WO2013075205A1 - Appareil et procédé pour monter un trocar - Google Patents

Appareil et procédé pour monter un trocar Download PDF

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Publication number
WO2013075205A1
WO2013075205A1 PCT/CA2011/001303 CA2011001303W WO2013075205A1 WO 2013075205 A1 WO2013075205 A1 WO 2013075205A1 CA 2011001303 W CA2011001303 W CA 2011001303W WO 2013075205 A1 WO2013075205 A1 WO 2013075205A1
Authority
WO
WIPO (PCT)
Prior art keywords
trocar
mount
environment
holder
powerpack
Prior art date
Application number
PCT/CA2011/001303
Other languages
English (en)
Inventor
Alexander Shvartsberg
Benjamin M. Piecuch
Robert Palazzolo
Original Assignee
Titan Medical Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Titan Medical Inc. filed Critical Titan Medical Inc.
Priority to PCT/CA2011/001303 priority Critical patent/WO2013075205A1/fr
Publication of WO2013075205A1 publication Critical patent/WO2013075205A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives

Definitions

  • the present specification here relates in general to a field of robotic instruments, and more particularly, to a robotic instrument for use in surgery.
  • an apparatus for mounting a trocar includes a trocar holder disposed in a first environment.
  • the apparatus also includes a trocar mount configured to mount the trocar and configured to be disposed in a second environment.
  • the second environment is separated from the first environment by a barrier.
  • the apparatus further includes a connector disposed on the trocar mount. The connector is configured to connect the trocar mount to the trocar holder.
  • the connector may be a magnetic connector configured to magnetically engage the trocar holder through the barrier.
  • the connector may include at least one mount pin configured to pierce the barrier and configured to maintain separation of the first environment and the second environment.
  • the trocar holder may include at least one holder latch configured to releasably lock the at least one mount pin.
  • the trocar mount may include at least one mount latch configured to lock at least one trocar pin, the at least one trocar pin disposed on the trocar.
  • the trocar holder may be disposed on a rail system.
  • a method for mounting a trocar to a robotic arm involves separating a first environment from a second environment with a barrier, wherein a trocar holder is disposed in the first environment.
  • the method further involves connecting a trocar mount to the trocar holder, wherein the trocar mount is disposed in the second environment.
  • the method involves mounting a trocar to the trocar mount.
  • Connecting the trocar mount to the trocar holder may involve magnetically engaging through the barrier.
  • Connecting the trocar mount to the trocar holder may involve piercing the barrier using at least one mount pin disposed on the trocar mount.
  • the method may further involve maintaining the separation of the first environment and the second environment.
  • the method may further involve releasably locking the at least one mount pin using at least one holder latch of the trocar holder.
  • the method may further involve locking at least one trocar pin using at least one mount latch of the trocar mount, the at least one trocar pin disposed on the trocar.
  • Figure 1 is a perspective view of an operating theater according to an embodiment
  • Figure 2 is a view of a system for driving a robotic instrument in accordance with an embodiment
  • Figure 3 is a view of the system for driving a robotic instrument and the robotic instrument in accordance with the embodiment of Figure 2;
  • Figure 4 is a perspective view of a powerpack in accordance with an embodiment
  • Figure 5 is another perspective view of the powerpack in accordance with the embodiment of Figure 4.
  • Figure 6 is top view of the internal components of the powerpack in accordance with the embodiment of Figure 4.
  • Figure 7 is a view of a system for driving a robotic instrument in accordance with another embodiment
  • Figure 8 is a view of the system for driving a robotic instrument and the robotic instrument in accordance with the embodiment of Figure 7;
  • Figure 9 is a top view of an adapter in accordance with an embodiment
  • Figure 10 is a bottom view of the adapter in accordance with the embodiment of
  • Figure 11 is a perspective view of a powerpack in accordance with another embodiment
  • Figure 12 is another perspective view of the powerpack in accordance with the embodiment of Figure 11 ;
  • Figure 13 is top view of the internal components of the powerpack in accordance with the embodiment of Figure 11 ;
  • Figure 14 is a top view of an adapter in accordance with another embodiment
  • Figure 15 is a bottom view of the adapter in accordance with the embodiment of
  • Figure 16 is a perspective view of a rail system in accordance with an embodiment in an extended position
  • Figure 17 is a perspective view of the rail system in accordance with the embodiment of Figure 16 in a retracted position
  • Figure 18 is a view of a system for driving a robotic instrument in accordance with an embodiment including a trocar holder;
  • Figure 19 is a view of a trocar holder in accordance with an embodiment
  • Figure 20 is a view of a trocar mount in accordance with an embodiment
  • Figure 21 is a view of a trocar in accordance with an embodiment
  • Figure 22 is a view of a trocar holder and trocar mount in accordance with another embodiment
  • Figure 23 is a view of a trocar holder in accordance with yet another embodiment
  • Figure 24 is a cross sectional view of a trocar mount in accordance with another embodiment showing internal components
  • Figure 25 is a view of a trocar in accordance with another embodiment
  • Figure 26 is a perspective view of a rail system in accordance with another embodiment in an extended position
  • Figure 27 is a perspective view of the rail system in accordance with the embodiment of Figure 26 in a retracted position
  • Figure 28 is a view of a system for driving a robotic instrument in accordance with another embodiment
  • Figure 29 is a view of the system for driving a robotic instrument and the robotic instrument in accordance with the embodiment of Figure 28;
  • Figure 30 is a view of a motion transfer mechanism in accordance with an embodiment
  • Figure 31 is a view of a motion transfer mechanism in accordance with another embodiment
  • Figure 32 is a view of a rotatable member of the motion transfer mechanism in accordance the embodiment of Figure 31 ;
  • Figure 33 is a view of another rotatable member of the motion transfer mechanism in accordance the embodiment of Figure 31 ;
  • Figure 34 is a view of a motion transfer mechanism in accordance with yet another embodiment.
