Robotic surgery

• US 9,271,797 B2
• Filed: 07/02/2013
• Issued: 03/01/2016
• Est. Priority Date: 07/02/2013
• Status: Active Grant

• Current Assignee: Gyrus ACMI, Inc. (Olympus Corporation)
• Original Assignee: Gyrus ACMI, Inc. (Olympus Corporation)
• Inventors: Adler, Doron, Finkman, Shai
• Primary Examiner(s): LOUIS, RICHARD G
• Application Number:
  US13/933,144
• Publication Number:
  US 20150012010A1
• Time in Patent Office: 973 Days
• Field of Search: 606/1, 606/130
• US Class Current: 1/1
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00991 Telescopic means
• CPC Class Codes: A61B 2017/291 the position of the handle being adjustable with respect to the shaft
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A robotic tool holder, including a housing, configured to be gripped by a human hand, and a wireless transmitter, located within the housing. The holder further includes a plurality of individual controls attached to the housing, the controls being configured, in a first mode of operation of the robotic tool holder, to activate respective motions of a first surgical tool physically attached to the housing in response to manipulation of the controls by the human hand, and in a second mode of operation of the robotic tool holder, to activate via the wireless transmitter respective motions of a second surgical tool remote from and disconnected from the housing in response to the manipulation.

Claims

1. A robotic tool holder, comprising:

a housing, configured to be gripped by a human hand;

a retaining cup at a distal end of the housing;

a wireless transmitter, located within the housing; and

a plurality of individual controls attached to the housing, each of the controls being configured for both a first mode and a second mode of operation, such that in the first mode of operation of the robotic tool holder, the controls are configured to activate respective motions of a first surgical tool physically attached to the housing, by insertion of the first surgical tool into the retaining cup, in response to manipulation of the controls by the human hand, and in the second mode of operation of the robotic tool holder, the controls are configured to activate via the wireless transmitter respective motions of a second surgical tool remote from and disconnected from the housing in response to the manipulation.

2. The holder according to claim 1, wherein the individual controls comprise a magnification/demagnification regulator having a setting defining a ratio, so that in the first mode of operation the ratio corresponds to a movement of a given control relative to a corresponding movement of the first surgical tool and in the second mode of operation the ratio corresponds to the movement of the given control relative to a corresponding movement of the second surgical tool.

3. The holder according to claim 1, wherein the controls comprise a flexible joint attached to the housing, wherein the retaining cup is attached to the flexible joint, the flexible joint being configured so that in the first mode of operation a movement of the housing with respect to the flexible joint generates a corresponding movement of the first surgical tool with respect to the flexible joint.

4. The holder according to claim 1, and comprising a processing unit and motors mounted within the housing, wherein the processing unit receives signals from the plurality of individual controls, and in response:

in the first mode of operation operates the motors to activate the respective motions of the first surgical tool, and

in the second mode of operation causes the wireless transmitter to activate the respective motions of the second surgical tool.

5. The holder according to claim 1, and comprising a clamping system wherein is mounted the second surgical tool, and further comprising a processing unit external to the housing configured to receive signals from the wireless transmitter, and in response to operate the clamping system to perform the respective motions of the second surgical tool.

6. The holder according to claim 1, wherein the second surgical tool comprises a multiplicity of surgical tools remote from and disconnected from the housing, the controls comprising a selector configured to select in the second mode of operation a given surgical tool from the multiplicity of surgical tools.

7. The holder according to claim 1, wherein the robotic tool holder is operated in an operating theater, and wherein the controls comprise a selector configured to select a facility used in the operating theater.

8. A method for implementing a robotic tool holder, comprising:

configuring a housing to be gripped by a human hand;

locating a wireless transmitter within the housing; and

attaching a plurality of individual controls to the housing,

wherein each of the controls is configured for both a first mode and a second mode of operation, such that in the first mode of operation of the robotic tool holder, the controls are configured to activate respective motions of a first surgical tool physically attached to the housing, by insertion of the first surgical tool into a retaining cup at a distal end of the housing, in response to manipulation of the controls by the human hand, and in the second mode of operation of the robotic tool holder, the controls are configured to activate via the wireless transmitter respective motions of a second surgical tool remote from and disconnected from the housing in response to the manipulation.

9. The method according to claim 8, wherein the individual controls comprise a magnification/demagnification regulator having a setting defining a ratio, so that in the first mode of operation the ratio corresponds to a movement of a given control relative to a corresponding movement of the first surgical tool and in the second mode of operation the ratio corresponds to the movement of the given control relative to a corresponding movement of the second surgical tool.

10. The method according to claim 8, wherein the controls comprise a flexible joint attached to the housing, wherein the retaining cup is attached to the flexible joint, the flexible joint being configured so that in the first mode of operation a movement of the housing with respect to the flexible joint generates a corresponding movement of the first surgical tool with respect to the flexible joint.

11. The method according to claim 8, and comprising mounting a processing unit and motors within the housing, wherein the processing unit receives signals from the plurality of individual controls, and in response:

in the first mode of operation operates the motors to activate the respective motions of the first surgical tool, and

in the second mode of operation causes the wireless transmitter to activate the respective motions of the second surgical tool.

12. The method according to claim 8, and comprising a mounting the second surgical tool with a clamping system, and further comprising configuring a processing unit external to the housing to receive signals from the wireless transmitter, and in response to operate the clamping system to perform the respective motions of the second surgical tool.

13. The method according to claim 8, wherein the second surgical tool comprises a multiplicity of surgical tools remote from and disconnected from the housing, the controls comprising a selector configured to select in the second mode of operation a given surgical tool from the multiplicity of surgical tools.

14. The method according to claim 8, and comprising operating the robotic tool holder in an operating theater, and wherein the controls comprise a selector configured to select a facility used in the operating theater.