Translational instrument interface for surgical robot and surgical robot systems comprising the same
Inventors
CHASSOT, Julien • Friedrich, Michael
Assignees
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Publication Number
US-12295688-B2
Publication Date
2025-05-13
Expiration Date
Abstract
Surgical instruments for use in a surgical robot are provided herein. The instruments are preferably part of a translational instrument interface and are removably coupled to the surgical robot. In one aspect, the translational instrument interface has a slave hub mounted on a distal end of the slave unit, a sterile shield insertable within the slave hub, and an instrument having an end-effector for contacting tissue insertable within the sterile shield. The instrument may be disposable after a single use. The handle of the surgical robot is preferably coupled to the translational instrument interface such that actuation at the handle causes movement of the end-effector for performing surgery.
Core Innovation
The invention provides an instrument for a surgical robotic system in which an actuator disposed at the proximal end uses a tubular body with a plurality of engagers extending through respective longitudinal slots. Each engager is coupled to a distal end effector via a force transmitting element disposed in the lumen of an elongated shaft, and the engagers are translationally driven, via movement of a receptacle, along a pathway defined by the longitudinal slot to actuate movement of the end effector in at least one degree-of-freedom.
The invention also provides a translational instrument interface for removably coupled, preferably disposable instruments. A distal slave hub includes multiple drive units and a sterile shield barrier insertable into the hub lumen, so insertion or exchange maintains sterility, and force transmission proceeds from slave hub receptacles through sterile shield sliders to the actuator and then via force-transmitting elements to actuate motion at the distal end effector, which has multiple degrees-of-freedom.
A locking and alignment arrangement is described to maintain correct coupling between the instrument and the sterile interface. The instrument head includes a rotatable portion and locking pins engaging a slit in the sterile shield, along with an axial key/puka-yoke and a corresponding channel in the sterile shield, and the interface can additionally include an identification tag for instrument parameters and sensor-based misalignment detection based on torque/current with an alarm and/or auto-correction.
Claims Coverage
The document includes three independent claims that cover a translationally driven instrument with a proximal actuator using multiple engagers through longitudinal slots, a sterile interface with first and second components inserted into opposite sides of an instrument hub lumen, and an instrument hub with multiple drive units arranged around the lumen for translationally driving peripherally disposed engagers.
Translationally driven actuator with peripherally disposed engagers through longitudinal slots
Each of the plurality of engagers is coupled to the end effector via a force transmitting element disposed in the lumen, and each engager is configured to be coupled to a receptacle of a plurality of receptacles of a surgical robotic system and to be translationally driven, via movement of the receptacle, along a pathway defined by the respective longitudinal slot by a drive unit of the surgical robotic system to actuate movement of the end effector in at least one degree-of-freedom.
Sterile interface with first and second components inserted into opposite sides of an instrument hub lumen
A sterile interface comprising a first component and a second component, wherein the first component is configured to be inserted into a lumen of an instrument hub on a first side of the instrument hub and the second component is configured to be inserted into the lumen on a second side of the instrument hub opposite the first side, the first and second components defining an opening therethrough, and an instrument inserted through the opening and coupled with the surgical robotic system.
Instrument hub with multiple drive units arranged around the lumen for translationally driving engagers
An instrument hub defining a lumen therethrough, the instrument hub including a plurality of drive units disposed around the lumen, and an instrument insertable through the lumen and coupled to the instrument hub such that the plurality of drive units are arranged around the shaft, wherein each engager, when the instrument is coupled to the instrument hub, is coupled to a drive unit and configured to be translationally driven by the drive unit to actuate movement of the end effector in at least one degree-of-freedom.
Overall, the independent claims emphasize a proximal tubular-body actuator with multiple engagers passing through longitudinal slots to transmit force through a shaft lumen to a distal end effector, coupled via a sterile interface or instrument hub to drive units for translational actuation in at least one degree-of-freedom.
Stated Advantages
Insertion or exchange maintains sterility.
Correct coupling between the instrument and the sterile interface is maintained.
Sensor-based misalignment detection is described with an alarm and/or auto-correction.
Documented Applications
Removably coupled, preferably disposable instruments.
Surgical robotic system.
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