  • Figure 35 is a perspective view of a powerpack in accordance with yet another embodiment.
  • FIG. 1 a schematic representation of an operating theater in a sterile environment for medical procedures such as Minimal Invasive Surgery (MIS) is shown at 100.
  • the operating theater 100 includes a surgical table 104 and a surgical system 108.
  • the surgical table 104 includes a surface 112 supported by a base 116. It is to be understood that the surgical table 104 is not particularly limited to any particular structural configuration.
  • a patient P rests on the surface 112.
  • the surgical system 108 includes a base unit 120, an input device 124, at least one robotic instrument 132, and a system 144 for driving the robotic instrument 132.
  • the base unit 120 is generally configured to support and control the system 144 in response to the input control signals from input device 124 under the control of a surgeon or other medical professional.
  • the base unit 120 is mechanically structured to support the system 144, and the robotic instrument 132, and their associated movement.
  • the base unit 120 can be bolted to a fixed structure such as a wall, floor, or ceiling.
  • the base unit 120 can have a mass and a geometry such that when the base unit 120 is free-standing, it will support the system 144 and the robotic instrument 132.
  • the base unit 120 can include a moveable cart to provide easy movement of the base unit 120 around the operating theater 100.
  • the base unit 120 can include mechanical controls (not shown), or electrical controls (not shown), or both.
  • mechanical controls can include gears, cables or other motion transfer mechanisms (not shown) connected to a motor for moving a robotic arm 128 of the system 144.
  • Other mechanical controls can also involve hydraulics.
  • the base unit 120 can be further configured to supply electrical signals to a powerpack 140 of the system 144.
  • the system 144 includes the robotic arm 128, a barrier 148, and the powerpack 140.
  • the system is generally configured to support the robotic instrument 132 physically.
  • the system 144 is mechanically structured to support the robotic instrument 132 and its associated movements.
  • the robotic arm 128 can be constructed from materials such that the robotic arm 128 is rigid enough to be suspended above the patient P.
  • the system 144 can be configured so that robotic instrument 132 is positionable in relation to the base unit 120 and surface 112.
  • the robotic arm 128 can include a moveable joint (not shown) for providing a pivotal degree of freedom.
  • the robotic arm 128 can include a rail system for linear movement of the robotic instrument 132. It will now be understood that the movement of the robotic arm 128 can be controlled by the base unit 120 through various controls described above.
  • the system 144 and the robotic instrument 132 are generally configured for performing MIS responsive to inputs from the input device 124 mediated by the base unit 120, and the system 144.
  • the structure shown in Figure 1 is a schematic, non-limiting representation only.
  • the surgical system 108 can be modified to include a plurality of systems 144, each system 144 having its own separate robotic arm 128, separate barrier 148 and separate powerpack 140 for supporting separate robotic instruments 132.
  • each system 144 or robotic instrument 132 can have different structures. Indeed, different configurations are contemplated herein.
  • the system 144 drives the robotic instrument 132.
  • Driving the robotic instrument 132 involves providing a motion to move an end-effector assembly 136 of the robotic instrument 132 in accordance with at least one degree of freedom.
  • a degree of freedom refers to an ability of the end-effector assembly 136 to move according to a specific motion.
  • a degree of freedom can include a rotation of the end-effector assembly 136 or a component thereof about a single axis. Therefore, for each axis of rotation, the end-effector assembly 136 is said to have a unique degree of freedom.
  • Another example of a degree of freedom can include a translational movement along a path. It will now be apparent that each additional degree of freedom increases the versatility of the end-effector assembly 136. By providing more degrees of freedom, it will be possible to position the end-effector assembly 136 in a wider variety of positions or locations to reach around obstacles.
  • the system 144 includes a robotic arm 128, a barrier 148, and a powerpack 140 connected to the robotic arm through the barrier.
  • the robotic arm 128 of the system 144 is generally configured to support the robotic instrument 132 and can include many configurations. As discussed above, the robotic arm 128 is mechanically structured to support itself, the powerpack 140, the robotic instrument 132, and their associated movements. Some examples of suitable materials from which the robotic arm 128 is constructed include steel, titanium, plastics, composites and other materials commonly used to provide structural support. In addition, the robotic arm 128 can be configured so that the robotic instrument 132 and the system 144 are positionable in relation to the base unit 120 and the surface 112. In the present embodiment, the powerpack 140 is mounted to the robotic arm 128. In other embodiments, the robotic arm 128 can include a slidable connection mechanism or a rotatable joint to provide additional degrees of freedom to position the system 144 and the robotic instrument 132.
  • a robotic instrument 132 is shown connected to the powerpack 140 of the system 144.
  • the barrier 148 extends around the robotic arm 128 and is generally configured to separate a first environment 152 from a second environment 156.
  • the robotic arm 128 is disposed in the first environment 152 while the powerpack 140 and the robotic instrument 132 are disposed in the second environment 156.
  • the first environment 152 is non-sterile
  • the second environment 156 is sterile.
  • the robotic arm 128 can also be at least partially located in a sterile environment such that the barrier 148 is used to prevent potential contamination of the robotic arm 128 from the surgery.
