Surgical system sterile drape

• US 8,746,252 B2
• Filed: 08/12/2010
• Issued: 06/10/2014
• Est. Priority Date: 05/14/2010
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: McGrogan, Anthony K., Brown, Jeffrey D., Cooper, Thomas G., Duval, Eugene F., Gomez, Daniel H., Holop, Robert E., Ramstad, Craig R.
• Primary Examiner(s): Bianco, Patricia
• Assistant Examiner(s): CARREIRO, CAITLIN ANN
• Application Number:
  US12/855,499
• Publication Number:
  US 20110277776A1
• Time in Patent Office: 1,398 Days
• Field of Search: 128/849, 128/852, 128/856, 378/204, 378/205, 378/208, 378/210, 901/50
• US Class Current: 128/852
• CPC Class Codes: A61B 1/00135 Oversleeves mounted on the endoscope prior to insertion
• CPC Class Codes: A61B 1/00142 with means for preventing contamination, e.g. by using a sanitary sheath
• CPC Class Codes: A61B 17/0218 for minimally invasive surgery A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 17/3474 Insufflating needles, e.g. Veress needles
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/3445 used as instrument channel for multiple instruments
• CPC Class Codes: A61B 2017/3447 Linked multiple cannulas
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2050/3008 having multiple compartments
• CPC Class Codes: A61B 2090/5025 with a counter-balancing mechanism
• CPC Class Codes: A61B 34/00 Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 46/23 : with means to retain or hold surgical implements
• CPC Class Codes: A61B 50/00 : Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers drapes specially adapted for instruments A61B46/10
• CPC Class Codes: A61B 50/20 : Holders specially adapted for surgical or diagnostic appliances or instruments drapes with means to hold surgical instruments A61B46/23; for catheters A61M25/02
• CPC Class Codes: A61B 50/30 : Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments for wound clamps A61B17/10; for ligaturing clips A61B17/122; packages or dispensers for surgical gloves or finger-stalls A61B42/40
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: A61M 13/003 : Blowing gases other than for carrying powders, e.g. for inflating, dilating or rinsing
• CPC Class Codes: B25J 15/0066 : with different types of end effectors, e.g. gripper and welding gun B25J15/0057 and B25J15/0061 take precedence
• CPC Class Codes: B25J 15/02 : servo-actuated
• CPC Class Codes: B25J 15/04 : with provision for the remote detachment or exchange of the head or parts thereof
• CPC Class Codes: B32B 3/12 : characterised by a layer of regularly- arranged cells, e.g. a honeycomb structure
• CPC Class Codes: F16F 1/121 : adjustable, e.g. to modify spring characteristics
• CPC Class Codes: G03B 2205/0015 : by displacing one or more optical elements normal to the optical axis
• CPC Class Codes: G03B 2205/0069 : using electromagnetic actuators, e.g. voice coils
• CPC Class Codes: G03B 3/00 : Focusing arrangements of general interest for cameras, projectors or printers
• CPC Class Codes: G03B 35/00 : Stereoscopic photography
• CPC Class Codes: G03B 5/02 : Lateral adjustment of lens
• CPC Class Codes: H01F 2005/027 : wound on formers for receiving several coils with perpendicular winding axes, e.g. for antennae or inductive power transfer
• CPC Class Codes: H01F 27/2823 : Wires H01F27/2866 takes precedence
• CPC Class Codes: H01F 5/02 : wound on non-magnetic supports, e.g. formers
• CPC Class Codes: H01F 5/04 : Arrangements of electric connections to coils, e.g. leads
• CPC Class Codes: H04N 23/51 : Housings
• CPC Class Codes: H04N 23/54 : Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
• CPC Class Codes: H04N 23/55 : Optical parts specially adapted for electronic image sensors; Mounting thereof
• CPC Class Codes: H04N 23/555 : for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
• CPC Class Codes: H04N 23/57 : Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
• CPC Class Codes: H04N 23/60 : Control of cameras or camera modules
• CPC Class Codes: H04N 23/687 : by shifting the lens or sensor position
• CPC Class Codes: H05K 1/18 : Printed circuits structurally associated with non-printed electric components H05K1/0201, H05K1/023, H05K1/0243, and H05K1/16 take precedence
• CPC Class Codes: Y10T 74/20305 : Robotic arm

Abstract

A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.

Claims

1. A surgical system comprising:

a first manipulator;

a plurality of second manipulators coupled to the first manipulator, wherein the first manipulator is configured to move the plurality of second manipulators as a single unit; and

a surgical system drape comprising;

a first drape portion configured to receive the first manipulator;

a second drape portion including a plurality of pockets, each pocket of the plurality of pockets configured to receive a corresponding one of the plurality of second manipulators; and

a rotatable seal coupling the second drape portion to the first drape portion.

