WO2015142789A1 - Alignment and engagement for teleoperated actuated surgical instruments - Google Patents

Alignment and engagement for teleoperated actuated surgical instruments Download PDF

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Publication number
WO2015142789A1
WO2015142789A1 PCT/US2015/020882 US2015020882W WO2015142789A1 WO 2015142789 A1 WO2015142789 A1 WO 2015142789A1 US 2015020882 W US2015020882 W US 2015020882W WO 2015142789 A1 WO2015142789 A1 WO 2015142789A1
Authority
WO
WIPO (PCT)
Prior art keywords
instrument
control surface
adapter
sterile adapter
surgical
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/US2015/020882
Other languages
English (en)
French (fr)
Inventor
Gregory W. Dachs Ii
Bruce Michael Schena
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations 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
Priority to CN201580014408.7A priority Critical patent/CN106102646B/zh
Priority to KR1020167026585A priority patent/KR102395425B1/ko
Priority to CN202010993620.5A priority patent/CN112022244B/zh
Priority to EP20154737.9A priority patent/EP3662861B1/en
Priority to JP2016556255A priority patent/JP6585067B2/ja
Priority to CN202510025942.3A priority patent/CN119867832A/zh
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Priority to EP15765779.2A priority patent/EP3119341B1/en
Priority to US15/121,369 priority patent/US10639119B2/en
Publication of WO2015142789A1 publication Critical patent/WO2015142789A1/en
Anticipated expiration legal-status Critical
Priority to US16/840,730 priority patent/US12102409B2/en
Priority to US18/802,290 priority patent/US20250041015A1/en
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00142—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with means for preventing contamination, e.g. by using a sanitary sheath
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/37—Leader-follower robots
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/40—Drape material, e.g. laminates; Manufacture thereof
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/00172—Connectors and adapters therefor
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0813—Accessories designed for easy sterilising, i.e. re-usable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/20—Surgical drapes specially adapted for patients
    • A61B46/23—Surgical drapes specially adapted for patients with means to retain or hold surgical implements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49815—Disassembling
    • Y10T29/49817—Disassembling with other than ancillary treating or assembling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/59—Manually releaseable latch type

Definitions

  • Embodiments of the invention relate to the field of field of alignment guides; and more specifically, to alignment guides for attaching surgical instruments to teleoperated actuators.
  • Minimally invasive medical techniques have been used to reduce the amount of extraneous tissue which may be damaged during diagnostic or surgical procedures, thereby reducing patient recovery time, discomfort, and deleterious side effects.
  • Traditional forms of minimally invasive surgery include endoscopy.
  • One of the more common forms of endoscopy is laparoscopy, which is minimally invasive inspection or surgery within the abdominal cavity.
  • laparoscopy is minimally invasive inspection or surgery within the abdominal cavity.
  • cannula sleeves are passed through small (approximately 12 mm) incisions in the musculature of the patient's abdomen to provide entry ports through which laparoscopic surgical instruments can be passed in a sealed fashion.
  • the laparoscopic surgical instruments generally include a
  • Typical surgical end effectors include clamps, graspers, scissors, staplers, and needle holders, for example.
  • the surgical instruments are similar to those used in conventional (open) surgery, except that the working end or end effector of each surgical instrument is separated from its handle by an approximately 30 cm. long extension tube, for example, so as to permit the operator to introduce the end effector to the surgical site and to control movement of the end effector relative to the surgical site from outside a patient's body.
  • the surgical instrument In order to provide improved control of the working tools, it may be desirable to control the surgical instrument with teleoperated actuators.
  • the surgeon may operate controls on a console to indirectly manipulate the instrument that is connected to the teleoperated actuators.
  • the surgical instrument is detachably coupled to the teleoperated actuators so that the surgical instrument can be separately sterilized and selected for use as needed instrument for the surgical procedure to be performed.
  • the surgical instrument may be changed during the course of a surgery.
  • Performing surgery with teleoperated surgical instruments creates new challenges.
  • One challenge is the need to maintain the region adjacent the patient in a sterile condition.
  • the motors, sensors, encoders and electrical connections that are necessary to control the surgical instruments typically cannot be sterilized using conventional methods, e.g., steam, heat and pressure or chemicals, because they would be damaged or destroyed in the sterilization process.
