SURGICAL ROBOT/INSTRUMENT SYSTEM

• US 20170281286A1
• Filed: 03/30/2017
• Published: 10/05/2017
• Est. Priority Date: 03/31/2016
• Status: Abandoned Application

• Current Assignee: Tuebingen Scientific Medical GmbH
• Original Assignee: Tuebingen Scientific Medical GmbH
• Inventors: Braun, Marcus
• Application Number:
  US15/474,824
• Publication Number:
  US 20170281286A1
• Time in Patent Office: Days
• CPC Class Codes: A61B 17/16 Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans arthroscopic bone cutters A61B17/320016; dental implant drills potentially for other surgical use A61C8/0089; bone grinders A61F2/4644, A22C17/06; A61B17/1662 takes precedence over all other subgroups except A61B17/17
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/34 Trocars; Puncturing needles pointed biopsy instruments A61B10/0233; devices for piercing the ear-lobes A44C7/001; seals or hemostasis valves A61M39/06
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3462 with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals expandable cannulas A61B17/3417
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 18/1482 having a long rigid shaft for accessing the inner body transcutaneously in minimal invasive surgery, e.g. laparoscopy
• CPC Class Codes: A61B 2017/00539 hydraulically
• CPC Class Codes: A61B 2017/00544 pneumatically
• CPC Class Codes: A61B 2017/00991 Telescopic means
• CPC Class Codes: A61B 2017/3409 including needle or instrument drives
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/0813 Accessories designed for easy sterilising, i.e. re-usable
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms

Abstract

A surgical robot/instrument system comprising a holding arm whose distal end portion has a gripping or holding device arranged thereon, the latter being designed to hold a trocar or a surgical instrument in an exchangeable fashion, and a surgical instrument with a minimally invasive design comprising an instrument shaft whose distal end portion supports an instrument tip via a joint, said instrument tip supporting an effector of the surgical instrument. The surgical robot/instrument system comprises drives by means of which functions such as actuating the effector, inclining or bending of the effector at its joint to the instrument shaft, rotating the effector around its longitudinal axis and/or rotating the instrument shaft, moving the instrument shaft in its shaft direction as well as moving the instrument shaft transverse to the shaft direction can be effected. The drives for effecting at least the instrument-internal functions, such as actuating the effector, inclining or bending the effector at its joint to the instrument shaft and rotating the effector around its longitudinal axis are provided internally on or in the surgical instrument. The drives for effecting the instrument-external functions, such as moving the instrument shaft transverse to the shaft direction, are provided externally on/in the holding arm.

Claims

1. A surgical robot/instrument system, comprising:

a trocar; and

a holding arm having a distal end portion;

a gripping or holding device arranged on the distal end portion of the holding arm, the latter being designed to hold exclusively the trocar in an exchangeable fashion, and a surgical instrument preferably with a minimally invasive design and comprising an instrument shaft whose distal end portion supports an instrument tip via a joint, said instrument tip supporting or forming an effector of the surgical instrument, wherein the surgical robot/instrument system comprises a number of drives or drive units by means of which at least the following functions can be effected;

an actuation of the effector,

an inclination or bending of the effector preferably at its joint to the instrument shaft,

a rotation of the effector around its longitudinal axis and/or a rotation of the instrument shaft,

a movement of the instrument shaft in its shaft direction as well as

moving the instrument shaft transverse to the shaft direction,

whereas,

the drives for effecting at least the instrument-internal functions, preferably

an actuation of the effector,

an inclination or bending of the effector preferably at its joint to the instrument shaft (10) and

a rotation of the effector around its longitudinal axis

are provided as instrument-internal drives preferably on/in the surgical instrument, whereas the drives for effecting the instrument-external functions, preferably

moving the instrument shaft (10) transverse to the shaft direction are provided as instrument-external drives preferably on/in the holding arm.

2. The surgical robot/instrument system according to claim 1, wherein the trocar is designed to receive the surgical instrument so as to be rotatable around its instrument shaft and/or so as to be movable along its instrument shaft.

3. The surgical robot/instrument system according to claim 2, wherein the trocar is provided with trocar-internal drives which are designed to effect the movements of the surgical instrument within the trocar.

4. The surgical robot/instrument system according to claim 1, wherein the gripping or holding device is mounted on the holding arm in such a manner that it can be bent with respect to the holding arm and preferably can be extended and retracted relative to the holding arm in a telescopic manner.

5. The surgical robot/instrument system according to claim 4, wherein the bending movement and the telescopic movement are effected by the instrument-external drives.

6. The surgical robot/instrument system according to claim 1, wherein the instrument-internal drives are connected to the instrument shaft in a fixed or detachable manner and effect the instrument-internal functions via power transmission trains arranged preferably within the instrument shaft.

7. The surgical robot/instrument system according to claim 1, wherein an at least two-part instrument shaft comprising a distal and a proximal shaft portion which are coupled to each other so as to be rotatable relative to each other around the shaft axis and/or shiftable in the direction of the shaft axis, and the drive units for effecting instrument-internal functions, preferably

any movement(s) of the distal shaft portion relative to the proximal shaft portion,

an actuation of the effector,

an inclination or bending of the effector preferably at its joint to the instrument shaft and

a rotation of the effector around its longitudinal axis

being directly arranged in/on the instrument.

8. The surgical instrument according to claim 7, wherein the instrument-internal drives are mounted on the proximal end portion of the instrument shaft in a fixed or detachable manner.