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WO2025119761A1 - Cassettes d'outils robotiques chirurgicales montées sur bras et leurs procédés d'utilisation - Google Patents

Cassettes d'outils robotiques chirurgicales montées sur bras et leurs procédés d'utilisation Download PDF

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Publication number
WO2025119761A1
WO2025119761A1 PCT/EP2024/083929 EP2024083929W WO2025119761A1 WO 2025119761 A1 WO2025119761 A1 WO 2025119761A1 EP 2024083929 W EP2024083929 W EP 2024083929W WO 2025119761 A1 WO2025119761 A1 WO 2025119761A1
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WO
WIPO (PCT)
Prior art keywords
tool
surgical
robotic
cassette
end effector
Prior art date
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Pending
Application number
PCT/EP2024/083929
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English (en)
Inventor
Yossi Bar
Amir Belson
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Lem Surgical Ag
Original Assignee
Lem Surgical Ag
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Filing date
Publication date
Application filed by Lem Surgical Ag filed Critical Lem Surgical Ag
Publication of WO2025119761A1 publication Critical patent/WO2025119761A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Definitions

  • the disclosed technology relates generally to medical apparatus and methods.
  • the disclosed technology relates to robotic apparatus, systems and methods for interchanging surgical tools and tool tips among robotic arms during robotic surgical procedures.
  • Robotic surgical systems include both “teleoperated” systems, such as the da Vinci® robotic surgery system from Intuitive Surgical, Inc. and locally controlled, multi-arm robotic surgical systems used for performing spinal and other robotic surgical procedures, such as those available from Medtronic pic under the Mazor tradename.
  • Some systems comprise a plurality of “single” arms deployed separately on separate carts, while others comprise multiple arms mounted on single carts.
  • Control units may be remote but in other instances controllers may be mounted on the same cart or base which holds the surgical arm or arms.
  • a method for selecting surgical tools during a robotic surgical procedure being performed on a patient comprises providing a first plurality of surgical tools held in a first tool cassette supported on a first arm of a surgical robot.
  • a second robotic arm of the surgical robot is positioned to locate a second tool-receiving structure carried by the second robotic arm adjacent to the first tool cassette, and the second tool-receiving structure is coupled to a first tool held in the first tool cassette.
  • the second robotic arm is repositioned to withdraw the first tool from a receptacle on the first tool cassette, and the first tool is robotically manipulated to perform a first surgical task on the patient.
  • the methods further comprise repositioning the second robotic arm to return the first tool to an open receptacle on the first or another tool cassette, leaving the second robotic arm available to retrieve another surgical tool for use in the same or another robotic surgical task on the patient.
  • the disclosed methods may further comprise providing a second plurality of surgical tools held in a second tool cassette supported on the second or another robotic arm of the surgical robot.
  • the first robotic arm may be used to position a first toolreceiving structure carried by the first robotic arm adjacent to the second tool cassette, and the first tool-receiving structure can couple and withdraw a second tool held in the second tool cassette.
  • the first robotic arm is typically used to repositioned and withdraw the second tool from a receptacle on the second tool cassette, and the second tool is used to perform a second surgical task on the patient.
  • the first robotic arm is repositioned to return the second tool to an open receptacle on the second tool cassette, leaving the first robotic arm available to retrieve another surgical tool for use in the same or another robotic surgical task on the patient.
  • the tool-receiving structure of at least one of the first and second robotic arms may be positioned adjacent to at least one of the second and first tool cassettes, respectively, and the first or second tool cassette may be moved toward the tool-receiving structure held by the first or second robotic arm.
  • the tool-receiving structure of at least one of the first and second robotic arms may be positioned adjacent to at least one of the second and first tool cassettes, respectively, and the tool-receiving structure held by the first or second robotic arm may be moved toward the first or second tool cassette.
  • all robotic arms of the surgical robot are mounted on one or more bases and share a common surgical coordinate system and a controller for moving the arms through the common coordinate system.