  • connections are required to transmit the actuator forces, electrical signals, and data. This makes the attachment of the surgical instrument to the teleoperated actuator and its controller complex.
  • An instrument sterile adapter for coupling a surgical instrument and an instrument carriage includes an adapter control surface that extends control features of a control surface of the instrument carriage and receives an instrument control surface of the surgical instrument.
  • a curved surface extends from the adapter control surface. The curved surface receives a corresponding curved surface on the instrument control surface.
  • a bullet portion on the curved surface may engage a bullet receiving feature in the corresponding curved surface on the instrument control surface.
  • a locating pin or slot on the adapter control surface may engage a locating slot or pin on the instrument control surface.
  • the instrument control surface may be supported by landing pads on the adapter control surface. Latch arms on the adapter control surface may engage latch receptacles on the instrument control surface.
  • FIG. 1 is a view of an illustrative patient-side portion of a teleoperated surgical system.
  • FIG. 2 is a side view of a surgical instrument for use with a
  • FIG. 3 is a perspective view of an instrument sterile adapter (ISA).
  • ISA instrument sterile adapter
  • FIG. 4 is a top perspective view of a latch plate.
  • FIG. 5 is a bottom perspective view of a latch plate.
  • FIG. 6 is an elevation view of a latch plate.
  • FIG. 7 is a perspective view of the instrument control surface.
  • FIG. 8 is a plan view of a portion of the instrument control surface
  • FIG. 9 is a perspective view of the instrument control surface.
  • FIG. 10 is a side view of the ISA.
  • FIG. 1 1 is a top view of the ISA.
  • FIGS. 12-15 show the control surfaces of the ISA and the
  • spatially relative terms such as “beneath”, “below”, “lower”, “above”, “upper”, and the like may be used herein for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the exemplary term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
  • object generally refers to a component or group of
  • an object may refer to either a pocket or a boss of a disk within the specification or claims.
  • object may refer to either a pocket or a boss of a disk within the specification or claims.
  • instrument and “surgical instrument” are used herein to describe a medical device configured to be inserted into a patient's body and used to carry out surgical or diagnostic procedures.
  • the instrument includes an end effector.
  • the end effector may be a surgical tool associated with one or more surgical tasks, such as a forceps, a needle driver, a shears, a bipolar cauterizer, a tissue stabilizer or retractor, a clip applier, an anastomosis device, an imaging device (e.g., an endoscope or ultrasound probe), and the like.
  • Some instruments used with embodiments of the invention further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool so that the position and orientation of the surgical tool can be manipulated with one or more mechanical degrees of freedom in relation to the instrument's shaft.
  • many surgical end effectors include a functional mechanical degree of freedom, such as jaws that open or close, or a knife that translates along a path.
  • Surgical instruments may also contain stored (e.g., on a semiconductor memory inside the instrument) information that may be permanent or may be updatable by the surgical system. Accordingly, the system may provide for either one-way or two-way information communication between the instrument and one or more system components.
  • FIG. 1 is a view of an illustrative patient-side portion 100 of a teleoperated surgical system, in accordance with embodiments of the present invention.
  • the patient-side portion 100 includes support assemblies 1 10 and one or more surgical instrument manipulators 1 12 at the end of each support assembly.
  • the support assemblies optionally include one or more unpowered, lockable setup joints that are used to position the surgical instrument manipulator(s) 1 12 with reference to the patient for surgery.
  • the patient-side portion 100 rests on the floor.
  • the patient-side portion may be mounted to a wall, to the ceiling, to the operating table 126, which also supports the patient's body 1 22, or to other operating room equipment.
  • the patient-side portion 100 is shown as including four manipulators 1 12, more or fewer manipulators 1 12 may be used.
  • the patient-side portion 1 00 may consist of a single assembly as shown, or it may include two or more separate assemblies, each optionally mounted in various possible ways.
  • Each surgical instrument manipulator 1 12 supports one or more
  • Each manipulator 1 12 may be provided in a variety of forms that allow the associated surgical instrument to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.).
  • mechanical or control constraints restrict each manipulator 1 12 to move its associated surgical instrument around a center of motion on the instrument that stays stationary with reference to the patient, and this center of motion is typically located to be at the position where the instrument enters the body.
  • a functional teleoperated surgical system will generally include a vision system portion (not shown) that enables the operator to view the surgical site from outside the patient's body 122.
