the transmission element may have a quadrangular cross-section, which may, for example, be substantially square or rectangular.
  • the transmission element may have a receiving opening extending through the transmission element.
  • the transmission element can be accommodated in the receptacle of the second housing part of the sterile adapter.
  • the second housing part of the sterile adapter can no longer be deformed in order to be able to remove the sterile adapter from the drive unit. Unintentional loosening or removal of the sterile adapter is not possible when the drive unit and the surgical instrument are coupled.
  • the interface of the surgical instrument can comprise a coupling surface on the housing.
  • the coupling surface can extend substantially perpendicular to the shaft axis of the shaft of the surgical instrument.
  • the interface can have at least one drive disk for transmitting rotary movements from the drive unit to the surgical instrument.
  • the at least one drive disk can be arranged on the coupling surface.
  • the transmission element can have a spatially adjustable swash plate.
  • the spatially adjustable swash plate can be accommodated in the receiving opening of the transmission element.
  • the setting angles generated by the drive unit can be transmitted from the drive unit to the spatially adjustable swash plate in order to align it to control the tool tip of the tool on the surgical instrument.
  • steering wires are attached to the swash plate so that the tool tip can be controlled by aligning the swash plate.
  • the surgical instrument can have a steering gear.
  • the steering gear can be used to transfer the movements generated by the drive unit to the spatially adjustable swash plate and/or the shaft of the surgical instrument.
  • the present invention also relates to a drive unit for a surgical instrument.
  • the drive unit can be attached to a robot arm and is designed to be coupled to a sterile adapter of the type described above.
  • the drive unit can have at least one locking element that can be brought into engagement with a complementary locking element on the sterile adapter.
  • the sterile adapter can be placed on the drive unit in a direction perpendicular to the longitudinal axis of the drive unit.
  • the sterile adapter is held on the drive unit by the corresponding locking elements of the sterile adapter and the drive unit.
  • the sterile adapter can completely enclose the drive unit and form a germ-impermeable barrier.
  • the drive unit can have a fork-shaped holder.
  • the fork-shaped holder can be used to transfer the movements generated by the drive unit to the surgical instrument.
  • the transmission element of the surgical element can be accommodated in the fork-shaped holder, in which case the second housing part of the sterile adapter is interposed.
  • the fork-shaped receptacle can have two fork tines. One of the fork tines can be inserted into an insertion channel of the second housing part of the sterile adapter.
  • the fork tines can each have at least one locking element.
  • the locking element can be designed in the form of a locking projection.
  • the locking element can be designed at a free end of the respective fork tine.
  • the fork tines When the sterile adapter is placed on the drive unit, the fork tines can be elastically deformed at the insertion bevels of the insertion channels, i.e. bent outwards, for example. As soon as the sterile adapter has reached its final position on the drive unit, the locking elements on the fork tines engage with the corresponding locking elements on the second housing part of the sterile adapter. Due to the pre-tension generated by the elastic deformation of the fork tines, the locking elements on the fork tines lock or "snap" into the locking elements on the second housing part. In this way, the sterile adapter can be held on the drive unit.
  • the drive unit can have a data interface. Data and information can be exchanged between the drive unit and the surgical instrument via the data interface.
  • the data interface can be used, for example, to identify the surgical instrument coupled to the drive unit.
  • the present invention relates to a sterile drive system for a surgical instrument which has a drive unit and a sterile adapter according to the type described above. Furthermore, the sterile drive system can comprise a surgical instrument.
  • Figure 1 is a perspective view of a drive unit attachable to a robot arm
  • Figures 2 and 3 are perspective views of a sterile adapter according to an embodiment of the invention.
  • Figure 4 is a perspective sectional view of the sterile adapter and the drive unit with the sterile adapter placed on the drive unit;
  • Figure 5 is a perspective view of a surgical instrument
  • Figure 6 is a perspective view of a sterile drive system according to the invention.
  • Figure 7 is a perspective view of the drive system according to Figure 6 mounted on a robot arm.
  • FIG 1 shows a perspective view of a drive unit 64 that can be coupled to a sterile adapter 10.
  • the drive unit 64 has a pivot mechanism 66, via which the bending of an instrument tip of a surgical instrument (not shown in Figure 1) can be controlled.
  • the pivot mechanism 66 is driven by two racks 68 and 70 and two segmented gears 72 and 74.