  • the controller may positions the arms at least partially based on robotic kinematics.
  • the controller may position the arms at least partially based on tracking arm movement with one or more cameras or sensors.
  • positioning of the surgical arms and coupling and decoupling of tools to the tool-receiving structures may be controlled at least partly automatically by the controller.
  • positioning of the surgical arms and coupling and decoupling of tools to the tool-receiving structures may be controlled at least partly by a user.
  • positioning of the surgical arms and coupling of tools to the tool-receiving structures may be performed by a user while the user views the surgical space with a camera which can visualize the tools and the tool-receiving structures of the robotic arms.
  • a tool cassette is configured for use with a surgical robot having at least first and second surgical robotic arms.
  • the tool cassette may comprise a cassette body having a plurality of receptacles and being configured to be coupled to and moved through space by the first surgical robotic arm.
  • Each receptacle is adapted to allow a tool-receiving structure on the second surgical arm to retrieve a surgical tool from the receptacle of the cassette body and return the surgical tool to the same or another receptacle of the cassette body.
  • the cassette body may be configured to be mounted on the first surgical robotic arm while the first surgical robotic arm is coupled to another surgical tool. [0021] In some embodiments, the cassette body may be configured to be mounted on the first surgical robotic arm in place of another surgical tool.
  • a system for deployment of an interchangeable tool set for use in minimally invasive surgery comprises a first robotic arm terminating at a first flange which the comprises a first tool cassette, first end effector with a proximal end and a distal end is connected at its proximal end to the first flange, and the distal end of the first end effector may be configured to be attached to a surgical tool.
  • a second robotic arm terminates at a second flange which comprises a second tool cassette.
  • a second end effector has a proximal end and a distal end and is connected at its proximal end to the second flange.
  • the distal end of the second end effector is typically configured to be attached to a surgical tool.
  • the system is configured such that the first end effector may deposit a surgical tool connected to the first end effector in the second tool cassette or select a surgical tool from second tool cassette and cause it to be attached to the first end effector, and the system is further configured such that the second end effector may deposit a surgical tool connected to the second end effector in the first tool cassette or select a surgical tool from first tool cassette and cause it to be attached to the second end effector.
  • the first robotic arm and the second robotic arm originate from a common base comprising a central controller in an integrated surgical robotic system, where the depositing or selection of surgical tools by the first end effector or by the second end effector may be effected robotically through the central controller coordinating the movement of the first robotic arm and the second robotic arm.
  • first flange and the second flange each comprise a motor and electrical components for the operation of surgical tools.
  • the system may further comprise a first drive mechanism running the interior length of the first end effector for forming a mechanical, electrical or magnetic connection between the motor of the first flange and a surgical tool attached to the distal end of the first end effector.
  • the system may further comprise a second drive mechanism running the interior length of the second end effector for forming a mechanical connection between the motor of the second flange and a surgical tool attached to the distal end of the second end effector.
  • a portion of the first flange e.g., comprising a motor or other non- sterilizable component, will be non-sterile and positioned outside the sterile field in use while other sterile or sterilizable components will be positioned within the sterile field.
  • the systems may be configured to place one or both of the first end effector and the second end effector inside a patient body through an incision, a trocar or other access port during the surgical procedure.
  • the central controller is configured to cause at least one of one of the first end effector and the second end effector to be withdrawn from the patient body through the incision, trocar or other access port and further causes the withdrawn end effector to deposit a tool in and/or withdraw a tool from the tool cassette on the flange of the robotic arm whose end effector is not being withdrawn from the surgical field.
  • the depositing, selecting and/or exchanging of surgical tools may take place while maintaining the tool cassettes, end effectors, and surgical tools in the sterile field.
  • the central controller is configured to cause at least two exchanges of surgical tools take place.
  • At least some tool exchanges are carried out robotically in response to user input to the central controller of the integrated surgical robotic system.
  • At least some tool exchanges are carried out fully autonomously in response to a central controller algorithm.