  • the vision system typically includes a surgical instrument that has a video-image-capture function 128 (a "camera instrument") and one or more video displays for displaying the captured images.
  • the camera instrument 128 includes optics that transfer the images from the distal end of the camera instrument 1 28 to one or more imaging sensors (e.g., CCD or CMOS sensors) outside of the patient's body 122.
  • the imaging sensor(s) may be positioned at the distal end of the camera instrument 128, and the signals produced by the sensor(s) may be transmitted along a lead or wirelessly for processing and display on the video display.
  • An illustrative video display is the stereoscopic display on the surgeon's console in surgical systems commercialized by Intuitive Surgical, Inc., Sunnyvale, California.
  • a functional teleoperated surgical system will further include a control system portion (not shown) for controlling the movement of the surgical instruments 120 while the instruments are inside the patient.
  • the control system portion may be at a single location in the surgical system, or it may be distributed at two or more locations in the system (e.g., control system portion components may be in the system's patient-side portion 100, in a dedicated system control console, or in a separate equipment rack).
  • the teleoperated master/slave control may be done in a variety of ways, depending on the degree of control desired, the size of the surgical assembly being controlled, and other factors.
  • control system portion includes one or more manually-operated input devices, such as a joystick, exoskeletal glove, a powered and gravity- compensated manipulator, or the like. These input devices control teleoperated motors which, in turn, control the movement of the surgical instrument.
  • manually-operated input devices such as a joystick, exoskeletal glove, a powered and gravity- compensated manipulator, or the like.
  • the forces generated by the teleoperated motors are transferred via drivetrain mechanisms, which transmit the forces from the teleoperated motors to the surgical instrument 1 20.
  • the input devices that control the manipulator(s) may be provided at a location remote from the patient, either inside or outside the room in which the patient is placed. The input signals from the input devices are then transmitted to the control system portion. Persons familiar with
  • both the surgical instrument 120 and an optional entry guide 124 are removably coupled to the distal end of a manipulator 1 12, with the surgical instrument 120 inserted through the entry guide 124.
  • Teleoperated actuators in the manipulator 1 12 move the surgical instrument 120 as a whole.
  • the manipulator 1 12 further includes an instrument carriage 130.
  • the surgical instrument 120 is detachably connected to the carriage 1 30.
  • the teleoperated actuators housed in the carriage 130 provide a number of controller motions which the surgical instrument 120 translates into a variety of movements of the end effector on the surgical instrument.
  • the teleoperated actuators in the carriage 130 move only one or more components of the surgical instrument 120 rather than the instrument as a whole.
  • Inputs to control either the instrument as a whole or the instrument's components are such that the input provided by a surgeon to the control system portion (a "master” command) is translated into a corresponding action by the surgical instrument (a "slave” response).
  • FIG. 2 is a side view of an illustrative embodiment of the surgical instrument 120, comprising a distal portion 250 and a proximal control mechanism 240 coupled by an elongate tube 210.
  • the distal portion 250 of the surgical instrument 120 may provide any of a variety of end effectors such as the forceps 254 shown, a needle driver, a cautery device, a cutting tool, an imaging device (e.g., an endoscope or ultrasound probe), or a combined device that includes a combination of two or more various tools and imaging devices.
  • the end effector 254 is coupled to the elongate tube 210 by a "wrist" 252 that allows the orientation of the end effector to be manipulated with reference to the instrument tube 21 0.
  • Surgical instruments that are used with the invention may control their end effectors (surgical tools) with a plurality of rods and/or flexible cables.
  • Rods which may be in the form of tubes, may be combined with cables to provide a "push/pull" control of the end effector with the cables providing flexible sections as required.
  • a typical elongate tube 210 for a surgical instrument 120 is small, perhaps five to eight millimeters in diameter, roughly the diameter of a large soda straw. The diminutive scale of the mechanisms in the surgical instrument 120 creates unique mechanical conditions and issues with the construction of these
  • the cables must fit within the elongate tube 210 and be able to bend as they pass through the wrist joint 252.
  • a sterile component such as an instrument sterile adapter (ISA)
  • ISA instrument sterile adapter
  • the placement of an instrument sterile adapter between the surgical instrument 120 and the surgical instrument manipulator 1 30 includes the benefit of ensuring a sterile coupling point for the surgical instrument 120 and the surgical instrument manipulator 130. This permits removal of surgical instruments from the surgical instrument manipulator 1 30 and exchange with other surgical instruments during the course of a surgery.
