JP2019122769A - Lock device for fixing sterile adapter assembly to actuator assembly for robotic surgical system - Google Patents

Abstract

To provide a robotic surgical system having an improved lock device that allows easy attachability/detachability of a sterile adapter assembly and an actuator assembly during performance of a robotic surgery without breaking the sterile barrier, and that fixes the sterile adapter assembly to the actuator assembly.SOLUTION: Provided is a device for locking a sterile adapter assembly 303 to an actuator assembly 305 in a robotic surgical system, in which device at least one notch 409 of the actuator assembly receives at least one engagement hug 403 of the sterile adapter assembly, and at least one female guide of the sterile adapter assembly receives at least one male guide 429 of the actuator assembly, thereby allowing the sterile adapter assembly and the actuator assembly to operate in conjunction with each other.SELECTED DRAWING: Figure 4a

Description

  The present invention relates generally to robotic surgical systems for minimally invasive surgery, and more particularly to an improved locking device for securing a sterile adapter assembly to an actuator assembly in a robotic surgical system.

  This section is intended to introduce the reader to various aspects of the technology associated with various aspects of the present disclosure, as described below. The present disclosure is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Thus, it should be understood that these descriptions are to be read in this light, and not as an acknowledgment of the prior art.

  The robot assisted surgery system reduces the amount of extraneous tissue (s) that can be damaged during the surgical procedure or diagnostic procedure, thereby reducing patient recovery time, patient discomfort, long hospital stay period, It has been adopted around the world in place of conventional surgical procedures, especially to reduce adverse side effects. In robot-assisted surgery, the surgeon usually manipulates the master controller at the surge console to seamlessly capture and transfer complex movements by the surgeon, thereby providing the surgical instruments and surgeons to perform the surgery. Give the feeling that they are directly related. The surgeon operating on the surgical console may be located remotely from the surgical site or may be located in the operating room where the patient is undergoing surgery.

  Robot-assisted surgery has revolutionized one of the fastest growing areas in the medical and medical device industries. However, the main issues in robot-assisted surgery include securing safety and accuracy during surgery. One of the important areas of robot assisted surgery is the development of surgical robots for minimally invasive surgery. Over the past few decades, surgical robots have evolved exponentially and have become a major area of innovation in the medical device industry.

  A robot assisted surgery system includes a plurality of robot arms that assist in performing robotic surgery. In a robotic assisted surgery system, a sterile barrier is used to separate the non-sterile part of the robotic arm from the required sterile surgical instruments attached to the robotic arm at the operating end.

  The sterilization barrier may include a sterile plastic drape enclosing the robotic arm and a sterilization adapter operatively engaged with the sterile surgical instrument at the sterile area. The sterilization barrier may include a flex drape interface for holding the drape section in between to receive torque and other force feedback as input from both the sterile surgical instrument and the robotic arm. A sterilization barrier is maintained between the sterile surgical instrument and the non-sterile robotic system. The sterile adapter releasably engages with an actuator assembly that drives and controls the sterile surgical instrument in the sterile area.

  Performing surgery with surgical instruments in robotic surgery creates new challenges. One challenge is that the area in contact with the patient needs to be kept sterile. However, the electronic components within the actuator assembly, such as the motors, sensors, encoders and electronic connections necessary to controllably move the sterile surgical instrument, are usually damaged or destroyed during each sterilization process. It can not be sterilized using methods such as steam, heat, and pressure, or chemicals.

  Thus, the sterile barrier and the like while preventing rapid contamination of the actuator assembly and allowing a quick and reliable attachment of a series of sterile surgical instruments from the sterile barrier that maintains the sterile area around the surgical instruments. A method of making it easier and more effective to engage or disengage the sterile surgical instrument from the actuator assembly of the present invention is essential.

  Another issue in robot assisted surgery systems is to easily engage or disengage the sterilization adapter with the actuator assembly so that the sterilization barrier is not breached. However, the interlocking of the sterile adapter with the actuator assembly involves a complex assembly, which makes the assembly expensive, cumbersome and time-consuming.

  In view of the above problems, an improved lock for facilitating the detachment of the sterilization adapter assembly and the actuator assembly during robotic operation and securing the sterilization adapter assembly to the actuator assembly without destroying the sterilization barrier There is a need for a robotic surgery system having a device.

  An apparatus for locking a sterile adapter assembly to an actuator assembly in a robotic surgery system is disclosed herein. The locking device includes at least one engagement tab and at least one female guide spaced apart from one another on the sterile adapter assembly. The at least one engagement tab has a cylindrical contour that includes a groove. The at least one female guide has a guide slot. The locking device further includes at least one cut and at least one male guide spaced apart from one another on the actuator assembly. The at least one cut defines a recess. At least one male guide has a protruding contour. At least one cut of the actuator assembly receives at least one engagement tab of the sterilization adapter assembly, and at least one female guide of the sterilization adapter assembly receives at least one male guide of the actuator assembly, thereby sterilizing Engage the adapter assembly and the actuator assembly.