  • the disclosed systems may further comprise at least one camera configured to positioned in the surgical field and to observe the surgical procedure.
  • at least one camera configured to positioned in the surgical field and to observe the surgical procedure.
  • an endoscopic or other camera may be deployed on a third robotic arm, where the third robotic arm may originate from the common base and movement of the third robotic arm may be coordinated by the central controller of the integrated surgical robotic system.
  • the systems may comprise at least one additional robotic arm terminating at an additional flange.
  • the additional flange may comprise an additional tool cassette and an additional end effector with a proximal end and a distal end connected at its proximal end to the additional flange where the distal end of the additional end effector is configured to be attached to a surgical tool.
  • the at least one additional robotic arm originates from the common base of the integrated surgical robotic system.
  • FIG. 1 illustrates a mobile surgical robotic cart having surgical robotic arms configured to carry tool holders incorporating tool cassettes in accordance with the disclosed technologies.
  • FIGS. 2A to 2C illustrate a tool cassette (FIG. 1 A) mounted on a flange attached to a robotic arm and carrying an end effector such as a tool retriever (FIG. IB) where the tool retriever has extracted a tool from a slot or receptacle of the tool cassette (FIG. 1C) according to an embodiment of the disclosed technology.
  • FIG. 3 is a detailed, exploded view of the tool holders of FIG. 2 shown in partial section.
  • FIGS. 4A to 4C illustrates use of the tool holders of the mobile surgical robotic cart of FIG. 2 in retrieving a tool from a tool cassette.
  • the disclosed technology provides robotic apparatus, systems, and methods which simplify the performance of repetitive tasks such as the exchange of multiple tool sets during robotic surgical procedures.
  • the surgical tools are stowed in cassettes located in the surgical space, typically one or more robotic arms of the surgical robot.
  • the robot arms can be controlled to pass and load the tools and end effectors from one robot arm to another.
  • the cassettes mounted on the surgical robot arms i.e., those which have tools mounted thereon and which perform the surgical procedures
  • one or more tool cassettes can be mounted on any surgical arm of the surgical robot, including surveillance arms which carry a camera or other sensor and dedicated robotic arms which carry tool cassettes.
  • the cassettes may be mounted on robotic arms which are carried on a different base or cart, although it will usually be preferred that all arms be on the same cart or base.
  • a principal advantage of the disclosed technology is that by mounting the tool cassette(s) on one or more surgical arms, the location and orientation of each tool cassette can be “kinematically” tracked and controlled by the robotic controller reducing or eliminating the need to optically track or locate the tool cassettes and coordinate movement of the surgical arms to allow a tool-receiving component attached to the end of a robotic arm of the surgical robot to be positioned adjacent to a tool cassette to allow the robotic arm to extract or replace a surgical tool into the cassette.
  • kinematic control is well understood in surgical robotics and refers to positioning a distal end of the surgical arm (including any end effector or tool attached to the distal end) based on the dimensions and angulations of the arm including the relationships between the arm joint coordinates and their spatial layout in the surgical robotic coordinate space.
  • optical or other sensor-based tracking of the tool cassette and/or the individual surgical arms is not necessary and generally not employed, in some instances and embodiments, the disclosed technology can incorporate optical or other sensor-based tracking of the tool cassette and/or the individual surgical arms in combination with or in place of kinematic positioning, although any use of sensor-based tracking will not generally be preferred.
  • a further advantage of the disclosed technology is that the one or more tool cassettes can be carried by robotic arms of the surgical robot.
  • the tool cassettes can be moved through the surgical space to facilitate tool extraction and replacement with others of the robotic arms. That is, both the arm carrying the tool cassette arm and the arm extracting the tool from the tool cassette can be simultaneously or sequentially positioned by the controller or the user to effect tool extraction or replacement at a desired location in the surgical space, for example a safe location where accidental release of the tool would not endanger the patient. Repositioning the tools cassettes can also be useful to reduce or eliminate interference between the tool cassettes and the other robotic arms.
