Virtual reality surgical tools system
Inventors
Wang, Daniel • KHALIFA, Sammy • Sachs, Adam David
Assignees
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Publication Number
US-11690692-B2
Publication Date
2023-07-04
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 relates to a virtual-reality-enabled minimally invasive surgical system that uses a universal grasper to enable tool exchange while a robotic device or robotic arm remains within an abdomen. The system includes a tool housing and a docking assembly with docking openings, tabs, and attachment-pin or channel couplings, and the universal grasper mates to the tool housing to constrain an instrument in multiple axes.
Tool actuation is based on a fulcrum-and-lever mechanism in which motion of a grasper jaws drives lever rotation. Contact between the grasper and a lever rotates the lever about a tool fulcrum disposed between a proximal end and a distal end of a tool, and rotation of the lever about the tool fulcrum actuates the tool.
The tool suite includes static, actuated, and electrified tools that use conductive grasper jaws, docking tabs, tool electrical contacts, and insulators to prevent shorts. Electrified tools include an electrically actuated drill and cautery tools, and the system supports coupling and disengagement for swapping tools during surgery while maintaining immersion in the VR HMI, with an introducer, trocar, tool rack, and a disengagement tool to enable decoupling and attachment during tool exchange.
Claims Coverage
The partial content provides two independent claims (clm-00001 and clm-00016). Across both, the claims cover tool exchange for minimally invasive surgery while the surgical robot remains within the patient’s abdomen, and tool actuation by grasper contact that rotates tool levers about respective tool fulcrums, including kinematic linkage for first and second tools.
Lever contact actuation with tool fulcrums
Contact between the grasper and at least one lever rotates the at least one lever about a respective tool fulcrum, and rotation of the lever about the tool fulcrum actuates the respective tool.
Decoupling and re-coupling tools while robot remains in the abdomen
Decoupling a first tool from the surgical robot while the surgical robot is within the abdomen, and operably coupling at least one lever of a second tool with the grasper while the surgical robot is within the abdomen.
Sequential tool actuation by closing the grasper
Actuating the first tool by closing the grasper so that contact between the grasper and the at least one lever rotates the at least one lever about the first tool fulcrum, then decoupling and coupling a second tool with the grasper and actuating the second tool by closing the grasper to rotate the at least one lever about the second tool fulcrum.
The claim coverage is centered on a surgical robot grasper that performs sequential tool exchange inside a patient’s abdomen and actuates tools by rotating lever(s) about tool fulcrums through grasper contact, including actuation by closing the grasper for both first and second tools.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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