  In order to make the advantages and features of the present invention clearer, the present invention will be described in more detail by reference to the specific embodiments of the present invention shown in the attached drawings. These drawings depict only typical embodiments of the invention and are therefore not to be construed as limiting the scope of the invention. The present invention will be further described and described in more detail and in detail by means of the attached drawings.

FIG. 5 is a schematic view of a plurality of robotic arms of a robotic surgery system according to an embodiment of the present invention. FIG. 5 is a schematic view of a surgical console of a robotic surgery system according to an embodiment of the present invention. FIG. 1 is a schematic view of a vision cart of a robotic surgery system according to an embodiment of the present invention. FIG. 7 is a perspective view of a tool interface assembly attached to a robotic arm, in accordance with an embodiment of the present invention. FIG. 7 is a perspective view of a tool interface assembly according to an embodiment of the present invention. FIG. 7 is an exploded view of a tool interface assembly according to an embodiment of the present invention. FIG. 10 is a front view showing the actuator assembly and the sterilization adapter assembly in a removal position, according to one embodiment of the present invention. FIG. 10 is a rear view showing the actuator assembly and the sterilization adapter assembly in the removal position, in accordance with one embodiment of the present invention. FIG. 7 shows the actuator assembly and the sterilization adapter assembly in the locked position, according to one embodiment of the present invention. FIG. 5 is a top view of a sterilization adapter assembly according to an embodiment of the present invention. FIG. 5 is a bottom view of a sterilization adapter assembly according to an embodiment of the present invention. FIG. 5 is a front view of the floating plate of the sterilization adapter assembly according to one embodiment of the present invention. FIG. 7 is a rear view of the floating plate of the sterilization adapter assembly according to one embodiment of the present invention. FIG. 6 is a perspective view of a floating plate without a body of rotation, according to one embodiment of the present invention. (A) shows a rotating body with a spring according to an embodiment of the present invention, (b) is an isolated view of the spring shown in (a) according to an embodiment of the present invention.

  DETAILED DESCRIPTION OF THE INVENTION In order to provide an understanding of the principles of the present invention, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the embodiments. Nevertheless, the scope of the present invention is not limited thereby, but variations or further modifications in the illustrated apparatus and further applications of the principles of the present invention as illustrated in the drawings are related to the present invention. It is to be understood that the propositions will usually occur to those skilled in the art.

  Those skilled in the art will appreciate that the foregoing general description and the following detailed description are exemplary and explanatory of the present invention and are not limiting of the present invention. By convention used throughout this patent specification, like numerals refer to like components in the accompanying drawings.

  Descriptions of "one embodiment", "another embodiment", "one embodiment", "another embodiment" or similar terms throughout the specification may be set, according to the embodiment. It is meant to be included in at least one embodiment of the present invention the specific characteristics, structures or features described in connection with it. Thus, the appearances of "in one embodiment", "in another embodiment", "in one embodiment", "in another embodiment" or similar phrases are used herein. All in the same may, but not necessarily, refer to the same embodiment.

  The terms "comprise", "comprises" or other variations of these are intended to extend to inclusive, whereby a process or method comprising a list of steps refers to those steps As well as including, it may also include other steps not explicitly listed or specific to such a process or method. Similarly, one or more devices or subsystems or elements or structures preceded by “comprises ... a)” may be, without further limitation, other devices, other subsystems, other elements, etc. Does not exclude the presence of additional structures, additional devices, additional components, additional elements or additional structures.

  Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The devices, systems and examples described herein are exemplary only and not intended to be limiting.

  As used herein, the terms "a" and "an" mean that at least one referenced item is present without implying a limitation of quantity. Furthermore, the terms sterile barrier and sterile adapter have the same meaning and may be used interchangeably throughout the description.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  The present invention relates to a robotic surgical system for minimally invasive surgery. Robotic surgical systems generally involve the use of multiple robotic arms. One or more robotic arms may be articulated (orthodontic forceps, scissors, grasping forceps, needle holders, microdissectors, staple appliers, tuckers, suction / perfusion instruments, clip appliers, etc.) or non-jointed (cutting It often supports surgical instruments connected by blades, cautery probes, perfusors, catheters, suction orifices, etc.). One or more robotic arms can be used with an endoscope (any of a variety of structures such as laparoscopes, arthroscopes, hysteroscopes) or other imaging modalities (ultrasound, fluoroscopy, magnetic resonance imaging etc) that can be selected Etc.) are often used to support one or more surgical imaging devices.

  FIG. 1a is a schematic diagram illustrating multiple robotic arms of a robotic surgery system according to one embodiment of the present invention. Specifically, FIG. 1 shows a robotic surgery system (100) having four robotic arms (103a), (103b), (103c), (103d) mounted around a patient cart (101). The four robot arms (103a), (103b), (103c), (103d) shown in FIG. 1 are for illustrative purposes, and the number of robot arms may vary depending on the type of surgery or robotic surgery system Good. The four robot arms (103a), (103b), (103c), (103d) are mounted along the patient cart (101), mounted on the patient cart (101) or on movable means It may be separately attached, or mechanically and / or operatively connected to each other, or arranged in various ways to be coupled to the central bot arm (103a) to branch off from the central body (not shown) Good, but not limited to.