  • tool cassettes While locating the tool cassettes on robotic arms of the surgical robot is preferred, in some less preferred instances and embodiments, the tool cassettes could be fixedly or detachably mounted on other components and/or surfaces of the surgical robot.
  • the tool cassettes are carried by robotic arms which are intended primarily for other purposes, e.g., for carrying and manipulating the tools which are available in the cassettes, for carrying camaras or other sensors, and the like.
  • the tool cassettes of the disclosed technology can be mounted on robotic arms which are dedicated to carrying the tool cassettes (i. e. , have a sole purpose of carrying the tool cassettes).
  • the tool cassettes will be mounted on one or more, usually two more, of the surgical arms configured to detachably carry surgical tools at their distal ends (i.e. , ends which are remote from the base end of the arm.)
  • the cassettes may be fixedly or detachably poisoned between a distal end or flange of the surgical robotic arm and a tool retriever or other interface configured to mate with one of the surgical tools held in the tool cassette.
  • the tool cassette can have generally circular periphery with a plurality of receptacles, slots or the like, which extend radially are configured to removably hold individual surgical tools.
  • the systems of the disclosed technology will usually comprise at least two surgical robotic arms, each carrying at least one tool cassette, allowing a first robotic arm to extract/retum tools from a tool cassette caried by a second robotic arm and the second robotic arm to extract/retum tools from a tool cassette caried by the first robotic arm.
  • the placement and movement of the robotic elements are controlled and coordinated by a single control unit, and wherein all of the robotic elements are based on a single rigid chassis and, thus, are robotically coordinated at a single origin point.
  • multiple robotic elements may be attached to, and controlled by, a single control unit and may be used in a coordinated fashion to deploy and/or relate to surgical tools and instruments, trackers, cameras, and other surgical tools as part of a robotic surgical procedure.
  • multiple tools, implants, or other end effectors may be deployed on multiple robotic arms and controlled by a control unit used in a centrally coordinated fashion to perform a robotic surgical procedure, with the relative movements of each robotic arm, tool and/or other end effector element being coordinated by the central control unit.
  • the inventive system is a centrally coordinated and synchronized robotic system for spinal robotic surgery procedures, optionally for bilateral approach in spinal robotic surgery procedures.
  • the system comprises multiple robotic arms that each can hold, place and/or manipulate at least one end effector, camera or navigation element for use in a spinal surgery procedure.
  • the end effectors may include any surgical tools useful for performing spinal surgical procedures and are interchangeable.
  • the surgical tools may be interchangeable within the surgical or sterile field from tool cassettes disposed on the robotic arms.
  • the cameras and navigation elements are for another layer of accuracy and confidence providing guidance for the movement of the robotic arms and deployment of the end effectors and tools.
  • the disclosed technology comprises multiple robotic arms which access and visualize the surgical field in an automatic and safe way because they are robotically synchronized.
  • the arms holding the tools may, after the tools have been placed, bring and manipulate other end effectors or tools in the surgical field.
  • the first arm may optionally position and then control the use of, for example, a drilling tool.
  • the second arm may optionally position and then control the placement of an element such as a screwdriver.
  • a third arm may optionally hold a camera that provides an image of the process from an optimal distance and angulation.
  • the camera is able to operate from optimal distance and angulation because it is sized appropriately and its deployment on an appropriately sized and positioned robotic arm.
  • the robotic arms may also hold additional imaging or navigation cameras to provide redundancy and diversity of information.
  • the robotic arms, tools, and/or end effectors may have active or passive markers placed on them that may assist the robotic system in positioning the robotic arms, the tools and/or the end effectors.
  • the already robotically synchronized movement of the robotic arms is enhanced by the interaction of the navigation cameras with active or passive markers that are placed during or at the beginning of the procedure on portions of the patient's anatomy.
  • the movement of the robotic arms is synchronized by a central control unit from a single base that knows where the arms are based upon.
  • the additional navigation information provided by the various markers and the one or more cameras can improve that accuracy in some cases or add another layer of protection and verification.