  • FIG. 3 is a perspective view of a setup joint that supports the carriage 130 which in turn supports the surgical instrument 120 on a strut 31 0.
  • the setup joint is covered with a sterile drape 300.
  • the sterile drape protects the setup joint from contamination and provides a sterile surface around the setup joint.
  • the majority of the sterile drape 300 is a plastic sheet, which may be in the form of a tube or bag, that covers the arms of the setup joint. For example, a single layer
  • FIG. 4 is a perspective view of the strut 31 0 portion of the setup joint that supports the carriage 130.
  • the sterile drape is not shown to allow the carriage 130 to be seen more clearly.
  • One surface 400 of the carriage provides a number of mechanical and electrical interfaces to communicate mechanical motion and data signals between the control system, the teleoperated actuators, and the surgical instrument. It will be appreciated that the connections to the surgical instrument may require a penetration through the sterile drape.
  • the carriage 130 is shaped to allow the elongate tube 210 ( Figure 2) of the surgical instrument 1 20 to pass through an indentation 410 along one side of the carriage. It is difficult to drape the carriage with the plastic sheet due to the shape of the carriage.
  • FIG. 5 is a perspective view of the portion of the sterile drape that is constructed to be placed around the carriage 130.
  • the sterile drape includes three portions. The first portion is the plastic sheet 300 described above. The second portion is a pouch 500 shaped to fit around the carriage 130. The third portion is a largely rigid instrument sterile adapter (ISA) 510 that engages the control features 400 of the carriage 130 and provides a sterile counterpart of the control features for connection to a surgical instrument.
  • ISA instrument sterile adapter
  • the sterile drape is a disposable assembly.
  • the pouch 500 may be made from a material such as a cast
  • the pouch 500 may be flexible but it should return to its original shape when not subject to stress.
  • the pouch provides a portion of the drape that is a loose form fit around the carriage 130 to provide a clear work space for the teleoperated actuators and the surgical instrument.
  • An aperture 520 is formed in the plastic sheet 300 where the pouch 500 is joined to the plastic sheet.
  • the plastic sheet may be joined to the pouch by any process that is compatible with the materials of the sheet and the pouch, such as by heat welding.
  • FIG. 6 is a perspective view of the control surface 400 of the
  • the ISA 51 0 is coupled to the control surface 400 of the carriage as suggested by the figure.
  • the ISA 51 0 provides an adapter control surface that extends the control features of the control surface 400 of the carriage 130 as a sterile, disposable surface that can receive the proximal control 240 of the teleoperated actuated surgical instrument 120 and engage the control features of the instrument control surface 242.
  • the ISA 510 includes a curved surface 606 that receives a
  • the curved surface 606 of the ISA is substantially perpendicular direction to the adapter control surface.
  • the curved surfaces 600, 606 work in concert with the instrument shaft 210 location in the entry guide 124 and a shaft receiving slot 616 in the ISA to locate the instrument roughly in the plane parallel to the control surface of the ISA.
  • the entry guide 1 24 constrains the instrument shaft 210 to rotation around a cylindrical axis of the instrument shaft and axial translation along the cylindrical axis of the instrument shaft.
  • the curved surfaces 600, 606 of the ISA and the instrument control surface 242 tend to constrain the instrument control surface to rotation about the cylindrical axis of the ISA curved surface 606 and translation along the ISA curved surface. Since the cylindrical axis of the instrument shaft and the cylindrical axis of the ISA curved surface are spaced apart, they provide an effective constraint on the position of the instrument control surface.
  • latch arms 614 on the ISA enter latch receptacles 61 8 on the surgical instrument's proximal control 240.
  • the latch receptacles 61 8 may provide a sloped surface to further aid in positioning the instrument control surface 242. It will be appreciated that the latch arms 614 are movable and that their positioning function is secondary to their primary latching function.
  • a locating pin 610 on the ISA enters a locating slot 612 on the instrument control surface 242 to tightly constrain movement of the proximal control 240 in the plane of the instrument control surface 242.