  • the second environment 156 should be sterile.
  • the robotic arm and other equipment in the first environment 152 are easier to maintain because they would not need to be sterilized before each surgery.
  • the barrier 148 is not particularly limited to any material and that several different types of materials are contemplated.
  • the barrier 148 is typically manufactured from materials which are flexible and sterilizable or disposable such that the barrier 148 can be shipped in a sterilized state for one-time use. Some examples of suitable materials include plastic, cloth, composites, laminates and other materials commonly used in surgical operating theatres to establish and maintain a sterile field.
  • the barrier 148 is a loose covering that permits the powerpack 140 to be mounted on the robotic arm 128 through the barrier.
  • the barrier 148 can be an elastic fitted covering such that the barrier does not loosely hang. It is to be appreciated that an advantage of using a barrier that is tightly fitted to the robotic arm 128 is that the probability of having the barrier interfere with the surgery or become caught in a moving part is reduced.
  • the powerpack 140 is an apparatus generally configured to drive the robotic instrument 132 and can include many configurations.
  • the powerpack 140 includes a housing 160, a first mount 164, a second mount 168 and a drive mechanism 172.
  • the powerpack 140 is disposed in the second environment 156, which is sterile. It is to be understood that the powerpack 140, including its components such as the housing 160, the first mount 164, the second mount 168 and the drive mechanism 172, is not particularly limited to any material and that several different types of materials are contemplated.
  • the powerpack 140 should be sterile during surgery, the powerpack is typically constructed from materials which can withstand the harsh conditions of a sterilization process carried out prior to an actual surgery.
  • suitable materials include stainless steel, such as surgical stainless steel, titanium, plastics, composites and other materials commonly used in surgical instruments.
  • different components in the powerpack 140 can comprise different materials.
  • individual components can also include more than one type of material.
  • the drive mechanism 172 can be an electric motor, which typically includes some steel components as well as some plastic components, which are both sterilizable.
  • the housing 160 of the present embodiment is shown in Figures 4 to 6.
  • the housing 160 is substantially shaped like a rectangular box and is generally configured to house the drive mechanism 172.
  • the drive mechanism 172 can be modified such that it is only partially housed within the housing 160.
  • the drive mechanism 172 can be modified such that a portion of the drive mechanism 172 extends from the housing to facilitate an electrical connection and/or a mechanical connection.
  • the housing 160 can also serve to protect the internal components of the powerpack 140 from physical damage.
  • the housing 160 includes at least one opening.
  • the housing can be sealed to provide a separate environment for the internal components such that the internal components do not need to be sterilized.
  • the first mount 164 of the present embodiment is shown in Figure 4.
  • the first mount 164 is a clip extending from a side of the housing 160.
  • the first mount 164 is generally configured to mount the robotic instrument 132.
  • a first surface 133 of the robotic instrument 132 is configured to engage with a surface 165 of the powerpack 140.
  • the first mount 164 extends to a second surface 134 of the robotic instrument 132, which is opposite the first surface 133, to hold the robotic instrument against the surface 165 of the powerpack 1 0 (surface 165 shown in Figure 3).
  • the surface 165 of the powerpack 140 is slightly recessed.
  • the robotic instrument 132 can be positioned in the recess to provide for better mounting. Furthermore, it will now be appreciated that the present embodiment allows the robotic instrument to be easily released from the first mount 164. By releasably mounting the robotic instrument 132, the first mount 164 allows for quick and efficient interchangeability of the robotic instrument 132 if desired.
  • the exact configuration of the first mount 164 is not particularly limited. In the present embodiment shown in Figures 2-3, the first mount 164 is a clip as described above. In other embodiments, the first mount 164 can include other mounting mechanisms. For example, the first mount 164 can be modified to be a magnet configured to mate with a magnetic portion on the robotic instrument 132.
  • the first mount 164 can be modified to be holes for receiving bolts or ball locking pins from the robotic instrument 132.
  • the first mount 164 can be modified to be a more permanent mount, such as a plurality of rivets, for applications where it is desirable to have the robotic instrument 132 more securely mounted on the powerpack 140.
  • the second mount 168 of the present embodiment is shown in Figure 5.
  • the second mount 168 includes holes to receive a bolt on a side of the housing 160 that is configured to be mounted to the robotic arm 128.
  • the second mount 168 is generally configured to mate with a mounting mechanism (not shown) on the robotic arm 128 and is not particularly limited.
  • the second mount 168 can be modified to include other mounting mechanisms.
  • the second mount 168 can be modified to be a magnet configured to mate with a magnetic portion on the robotic arm 128, pegs or pins for locking the powerpack 140 on the robotic arm 128, clips to clip onto the robotic arm 128, or combinations thereof.
  • the second mount 168 can be modified to be a pin with a ball lock mechanism for quick attachment and release from the robotic arm.
  • the second mount 168 can be modified to be a pin configured to engage a latch.
  • the second mount 168 of the present embodiment is configured to mount the powerpack 140 on the barrier 148 such that the mounting mechanism on the robotic arm 128 can penetrate the barrier 148 in the present embodiment.
  • the second mount 168 may include a mounting boss and/or a mounting clip (not shown) to releasably mount the powerpack 140 to the robotic arm 128.
  • the barrier 148 can be modified to allow for the powerpack 140 to be mounted without penetration.
  • the barrier 148 can be modified to have a hole to match a footprint of the powerpack 140 such that the powerpack is directly mounted on the robotic arm 128. In embodiments where the barrier includes the hole, it is preferable for the barrier 148 to be sealed against either a portion of the robotic arm 128 or the powerpack 140 such that the first environment 152 and the second environment 156 remain sufficiently separated.