  • a system for deployment of an interchangeable tool set for use in minimally invasive surgery may comprise at least two robotic arms, with each robotic arm terminating at a flange comprising a tool cassette.
  • the system may further comprise an end effector attached to each flange, with the end effectors being configured to be attached to a variety of surgical tools.
  • the end effector on one of the robotic arms may deposit a tool in the tool cassette on the flange of the other robotic arm or may select a tool from the tool cassette.
  • the at least two robotic arms may originate from a common base on a single robotic chassis and their movement may be controlled and coordinated by a central controller incorporated into the single robotic chassis.
  • the flanges of the robotic arms may comprise motors and electrical components for the operation of surgical tools.
  • the robotic system may include drive mechanisms running the interior length of the end effectors from the motors of the flanges to surgical tools attached to the end effectors.
  • the drive mechanism may be purely mechanical and in other embodiments it may include electrical or magnetic components.
  • a portion of the flanges of the robotic arms comprising the motors and other electrical components may not be provided sterile — i.e., they may be configured to be positioned outside the sterile field.
  • a different portion of the flanges comprising the tool cassettes may be provided sterile and intended to be positioned in the sterile surgical field during a surgical field. In these embodiments, tools may then be exchanged from the tool cassettes within the sterile field during a surgical procedure.
  • the provided systems are configured to be deployed in minimally invasive surgical procedures. Accordingly, the end effectors and surgical tools may be inserted through a trocar or other access port into a minimally invasive surgical field.
  • one robotic arm that is deployed into a minimally invasive surgical field through a trocar or other access port may be withdrawn from the internal surgical field but may stay in the sterile field and deposit or select a surgical tool to or from a tool cassette on the flange of another robotic arm.
  • an endoscopic camera may be inserted into a minimally invasive surgical field through a trocar or other access port to track the movement of surgical tools or end effectors deployed into the surgical filed by other robotic arms.
  • the endoscopic camera may be deployed on a robotic arm that is deployed from a common chassis that is also the base for the deployment of other robotic arms carrying tools into the surgical field.
  • a robotic system according to these embodiments may have three robotic arms deposed on a common base with a central controller, wherein two of the robotic arms carry tools into the surgical field (and may exchange tools from tool cassettes on each other's robotic flanges) and the third arm may deploy an endoscopic camera into the surgical field.
  • a robotic system could have any number of robotic arms deployed on a common base with a central controller, with any useful combination of robotic arms carrying tools and robotic arms carrying endoscopic cameras or other visualization elements.
  • the robotic system may further comprise navigation capabilities.
  • Navigation modalities may be deployed on additional robotic arms on a common base upon which robotic arms carrying tools and endoscopic cameras are disposed.
  • navigation capabilities may be used for surveillance of the surgical field, for patient surface mapping, for collision avoidance and, in certain instances, for the identification of elements of the surgical filed that are outside of the user's line of sight.
  • the inventive embodiments take advantage of multiple feedback loops to ensure precision and safety in the performance of a bilateral robotic spinal surgical procedure.
  • the movement of the robotic arms is robotically synchronized to the greatest possible level of precision because the relatively small robotic arms are all co-mounted on a single rigid chassis that has a central control unit.
  • the robotic arms are also mounted on the central chassis relatively far from each other, for example at least one meter apart — thus providing for greater reachability, maneuverability and force application.
  • Robotic navigation is provided by one or more cameras/ sensors that are deployed by one or more robotic arms that are also co-mounted on the same single chassis and are also controlled by the same central control unit.
  • the disclosed technology provides a method for interchanging tools during a robotic surgical procedure being performed on a patient.
  • the method comprises providing a first plurality of surgical tools in a first tool cassette supported on a surgical robot, positioning a tool- receiving end of a first robotic arm of the surgical robot adjacent to the first tool cassette, coupling the tool-receiving end of the first robotic arm to a first tool held in the first tool cassette, separating the tool-receiving end of the first robotic arm from first tool cassette, and using the first tool to perform a first surgical task on the patient.