  • the gears 72 and 74 are rotatably mounted on a housing 76 of the drive unit 64.
  • the gears 72 and 74 can be rotated about a first axis of rotation D1.
  • the pivot mechanism 66 has a bracket or a rocker 78.
  • the rocker 78 is rotatably mounted on the housing 76 together with the gears 72 and 74 and can be pivoted about the axis of rotation D1.
  • segmented bevel gears 80 and 82 are provided, which can be rotated on the bevel gear sections 84 and 86 mounted on the rocker 78 are in engagement.
  • the bevel gears 80 and 82 can also be pivoted about the axis of rotation D1.
  • the bevel gear sections 84 and 86 are coupled to a fork-shaped holder 88.
  • the fork-shaped holder 88 can be rotated about the axis of rotation D2 via the bevel gears 80, 82 and the bevel gear sections 84, 86.
  • the fork-shaped holder 88 and the bevel gear sections 84, 86 are rotatably mounted on a base 90 of the rocker 78. Accordingly, the fork-shaped holder 88 can be rotated and pivoted about the two axes of rotation D1 and D2 via the appropriate control of the bevel gears 80, 82, which are in engagement with the bevel gear sections 84, 86.
  • the fork-shaped holder 88 has two fork tines 92 and 94 which protrude from the base 96 of the fork-shaped holder 88 parallel to the axis of rotation D2.
  • Locking elements 98 and 100 are provided at the free ends of the fork tines 92 and 94.
  • the locking elements 98 and 100 are designed as locking projections 98 and 100.
  • the locking projections 98 and 100 are formed on the inner sides of the fork tines 92 and 94 facing one another.
  • the fork tines 92 and 94 are made of a material that is as rigid as possible.
  • the fork tines 92 and 94 can be made of steel, for example.
  • the housing 76 also has a receptacle 102 for the shaft 126 with the shaft axis S of the surgical instrument 46 (see Figure 5).
  • the drive unit 64 also has spring-loaded coupling elements 104, 106 and 108.
  • the coupling elements 104, 106 and 108 can have a positive contour (not shown) that is designed to transmit rotary movements to corresponding counterparts on the sterile adapter 10 and/or on the surgical instrument 46.
  • the coupling elements 104, 106 and 108 can be designed as coupling disks.
  • a data interface 110 can be seen that is designed to exchange data and information between the drive unit 64 and the surgical instrument 46.
  • the data interface 110 is arranged in the direction of the second axis of rotation D2 above the middle coupling disk 108.
  • FIGS 2 and 3 show perspective views of a sterile adapter 10.
  • the sterile adapter 10 is hood-shaped and can cover the drive unit 64.
  • the sterile adapter 10 has a first housing part 12 and a second housing part 14.
  • the first housing part 12 and the second housing part 14 are connected via a elastic section 16.
  • the first housing part 12 can have a box-shaped basic form.
  • the second housing part 14 is designed to transmit movements to the surgical instrument 46.
  • the second housing part 14 has two holding elements 18 and 20 which are designed to hold the sterile adapter 10 on the drive unit 64.
  • the second housing part 14 receives at least the two fork prongs 92 and 94 of the fork-shaped receptacle 88.
  • the elastic section 16 allows movements of the fork-shaped receptacle 88 so that the movements of the fork-shaped receptacle 88 can be transmitted to the surgical instrument 46 via the second housing part 14 of the sterile adapter 10.
  • the elastic section 16 is designed in such a way that it can absorb all rotational and pivoting movements of the pivot mechanism 66 and is nevertheless hygienically sealed so that no germ-permeable passages are formed between the unsterile drive unit 64 and the sterile surgical instrument 46.
  • the elastic section 16 can extend outside around the second housing part 14.
  • the second housing part 14 has a receptacle 34 which is designed to receive a transmission element 52 on the surgical instrument 46 (see Figure 5).
  • the transmission element 52 serves to transmit the movements generated by the pivoting mechanism 66 of the drive unit 64 to the surgical instrument 46.
  • the second housing part 14 also has a slot 112 which leads to the receptacle 34.
  • the shaft 126 of the surgical instrument 46 can be inserted into the receptacle 34 from above via the slot 112, so that the shaft 126 does not have to be threaded through the receptacle 34 along the longitudinal axis L of the drive unit 64 when coupling it to the surgical instrument 46.
  • the first housing part 12 further comprises a receiving channel 118 in which the shaft 126 of the surgical instrument 46 can extend.
  • the receiving channel 118 is adapted to the shape or contour of the receptacle 102 of the drive unit 64.
  • the second housing part 14 has two holding elements 18 and 20, which form the receptacle 34 between them.
  • the holding elements 18 and 20 each have a gripping surface 114 and 116.
  • the gripping surfaces 114 and 116 can be ribbed.
  • the second housing part 14 can be pressed together in order to be able to remove the sterile adapter 10 from the drive unit 64.
  • the two holding elements 18 and 20 can be pushed towards each other via the gripping surfaces 114 and 116. be moved, ie the second housing part 14 can be elastically deformed to remove the sterile adapter 10 from the drive unit 64.
