Co-manipulation surgical system having a robot arm removeably attachable to surgical instruments for performing laparoscopic surgery

Inventors

Noonan, David Paul • Linard, Nicolas • Basafa, Ehsan • ALVAREZ, Jeffery Byron • Ummalaneni, Ritwik • FAYAD, Jad

Assignees

Moon Surgical SAS

Abstract

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Core Innovation

The invention assists with laparoscopic surgery using a robot arm having a plurality of links and a plurality of joints, including one or more motorized joints, one or more setup joints, and one or more passive joints. A proximal end of the robot arm is operatively coupled to a base, and a distal end is configured to be removably coupled to a surgical instrument. The links of the robot arm are positioned in a target position relative to a patient.

During a setup stage, one or more actuators operatively coupled to the one or more setup joints move links and joints distal to the setup joints relative to links and joints proximal to the setup joints to provide an unobstructed workspace for the laparoscopic surgery. The system transitions between a setup stage and an operating stage to manage the workspace for laparoscopic surgery.

When the one or more actuators are in an unactuated state, the one or more setup joints are configured to cause the links adjacent to the respective one or more setup joints to be fixed relative to each other in the operating stage. During the operating stage, the surgical instrument is coupled to the distal end of the robot arm and is moved via a handle of the surgical instrument to cause movement of the robot arm via at least one of the motorized joints or the passive joints to perform the laparoscopic surgery.

Claims Coverage

The document includes at least two independent claims. Across the independent claims, the coverage centers on positioning a robot arm relative to a patient, actuating setup joints during a setup stage to create an unobstructed workspace, coupling a surgical instrument to the distal end, and fixing adjacent links relative to each other in an operating stage when the setup joints are unactuated, with instrument-handle-driven motion via motorized and/or passive joints.

Overall, the independent claims define laparoscopic assistance by positioning a multi-link robot arm relative to a patient, actuating setup joints during a setup stage to create an unobstructed workspace by moving distal joint and link portions relative to proximal portions, coupling a surgical instrument to the distal end, and fixing adjacent links relative to each other during the operating stage when the setup joints are unactuated, with operating-stage motion driven by the surgical instrument handle through motorized and/or passive joints.

Stated Advantages

Documented Applications