  FIG. 1 b is a schematic diagram illustrating a surge console of a robotic surgery system according to an embodiment of the present invention. The surgical console (117) controls the robotic arms (103a), (103b), (103c), (103d) in the patient's body to allow the surgeon to rest on the patient lying on the patient cart (101). Assist in performing surgery remotely. The surgical console (117) is configured to control movement of the surgical instrument (shown in FIG. 2) while in the patient's body. The surgery console (117) may comprise at least adjustable viewing means (107), including, but not limited to, 2D / 3D monitors, wearable viewing means (not shown), and combinations thereof. The Surgeon Console (117) shows a number of additional information from the various medical devices that can be used by the surgeon during robotic surgery, as well as a 3D HDTV (HDD) endoscopic view of the surgical site of the patient cart (101) A display can be provided. Furthermore, the observation means (107) may provide various modes of the robotic surgery system (100), but the identification and number of robotic arms mounted, the type of current instrument mounted, the current instrument tip position, It is not limited to the provision of crash information and medical data such as electrocardiograms, ultrasound displays, fluoroscopic images, CT, MRI information. The surgical console (117) may further comprise a mechanism for controlling the robotic arm, but it may include one or more hand controllers (109), one or more foot controllers (113), a clutch mechanism (not shown) and It is not limited to these combinations. The hand controller (109) of the Surgeon console (117) seamlessly captures and transfers the complex operations performed by the surgeon, giving the feeling that the surgeon is directly articulating the surgical tool There is a need. Different controllers may need different goals during surgery. In some embodiments, the hand controller (109) may be one or more manual input devices such as joysticks, exoskeleton gloves, powered gravity compensated manipulators and the like. These hand controllers (109) control the remote control motor to control the movement of the surgical instrument attached to the robot arm. The surgeon can control the sargeon console (117) while sitting in a rest device such as a chair (111) as shown in FIG. 1b. The chair (111) may be adjustable in height, armrests, etc. with the device depending on the comfort of the surgeon. Also, the chair (111) may be provided with various control means. In addition, the Surgeon console (117) may be placed at a single location within the operating room or at any other location within the hospital provided connectivity with the robotic arm is maintained. Good.

  FIG. 1 c is a schematic diagram illustrating a vision cart of a robotic surgery system according to an embodiment of the present invention. The vision cart (119) is configured to display 2D and / or 3D views of the operation taken by the endoscope. The vision cart (119) can be adjusted to various angles and heights depending on the viewability. The vision cart (119) may have various functions, including but not limited to providing a touch screen display, preview / record / playback equipment, various input / output means, 2D / 3D converter, etc. The vision cart (119) may include a vision system portion (not shown) that allows an onlooker or other non-surgical surgeon to view the surgical site from outside the patient's body. One robotic arm typically engages a surgical instrument (i.e., camera equipment) with video imaging capability to display the images captured on the vision cart (119). In some robotic surgery system configurations, the camera device includes an optical device that transfers an image from the tip of the camera device to one or more imaging sensors (eg, CCD or CMOS sensors) outside the patient's body. Also, the imaging sensor may be located at the tip of the camera device, and the signal generated by the sensor may be sent by lead wire or wirelessly for processing or display by the vision cart (119).

  FIG. 2 is a perspective view of a tool interface assembly attached to a robotic arm according to one embodiment of the present invention. The tool interface assembly (200) is mounted on the robotic arm (201) of the robotic surgery system (100). The tool interface assembly 200 is a major component for performing robotic surgery on a patient. The robotic arm (201) shown in FIG. 2 is shown for illustrative purposes only and may be other robotic arms having different configurations, degrees of freedom (DOF), and shapes.

  FIG. 3a is a perspective view of a tool interface assembly according to an embodiment of the present invention. FIG. 3b is an exploded view of a tool interface assembly according to an embodiment of the present invention. The tool interface assembly (200) shown in FIG. 3a or FIG. 3b is an ATI (arm and tool interface) connector (the tool interface (200) facilitates operating connection with the robotic arm (shown in FIG. 2) 315) (shown in FIG. 3b). The tool interface (200) also includes an actuator assembly (305) mounted on the guide mechanism and linearly movable along the guide mechanism. The guide mechanism shown in FIGS. 3a and 3b is a guide rail (321). The movement of the actuator assembly (305) along the guide rails (321) is controlled by the surgeon using a controller on the surge console (117), as shown in FIG. 1b. The sterile adapter assembly (303) is removably attached to the actuator assembly (305) to separate the non-sterile portion of the robotic arm from the sterile surgical tool assembly (301). A locking mechanism (shown in FIG. 4) is provided to releasably lock or unlock the sterile adapter assembly (303) to the actuator assembly (305). The sterile adapter assembly (303) releasably engages from an actuator assembly (305) that drives and controls the sterile surgical instrument in the sterile area. In another embodiment, the surgical tool assembly (301) is removably locked / unlocked or engaged / disengaged to the sterile adapter assembly (303) by means of a push button (319).

