WO2015049619A1

WO2015049619A1 - Tele-robotic surgical system

Info

Publication number: WO2015049619A1
Application number: PCT/IB2014/064767
Authority: WO
Inventors: Sudhir Prem SRIVASTAVA
Original assignee: Srivastava Sudhir Prem
Priority date: 2013-10-01
Filing date: 2014-09-23
Publication date: 2015-04-09

Abstract

The disclosure is directed to a robotic surgical system comprising the robotic arm, a modular surgical instrument holding device that releasably secures a surgical instrument thereupon, to perform the medical procedures. The holding device has slidably disposed thereupon a surgical instrument holder configured to be driven by a drive unit that coordinates movements between the robotic arm and the surgical instrument to enable instrument reach the operating site.

Description

TELE-ROBOTIC SURGICAL SYSTEM

FIELD OF THE INVENTION

The present invention generally relates to tele-robotic medical or surgical devices enabling minimally invasive surgery (MIS), and more particularly, to techniques of maneuvering surgical instrument over the operative area of the patient with enhanced dexterity using a modular instrument holding device.

BACKGROUND OF THE INVENTION

Currently existing tele-robotic surgical systems that have so far enabled the surgeons to gain access to otherwise unreachable surgical sites and anatomical features of the patient body for the purposes of surgeries and diagnostics are reportedly bulky that restricts the movement of the robotic manipulators within the operating room environment space. Furthermore, such bulky and overly unwieldy massiveness of these robotic manipulators combined with their larger movements required for maneuvering the distally located surgical instrument enhance the probability of the collision between the manipulators, which in turn, inhibits their free and convenient movement while performing intricate surgical operations.

Depending upon the type of surgical procedure to be performed, various types of surgical instruments are used that are inserted through a trocar sleeve into the patient body where the surgical intervention will take place. The commonly posed challenge is of quickly attaching and detaching the surgical instruments from the manipulating assembly number of times during an operation as there is typically not enough room around the surgical site to position plurality of surgical manipulators.

In the light of afore-mentioned limitations, there exists a need for systems than can overcome the constraints related to free and independent movement of the surgical tools, and at the same time allow the surgical instruments or diagnostic devices to quickly engage and disengage from the manipulating assembly during performance of surgery. It is therefore needed to make the system modular, providing the surgical system much needed flexibility for variety of use.

SUMMARY OF THE INVENTION

According to the present disclosure there is provided a robotic surgical system for use in performing medical, particularly surgical procedures with medical instruments, particularly surgical instruments.

In first aspect, the robotic surgical system comprises a manipulator assembly having a base and a manipulating end; a modular holding device releasably engaged with the manipulating end, and configured to removably mount thereupon the surgical instrument. The modular holding device further comprises a first holder positioned towards proximal end of the holding device for supporting the surgical instrument; and a second holder positioned towards distal end of the holding device for supporting a port that provides a channel for the surgical instrument to pass there through, characterized in that the first holder further comprises a drive unit for adjusting the first holder relative to the second holder in a longitudinal direction. This first drive unit preferably comprises a motor- transmission unit with an electric motor and a mechanical transmission.

While the existing systems comprised surgical instruments and surgical instrument assemblage that expressed motion "in combination"; the proposed system exculpate the bondage between the two, and allows free, independent and unrestricted movement of the surgical instrument while performing the surgery. By allowing an independent construction, a greater range of movement away from patient's body is enabled for ease of both patient and the surgery.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to enable the current invention to be more readily understood, reference will now be made to the accompanying figures, which illustrate, by way of example only, an embodiment of the manipulating assembly, and in which: Figure 1 illustrates a schematic view of the tele -robotic surgical system in accordance with an embodiment of the present disclosure.

Figure 2 and Figure 3 represents surgical instrument holding device showing different positional relationship with surgical instrument, in accordance with alternate embodiments of the present disclosure.

Figure 4 represents sectional view of the holding device, in accordance with an embodiment of the present disclosure.

Embodiments of the present invention and their advantages are best understood by referring to the detailed description that follows. It should be appreciated that like reference numerals are used to identify like elements illustrated in one or more of the figures. It should also be appreciated that the figures may not be necessarily drawn to scale.

DETAILED DESCRIPTION OF THE INVENTION

Some embodiments of this invention referring to the drawings in details wherein like numerals indicate like elements, and illustrating all its features, as will be described in more detail hereinbelow.