2. The system of claim 1, wherein the rotatable seal comprises a labyrinth seal.

3. The system of claim 1, wherein the rotatable seal is coupled to a frame of the first manipulator.

4. The system of claim 1, wherein each one of the plurality of pockets includes a flexible membrane at a distal end, wherein the flexible membrane is configured to interface between an output of one of the plurality of second manipulators and an input of a surgical instrument.

5. The system of claim 1, wherein at least one pocket of the plurality of pockets is configured to allow one of the plurality of second manipulators to move away from the first manipulator.

6. The system of claim 1, wherein the surgical system drape further includes a pocket configured to drape a cannula mount.

7. The system of claim 1, further comprising a surgical instrument couplable to one of the plurality of second manipulators.

8. A method of draping a surgical system, the surgical system including a first manipulator and a plurality of second manipulators coupled to the first manipulator, the first manipulator being configured to move the plurality of second manipulators as a single unit, each one of the plurality of second manipulators being configured to drive a corresponding instrument, the method comprising:

draping each second manipulator of the plurality of second manipulators with a drape pocket of a plurality of drape pockets of a surgical system drape, wherein a second portion of the surgical system drape comprises the plurality of drape pockets;

coupling a rotatable seal of the surgical system drape to the first manipulator, wherein the rotatable seal couples a first portion of the surgical system drape to the second portion of the surgical system drape; and

draping the first manipulator with the first portion of the surgical system drape.

9. The method of claim 8, wherein the rotatable seal is a labyrinth seal including a base comb portion rotatably coupled to a roll cover portion, and wherein the coupling the rotatable seal of the surgical system drape includes fixedly mounting the roll cover portion to a frame of the first manipulator, and coupling the base comb portion to a rotatable base of the first manipulator.

10. The method of claim 9, wherein the base comb portion includes a disc with ribs that form a plurality of apertures, each of the plurality of apertures being configured to circumscribe one second manipulator of the plurality of second manipulators, and wherein the method further comprises passing the one second manipulator through an aperture of the plurality of apertures prior to coupling the rotatable seal to the first manipulator.

11. The method of claim 8, further comprising draping a cannula mount with a pocket of the surgical system drape.

12. The method of claim 8, further comprising operably coupling an input of a surgical instrument to an output of one of the plurality of second manipulators through a distal face of one of the plurality of drape pockets.

13. The method of claim 12, wherein the distal face of the one of the plurality of drape pockets comprises a flexible membrane.

14. A surgical system drape for a surgical system, the surgical system including a first manipulator and a plurality of second manipulators coupled to the first manipulator, the first manipulator being configured to move the plurality of second manipulators as a single unit, each one of the plurality of second manipulators is configured to drive a corresponding instrument, the surgical system drape comprising:

a first drape portion configured to receive the first manipulator;

a second drape portion including a plurality of pockets, each pocket of the plurality of pockets being configured to receive a corresponding one of the plurality of second manipulators; and

a rotatable seal coupling the second drape portion to the first drape portion.

15. The surgical system drape of claim 14, wherein the rotatable seal comprises a labyrinth seal.

16. The surgical system drape of claim 15, wherein the labyrinth seal comprises:

a base comb portion rotatably coupled to a roll cover portion, wherein the roll cover portion is configured to fixedly mount to a frame of the first manipulator, and wherein the base comb portion is configured to fixedly mount to a rotatable base of the first manipulator.

17. The surgical system drape of claim 14, wherein the rotatable seal is configured to be coupled to a frame of the first manipulator.

18. The surgical system drape of claim 14, wherein an outer surface of each one of the plurality of pockets is sterile.

19. The surgical system drape of claim 14, wherein each pocket of the plurality of pockets comprises a distal face, each distal face being configured to allow an actuating force from a corresponding one of the plurality of second manipulators covered by the pocket to be transmitted through the pocket to an instrument mounted on the corresponding one of the plurality of second manipulators.

20. The surgical system drape of claim 19, wherein the distal face of each pocket of the plurality of pockets comprises a flexible membrane, and the flexible membrane allows the actuating force to be transmitted from the corresponding one of the plurality of second manipulators to the instrument.

21. The surgical system drape of claim 14, wherein each one of the plurality of pockets is configured to allow a corresponding one of the plurality of second manipulators to move away from the first manipulator.

22. The surgical system drape of claim 14, further comprising a drape pocket extension at a distal face of each of the plurality of pockets, wherein the drape pocket extension is configured to receive a telescoping insertion mechanism along which one of the plurality of second manipulators moves.