  • the drive mechanism 172 of the present embodiment is shown in Figure 6.
  • the drive mechanism 172 is an electric motor.
  • the drive mechanism is generally configured to provide a motion for driving the robotic instrument 132.
  • the drive mechanism 172 moves a motion transfer mechanism 196.
  • the motion transfer mechanism 196 is generally configured to mate with a corresponding mechanism (not shown) of the robotic instrument 132.
  • the motion transfer mechanism 196 is a rotatable gear configured to transfer the motion from the drive mechanism 172 to the robotic instrument 132.
  • the motion transfer mechanism 196 is configured to mate with a drive gear (not shown) on the robotic instrument 132.
  • the motion can be directly transferred.
  • the drive mechanism 172 is not particularly limited. As mentioned above, the present embodiment shown in Figure 6, the drive mechanism 172 is an electric motor. In other embodiments, the drive mechanism 172 can be modified to be a hydraulic mechanism, a pneumatic mechanism, magnetic actuators or a piezoelectric motor.
  • the powerpack 140 shown in Figures 4 to 6 is a schematic, non-limiting representation only.
  • the powerpack 140 can be modified to include a plurality of drive mechanisms 172, each system 172 having its own separate motion transfer mechanism 196.
  • Each additional drive mechanism provides an additional degree of freedom for the robotic instrument 132.
  • the powerpack 140 includes a plurality of drive mechanisms 172, each drive mechanism 172 can be modified to have different structures or of different types.
  • the powerpack 140 of the system 144 is for driving the robotic instrument 132.
  • the system 144 is ultimately controlled by the base unit 120.
  • the powerpack 1 0 is controlled to drive the robotic instrument 132 causing specific motions of the end-effector assembly 136.
  • the method of controlling the powerpack 140 is not particularly limited.
  • the powerpack 140 can be controlled using electrical signals through a wired connection or electromagnetic signals wirelessly received through an antenna or photo sensor.
  • the system 144 is configured to drive the robotic instrument 132 by providing the motion for driving the robotic instrument 132 in the second environment 156 and proximate to the robotic instrument. It will now be appreciated, with the benefit of this specification that fewer motion transfer mechanisms would be required than if the motion were to be provided commencing and extending from the base unit 120. By reducing the amount of motion transfer mechanisms, such as cables, fewer moving parts would need to be serviced over the life of the surgical system 108. It is to be re-emphasized that the system 144 shown in Figures 2 to 6 is a non-limiting representation only. Notwithstanding the specific example, it is to be understood that other equivalent structures and motion transfer mechanisms can be devised to perform the same function as the system 144. For example, the drive mechanism 172 can be modified to provide a motion that is not rotational, such as a linear motion.
  • FIG. 7 and 8 another embodiment of a system for driving a robotic instrument 132a is shown generally at 144a.
  • the system 144a includes a robotic arm 128a, an adapter 200a, a barrier 148a, and a powerpack 140a.
  • the barrier 148a extends from the adapter 200a.
  • the robotic arm 128a of the system 144a is similar to the robotic arm 128 and is generally configured to support the system 144a and the robotic instrument 132a as shown in Figure 8.
  • the robotic arm 128a is mechanically structured to support itself, the adapter 200a, the powerpack 140a, the robotic instrument 132a, and their associated movements.
  • the materials from which the robotic arm 128a can be constructed are not particularly limited to any material and that several different types of materials are contemplated such as those contemplated for the robotic arm 128.
  • the adapter 200a is mounted to the robotic arm 128a.
  • the robotic arm 128a can include a slidable connection mechanism or a rotatable joint to provide other types of movements to position the powerpack 140a and the robotic instrument 132a, which both are ultimately connected to the robotic arm 128a through the adapter 200a.
  • the adapter 200a is generally configured to facilitate mounting the powerpack 140a on the robotic arm 128a. Therefore, the adapter 200a includes a plurality of holes 209a configured to allow for the powerpack 140a to be mounted on the robotic arm 128a through the holes 209a.
  • the adapter 200a may include a mounting boss and/or a mounting clip (not shown) to releasably mount the powerpack 140a to the robotic arm 128a.
  • the adapter 200a can be modified to include a pin configured to engage a latch for mounting the powerpack 140a or the robotic arm 128a.
  • the adapter 200a can include a first mount (not shown) on a non-sterile side 204a ( Figure 8) to mount the adapter to the robotic arm 128a and a second mount (not shown) on a non-sterile side 208a to mount the powerpack 140a to the adapter 200a.
  • the adapter 200a is not particularly limited to any material and that several different types of materials are contemplated.
  • the adapter 200a is made of plastic and is generally shipped in a sterile package with the barrier 148a attached thereto. This allows for one-time use of the adapter 200a and barrier 148a so that the adapter does not need to be sterilized.
  • the adapter 200a can be made of a sterilizable material such that the adapter can be used several times. In such non-disposable applications, the adapter 200a would need to be constructed from materials which can withstand the harsh conditions of a sterilization process carried out prior to an actual surgery. Some examples of suitable materials include stainless steel, such as surgical stainless steel, titanium, higher grade plastics, composites and other materials commonly used in surgical instruments.
  • suitable materials include stainless steel, such as surgical stainless steel, titanium, higher grade plastics, composites and other materials commonly used in surgical instruments.
  • the barrier 148a extends from the adapter 200a around the robotic arm 128a and is generally configured to separate the first environment 152a from the second environment 156a.