  • these methods further comprise providing a second plurality of surgical tools in a second tool cassette supported on the surgical robot, positioning a tool-receiving end of a second robotic arm adjacent to the second tool cassette, coupling the tool-receiving end of the second robotic arm to the second tool held in the second tool cassette, separating the toolreceiving end of the second robotic arm from second tool cassette, and using the second tool to perform a second surgical task on the patient.
  • at least one of the first and second tool cassettes is held by a robotic arm.
  • positioning the tool-receiving end of at least one of the first and second robotic arms adjacent to at least one of the first or second tool cassette, respectively comprises moving the first or second robotic arm toward the first or second tool cassette.
  • positioning the tool-receiving end of at least one of the first and second robotic arms adjacent to at least one of the first or second tool cassette, respectively comprises moving the first or second tool cassette toward the first or second robotic arm toward.
  • the first tool cassette is held by the second robotic arm and second tool cassettes is held by the first robotic arm.
  • positioning the tool -receiving end of first robotic arms adjacent to the first tool cassette comprises moving the first robotic arm toward the first tool cassette.
  • positioning the tool -receiving end of first robotic arms adjacent to the first tool cassette comprises moving the first tool cassette toward the first robotic arm.
  • positioning the tool-receiving end of second robotic arms adjacent to the second tool cassette comprises moving the second robotic arm toward the second tool cassette.
  • positioning the tool-receiving end of second robotic arms adjacent to the second tool cassette comprises moving the second tool cassette toward the second robotic arm.
  • all robotic arms of the surgical robot are mounted on one or more bases that have a common surgical coordinate system and a single controller for moving the arms through the common coordinate system.
  • positioning of the surgical arms and coupling of the tool-receiving ends of the robotic arms are controlled by the controller.
  • positioning of the surgical arms and coupling of the tool-receiving ends of the robotic arms are controlled by a user.
  • the disclosed technology provides a tool cassette configured for use with a surgical robot having at least first and second surgical robotic arms, said tool cassette comprising a cassette body comprising a plurality of receptacles and configured to be mounted on and moved through space by the first surgical robotic arm, wherein each receptacle is adapted to allow the second surgical arm to place a surgical tool therein and retrieve the surgical tool therefrom when a distal end of the second surgical end is in proximity to the tool cassette carried by the first surgical robot arm.
  • the cassette body is configured to be mounted on the first surgical robotic arm while the first surgical robotic arm coupled to another surgical tool.
  • the cassette body is configured to be mounted on the first surgical robotic arm in place of another surgical tool.
  • FIG. 1 An exemplary robotic surgical system 10 suitable for use with the methods and tool cassettes of the disclosed technology is shown in FIG. 1,
  • the robotic surgical system 10 typically comprises a chassis 12, usually consisting of a single, rigid frame which provides a base or platform for three robotic arms 20, 22 and 24 that are placed relatively far apart on opposite longitudinal ends 14 and 16 of an upper surface 18 of the chassis 12, typically approximately one meter apart, thus allowing for desirable attributes such as reachability, maneuverability, and an ability to apply significant force.
  • robotic surgical arms 20 and 22 are on the first end 14 of the chassis 12 and robotic surgical arm 22 is on the second end 16 of the chassis.
  • the chassis can be mobile, e.g., being in the form of a mobile cart as described in commonly owned PCT application no.
  • the surgical arms 20, 22 and 24 can be mounted on a base or other structure of a surgical table. Placement of the robotic surgical arms on a common, stable platform allows the arms to be moved kinematically or otherwise within a common robotic coordinate system under the control of a surgical robotic controller, typically an on-board controller have a user interface, such as display screen 32.
  • the single, rigid chassis of the disclosed technology will usually comprise, consist of, or consist essentially of a single mobile cart, as disclosed for example in commonly owned PCT application no. PCT/IB2022/052297 (published as WO2022/195460), the full disclosure of which has been previously incorporated herein by reference.