  • the sterile adapter 10 can have coupling elements 36, 38, 40 which serve to transmit rotary movements of the drives of the drive unit 64 to the drive disks on the surgical instrument 46.
  • the coupling elements 36, 38, 40 can be disk-shaped or wave-shaped. Furthermore, the coupling elements 36, 38, 40 are designed to be hygienically tight.
  • the coupling elements 36, 38, 40 can be spring-loaded to make it easier to place the sterile adapter 10 on the drive unit 64 and to remove the sterile adapter 10 from the drive unit 64.
  • the coupling elements 36, 38, 40 can be arranged on a coupling surface 43 of the sterile adapter 10 which runs essentially perpendicular to the longitudinal axis L. This coupling surface 43 is designed to correspond to the coupling surface 54 on the surgical instrument 46.
  • the sterile adapter 10 further comprises at least one region or element 44 which allows the exchange of data between the drive unit 64 and the surgical instrument 46.
  • This region or element 44 can be arranged on the first housing part 12. In particular, this region or element 44 can be located above the coupling elements 36, 38, 40. The region or element 44 can also be arranged on the coupling surface 43 of the sterile adapter wall.
  • the sterile adapter 10 can be connected to a sterile cover or sterile shield 42 which can at least partially cover a robot arm 144 (see Figure 7).
  • FIG 4 shows a perspective sectional view of the sterile adapter 10 and the drive unit 64 during the coupling process.
  • the drive unit 64 has the pivot mechanism 66, the drive rods 68, 70 and the gears 72 and 74.
  • the pivot mechanism 66 comprises a rocker 78, on the base 90 of which the fork-shaped receptacle 88 is rotatably mounted via a roller bearing 120.
  • the fork-shaped receptacle 88 is coupled to the conical tooth sections 84 and 86, which are arranged between the rocker 78 and the fork-shaped receptacle 88.
  • the roller bearing 120 is connected to the conical tooth sections 84 and 86 for the rotatable mounting of the fork-shaped receptacle 88.
  • the conical tooth sections 84 and 86 can be driven via the bevel gears 80 and 82.
  • the bevel gears 80, 82 are rotatably mounted on the housing 76 of the drive unit 64 via bearing shafts 122 and 124.
  • the gears 72 and 74 and the rocker 78 are also rotatably mounted on the bearing shafts 122 and 124.
  • the bearing shafts 122 and 124 define the first axis of rotation D1.
  • the second axis of rotation D2 is perpendicular to the axis of rotation D1.
  • the holding elements 18, 20 extend at least in sections parallel to the second axis of rotation D2.
  • the holding elements 18, 20 also extend at least in sections parallel to one another. Starting from the elastic section 16, the holding elements 18, 20 extend along the second axis of rotation D2.
  • Each of the holding elements 18, 20 of the second housing part 14 has a locking element 22, 24.
  • the locking elements 22, 24 are designed in the form of locking recesses 22, 24.
  • Each of the holding elements 18, 20 also has an insertion channel 26, 28 which extends parallel to the second axis of rotation D2.
  • the locking elements 22, 24 are provided at the ends of the insertion channels 26, 28.
  • the locking elements 22, 24 are located in the direction of the second rotation axis D2 at the upper end of the holding elements 18, 20.
  • the insertion channels 26, 28 each have an insertion bevel 30, 32. This end of the insertion channels 26, 28 or of the second housing part 14 is located at the connection point between the second housing part 14 and the elastic section 16.
  • the sterile adapter 10 When the sterile adapter 10 is placed on the drive unit 64, the free ends of the fork tines 92 and 94 come into contact with the insertion bevels 30, 32. The contact with the insertion bevels 30, 32 causes the fork tines 92 and 94 to be bent outwards and pre-tensioned. If the sterile adapter 10 is placed further along the second axis of rotation D2 on the drive unit 64, the locking projections 98, 100 on the fork tines 92, 94 move along the insertion channels 26, 28 until they can lock into the locking recesses 22, 24. A positive connection is created between the locking projections 98, 100 and the locking recesses 22, 24, which holds the sterile adapter 10 on the drive unit 64. In the final position, the sterile adapter 10 completely surrounds the drive unit 64 and forms a germ-impermeable barrier.
  • FIG. 5 shows a perspective view of a surgical instrument 46.
  • the surgical instrument 46 is designed for proximal coupling with the drive unit 64.
  • the surgical instrument 46 has a housing 48 and an interface 50.
  • the interface 50 is designed for coupling with the drive unit 64.
  • the interface 50 has the transmission element 52, which is used to transmit the movements generated by the drive unit 64 to the surgical instrument 46 is designed.
  • the interface 50 comprises a coupling surface 54 on the housing 48.
  • the coupling surface 54 extends essentially perpendicular to the shaft axis S of the shaft 126 of the surgical instrument 46.
  • the interface 50 comprises drive disks 56, 58 and 60 which are arranged on the coupling surface 54.
