Surgical tool and robotic surgical system interfaces

• US 10,433,920 B2
• Filed: 12/09/2016
• Issued: 10/08/2019
• 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
• Application Number:
  US15/374,108
• Publication Number:
  US 20180161109A1
• Time in Patent Office: 1,033 Days
• Field of Search: 31856821, 3185682, 31856811
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes

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 configured to releasably couple to a robotic surgical system with a sterile barrier being located between the surgical tool and the robotic surgical system, the surgical tool including an elongate shaft having an end effector at a distal end thereof, and the end effector being configured to move in response to generation of a magnetic field extending between a non-sterile environment proximal to the surgical tool and a sterile environment in which the surgical tool is located, wherein the end effector is configured to move in response to generation of the magnetic field without the surgical tool being mechanically driven by the robotic surgical system.

2. The system of claim 1, wherein the surgical tool includes a rotor, and the generated magnetic field is configured to extend between the rotor and a stator included in one of the sterile barrier and the robotic surgical system.

3. The system of claim 2, further comprising the sterile barrier, the sterile barrier including the stator.

4. The system of claim 2, further comprising a tool driver of the robotic surgical system, the tool driver including the stator.

5. The system of claim 1, 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.

6. A surgical system, comprising:

a sterile barrier;

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 such that the surgical tool is in a sterile environment on a first side of the sterile barrier and the tool driver is in a non-sterile environment on a second, opposite side of the sterile barrier; and

a stator configured to be operatively coupled to the rotor when the tool driver is releasably coupled to the surgical tool, a magnetic field generated between the rotor and the stator being configured to cause movement of the end effector.

7. The system of claim 6, wherein the stator is integral with the sterile barrier.

8. The system of claim 6, wherein the tool driver includes the stator.

9. The system of claim 6, wherein the rotor includes a plurality of permanent magnets, and the stator includes a plurality of electromagnets.

10. The system of claim 6, wherein the magnetic field causes the end effector to move without the surgical tool being mechanically driven by the tool driver.

11. The system of claim 6, further comprising a controller configured to cause movement of the stator in response to a user input, the movement of the stator causing the generation of the magnetic field.

12. The system of claim 6, 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.

13. 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 the surgical tool and the robotic surgical system through the sterile barrier and thereby drive a function of an end effector of the surgical tool, 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.

14. The method of claim 13, wherein coupling the surgical tool to the robotic surgical system electrically couples a rotor of the surgical tool to a stator of the robotic surgical system with the sterile barrier being between the rotor and the stator such that the rotor is in the sterile environment on one side of the sterile barrier and the stator is in a non-sterile environment on another side of the sterile barrier.

15. The method of claim 13, wherein coupling the surgical tool to the robotic surgical system electrically couples a rotor of the surgical tool to a stator of the sterile barrier.

16. The method of claim 13, wherein the surgical tool is in the sterile environment on one side of the sterile barrier and the tool driver is in a non-sterile environment on another side of the sterile barrier.

17. The method of claim 13, wherein the magnetic field drives the function of the end effector without the surgical tool being mechanically driven by the tool driver.

18. The method of claim 13, wherein coupling the surgical tool to the robotic surgical system electrically couples a rotor of the surgical tool to a stator of the tool driver.