  • the single, rigid chassis may comprise separate modules, platforms, or components, that are assembled at or near the surgical table, as described for example in commonly owned PCT application no. PCT/EP2024/052353, entitled Integrated Multi-Arm Mobile Surgical Robotic System, filed on January 29, 2024, the full disclosure of which is incorporated herein by reference.
  • the only requirement of the single, rigid chassis is that it provide a stable base for all the surgical arms so that they may be accurately and precisely kinematically positioned and tracked by the surgical robotic controller in a single surgical robotic coordinate space.
  • the chassis 12 of the robotic surgical system 10 can be configured to be temporarily placed under a surgical table (not shown) when performing the robotic surgical procedure, allowing the robotic surgical system 10 to be stored remotely before and after the procedure.
  • the robotic arms 20, 22, and 24 may optionally be configured to be retracted into the chassis 12 of the robotic surgical system, allowing the system to be moved into or out of the surgical field in a compact configuration.
  • the first and second robotic surgical arms 28 and 28 typically have flanges 26 and 28, respectively, mounted at their distal ends.
  • the flanges 26 and 28 may each hold a tool holder 100 and 102, respectively, each of which in turn hold a tool-retrieving structure 106, as described in more detail with reference to FIG. 3 below.
  • the tool holders 106 may hold operative tools to be used in performing a surgical task as part of a robotic surgery.
  • the flanges 26 and 28 typically include all electronics and other sensitive system components that cannot be sterilized under harsh conditions, for example, using heat (autoclave) or radiation.
  • the tool holders 102 and 104 typically include only robust mechanical components that can be sterilized and reused in a conventional manner. By providing a surgical drape or other isolation barrier between the tool holders 102 and 104 and the flanges 26 or 28, the flange can be used in a non-sterile environment and can be reused without needing full sterilization.
  • the first robotic arm 20 can hold a first tool holder 100
  • the second robotic arm 22 can hold a second tool holder 102, typically but not necessarily identical to the first tool holder.
  • At least one of the surgical robotic arms 20 and 22 will hold a tool cassette 120 in addition to or in place of the tool holder 26 or 28.
  • the tool cassettes 120 hold a plurality of tools, tool tips, screws, cages, plates, and other implants that are intended to be used in a particular robotic surgical procedure.
  • the tool cassette 120 may comprise a disc-like body 122 having a plurality of receptacles 124 distributed about its periphery 126.
  • Individual surgical attachments such as tool tips 130a, 130b, and 130c, are removably held in the receptacles 124 by detents 132 or other retention structures.
  • the tool tips 130a, b, and c can be removed from the receptacles 124 using a hook or other releasably grasper 108 to pull on a hub 132 at the base of the tool tip.
  • the tool tip 132a Once the tool tip 132a has been removed from the receptacle 124, as shown for example in FIG. 2C, it can be manipulated by the tool -retrieving structure 106 or be transferred to a different tool shaft (not shown) to allow for robotic manipulation.
  • Attachments of both the tool holder 100 and the tool cassette 120 to the robotic surgical arm 20 can take a variety of forms.
  • a principal requirement is that the attachments be stable so that the locations of both the tool holder 100 and the tool cassette 120 can be kinematically determined by the robotic controller with high levels of accuracy and precision (repeatability).
  • a secondary feature is that the system be reconfigurable so that the tool cassette and tool holders can be conveniently removed and replaced.
  • the tool cassette 120 has an axial passage 128 configured to positioned over the tool holder 100 and flange 26.
  • the tool-retrieving structure 106 can be removed and replaced in the tool -holder, for example as described in commonly owned PCT Application PCT/EP2024/068766 which claimed priority to US Provisional Application 63/524,911, the full disclosures of which are incorporated herein by reference.
  • the hook 108 is mounted to both axially translate and rotate about its axis, as indicated by the arrows.
