Surgical tool and robotic surgical system interfaces

• US 10,149,732 B2
• Filed: 12/09/2016
• Issued: 12/11/2018
• Est. Priority Date: 12/09/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Overmyer, Mark D., Swayze, Jeffrey S., Shelton, IV, Frederick E., Harris, Jason L., Young, Joshua, Yates, David C., Houser, Kevin L.
• Primary Examiner(s): Luo, David S
• Application Number:
  US15/374,156
• Publication Number:
  US 20180161118A1
• Time in Patent Office: 732 Days
• Field of Search: 31856821, 3185682, 31856811, 3185681, 318567, 318560
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00367 Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2090/0813 Accessories designed for easy sterilising, i.e. re-usable
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/05 Splash shields for protection of the surgeon, e.g. splash guards connected to the apparatus A41D13/11 takes precedence

Abstract

Various exemplary surgical tool and robotic surgical system interfaces are provided. In general, a sterile barrier can be positioned between a robotic surgical system and a surgical tool releasably coupled to the robotic surgical system. The surgical tool can be in a sterile environment on one side of the sterile barrier, and the robotic surgical system can be in a non-sterile environment on the other, opposite side of the sterile barrier. The robotic surgical system can be configured to control movement of the surgical tool releasably coupled thereto using a magnetic field that extends across the sterile barrier between the surgical tool and the robotic surgical system.

Claims

1. A surgical system, comprising:

a surgical tool having an elongate shaft with an end effector at a distal end thereof, the surgical tool including a rotor;

a robotic surgical system tool driver configured to releasably couple to the surgical tool, the tool driver including a stator;

a sterile barrier located between the tool driver and the surgical tool such that when the tool driver is releasably coupled to the surgical tool, a magnetic field is configured to extend through the sterile barrier between the rotor on a sterile side of the sterile barrier and the stator on a non-sterile side of the sterile barrier and thereby drive a function of the end effector; and

a shield configured to provide a magnetic shield for the magnetic field.

2. The system of claim 1, wherein the shield is a multi-part shield that is configured to be assembled by the tool driver being releasably coupled to the surgical tool.

3. The system of claim 2, wherein the shield includes a first shield that is part of the surgical tool and a second shield that is part of the tool driver, the first and second shields being assembled to form the multi-part shield when the tool driver is releasably coupled to the surgical tool.

4. The system of claim 1, wherein the rotor includes a plurality of permanent magnets, the stator includes a plurality of electromagnets, and the shield surrounds the plurality of permanent magnets and the plurality of electromagnets.

5. The system of claim 1, wherein the rotor includes a plurality of rotors, the stator includes a plurality of stators each configured to operatively couple with one of the plurality of rotors to form a rotor/stator pair, and the shield includes a plurality of shields each associated with one of the operatively coupled rotor/stator pairs.

6. The system of claim 1, wherein the rotor includes a plurality of rotors, the stator includes a plurality of stators each configured to operatively couple with one of the plurality of rotors to form a rotor/stator pair, and the shield includes a single shield that provides the magnetic shield for each of the rotor/stator pairs.

7. The system of claim 1, wherein the shield includes mu-metal.

8. The system of claim 1, wherein when the tool driver is releasably coupled to the surgical tool, the rotor is in a sterile environment on a first side of the sterile barrier and the stator is in a non-sterile environment on a second, opposite side of the sterile barrier.

9. The system of claim 1, wherein the electric coupling of the rotor and the stator drives the function of the end effector without the surgical tool being mechanically driven by the tool driver.

10. The system of claim 1, wherein the function of the end effector includes moving the end effector.

11. The system of claim 1, wherein the function of the end effector includes at least one of closing the end effector, opening the end effector, articulating the end effector relative to an elongate shaft of the surgical tool that has the end effector at a distal end thereof, rotating the end effector relative to the elongate shaft, and rotating the end effector and the elongate shaft as a unit about a longitudinal axis of the elongate shaft.

12. A surgical system, comprising:

a surgical tool having an elongate shaft with an end effector at a distal end thereof;

a sterile barrier;

a robotic surgical system tool driver configured to releasably couple to the surgical tool with the sterile barrier located therebetween, wherein the end effector is configured to move in response to generation of a magnetic field extending through the sterile barrier and between the surgical tool and the robotic surgical system; and

a shield configured to provide magnetic shielding of the magnetic field.

13. The system of claim 12, wherein the shield is a multi-part shield that is configured to be assembled by the tool driver being releasably coupled to the surgical tool.

14. The system of claim 12, wherein the surgical tool includes a rotor, the tool driver includes a stator, and the shield surrounds the rotor and the stator.

15. The system of claim 12, wherein the generation of the magnetic field is configured to drive the function of the end effector without the surgical tool being mechanically driven by the tool driver.

16. The system of claim 12, wherein the shield includes mu-metal.

17. The system of claim 12, wherein the movement of the end effector includes at least one of closing the end effector, opening the end effector, articulating the end effector relative to the elongate shaft, rotating the end effector relative to the elongate shaft, and rotating the end effector and the elongate shaft as a unit about a longitudinal axis of the elongate shaft.

18. A surgical method, comprising:

coupling a surgical tool to a tool driver of a robotic surgical system with a sterile barrier between the surgical tool and the tool driver such that the surgical tool is in a sterile environment; and

causing a magnetic field to extend between a rotor of the surgical tool and a stator of the robotic surgical system through the sterile barrier and thereby move an end effector of the surgical tool, a shield surrounding the rotor and the stator providing a magnetic shield of the magnetic field.

19. The method of claim 18, wherein the shield is a multi-part shield, and coupling the surgical tool to the tool driver assembles the shield.

20. The method of claim 18, wherein the sterile barrier includes the shield as an integral part thereof.