  • the proximal control 240 is further constrained by the landing pads 602 on the ISA that support the control surface 242 of the instrument. When the proximal control 240 is latched to the ISA, the landing pads 602 on the ISA tightly constrain movement of the proximal control 240 perpendicular to the plane of the instrument control surface 242.
  • FIG. 7 is a perspective view of the instrument control surface 242 at the start of the installation onto the ISA 510.
  • the curved surface 600 on the instrument control surface 242 is shown as it engages the corresponding curved surface 606 on the ISA 510.
  • the remainder of the surgical instrument's proximal control is not shown to allow the curved surface 600 on the instrument control surface 242 to be seen more clearly.
  • FIG. 8 is a plan view of a portion of the instrument control surface 242 showing the locating slot 612 that receives the locating pin 610.
  • the lower end of the bullet portion 608 acts somewhat like a pin in a hole although being a half-pin in a half-hole it cannot completely constrain the position of instrument control surface 242.
  • the bullet portion 608 works with the locating pin 610 and locating slot 612 to control the tendency of the instrument control surface 242 to rotate in reaction to the applied rotary control torques.
  • the locating slot 612 is only extended lengthwise by a small amount to compensate for the lack of control by the bullet feature.
  • the locating pin is on the instrument control surface and the locating slot is on the ISA.
  • FIG. 9 is a perspective view of the instrument control surface 242 fully installed onto the ISA 510.
  • FIG. 10 is a side view of the ISA 510. It will be seen that the curved surface 606 on the ISA 51 0 provides a locating surface when the instrument control surface first engages the ISA. The bullet portion 608 provides a locating surface when the instrument control surface is moved closer to the ISA. The latch arms 614 contribute to the positioning of the instrument control surface as it moves still closer to the ISA. The locating pin 61 0 engages the instrument control surface and provides the final positioning and constraint of the instrument control surface 242 as the lower surface reaches the landing pads 602.
  • FIG. 1 1 is a top view of the ISA 510.
  • FIGS. 12-15 show the control surfaces of the ISA 510 and the
  • FIG. 12 shows the initial engagement of the instrument control
  • the position of the instrument control surface 242 is constrained by the engagement of the curved surface 600 on the instrument control surface 242 with the corresponding curved surface 606 on the ISA 51 0 and by the instrument shaft 210 in the instrument guide (not shown) and the shaft receiving slot 616. As can be seen, the instrument control surface 242 is only loosely constrained during the initial
  • FIG. 13 shows the instrument control surface 242 when the bullet receiving feature 604 on the instrument control surface 242 engages the bullet portion 608 on the ISA 510.
  • engaging the bullet portion 608 greatly increases the constraint on the position of the instrument control surface 242.
  • the leading portion of the bullet portion 608 is tapered to aid in engaging the bullet portion.
  • the engagement of the curved surface 600 on the instrument control surface 242 with the corresponding curved surface 606 on the ISA 510 allows the instrument control surface to be moved along a controlled path that assists with engaging the bullet portion 608 even if the bullet receiving feature 604 is not initially aligned with the leading portion of the bullet portion.
  • FIG. 14 shows the instrument control surface 242 when the latch arms 614 on the ISA 510 enter the latch receptacles 618 on the instrument control surface. While the engagement of the bullet portion 608 largely aligns the instrument control surface 242 so the latch arms 614 can readily enter the latch receptacles 618, the latch receptacles may be shaped so that engaging the latch arms further positions the instrument control surface.
  • FIG. 15 shows the instrument control surface 242 when the locating pin 61 0 on the ISA 510 has engaged the locating slot 612 on the instrument control surface.
  • Engaging the locating pin 610 on the ISA 510 with the locating slot 61 2 on the instrument control surface 242 and engaging the bullet receiving feature 604 on the instrument control surface 242 with the bullet portion 608 on the ISA 510 constrains the movement between the instrument control surface and the ISA parallel to the plane of the instrument control surface (parallel to the plane of the figure).
  • the locating pin 610 and the bullet portion 608 also provide a torque reaction feature to prevent twisting of the surgical instrument's proximal control 240 in reaction to the torques applied to the instrument by the teleoperated actuators as transmitted through the ISA 510.