  • tool-retrieving structure 106 of tool holder 102 can be used to retrieve a tool tip 130 by positioning the second robotic surgical arm 22 to align the hook 108 with receptacle 124 on tool cassette 120, as shown in FIG. 4B. After engaging the hook 108 onto the hub 110 (FIG. 2C), either or both of robotic arms 20 and 22 can be repositioned to withdraw the tool tip 130 from the receptacle, 124 as shown in FIG. 4C. The tool tip 130 is then in a position to be driven by the tool holder 102 or to be transferred to another tool shaft (not shown) for use.

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  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

Un système robotique peut obtenir des outils à partir de cassettes d'outils disposées sur les bras robotiques d'un système robotique chirurgical coordonné de manière centrale. L'échange d'outil est utile pour mettre en oeuvre des interventions chirurgicales minimalement invasives et d'autres interventions chirurgicales robotiques où l'automatisation et le maintien des cassettes d'outils dans un champ stérile sont souhaités.
PCT/EP2024/083929 2023-12-04 2024-11-28 Cassettes d'outils robotiques chirurgicales montées sur bras et leurs procédés d'utilisation Pending WO2025119761A1 (fr)

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004014244A2 (fr) 2002-08-13 2004-02-19 Microbotics Corporation Systeme de robot microchirurgical
US20150119637A1 (en) 2013-10-24 2015-04-30 Auris Surgical Robotics, Inc. System for robotic-assisted endolumenal surgery and related methods
US20150133960A1 (en) * 2012-04-27 2015-05-14 Kuka Laboratories Gmbh Robotic Surgery System
US20180168757A1 (en) 2012-05-11 2018-06-21 Peter L. Bono Robotic surgical system
WO2019005921A1 (fr) 2017-06-27 2019-01-03 The Johns Hopkins University Système universel d'échange et d'identification d'outils chirurgicaux
WO2019096933A2 (fr) 2017-11-15 2019-05-23 Steerable Instruments nv Dispositifs pour améliorer des tâches de bras robotiques
WO2020123236A1 (fr) * 2017-12-28 2020-06-18 Ifeanyi Ugochuku Robot chirurgical multi-instrument à port unique automatisé
US20220241030A1 (en) * 2018-10-26 2022-08-04 Sam Youl YOON Wearable surgical robot arm
WO2022195460A1 (fr) 2021-03-16 2022-09-22 Lem Surgical Ag Système robotisé chirurgical bilatéral
WO2022249164A1 (fr) * 2021-05-26 2022-12-01 Mazor Robotics Ltd. Plateforme robotique chirurgicale à bras multiples

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004014244A2 (fr) 2002-08-13 2004-02-19 Microbotics Corporation Systeme de robot microchirurgical
US20150133960A1 (en) * 2012-04-27 2015-05-14 Kuka Laboratories Gmbh Robotic Surgery System
US20180168757A1 (en) 2012-05-11 2018-06-21 Peter L. Bono Robotic surgical system
US20150119637A1 (en) 2013-10-24 2015-04-30 Auris Surgical Robotics, Inc. System for robotic-assisted endolumenal surgery and related methods
WO2019005921A1 (fr) 2017-06-27 2019-01-03 The Johns Hopkins University Système universel d'échange et d'identification d'outils chirurgicaux
WO2019096933A2 (fr) 2017-11-15 2019-05-23 Steerable Instruments nv Dispositifs pour améliorer des tâches de bras robotiques
US20200315738A1 (en) * 2017-11-15 2020-10-08 Steerable Instruments nv Devices to enhance robotic arm tasks
WO2020123236A1 (fr) * 2017-12-28 2020-06-18 Ifeanyi Ugochuku Robot chirurgical multi-instrument à port unique automatisé
US20220241030A1 (en) * 2018-10-26 2022-08-04 Sam Youl YOON Wearable surgical robot arm
WO2022195460A1 (fr) 2021-03-16 2022-09-22 Lem Surgical Ag Système robotisé chirurgical bilatéral
WO2022249164A1 (fr) * 2021-05-26 2022-12-01 Mazor Robotics Ltd. Plateforme robotique chirurgicale à bras multiples

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