  Here, referring to FIG. 3b, the surgical tool assembly (301) includes a shaft (311) and an end effector (313). The end effector (313) may include or be configured to attach a surgical instrument. End effector (313) is one of forceps, needle driver, shears, bipolar cautery, tissue stabilizer or retractor, clip applier, anastomosis device, imaging device (eg, endoscope or ultrasound probe), etc. It may be a surgical instrument related to the above surgical task. Some surgical instruments are surgical tools, such that the position and orientation of the surgical tool assembly (301) can be manipulated with one or more mechanical degrees of freedom relative to the instrument shaft (311). It further provides an articulated support (sometimes called a "wrist") for the assembly (301). Also, the end effector (313) includes functional mechanical degrees of freedom, such as open or close orthodontic forceps, or a knife that translates along a path. The surgical tool assembly (301) may include information (eg, semiconductor memory inside the instrument) that is permanently stored or updateably stored by the robotic surgical system (100).

  The cannula gripper (309) is attached to the tool interface assembly (200) and is configured to grip a cannula (307) that receives the shaft (311) through an opening (not shown). The cannula (307) comprises a hollow body comprising a groove (not shown) in the inner surface (not shown). The groove is fitted with a locking mechanism that secures the cannula (307) to the shaft (311) at the desired angle. The locking mechanism prevents shifting, twisting or axial movement of the shaft (311) after the cannula (307) receives the shaft (311). The cannula gripper (309) comprises a flap-like body removably attached to one end of the tool interface assembly (200) and receiving the cannula (307). The cannula gripper (309) may also have a circular body for receiving the cannula (307) and comprises a groove for gripping the cannula (307) in the rest position.

  The cannula gripper (309) is fixed to the body of the tool interface assembly (200) and is also configured to grip or secure the cannula (307) to stabilize the cannula (307) while performing a surgical procedure Good. The cannula gripper (309) can be attached to the mount (323) of the tool interface assembly (200) by receiving the cannula gripper (309) in a set of grooves in the mount (323).

  FIG. 4a is a front view showing the actuator assembly and the sterilization adapter assembly in a removal position, according to one embodiment of the present invention. The sterile adapter assembly (303) may be configured to be removably attached to the actuator assembly (305) by means of various locking mechanisms, but is not limited to snap fit, push button locking mechanisms and the like.

  In one embodiment of the present invention, the sterile barrier assembly (303) is shown on the upper surface (421), the lower surface (419) and at least one floating plate (423) disposed on the upper surface (421) (FIG. 4b) And a housing (401). At least one floating plate (shown in FIG. 5a) has at least one rotating body (shown in FIG. 5a). A floating plate having a rotating body will be described in detail with reference to the accompanying drawings. The sterilization barrier assembly (303) may further include a compression mechanism (shown in FIG. 7), which will be described in detail with reference to the accompanying drawings.

  The sterilization barrier assembly (303) may include at least one locking knob (403) and at least one female guide (415). At least one locking knob (403) is disposed at one end of the lower surface (419) of the sterile barrier assembly (303). At least one female guide (415) is disposed on the lower surface (419) of the sterile barrier assembly (303) opposite the one or more locking knobs (403).

  The at least one engagement tab (403) may include a cylindrical profile having a recess in its outer periphery. The cylindrical contour can have a cut at its outer periphery. The at least one female guide (415) may comprise a guide slot, in particular a rectangular guide slot. According to a particular embodiment, the sterile barrier assembly (303) comprises two locking knobs (403, 425) spaced from one another at one end of the lower surface (419) and a locking knob ( And two female guides (415, 427) spaced from one another at opposite ends of 403, 425).

  The sterile barrier assembly (303) may be made of any suitable elastic material such as metal or alloy. The material of the sterile barrier assembly (303) may be selected from the group consisting of aluminum, steel, iron, nickel, copper, zinc, tin, or any combination thereof. According to a particular embodiment of the invention, the sterilization barrier assembly (303) is made of aluminum. The sterile barrier assembly (303) may be painted or have a protective coating such as an alloy coating. According to one embodiment, an anodization process may be used to coat the sterile barrier assembly (303) to form a protective coating of aluminum oxide on the surface of the sterile barrier assembly (303). The sterile barrier assembly (303) may be of any suitable size that is easily attached to the actuator assembly (305) without affecting the degree of surgical difficulty. The sterile barrier assembly (303) may be of appropriate thickness to provide sufficient strength.

  The sterilization barrier assembly (303) may be of any suitable shape as long as the fixation difficulty of the sterilization barrier assembly (303) is maintained. According to one embodiment of the invention, the sterile barrier assembly (303) is a substantially square plate. The lower end of the sterile barrier assembly (303) comprises a projection larger than the upper end of the sterile barrier assembly (303). The sterile barrier assembly (303) will be described in detail with reference to the accompanying drawings.