  • the exact configuration of the barrier 148a is not particularly limited.
  • the barrier 148a is a loose covering that extends from the adapter 200a and permits the powerpack 140a to be mounted on the adapter 200a.
  • the barrier 148a can be modified to be separate from the adapter 200a and can be configured to seal with the adapter 200a. It is to be appreciated that an advantage of using a barrier 148a extending from the adapter 200a is that connecting the powerpack 140a to the robotic arm 128a prior to surgery is facilitated.
  • the powerpack 140a is generally configured to drive a robotic instrument and can include many configurations and can be similar in many respects to the powerpack 140. In fact, the powerpack 140a can be identical to the powerpack 140 such that the powerpack 140a is capable of mounting directly onto the robotic arm 128a without the adapter 200a. Therefore, the adapter 200a is optional.
  • the powerpack 140b is generally configured to drive a robotic instrument.
  • the powerpack 140b includes a housing 160b having a surface 165b, a first mount 164b, a second mount 168b, a drive mechanism 172b, and an electrical connector 212b.
  • the electrical connector 212b is a male connector. It is to be understood that in most applications, it is desirable to use a male electrical connector because they are more durable than female connectors when used on the powerpack 140b. However, in other embodiments, the electrical connector 212b can be modified to be a female connector to meet requirements of other applications.
  • the powerpack 140b functions similar to the powerpack 140 described above.
  • the powerpack 140b includes the electrical connector 212b generally configured to receive electrical signals.
  • the powerpack 140b is configured to drive a robotic instrument (not shown) by providing a motion. It is to be understood that the motion is generated using a power source and that the motion is ultimately controlled by input from an input device (not shown). Therefore, the electrical signals received at the electrical connector 212b are generally for driving the drive mechanism 172b of the powerpack 140b.
  • the electrical signals can provide power to the drive mechanism 172b.
  • the electrical signals can also transfer data to a microprocessor (not shown) within the powerpack 140b, which would subsequently control the drive mechanism 172b.
  • the data can further include information related to the state of the robotic instrument 132 and the powerpack 140b.
  • the state of the robotic instrument 132 and the powerpack 140b can include data related to the lifecycle of the robotic instrument 132 and the powerpack 140b for monitoring the use of each component.
  • the state of the robotic instrument 132 can be obtained via the powerpack 140b through various means.
  • the powerpack 140b can communicate with the robotic instrument 132 via a wired connection (not shown) or wirelessly using electromagnetic signals received through an antenna or photo sensor.
  • the powerpack 140b can not communicate with the robotic instrument 132 where the data is not necessary or where the robotic instrument 132 is capable of communicating directly with the base unit 120.
  • the powerpack 140b can be combined with a modified adapter 200b similar to the adapter 200a as shown in Figure 14.
  • the adapter 200b also includes a barrier 148b extending from the adapter.
  • the electrical connector 212b is configured to be received by an electrical connector 216b on the adapter 200b.
  • the electrical connector 216b is generally configured to mate with the electrical connector 212b on a sterile side 208b of the adapter 200b.
  • a second electrical connector 220b is disposed on the non- sterile side 204b of the adapter 200b.
  • the electrical connector 220b is generally configured to mate with another connector (not shown) on a robotic arm 128 for sending and/or receiving electrical signals. Therefore, it is to be understood that the adapter 200b is generally configured to transfer electrical signals between the non-sterile side 204b, which is in a non-sterile environment, and the sterile side 208b, which is in a sterile environment.
  • the robotic arm 128 can be modified to include a rail system 224c.
  • the rail system 224c is generally configured to provide linear motion. The linear motion increases the degrees of freedom of a system for driving a robotic instrument (not shown), which allows the robotic instrument to be positioned more precisely.
  • the rail system 224c includes a first portion 228c, a second portion 232c, a drive mechanism 236c, and an optional trocar holder 240c.
  • the second portion 232c is slidably connected to the first portion 228c and can be moved between an extended position as shown in Figure 16 and a retracted position as shown in Figure 17.
  • the drive mechanism 236c is configured to move the first portion 228c relative to the second portion 232c.
  • the method by which the drive mechanism relatively moves the first and second portions 228c and 232c is not particularly limited.
  • the drive mechanism 236c is a motor disposed on the second portion 232c and configured to rotate a lead screw 244c. By rotating the lead screw 244c, which is connected to the first portion 228c, the first and second portions 228c and 232c are moved relative to each other.
  • the drive mechanism 236c can be modified to use hydraulics, pneumatics, magnetic actuators or piezoelectric actuators to move the first portion 228c relative to the second portion 232c.
  • the trocar holder 240c is disposed on the first portion 228c. Referring to Figure 18, the trocar holder 240c of the present embodiment is shown to be disposed in a first environment 152c.
  • the trocar holder 240c is generally configured to support a trocar mount 416c and a trocar 500c.
  • the trocar holder 240c can include many different configurations and is mechanically structured such that the trocar holder can support the trocar mount 416c and the trocar 500c.
  • the materials from which the trocar holder is constructed are not particularly limited and include materials from which the robotic arm 128c is constructed.
  • the trocar holder 240c includes a first opening 408c and a second opening 412c, which will each be described in greater detail below.
  • the trocar mount 416c can include many different configurations and is generally configured to mount a trocar 500c and connect to the trocar holder 240c.
  • the trocar mount 416c is also configured to be disposed in a second environment 156c, which is separated from the first environment 152c by a barrier 148c. It is to be understood that the trocar mount 416c is not particularly limited to any material and that several different types of materials are contemplated. Because the trocar mount 416c needs to be sterilized, the trocar mount is typically constructed from materials which can withstand the harsh conditions of a sterilization process carried out prior to an actual surgery.