  • the drive disks 56, 58, 60 form coupling points 56, 58, 60 for coupling the surgical instrument 46 via the sterile adapter 10 to the drive unit 64.
  • the drive disks 56, 58 and 60 can be coupled to the coupling elements 36, 38, 40 on the sterile adapter 10 in order to be able to transmit the rotary movements generated by the drive unit 64 to the surgical instrument 46.
  • the surgical instrument 64 has a steering gear arranged in the housing, which is not shown in more detail in Figure 5.
  • the steering gear transmits the rotary movements of the drive disks 56, 58, 60 to the shaft axis S in order to cause the desired movement of the instrument 46.
  • Such movements can be, for example, opening movements, closing movements, the rotation of the shaft 126 or the drive of other functions such as the drive of a cutting blade.
  • the transmission element 52 has a receiving opening 128.
  • the swash plate 62 is accommodated in the receiving opening 128.
  • the swash plate 62 can be mounted on the transmission element 52, for example via a roller bearing.
  • Steering wires 130 are attached to the swash plate 62.
  • the steering wires 164 serve to transmit the movements of the swash plate 62 to the tool tip (not shown).
  • the transmission element 52 is arranged along the shaft axis S offset from the coupling surface 54 on the housing 48.
  • the transmission element 52 is arranged on a housing section 132 extending parallel to the shaft axis S. Another housing section 134 extends at an angle to the housing section 132.
  • the shaft axis S runs through the housing section 134.
  • the coupling surface 54, on which the drive disks 56, 58, 60 are arranged, is formed on the housing section 134.
  • the housing 48 is thus L-shaped or angle-shaped.
  • the transmission element 52 can be rectangular or essentially square in cross section. The shape of the transmission element 52 can be described as cuboid-shaped.
  • the surgical instrument 46 can, after being plugged in from the proximal side, prevent the second housing part 14 from being elastically deformed by means of its transmission element 52. in order to be able to remove the sterile adapter 10 from the drive unit 64.
  • the transmission element 52 is accommodated in the receptacle 34 of the second housing part of the sterile adapter 10.
  • the volume of the transmission element 52 of the surgical instrument 64 thus prevents elastic deformation of the second housing part 14 or the holding elements 18, 20 of the second housing part 14.
  • the transmission element 52 is designed such that it can transmit the rotational and pivoting movements generated by the pivot mechanism 66 of the drive unit 64 to the swash plate 62.
  • a tool can be controlled accordingly via the steering wires 130 connected to the swash plate 62.
  • FIG. 6 shows a perspective view of the drive system 136.
  • the drive unit 64 is connected to a guide device 138.
  • the guide device 138 can be designed as a linear guide.
  • the guide device 138 has a guide projection 140.
  • a trocar 142 is arranged on the guide projection 140.
  • the shaft 126 is aligned with the shaft axis S axially with the axis T of the trocar 142.
  • the surgical instrument 46 is then pushed in the direction of the axis T of the trocar 142 towards the patient until the interface 50 of the surgical instrument 46 comes into contact with the sterile adapter 10 on the drive unit 64. In this way, the surgical instrument 46 is coupled to the drive unit 64.
  • This coupling can be at least partially positive-locking in order to prevent the surgical instrument 46 from accidentally coming loose from the sterile adapter 10.
  • Figure 6 also shows the sterile cover or sterile shield 42, which is connected to the sterile adapter 10 and in particular to the first housing part 12 of the sterile adapter 10.
  • the sterile shield 42 or the sterile cover can cover at least part of the guide device 138 and thus keep it sterile.
  • Figure 7 shows a perspective view of the drive system 136 in the coupled state and in the state attached to a robot arm 144.
  • the drive system 136 is attached to the robot arm 144 via the guide device 138.
  • the surgical instrument 46 is coupled to the drive unit 64 via the sterile adapter 10.
  • the sterile shield or the sterile cover 42 covers at least a part of the robot arm 144.
  • the present invention relates to a sterile adapter 10 for a drive unit 64 that can be attached to a robot arm 144 for operating a surgical instrument 44, wherein the sterile adapter 10 has at least a first housing part 12 and a second housing part 14 that are connected to one another via an elastic section 16, wherein the second housing part 14 is designed to transmit movements to the at least one surgical instrument 44, wherein the second housing part 14 has at least one holding element 18, 20 that is designed to hold the sterile adapter 10 on the drive unit 64.
  • the drawings, the description and the claims contain numerous features in combination. It is understood that the features mentioned above can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
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  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
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  • Manipulator (AREA)

