Surgical robot, instrument manipulator, combination of an operating table and a surgical robot, and master-slave operating system

• US 10,617,561 B2
• Filed: 05/19/2017
• Issued: 04/14/2020
• Est. Priority Date: 10/02/2009
• Status: Active Grant

• Current Assignee: Preceyes B.V.
• Original Assignee: Technische Universiteit Eindhoven
• Inventors: Meenink, Hildebert Christiaan Matthijs
• Primary Examiner(s): Shi, Katherine M
• Application Number:
  US15/599,887
• Publication Number:
  US 20170252208A1
• Time in Patent Office: 1,061 Days
• Field of Search: 606130
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• 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 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61F 9/007 Methods or devices for eye surgery
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/41 Tool

Abstract

The present invention relates to a surgical robot for performing surgery of the minimally invasive type, comprising an instrument manipulator having a manipulator front end, which is provided with an instrument receiver for receiving therein a surgical instrument, and manipulating means for, at least in use, manipulating the manipulator front end with respect to a patient body. The manipulator front end further comprises a container for receiving therein the surgical instrument. The invention further relates to an instrument manipulator, a combination of an operating table and a surgical robot, and a master-slave operating system.

Claims

1. A surgical robot for performing a medical procedure, comprising:

(a) an instrument manipulator comprising a manipulator front end, wherein said manipulator front end comprises a base body defining a longitudinal axis with a proximal end and a distal end;

(b) a container with an instrument holder to hold a surgical instrument, wherein said manipulator front end is capable of guiding said container towards said instrument receiver;

(c) an instrument receiver for receiving said surgical instrument, wherein said instrument receiver comprises a clamping mechanism, wherein said clamping mechanism can clamp said surgical instrument when said clamping mechanism is changing from a passive no-clamping state to an active clamping state;

(d) a cannula connector with a proximal end and a distal end parallel with said longitudinal axis, said cannula connector is a rigid connector mounted to said distal end of said base body, said surgical instrument to go through said cannula connector, wherein said cannula connector remains distal to said instrument receiver, wherein said cannula connector can be fixated onto a cannula to establish a connection between said base body and said cannula via said cannula connector, wherein said cannula is also parallel with said longitudinal axis; and

(e) a linear guide to actively guide said instrument receiver, wherein said instrument receiver can actively clamp said surgical instrument through said clamping mechanism, wherein said linear guide can actively guide said instrument receiver with said clamped surgical instrument in longitudinal direction towards said cannula connector, and wherein the guidance of said instrument receiver towards said cannula connector while said surgical instrument is clamped by said clamping mechanism of said instrument receiver causes said surgical instrument to be released from said instrument holder.

2. The surgical robot as set forth in claim 1, wherein said cannula can be fixated onto a human or an animal body.

3. The surgical robot as set forth in claim 2, wherein said human or animal body is an eye.

4. The surgical robot as set forth in claim 2, wherein a spatial position between said base body and said human or animal body is configured to be fixed when switching said surgical instrument for another surgical instrument.

5. The surgical robot as set forth in claim 1, wherein said surgical robot is part of a master-slave operating system.

6. The surgical robot as set forth in claim 1, wherein the inner diameter of said cannula connector changes over the length of said cannula connector between said proximal and distal ends.