  The actuator assembly (305) comprises a housing (417), at least one male guide (429) having a convex contour, at least one locking notch (409) defining a recess (405), and one or more A lock plate (407) and one or more drive elements (413) can be provided. One or more locking notches (409) are disposed at one end of the top surface (421) of the actuator assembly (305). One or more male guides (429) are disposed on the top surface (421) of the actuator assembly (305) opposite the one or more locking notches (409). The actuator assembly (305) may be any mechanical motor to facilitate movement of the drive element (413) when the surgeon commands the surgical instrument at the surgery console (117) during surgery. And electrical connections.

  According to a particular embodiment, the actuator assembly (305) comprises two male guides (411, 429) spaced from one another at one end of the upper surface (421) and a male guide (411) on the upper surface (421). , 429) and two locking notches (409, 431) spaced apart from one another. Each of the two locking notches (409, 431) defines one recess (405, 433).

  The actuator assembly (305) may be made of any suitable elastic material such as metal or alloy. The material of the actuator assembly (305) may be selected from the group consisting of aluminum, steel, iron, nickel, copper, zinc, tin, or any combination thereof. According to a particular embodiment of the invention, the actuator assembly (305) is made of aluminum. The actuator assembly (305) may be painted or have a protective coating such as an alloy coating. According to one embodiment, an anodization process may be used to coat the actuator assembly (305) to form a protective coating of aluminum oxide on the surface of the actuator assembly (305). The actuator assembly (305) may be of any suitable size that is easily attached to the tool interface assembly (200) without affecting the degree of difficulty of the surgical procedure. The actuator assembly (305) may be of any suitable thickness to provide sufficient strength.

  The actuator assembly (305) may be of any suitable shape as long as the fixed difficulty of the actuator assembly (305) is maintained. According to one embodiment of the present invention, the actuator assembly (305) is formed in a substantially rectangular shape such that the body of the actuator assembly (305) is substantially tapered towards the upper end of the actuator assembly (305). Be done. The actuator assembly (305) will be described in detail with reference to the accompanying drawings.

  In a particular embodiment, the sterile adapter assembly (303) interlocks with the two locking notches (409, 431) of the actuator assembly (305) and the two locking lugs (403, 425) of the sterile adapter assembly (303). And releasably attached to the actuator assembly (305) by interlocking the two male guides (411, 429) of the actuator assembly (305) and the two female guides (415, 427) of the sterilization adapter assembly (303) . In this locking mechanism, the locking knob (403, 425) of the sterile adapter assembly (303) is received by the respective groove (405) of the respective locking notch (409, 431) while at the same time of the actuator assembly (305). One or more male guides (411, 429) fit into the guide slots of the female guides (427, 415) of the sterile adapter assembly (303), thereby allowing the sterile adapter assembly (303) to act as an actuator assembly (305). Lock on While the lock between the sterilization adapter assembly (303) and the actuator assembly (305) is released, the locking notches (409, 431) are pushed thereby releasing the locking knobs (403, 425) of the sterilization adapter assembly (303) And, thereby, the sterilization adapter assembly (303) can be easily removed from the actuator assembly (305). The locking mechanism described above is very fast, reliable, ergonomic and very important during instrument exchange during robot assisted surgery.

  FIG. 4b is a rear view showing the actuator assembly and the sterilization adapter assembly in the removal position, according to one embodiment of the present invention. In FIG. 4b, the two female guides (415, 427) and one or more drive elements (413) associated with the sterile adapter assembly (303) and the actuator assembly (305) respectively are clearly shown.

  FIG. 4c shows the actuator assembly and the sterilization adapter assembly in the locked position, according to one embodiment of the present invention. In one embodiment, the at least one cut (409) of the actuator assembly (305) in the first unlocked position (shown in FIG. 4a) comprises at least one engagement tab (403) of the sterilization adapter assembly (303). At least one female guide (415) of the sterilization adapter assembly (303) receiving and moving from the first unlocked position to the first locked position (A) and in the second unlocked position (shown in FIG. 4a) , Receive at least one male guide (429) of the actuator assembly (305) and move from the second unlocked position to the second locked position (B), whereby the sterile adapter assembly (303) and the actuator assembly ( And 305).

FIG. 5a is a top view of a sterilization adapter assembly according to one embodiment of the present invention.
The sterilization adapter assembly (303) may include a housing (401) having an upper surface (421) and a lower surface (419), a storage device (507), and at least one floating plate (423). The floating plate (423) may include one or more rotating bodies (505) resiliently mounted on each floating plate (423). In one embodiment, the four rotating bodies (505a), (505b), (505c), (505d) are mounted on a single floating plate (423) and spaced apart from each other. The rotation of the rotating bodies (505a), (505b), (505c), (505d) is not affected by the rotation of the adjacent rotating bodies. According to a particular embodiment, the rotating bodies (505a), (505b), (505c), (505d) have a circular outline.

