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Publication Number
US-10799308-B2
Publication Date
2020-10-13
Expiration Date
Abstract
A method and system for use in surgery, which includes a grasper having a jaw, and a grasper housing having a proximal end and distal end and defining a docking opening, and a tool having a tool housing having a proximal end, a distal end and defining an inner surface, and a robotic device operably coupled to the proximal end of the grasper housing, and configured to actuate the jaw of the grasper. The tool housing having an operative assembly at the distal end of the tool housing, and the tool housing defining a docking assembly at the proximal end of the tool housing. The operative assembly having a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.
Core Innovation
The invention provides a virtual-reality minimally invasive surgical system in which a robotic device actuates a grasper and enables tool exchange without removing the robotic arm. A grasper includes a housing defining a docking opening at the distal end, and the distal jaw has a first jaw portion and a second jaw portion that are movably opposed, with at least one jaw portion including at least one actuation mating surface for interfacing with a tool.
A tool includes a tool housing with an inner surface and a docking assembly defined at the proximal end of the tool housing. The docking assembly includes a first protrusion extending proximally with a shape complementary to the shape of the grasper docking opening, so the tool and grasper mate through complementary geometry. The tool also includes an operative assembly at the distal end with a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.
The system further constrains tool alignment and mechanical coupling through mechanical docking features that constrain degrees of freedom. The disclosure includes complementary docking openings and protrusions, channels and pins for alignment, and optional magnetic retention. The actuator includes energy retention and release for cycling the lever between lever positions, and the disclosure also describes optional electrification of jaw and tool interfaces using electrically conductive portions with electrical insulation and routing to electrically actuated tools.
Claims Coverage
The document identifies one independent claim. The independent claim recites three main inventive areas: a docking-capable grasper with movable opposed jaw portions and actuation mating surfaces; a tool having a complementary docking assembly and an operative assembly with fulcrum-lever-instrument-actuator; and a robotic device configured to actuate the jaw portions between two jaw positions.
Docking-capable grasper with movable opposed jaw portions
A grasper having a grasper housing defining a docking opening at the distal end, and a jaw at the distal end including a first jaw portion and a second jaw portion movably opposed, wherein at least one of the first and second jaw portions comprises at least one actuation mating surface.
Complementary tool docking assembly and operative fulcrum-lever-instrument-actuator assembly
A tool having a tool housing with a docking assembly at a proximal end, including a first protrusion extending proximally from the proximal end with a first protrusion shape complementary to the shape of the docking opening, and an operative assembly at a distal end including a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.
Robotic jaw actuation between first and second jaw positions
A robotic device operably coupled to a proximal end of the grasper and configured to actuate the first and second jaw portions of the grasper between a first jaw position and a second jaw position.
Across the independent claim, the inventive combination is a docking-opening grasper with actuation mating surfaces, a tool whose complementary docking assembly mates to the grasper and whose operative assembly uses fulcrum-lever mechanics to couple an instrument to an actuator, and a robotic device that actuates the grasper jaw portions between first and second jaw positions.
Stated Advantages
Enables tool exchange while remaining immersed in VR without removing the robotic arm.
Documented Applications
Minimally invasive surgery in a virtual-reality surgical system, including exchanging tools while remaining immersed in VR.
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