  • the trocar mount 416c includes a connector having a first mount pin 420c and a second mount pin 424c.
  • the trocar mount 416c further includes a first opening 428c, and a second opening 432c.
  • the first and second mount pins 420c and 424c are generally configured to connect the trocar mount 416c to the trocar holder 240c.
  • the first and second mount pins 420c and 424c are configured to be received by the first and second openings 408c and 412c of the trocar holder 240c, respectively.
  • first and second mount pins 420c and 424c can be modified to have different diameters and the first and second openings 428c and 432c can be modified accordingly such that they can receive the pins.
  • the use of different diameters for the first and second mount pins 420c and 424c can limit the number of possible configurations that the trocar mount 416c can connect to the trocar holder 240c. It is to be appreciated that other embodiments can include more mount pins on the trocar mount 416c or entirely different types of connectors.
  • the mount pins can be disposed on the trocar holder 240c with the openings for receiving the mount pins defined on the trocar mount 416c.
  • only a single mount pin can be used.
  • the mount pin and opening are generally configured such that rotation of the trocar mount relative to the trocar holder is limited.
  • the mount pin can be shaped as a square or other polygon with sharp corners to restrict rotation.
  • the present embodiment of the trocar 500c is shown in greater detail.
  • the trocar 500c can include many different configurations and is not very limited.
  • the trocar 500c includes a connector having a first trocar pin 504c, and a second trocar pin 508c.
  • the first and second trocar pins 504c and 508c are generally configured to mount the trocar 500c on the trocar mount 416c.
  • the first and second trocar pins 504c and 508c are configured to be received by the first and second openings 428c and 432c of the trocar mount 416c, respectively.
  • two trocar pins and corresponding openings are shown.
  • the trocar pins can be disposed on the trocar mount with the openings for receiving the trocar pins defined on the trocar 500c.
  • only a single trocar pin can be used.
  • the trocar pin and opening are generally configured such that rotation of the trocar 500c relative to the trocar mount 416c is limited.
  • the trocar pin can be shaped as a square or other polygon with sharp corners to restrict rotation.
  • the trocar 500c is generally configured to be mounted efficiently during a surgical procedure.
  • a first environment 152c and a second environment 156c are separated with the barrier 148c such that the robotic arm 128c including the rail system 224c, which further includes the trocar holder 240c, would be disposed in the first environment 152c.
  • the trocar mount 416c is connected to the trocar holder 240c.
  • the mount pins 420c and 424c of the trocar mount 416c pierce the barrier 148c prior to being received by the openings 408c and 412c.
  • connecting the trocar mount 416c to the trocar holder 240c is preferably completed prior to positioning the robotic arm 128c near the patient P.
  • This is advantageous as it allows the trocar mount 416c to be connected to the trocar holder 240c while away from patient where more space is generally available to maneuver the trocar mount 416c relative to the trocar holder 240c.
  • This facilitates the aligning of the mount pins 420c and 424c with the openings 408c and 412c.
  • the separation between first and second environments 152c and 156c is maintained as long as the trocar mount 416c is not removed.
  • the robotic arm 128c is positioned near the patient P such that the trocar 500c, which would already be at least partially inserted into the patient P, can be mounted onto the trocar mount 416c.
  • FIG. 22 shows another type of connector for connecting a trocar mount 416ca to a trocar holder 240ca.
  • the trocar holder 240ca includes a first magnet 436ca and a second magnet 440ca.
  • the trocar mount 416ca includes a first magnet 444ca and a second magnet 448ca.
  • the first and second magnets 420c and 424c of the trocar mount 416ca are generally configured to connect the trocar mount 416ca to the trocar holder 240ca magnetically.
  • first and second magnets 436ca and 440ca of the trocar holder 240ca are configured to engage the first and second magnets 444ca and 448ca of the trocar mount 416ca, respectively. Therefore, it is to be appreciated that by magnetically connecting the trocar mount 416ca to the trocar holder 240ca, it is not necessary to pierce the barrier (not shown). In the present embodiment, two pairs of magnets are shown. It is to be appreciated that other embodiments can include more pairs of magnets. In other embodiments, magnets can only be disposed on one of the trocar mount or the trocar holder when the other includes a ferromagnetic material.
  • a means for restricting rotation should be provided.
  • a physical feature, such as a lip or recess can be used.
  • the magnet can simply be strong enough such that the force of friction would preclude any rotation.
  • Figure 23 shows a modification of the trocar holder 240c.
  • the trocar holder 240cb includes a first holder latch 452cb, a second holder latch 456cb and a handle 460cb.
  • the first and second holder latches 452cb and 456cb are generally configured to lock the corresponding mount pins (not shown) releasably.
  • the handle 460cb can be configured to operate the first and second holder latches 452cb and 456cb such that the first and second holder latches 452cb and 456cb can lock or release the corresponding mount pins.
  • Figure 24 shows a modification of the trocar mount 4 6c.
  • the trocar holder 416cc includes a first mount latch 464cc and a second mount latch 468cc.
  • the first and second mount latches 464cc and 468cc are generally configured to lock the corresponding trocar pins (not shown) releasably.
  • Figure 25 shows a modification of the trocar 500c.
  • the trocar 500cd includes an elongated portion 513cd, a cannula 512cd and a housing 516cd. Therefore, a different housing 516cd and/or a different cannula 512cd can be used with the elongated portion 513cd. For example, different applications can require a different housing or cannula.
