System and method for exchanging surgical tools in an implantable surgical robotic system
Inventors
Assignees
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Publication Number
US-12383353-B2
Publication Date
2025-08-12
Expiration Date
Abstract
An end effector region device of a robot arm that forms part of a surgical robotic system that includes a tool base portion that is coupled to an end portion of the robot arm by a connector and first and second pulley elements that are rotatably coupled to the tool base portion. The device further includes first and second tool elements that are coupled together and can be removably and replaceably mounted to the pulley elements.
Core Innovation
The invention relates to an implantable surgical robotic end-effector/wrist architecture for exchanging coupled tool elements on a wrist portion of a robot arm in a surgical robotic system. A tool base portion is coupled to an end portion of the robot arm by a connector, and the tool base portion carries first and second pulley elements rotatably coupled to the tool base portion and secured with an axle element. First and second tool elements are positioned into an open tool exchange position so they are able to be mounted on or removed from the tool base portion.
The invention uses complementary pulley surface features and complementary tool surface features to removably and replaceably mount the first and second tool elements in the open tool exchange position. The pulley surface features include boss-like pulley surface features that mate with complementary slots and surface features on the first and second tool elements. The first and second tool elements are also coupled together via complementary connection surface features forming a dove-tail joint connection, including a groove and a protruding rail-like element.
The invention further includes an electrical power transmission aspect for electrosurgical use in connection with the pulley actuation. The pulleys are actuated by a cable-driven actuation mechanism to rotate the tool elements from the open tool exchange position to use positions that lock the tools together and to the base. Conductive spring elements and conductive contact elements are arranged to maintain direct electrical contact independent of the pulley rotational position during use.
Claims Coverage
The document contains three independent claims. Each independent claim covers a core mechanical tool-exchange concept using first and second pulley elements and complementary tool mounting in an open tool exchange position, with additional dependents refining complementary surface features, locking in use positions, and electrical contact maintenance independent of pulley rotation.
Tool exchange method using first and second pulley elements
A method for removing from and inserting on a wrist portion of a robot arm in a surgical robotic system one or more tool elements, comprising providing a tool base portion coupled to the end portion of the robot arm, rotatably coupling a first pulley element to the tool base portion, rotatably coupling a second pulley element to the tool base portion, securing the first and second pulley elements to the tool base portion with an axle element, providing a first tool element that can be coupled together with a second tool element, and configuring the first and second tool elements to be positioned into an open tool exchange position so as to be able to be mounted on or removed from the tool base portion.
End region device with pulley-mounted tool elements for open exchange
An end region device of a robot arm in a surgical robotic system, comprising a tool base portion coupled to an end portion of the robot arm by a connector, a first pulley element rotatably coupled to the tool base portion, a second pulley element rotatably coupled to the tool base portion, wherein the first and second pulley elements are secured to the tool base portion with an axle element, a first tool element coupled together with a second tool element, wherein the first and second tool elements are configured to be positioned into an open tool exchange position so as to be able to be mounted on or removed from the tool base portion.
Wrist portion with complementary pulley surface features for removably replaceable tool mounting
A wrist portion of a robot arm forming part of a robotic unit of a surgical robotic system, comprising a tool base portion coupled to an end portion of the robot arm by a connector, a first pulley element rotatably coupled to the tool base portion, wherein the first pulley element has a main body having a first pulley surface feature formed thereon, a second pulley element rotatably coupled to the tool base portion, wherein the second pulley element has a main body having a second pulley surface feature formed thereon, a first tool element having a main body having a first surface feature formed thereon complementary in shape to the first pulley surface feature of the first pulley element, and a second tool element having a main body having a second surface feature formed thereon complementary in shape to the second pulley surface feature of the second pulley element, wherein when the first pulley surface feature of the first pulley element and the second pulley surface feature of the second pulley element are aligned with each other when disposed in a first open tool exchange position, the first and second tool elements can be removably and replaceably mounted on the first and second pulley surface features of the first and second pulley elements, respectively.
Across the independent claims, the central claim coverage is the combination of a tool base coupled to a robot arm end portion, first and second rotatable pulley elements secured with an axle element, and first and second tool elements configured for an open tool exchange position to be mounted on or removed from the tool base and pulleys.
Stated Advantages
Reducing cost/waste.
Enabling tool swaps inside or outside the patient.
Documented Applications
Tool exchange inside or outside the patient in an implantable surgical robotic system, including context of VR/console control and split-arm (SA) architecture.
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