Abstract

La présente invention concerne un adaptateur stérile (10) pour une unité d'entraînement (64) pouvant être montée sur un bras de robot (144), servant à actionner un instrument chirurgical (44), l'adaptateur stérile (10) comprenant au moins une première partie de boîtier (12) et une seconde partie de boîtier (14) qui sont reliées l'une à l'autre par une partie élastique (16), la seconde partie de boîtier (14) étant conçue pour transmettre des mouvements à l'au moins un instrument chirurgical (44), la seconde partie de boîtier (14) présentant au moins un élément de maintien (18, 20) qui est conçu pour maintenir l'adaptateur stérile (10) sur l'unité d'entraînement (64).
PCT/EP2024/054185 2022-12-20 2024-02-19 Adaptateur stérile pour une unité d'entraînement pouvant être montée sur un bras de robot Ceased WO2024133976A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022134206.9A DE102022134206A1 (de) 2022-12-20 2022-12-20 Steriladapter für eine an einem Roboterarm anbringbare Antriebseinheit
DE102022134206.9 2022-12-20

Publications (1)

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WO2024133976A1 true WO2024133976A1 (fr) 2024-06-27

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PCT/EP2024/054185 Ceased WO2024133976A1 (fr) 2022-12-20 2024-02-19 Adaptateur stérile pour une unité d'entraînement pouvant être montée sur un bras de robot

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DE (1) DE102022134206A1 (fr)
WO (1) WO2024133976A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170265951A1 (en) * 2014-05-13 2017-09-21 Covidien Lp Robotic surgical systems and instrument drive units
US20200237460A1 (en) * 2017-09-08 2020-07-30 Covidien Lp Energy disconnect for robotic surgical assemblies
DE102019121092A1 (de) 2019-08-05 2021-02-11 Karl Storz Se & Co. Kg Medizinisches instrument
US20210196420A1 (en) * 2014-03-17 2021-07-01 Intuitive Surgical Operations, Inc. Coupler to transfer motion to surgical instrument from teleoperated actuator
CN215306655U (zh) * 2021-07-14 2021-12-28 深圳康诺思腾科技有限公司 一种手术机器人
CN217853296U (zh) * 2021-07-14 2022-11-22 深圳康诺思腾科技有限公司 器械驱动器和无菌适配器的连接结构以及手术机器人

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11058508B2 (en) * 2017-06-29 2021-07-13 Verb Surgical Inc. Sterile adapter for a linearly-actuating instrument driver
US11160621B2 (en) * 2017-11-17 2021-11-02 Intuitive Surgical Operations, Inc. Surgical instrument sterile adapter with optical coupler

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210196420A1 (en) * 2014-03-17 2021-07-01 Intuitive Surgical Operations, Inc. Coupler to transfer motion to surgical instrument from teleoperated actuator
US20170265951A1 (en) * 2014-05-13 2017-09-21 Covidien Lp Robotic surgical systems and instrument drive units
US20200237460A1 (en) * 2017-09-08 2020-07-30 Covidien Lp Energy disconnect for robotic surgical assemblies
DE102019121092A1 (de) 2019-08-05 2021-02-11 Karl Storz Se & Co. Kg Medizinisches instrument
CN215306655U (zh) * 2021-07-14 2021-12-28 深圳康诺思腾科技有限公司 一种手术机器人
CN217853296U (zh) * 2021-07-14 2022-11-22 深圳康诺思腾科技有限公司 器械驱动器和无菌适配器的连接结构以及手术机器人

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