  • the elongated portion 513cd and the cannula 512cd can be modified to form a single unitary piece (not shown).
  • FIG. 26 another embodiment of an optional rail system 224d is shown. Like components of the rail system 224d bear like references to their counterparts in the rail system 224c, except followed by the suffix "d".
  • the rail system 224d is generally configured to provide linear motion.
  • the rail system 224d includes a first portion 228d, a second portion 232d, a third portion 234d, a drive mechanism 236a, and an optional trocar holder 240d.
  • the second portion 232d is slidably connected to the first portion 228d and can be moved between an extended position as shown in Figure 26 and a retracted position as shown in Figure 27.
  • the third portion 234d is slidably connected to the second portion 232d and can be moved between an extended position as shown in Figure 26 and a retracted position as shown in Figure 27.
  • the drive mechanism 236d is configured to move the first portion 228d relative to the second portion 232d.
  • the drive mechanism 236d is also configured to move the third portion 234d relative to the second portion 232d.
  • the method by which the drive mechanism moves the first, second, and third portions 228d, 232d, and 234d is not particularly limited.
  • the drive mechanism 236d is a motor disposed on the second portion 232d and configured to rotate first and second lead screws 244d and 248d, respectively.
  • the first and third portions 228d and 234d are moved relative to the second portion 232d in opposite directions such that the first and third portions 228d and 234d move relative to each other concurrently and in opposite directions.
  • the lead screws 244d and 248d are rotated together.
  • the lead screws 244d and 248d can be modified to be rotated independently such that independent movement of the first and third portions 228d and 234d can be provided.
  • the trocar holder 240d is disposed on the first portion 228d.
  • the trocar holder 240d is similar to the trocar holder 240c and is generally configured to support a trocar mount and trocar (not shown).
  • a system 144d for driving the robotic instrument 132d is shown generally at 144d.
  • the system 144d includes a robotic arm 128d, an adapter 200d, a barrier 148d, and a powerpack 140d.
  • the robotic arm 128d includes the rail system 224d described above.
  • the barrier 148d extends from the adapter 200d.
  • the robotic arm 128d is similar to the robotic arm 128 and is generally configured to support the system 144d and the robotic instrument 132d as shown in Figure 29.
  • the robotic arm 128d includes a rail system 224d and is mechanically structured to support itself, the adapter 200d, the powerpack 140d, the robotic instrument 132d, and their associated movement.
  • the rail system 224d includes first, second, and third portions 228d, 232d and 234d, respectively, which were described above.
  • the barrier 148d extends around the robotic arm 128d and is generally configured to separate a first environment 152d from a second environment 156d.
  • the robotic arm 128d is in the first environment 152d while the powerpack 140d and the robotic instrument 132d are in the second environment 156d.
  • the adapter 200d is generally configured to be mounted on the third portion 234d of the rail system 224d.
  • the rail system 224d includes a trocar holder 240d disposed on the first portion 228d.
  • holding a trocar (not shown) in the present embodiment involves a trocar mount piercing the barrier 148d in a manner similar to that described in connection with the embodiment shown in Figure 18.
  • the trocar holder 240d and the barrier 148d can be designed such that it is not necessary to pierce the barrier 148c when holding the trocar.
  • the powerpack 140d moves parallel to the axis of the robotic arm 128d
  • the rail system 224d can be modified such that it is positioned at any angle relative to the robotic arm 28d to provide linear motion at a different angle.
  • system 144d can be modified such that no adapter is present resulting in a system for driving a robotic instrument having a rail system, but no adapter.
  • the motion transfer mechanism 196 is not particularly limited and can include various modifications.
  • the motion transfer mechanism 196 can be modified to include a first rotatable member 196e configured to mate with a second rotatable member 197e on a robotic instrument (not shown) as shown in Figure 30.
  • the first rotatable member 196e configured to engage the second rotatable member 197e coaxially.
  • the engagement can be through a frictional engagement or some locking mechanism, such as mating pins and holes.
  • the motion transfer mechanism 196 can be modified to include a first rotatable member 196f configured to mate with a second rotatable member 197f on a robotic instrument (not shown) as shown in Figures 31 to 33.
  • a first rotatable member 196f configured to mate with a second rotatable member 197f on a robotic instrument (not shown) as shown in Figures 31 to 33.
  • the first rotatable member 196f includes a first plurality of magnets 304f disposed at pre-determined positions on the first rotatable member as shown in Figure 32.
  • the second rotatable member 197f also includes a second plurality of magnets 308f disposed at pre-determined positions on the second rotatable member as shown in Figure 33.
  • Each magnet in the first plurality of magnets 304f is generally configured to engage a corresponding magnet in the second plurality of magnets 308f.
  • each plurality of magnets 304f and 308f include four magnets.
  • the plurality of magnets can have more or fewer magnets.
  • the motion transfer mechanism 196 can be modified to include a first rotatable member 196g configured to mate with a second rotatable member 197g on a robotic instrument (not shown) as shown in Figure 34.
  • a first rotatable member 196g configured to mate with a second rotatable member 197g on a robotic instrument (not shown) as shown in Figure 34.
  • the first rotatable member 196g includes jets 198g for ejecting a fluid, such as air or water, into a corresponding opening 199g defined in the surface of the second rotatable member 197g.
  • each rotatable member 196g and 197g is modified to include both jets and openings for ejecting and receiving fluid, respectively.
  • an additional drive mechanism can be disposed in a powerpack 140h, which is a modification of the powerpack 140.