  In another embodiment, each of the rotating bodies (505a), (505b), (505c), (505d) is sealed within the housing of the rotating bodies (505a), (505b), (505c), (505d) A compression mechanism (700). Details of the compression mechanism (700) will be described in conjunction with the description of FIG. 7 attached hereto.

  In another embodiment, each of the rotating bodies (505a), (505b), (505c), (505d) may be made of any suitable elastic material, such as a metal or an alloy. The material of the rotating bodies (505a), (505b), (505c), (505d) may be selected from the group consisting of aluminum, steel, iron, nickel, copper, zinc, tin, or any combination thereof . According to a particular embodiment of the invention, each of the rotating bodies (505a), (505b), (505c), (505d) is made of aluminum. The rotating bodies (505a), (505b), (505c), (505d) may be painted or have a protective coating such as an alloy coating. According to one embodiment, the anodizing process comprises rotating the body (505a) such that a protective coating of aluminum oxide is formed on the surface of the bodies (505a), (505b), (505c), (505d), (505b), (505c), (505d) may be used for coating. The rotating bodies (505a), (505b), (505c), (505d) are of any suitable size that can be easily attached to the floating plate (423) without affecting the degree of difficulty of mechanical manipulation It is also good. The rotating bodies (505a), (505b), (505c), (505d) may be of any suitable thickness to provide sufficient strength.

  In another embodiment, at least the floating plate (423) may be provided with openings through which the rotating bodies (505a), (505b), (505c), (505d) can be fixed. The rotating bodies (505a), (505b), (505c), (505d) may be glued to the floating plate (423) or rotatably fixed to the floating plate (423), bolts, rivets, screws or they It may be fastened by a combination of

  The storage device (507) may be any readable storage device such as flash memory, EEPROM, etc. The storage device (507) may store various data without being limited to the type of surgical instrument and comprehensive information. Each rotating body (505a), (505b), (505c), (505d) can be electro-mechanically coupled with a surgical instrument / tool.

  FIG. 5b is a bottom view of a sterilization adapter assembly according to an embodiment of the present invention. The bottom view of the sterile adapter assembly (303) shows the bottom of the floating plate (423) and the bottom of the rotating bodies (505a), (505b), (505c), (505d) attached to the floating plate (423). Be Each rotating body (505a), (505b), (505c), (505d) is capable of electromechanically coupling with a drive element (413) (shown in FIG. 4b).

  The sterile adapter assembly (303) has two locking tabs (403, 425) located at one end of the bottom surface (419) and two female guides (415, 427) located at the opposite end of the bottom surface (419) And.

  In a specific embodiment of the invention, the sterile adapter assembly (303) comprises two locking notches (409, 431) of the actuator assembly (305) and two locking lugs (403, 425) of the sterile adapter assembly (303). Interlocking with and removing the actuator assembly (305) by interlocking the two male guides (411, 429) of the actuator assembly (305) and the two female guides (415, 427) of the sterile adapter assembly (303) Can be attached.

  Referring to FIGS. 6a and 6b, the upper and lower sides of a floating plate (423) having rotating bodies (505a), (505b), (505c), (505d) are shown according to an embodiment of the present invention There is. As shown in FIG. 6a, each rotor (505a), (505b), (505c), (505d) may include one or more hollow openings through its circumferential surface. In a particular embodiment, each rotor (505a), (505b), (505c), (505d) includes two hollow openings (601a), (601b). Each rotating body (505a), (505b), (505c), (505d) on the floating plate (423) may further include a recess (603) sandwiched between the openings (601a), (601b). Good. The distance between the openings (601a) and (601b) and the distance between the openings (601a) and (601b) and the recess (603) may vary depending on the configuration of each rotating body (505). The floating plate (423) (shown in FIG. 6b) shows a bottom view of each of the rotating bodies (505a), (505b), (505c), (505d). Also, each of the floating plates (423) is movable up and down within the sterile barrier assembly (303).

  The openings (601a), (601b) are configured to receive and engage one or more pins of the drive element (413) of the actuator assembly (305). One or more pins of the drive element (413) are configured to snap fit into the openings (601a), (601b) of the rotating bodies (505a), (505b), (505c), (505d) Be done. The configuration of the circumferential surface of the drive element (413) is substantially similar to the circumference of the openings (601a), (601b) of the rotating bodies (505a), (505b), (505c), (505d).

  In another embodiment, the floating plate (423) is secured within the housing (401) such that the floating plate (423) engages the top (421) and bottom (419) surfaces of the housing (401).

  FIG. 7 is a perspective view of a floating plate without a rotating body, according to one embodiment of the present invention. The compression mechanism (700) is located in a recess (not shown) provided where it is assumed that the rotating body is located. According to a particular embodiment, the compression mechanism is a spring (701). The spring (701) is integrally formed with the rotating bodies (505a), (505b), (505c) and (505d), and the rotating bodies (505a), (505b), (505c) and (505d) It can facilitate compression and expansion along the axis.