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  • Health & Medical Sciences (AREA)
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PCT/US2015/020882 2014-03-17 2015-03-17 Alignment and engagement for teleoperated actuated surgical instruments Ceased WO2015142789A1 (en)

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EP15765779.2A EP3119341B1 (en) 2014-03-17 2015-03-17 Alignment and engagement for teleoperated actuated surgical instruments
KR1020167026585A KR102395425B1 (ko) 2014-03-17 2015-03-17 원격조작되어 작동되는 수술 기구들을 위한 정렬 및 결합
CN202010993620.5A CN112022244B (zh) 2014-03-17 2015-03-17 遥控式致动的手术器械的调准和接合
EP20154737.9A EP3662861B1 (en) 2014-03-17 2015-03-17 Alignment and engagement for teleoperated actuated surgical instrument
JP2016556255A JP6585067B2 (ja) 2014-03-17 2015-03-17 遠隔操作手術器具のための整列及び係合
CN201580014408.7A CN106102646B (zh) 2014-03-17 2015-03-17 遥控式致动的手术器械的调准和接合
US15/121,369 US10639119B2 (en) 2014-03-17 2015-03-17 Alignment and engagement for teleoperated actuated surgical instrument
CN202510025942.3A CN119867832A (zh) 2014-03-17 2015-03-17 遥控式致动的手术器械的调准和接合
US16/840,730 US12102409B2 (en) 2014-03-17 2020-04-06 Alignment and engagement for teleoperated actuated surgical instrument
US18/802,290 US20250041015A1 (en) 2014-03-17 2024-08-13 Alignment and engagement for teleoperated actuated surgical instrument

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US201461954595P 2014-03-17 2014-03-17
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US201461954497P 2014-03-17 2014-03-17
US201461954502P 2014-03-17 2014-03-17
US61/954,497 2014-03-17
US61/954,502 2014-03-17
US61/954,595 2014-03-17
US61/954,571 2014-03-17
US61/954,557 2014-03-17
US201462019318P 2014-06-30 2014-06-30
US62/019,318 2014-06-30
US201562103991P 2015-01-15 2015-01-15
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PCT/US2015/020882 Ceased WO2015142789A1 (en) 2014-03-17 2015-03-17 Alignment and engagement for teleoperated actuated surgical instruments
PCT/US2015/020885 Ceased WO2015142792A1 (en) 2014-03-17 2015-03-17 Mounting datum of surgical instrument
PCT/US2015/020876 Ceased WO2015142785A1 (en) 2014-03-17 2015-03-17 Latch to secure surgical instrument to actuator
PCT/US2015/020880 Ceased WO2015142788A1 (en) 2014-03-17 2015-03-17 Method for engaging surgical instrument with teleoperated actuator
PCT/US2015/021020 Ceased WO2015142889A1 (en) 2014-03-17 2015-03-17 Detection pins to determine presence of surgical instrument and adapter on manipulator
PCT/US2015/020888 Ceased WO2015142795A1 (en) 2014-03-17 2015-03-17 Signal connector for sterile barrier between surgical instrument and teleoperated actuator
PCT/US2015/020884 Ceased WO2015142791A1 (en) 2014-03-17 2015-03-17 Coupler to transfer motion to surgical instrument from servo actuator
PCT/US2015/020886 Ceased WO2015142793A1 (en) 2014-03-17 2015-03-17 Sterile barrier between surgical instrument and teleoperated actuator

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PCT/US2015/020885 Ceased WO2015142792A1 (en) 2014-03-17 2015-03-17 Mounting datum of surgical instrument
PCT/US2015/020876 Ceased WO2015142785A1 (en) 2014-03-17 2015-03-17 Latch to secure surgical instrument to actuator
PCT/US2015/020880 Ceased WO2015142788A1 (en) 2014-03-17 2015-03-17 Method for engaging surgical instrument with teleoperated actuator
PCT/US2015/021020 Ceased WO2015142889A1 (en) 2014-03-17 2015-03-17 Detection pins to determine presence of surgical instrument and adapter on manipulator
PCT/US2015/020888 Ceased WO2015142795A1 (en) 2014-03-17 2015-03-17 Signal connector for sterile barrier between surgical instrument and teleoperated actuator
PCT/US2015/020884 Ceased WO2015142791A1 (en) 2014-03-17 2015-03-17 Coupler to transfer motion to surgical instrument from servo actuator
PCT/US2015/020886 Ceased WO2015142793A1 (en) 2014-03-17 2015-03-17 Sterile barrier between surgical instrument and teleoperated actuator

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