  • the powerpack 140h includes a motion transfer mechanism 300h as shown in Figure 35.
  • the motion transfer mechanism 300h is generally configured to provide a motion to drive the first and second lead screws (not shown), by rotating them.

Abstract

L'invention concerne un appareil et un procédé pour monter un trocar. L'appareil comprend un porte-trocar, un support de trocar et un raccord placé sur le support de trocar. Le porte-trocar est configuré pour être placé dans un premier environnement et le support de trocar est configuré pour être placé dans un second environnement. Le procédé comprend la séparation du premier environnement du second environnement, le raccordement du support de trocar au porte-trocar et le montage d'un trocar sur le support de trocar.
PCT/CA2011/001303 2011-11-25 2011-11-25 Appareil et procédé pour monter un trocar WO2013075205A1 (fr)

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PCT/CA2011/001303 WO2013075205A1 (fr) 2011-11-25 2011-11-25 Appareil et procédé pour monter un trocar

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Application Number Priority Date Filing Date Title
PCT/CA2011/001303 WO2013075205A1 (fr) 2011-11-25 2011-11-25 Appareil et procédé pour monter un trocar

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WO2016137612A1 (fr) * 2015-02-26 2016-09-01 Covidien Lp Commande robotique de centre de déplacement distant avec logiciel et tube de guidage
JP2017513552A (ja) * 2014-03-17 2017-06-01 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術カニューレ用マウント並びに関連するシステム及び方法
US10357324B2 (en) 2015-02-20 2019-07-23 Stryker Corporation Sterile barrier assembly, mounting system, and method for coupling surgical components
EP3586783A3 (fr) * 2018-06-27 2020-01-15 avateramedical GmbH Support de trocart
US10682205B2 (en) 2014-03-17 2020-06-16 Intuitive Surgical Operations, Inc. Surgical cannulas and related systems and methods of identifying surgical cannulas
CN112244953A (zh) * 2020-10-08 2021-01-22 王洪奎 用于自动穿刺的机器手
US11096754B2 (en) 2017-10-04 2021-08-24 Mako Surgical Corp. Sterile drape assembly for surgical robot
WO2022204211A1 (fr) * 2021-03-23 2022-09-29 Levita Magnetics International Corp. Systèmes de chirurgie robotisée, dispositifs et méthodes d'utilisation
US11806096B2 (en) 2018-12-04 2023-11-07 Mako Surgical Corp. Mounting system with sterile barrier assembly for use in coupling surgical components

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US10682205B2 (en) 2014-03-17 2020-06-16 Intuitive Surgical Operations, Inc. Surgical cannulas and related systems and methods of identifying surgical cannulas
JP2017513552A (ja) * 2014-03-17 2017-06-01 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術カニューレ用マウント並びに関連するシステム及び方法
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EP3666215A1 (fr) * 2014-03-17 2020-06-17 Intuitive Surgical Operations, Inc. Canules chirurgicales et systèmes et procédés associés pour identifier des canules chirurgicales
EP3666214A1 (fr) * 2014-03-17 2020-06-17 Intuitive Surgical Operations, Inc. Canules chirurgicales, systèmes associés et procédés d'identification de canules chirurgicales
JP2020108789A (ja) * 2014-03-17 2020-07-16 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術用カニューレ並びに手術用カニューレを識別する関連のシステム及び方法
US11707343B2 (en) 2014-03-17 2023-07-25 Intuitive Surgical Operations, Inc. Surgical cannulas and related systems and methods of identifying surgical cannulas
US11197729B2 (en) 2014-03-17 2021-12-14 Intuitive Surgical Operations, Inc. Surgical cannula mounts and related systems and methods
US11116601B2 (en) 2014-03-17 2021-09-14 Intuitive Surgical Operations, Inc. Surgical cannulas and related systems and methods of identifying surgical cannulas
US10357324B2 (en) 2015-02-20 2019-07-23 Stryker Corporation Sterile barrier assembly, mounting system, and method for coupling surgical components
US11504203B2 (en) 2015-02-20 2022-11-22 Stryker Corporation Sterile barrier assembly, mounting system, and method for coupling surgical components
US10517684B2 (en) 2015-02-26 2019-12-31 Covidien Lp Robotically controlling remote center of motion with software and guide tube
US10959794B2 (en) 2015-02-26 2021-03-30 Covidien Lp Robotically controlling remote center of motion with software and guide tube
WO2016137612A1 (fr) * 2015-02-26 2016-09-01 Covidien Lp Commande robotique de centre de déplacement distant avec logiciel et tube de guidage
US11096754B2 (en) 2017-10-04 2021-08-24 Mako Surgical Corp. Sterile drape assembly for surgical robot
US11832913B2 (en) 2017-10-04 2023-12-05 Mako Surgical Corp. Sterile drape assembly for surgical robot
EP3586783A3 (fr) * 2018-06-27 2020-01-15 avateramedical GmbH Support de trocart
US11109923B2 (en) 2018-06-27 2021-09-07 avateramedical GmBH Trocar holder
US11806096B2 (en) 2018-12-04 2023-11-07 Mako Surgical Corp. Mounting system with sterile barrier assembly for use in coupling surgical components
CN112244953A (zh) * 2020-10-08 2021-01-22 王洪奎 用于自动穿刺的机器手
WO2022204211A1 (fr) * 2021-03-23 2022-09-29 Levita Magnetics International Corp. Systèmes de chirurgie robotisée, dispositifs et méthodes d'utilisation

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