  Referring now to FIGS. 8 (a) and 8 (b), a single rotator (800) according to an embodiment of the present invention is shown. The rotating body (800) includes an upper body (801) and a lower body (803) operatively connected by a guide bar (805). In addition, the spring (701) is sandwiched between the upper main body (801) and the lower main body (801) and wound around the guide bar (805). The mechanism of the spring (701) and the guide bar (805) provide additional flexibility between the upper body (801) and lower body (803) of the rotating body (800). Such an arrangement provides for efficient transmission of commands from the surgical console to the actuator assembly (305) to control movement of the surgical instrument.

  In certain embodiments, when the sterilization adapter assembly (303) engages the actuator assembly (305), the spring (701) facilitates locking of the sterilization adapter assembly (303) and the actuator assembly (305) . More particularly, when the sterile adapter assembly (303) engages the actuator assembly (305), one or more pins of the drive element (413) and the opening (601a), (601b) of the rotating body (505) And often do not engage with one another. In such a situation, the spring (701) between the rotors (505) is actually associated with the opening (601a), (601b) of the rotor (505) with one or more pins of the drive element (413). Allows the sterile adapter assembly (303) to be locked with the actuator assembly (305) without mating. After locking the sterile adapter assembly (303) to the actuator assembly (305), one or more pins of the drive element (413) actually engage the openings (601a), (601b) of the rotating body (505) Homing (due to spring tension).

  In another embodiment, the sterile adapter assembly (303) is a sterile drape (not shown) for covering a portion of a robotic surgery system (in particular, robotic arms (103a), (103b), (103c), (103d)). Integrated to maintain a sterile barrier between the sterile surgical area and the non-sterile robotic system, as well as transfer mechanical and electrical energy and signals between the surgical instrument and the robotic surgical system. To provide an interface for In one embodiment, the sterile adapter assembly (303) may be permanently attached to the sterile drape by means of an impulse heat sealed film adhesive and / or attached to the sterile drape using an adhesive film.

  In another embodiment, the sterile adapter assembly (303) further comprises a pair of supports (not shown). The support functions to engage the instrument manipulator by properly aligning, positioning and holding the surgical instrument on top of the sterile adapter assembly (303). The rotating bodies (505a), (505b), (505c), (505d) assist the instrument manipulator in aligning the surgical instrument with the sterile adapter assembly (303).

  Exemplary embodiments of the invention have been described above for the purposes of illustration and description. They are not intended to be exhaustive or to limit the forms described above as such, and are not intended to limit the present invention to the precise forms disclosed, but many in view of the above teachings. Modifications and variations are possible. The illustrative embodiments are chosen and described in order to best explain the principles of the invention and its practical applications, so that various modifications may be made such that one skilled in the art is suitable for the particular and desired use. It has been made possible to make best use of the invention and the various embodiments. Of course, various omissions and substitutions of equivalents are possible as suggested and indicated in the context, but may encompass applications and implementations without departing from the spirit and scope of the invention. Intended.

  The advantages and other advantages associated with particular embodiments, and solutions to problems have been described above. However, advantages, advantages, solutions to problems, and any components that cause or make the solution of any advantages, merits, solutions more prominent, are important, essential, or any or all of the claims. It should not be interpreted as an essential feature or component.

  Although specific terms are used to describe the present disclosure, they are not intended to be limiting. It will be apparent to those skilled in the art that various operational modifications may be made to the device to implement the inventive concepts taught herein.

Locking device because the sterile adapter assembly is secured to the actuator assembly in a robotic surgical system is disclosed herein. The locking device includes at least one engagement tab and at least one female guide spaced apart from one another on the sterile adapter assembly. The at least one engagement tab has a cylindrical contour that includes a groove. The at least one female guide has a guide slot. The locking device further includes at least one cut and at least one male guide spaced apart from one another on the actuator assembly. The at least one cut defines a recess. At least one male guide has a protruding contour. At least one cut of the actuator assembly receives at least one engagement tab of the sterilization adapter assembly, and at least one female guide of the sterilization adapter assembly receives at least one male guide of the actuator assembly, thereby sterilizing Engage the adapter assembly and the actuator assembly.

FIG. 3a is a perspective view of a tool interface assembly according to an embodiment of the present invention. FIG. 3b is an exploded view of a tool interface assembly according to an embodiment of the present invention. The tool interface assembly (200) shown in FIG. 3a or 3b facilitates the tool interface assembly (200) to operatively connect with the robot arm (shown in FIG. 2) ATI (arm and tool interface) connector (315) (shown in FIG. 3b). The tool interface assembly (200) also includes an actuator assembly (305) mounted on the guide mechanism and linearly moveable along the guide mechanism. The guide mechanism shown in FIGS. 3a and 3b is a guide rail (321). The movement of the actuator assembly (305) along the guide rails (321) is controlled by the surgeon using a controller on the surgeon's console (117), as shown in FIG. 1b. The sterile adapter assembly (303) is removably attached to the actuator assembly (305) to separate the non-sterile portion of the robotic arm from the sterile surgical tool assembly (301). A locking mechanism (shown in FIG. 4) is provided to releasably lock or unlock the sterile adapter assembly (303) to the actuator assembly (305). The sterile adapter assembly (303) releasably engages from an actuator assembly (305) that drives and controls the sterile surgical instrument in the sterile area. In another embodiment, the surgical tool assembly (301) is removably locked / unlocked or engaged / disengaged to the sterile adapter assembly (303) by means of a push button (319).

