Surgical accessory clamp and system method

• US 20060161136A1
• Filed: 09/30/2005
• Published: 07/20/2006
• Est. Priority Date: 11/21/1997
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Anderson, Christopher S., Cooper, Thomas G., Burbank, William, Loh, Alan, Schena, Bruce, Nixon, Margaret M.
• Granted Patent: US 8,182,469 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61B 90/57 Accessory clamps
• CPC Class Codes: F16B 2/10 using pivoting jaws
• CPC Class Codes: F16B 2/185 using levers

Abstract

A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The present invention further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility.

Claims

1. A surgical accessory clamp of a robotic surgical system, the accessory clamp comprising:

a base for coupling to a distal end of a manipulator arm;

two clamp jaws for receiving a surgical accessory, the two clamp jaws operably coupled to the base;

a sterile drape portion over the two clamp jaws; and

a lever portion capable of actuating the two clamp jaws into an open position or a closed position.

2. The surgical accessory clamp of claim 1, wherein the base is capable of being coupled to the manipulator arm by screws, adhesives, or welding material.

3. The surgical accessory clamp of claim 1, wherein the two clamp jaws allow the surgical accessory to rotate along a length-wise axis in the open position.

4. The surgical accessory clamp of claim 1, wherein the two clamp jaws pivot about a single pivot axis or two pivot axes.

5. The surgical accessory clamp of claim 1, wherein the surgical accessory is a cannula defining an inner lumen for receiving a surgical tool and providing access through a percutaneous penetration.

6. The surgical accessory clamp of claim 5, wherein the surgical tool is selected from the group consisting of articulated tools with end effectors, such as jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, and clip appliers, and non-articulated tools, such as cutting blades, cautery probes, irrigators, catheters, and suction orifices.

7. The surgical accessory clamp of claim 1, wherein the sterile drape portion is comprised of material selected from the group consisting of HDPE, polyethylene, and polyurethane.

8. The surgical accessory clamp of claim 1, wherein the sterile drape portion is a vacuum formed part of a larger drape or a separate molded portion.

9. The surgical accessory clamp of claim 1, wherein the sterile drape portion includes a reinforcement portion.

10. The surgical accessory clamp of claim 1, wherein the lever portion clamps or releases the surgical accessory by a sliding movement or a pivot movement of a lever handle.

11. The surgical accessory clamp of claim 1, further comprising a printed circuit board for processing information about the surgical accessory received between the two clamp jaws.

12. The surgical accessory clamp of claim 11, wherein the information includes identification of the surgical accessory.

13. A surgical accessory clamp of a robotic surgical system, the accessory clamp comprising:

a base for coupling to a distal end of a manipulator arm, the base including a first mounting portion;

a sterile drape portion over the first mounting portion; and

a second mounting portion for clamping or releasing a surgical accessory between the first and second mounting portions.

14. The surgical accessory clamp of claim 13, wherein the surgical accessory is a cannula defining an inner lumen for receiving a surgical tool and providing access through a percutaneous penetration.

15. The surgical accessory clamp of claim 14, wherein the surgical tool is selected from the group consisting of a retractor, a stabilizer, and an endoscopic camera.

16. The surgical accessory clamp of claim 13, wherein the sterile drape portion is comprised of material selected from the group consisting of HDPE, polyethylene, and polyurethane.

17. The surgical accessory clamp of claim 13, wherein the sterile drape portion is a vacuum formed part of a larger drape or a separate molded portion.

18. The surgical accessory clamp of claim 13, wherein the sterile drape portion includes a reinforcement portion.

19. A robotic surgical system for performing a procedure within a sterile field, comprising:

a manipulator arm;

a surgical accessory clamp for coupling a surgical accessory to a distal end portion of the manipulator arm; and

a sterile drape covering the accessory clamp and the manipulator arm to shield the accessory clamp and the manipulator arm from the sterile field.

20. The robotic surgical system of claim 19, wherein the surgical accessory is a cannula defining an inner lumen for receiving a surgical tool and providing access through a percutaneous penetration.

21. The robotic surgical system of claim 19, wherein the surgical tool is selected from the group consisting of a retractor, a stabilizer, and an endoscopic camera.

22. The robotic surgical system of claim 19, wherein the sterile drape is comprised of material selected from the group consisting of HDPE, polyethylene, and polyurethane.

23. The robotic surgical system of claim 19, wherein the sterile drape over the accessory clamp is a vacuum formed part of a larger drape or a separate molded portion.

24. The robotic surgical system of claim 19, wherein the sterile drape over the accessory clamp includes a reinforcement portion.

25. A robotic surgical system for performing a procedure within a sterile field, comprising:

a surgical tool;

a manipulator assembly including a manipulator arm having proximal and distal end portions;

a cannula defining an inner lumen for receiving the surgical tool and providing access through a percutaneous penetration in the patient;

a cannula adaptor for coupling the cannula to the distal end portion of the manipulator arm; and

a sterile drape covering the cannula adaptor and the manipulator arm to shield the cannula adaptor and the manipulator arm from the sterile field.

26. The robotic surgical system of claim 25, wherein the sterile drape is comprised of material selected from the group consisting of HDPE, polyethylene, and polyurethane.

27. The robotic surgical system of claim 25, wherein the sterile drape over the cannula adaptor is a vacuum formed part of a larger drape or a separate molded portion.

28. The robotic surgical system of claim 25, wherein the sterile drape over the cannula adaptor includes a reinforcement portion.

29. A method of clamping a surgical accessory in a robotic surgical system, the method comprising:

providing a surgical accessory clamp including;

a base for coupling to a distal end of a manipulator arm,

two clamp jaws for receiving the surgical accessory, and

a lever portion operably coupling the two clamp jaws to the base, the lever portion capable of actuating the two clamp jaws into an open position or a closed position;

positioning a sterile drape over the two clamp jaws;

actuating the accessory clamp into the open position;

providing the surgical accessory between the two clamp jaws; and

actuating the accessory clamp into the closed position.

30. The method of claim 29, further comprising identifying the type of surgical accessory provided between the two clamp jaws.

31. The method of claim 29, further comprising rotating the surgical accessory into a desired position between the two clamp jaws.

32. A method of clamping a surgical accessory in a robotic surgical system, the method comprising:

attaching a surgical accessory clamp to a distal end portion of a manipulator arm;

covering the manipulator arm and accessory clamp with a sterile drape to shield the manipulator arm and accessory clamp from a sterile field; and

attaching an accessory to the accessory clamp within the sterile field.

33. The method of claim 32, further comprising introducing a surgical tool through the accessory.