The sterilization barrier assembly (303) may include at least one engagement tab (403) and at least one female guide (415). At least one engagement tab (403) is disposed at one end of the lower surface (419) of the sterile barrier assembly (303). At least one female guide (415) is disposed on the lower surface (419) of the sterile barrier assembly (303) opposite the one or more engagement tabs (403).

The at least one engagement tab (403) may include a cylindrical profile having a recess in its outer periphery. The cylindrical contour can have a notch at its outer periphery. The at least one female guide (415) may comprise a guide slot, in particular a rectangular guide slot. According to a particular embodiment, the sterile barrier assembly (303) comprises two engagement tabs (403, 425) spaced from one another at one end of the lower surface (419) and an engagement of the lower surface (419) And two female guides (415, 427) spaced from one another at opposite ends of the knobs (403, 425).

In a particular embodiment, the sterile adapter assembly (303) interlocks with the two locking notches (409, 431) of the actuator assembly (305) and the two engagement tabs (403, 425) of the sterile adapter assembly (303). And, by interlocking the two male guides (411, 429) of the actuator assembly (305) and the two female guides (415, 427) of the sterilization adapter assembly (303), the actuator assembly (305) is removably attached Be In this locking mechanism, the engagement knobs (403, 425) of the sterilization adapter assembly (303) are received by the respective grooves (405) of the respective locking incisions (409, 431) while the actuator assembly (305) is The one or more male guides (411, 429) fit into the guide slots of the female guides (427, 415) of the sterile adapter assembly (303), thereby enabling the sterile adapter assembly (303) to the actuator assembly (305). Lock on). While the lock between the sterilization adapter assembly (303) and the actuator assembly (305) is released, the locking notches (409, 431) are pushed, causing the engagement knob (403, 425) of the sterilization adapter assembly (303) to Once released, the sterilization adapter assembly (303) can be easily removed from the actuator assembly (305). The locking mechanism described above is very fast, reliable, ergonomic and very important during instrument exchange during robot assisted surgery.

Sterile adapter assembly (303) includes a knob two engaging located at one end of the lower surface (419) (403,425), two female guides located at the opposite end of the lower surface (419) (415 , 427).

In a specific embodiment of the invention, the sterile adapter assembly (303) comprises two locking notches (409, 431) of the actuator assembly (305) and two engaging lugs (403, 425) of the sterile adapter assembly (303). ) And with the two male guides (411, 429) of the actuator assembly (305) and the two female guides (415, 427) of the sterile adapter assembly (303) It is removably attached.

In another embodiment, the floating plate (423), by being secured in the housing (401), a floating plate (423) engages the upper surface (421) and a lower surface (419) of the housing (401) .

Claims (7)

Apparatus for locking a sterile adapter assembly (303) to an actuator assembly (305) in a robotic surgery system (100), the apparatus comprising:
At least one engagement tab (403) spaced apart from one another on the sterilization adapter assembly (303) and having a cylindrical contour including a groove, and spaced apart from one another on the sterilization adapter assembly (303) And at least one female guide (415) having a guide slot,
At least one notch (409) spaced apart from one another on the actuator assembly (305) and defining a recess (405), and spaced apart from one another on the actuator assembly (305), projecting At least one male guide (411) having a contour;
The at least one cut (409) of the actuator assembly (305) receives the at least one engagement tab (403) of the sterilization adapter assembly (303) and the at least one of the sterilization adapter assembly (303). Two female guides (415) receive the at least one male guide (429) of the actuator assembly (305), thereby interlocking the sterilization adapter assembly (303) and the actuator assembly (305) A device characterized by   A locking device according to claim 1, characterized in that the at least one cut (409) comprises release means for removing the sterilization adapter assembly (303) from the actuator assembly (305).   The lock device according to claim 2, wherein the release means is a push button.   The at least one cut (409) of the actuator assembly (305) in a first unlocked position receives the at least one engagement tab (403) of the sterilization adapter assembly (303) to receive the first The at least one female guide (415) of the sterilization adapter assembly (303) moved from the unlocked position to the first locked position and in the second unlocked position is the at least one male of the actuator assembly (305). A guide (429) is received and moved from the second unlocked position to the second locked position, thereby interlocking the sterilization adapter assembly (303) and the actuator assembly (305). The lock device according to claim 1.   Locking device according to claim 1, characterized in that the recess (405) of the at least one cut (409) comprises a cylindrical slot that mates with the at least one engagement tab (403).   The locking device of claim 1, wherein the sterilization adapter assembly (303) and the actuator assembly (305) are made of aluminum. The at least one engagement tab (403) and the at least one female guide (415) are disposed opposite one another on the lower surface (419) of the sterilization adapter assembly (303). Lock device.