In one general aspect, embodiments of the present disclosure are directed to a modular robotic medical or surgical system for performing a tele -robotic minimally invasive surgery (MIS). One general embodiment of the present invention comprises a robotic arm having sufficient degrees of freedom for performing tele -robotic surgery. The terms "robotic arm" and "manipulating assembly" are being used interchangeably in the present disclosure.

A "lock" is especially understood in the context of this document, any device that is designed to provide access for one or more surgical instruments into a patient's body. According to the present disclosure, the terms "lock", "trocar" and "port", therefore, can be used interchangeably. The term "robot" in particular a device with one or more articulated robotic arms is understood in the context of this document, which are moved by means of one or more actuators such as electric motors. The degrees of freedom of the robot are determined by the number of its joints.

Referring to Fig 1, an embodiment of the telerobotic system 100 generally including a manipulating assembly 10, a surgical instrument holding device 20 and a surgical instrument 50 is illustrated. The manipulating assembly 10 comprises a base 3 that is firmly and fixedly supported over a strong surface, for example the operating table, multiple links 7 connected via multiple joints 5, said joints housing a motor, a gearbox, a positioning sensor and a control circuitry to control/manipulate various links 7 of the manipulating assemblylO conveniently during the surgery, and a manipulating end 9. While the present disclosure is in connection with a particular embodiment of the robotic arm, those skilled in the art will appreciate that is also applicable to other robotic arms capable of performing minimally invasive medical techniques.

In the illustrated embodiment, the robotic arm 10 mounts thereupon a holding device 20 at its manipulating end 9, as described in detail below, which further supports thereupon, different categories of surgical tools 50. The holding device 20 is detachably secured to the functional end of the robotic arm 10, referred to as, for the purposes of illustration of this invention, as the manipulating end that is adapted to releasably mount thereupon various kinds of tools 50 that are necessary to perform a particular medical procedure.

In one another exemplary embodiment, the present invention enables the robotic surgical system 100 having sufficient degrees of freedom to provide a desired movement within an internal surgical site that enhances surgeon's dexterity and obviates generally existing limitations of the traditionally prevailing surgical methods.

Fig. 1 shows the holding device 20 attached to the manipulating end 9 of the robotic armlOO by means of a fastener or a coupling element 15 that allows the holding device 20 to rotate freely in space with respect to the arm. According to a particular embodiment of the disclosure, the holding device 20 is arranged movable in a longitudinal direction and/or direction of rotation of end effector of robotic arm (11). For fastening, any known fastening device 15 can be used, for example, the fastening means can be a part of screw connection, for example, quick connect like snap fit, clamping, screw, a screw hole or a threaded hole, etc. Preferably, the fastening means 15 can be any quick connect means such as a pin and grove connection with the movably arranged pin or a known eccentric connection with a pin and eccentric nut a detent connection or a well-known quick- release connection like a tensioning lever. Other clamping mechanisms, as known from the prior art in various designs, can also be employed.

Referring now to Figure 2, the holding device 20 comprises a first holder 25 for supporting the surgical instrument 50 and a second holder 30 for holding the cannula holder or a trocar sleeve 60 that allows the surgical instrument 50 to rotate and move axially through its central bore before entering into the surgical site. The first holder 25 is positioned towards the proximal end of the holding device 20 and includes housing 26 that interfaces with the surgical instrument 50.

The surgical instrument 50 is held with respect to the holding device 20 in a generally longitudinal direction 14, and may be rotatable relative to the proximal housing about its axis, providing the end effector at its distal end with an added degree of freedom within the patient's body. The surgical instrument 50 may include a variety of articulated end effectors, such as jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, and clip appliers, or non-articulated instrument, such as cutting blades, probes, irrigators, catheters or suction orifices.

The second holder 30 is positioned at the distal end of the holding device 20 to releasably hold the trocar or the cannula 60 through which the surgical instrument protrudes to reach the body interior, as shown in Figure 2. Whenever the surgical instrument is inserted, it is held in a fixed configuration in a longitudinal direction with respect to the holding device. In particular, the surgical tool 50 slides over the holding device 20 along the insertion axis relative to the robotic arm, while the remote center of spherical rotation 12 remains fixed at a desired location relative to the base of the robotic arm 10. The surgical instrument, in accordance with a preferred embodiment, is allowed to rotate along with the associated end effector about its longitudinal axis.

In one preferred embodiment, the holding device 20 includes a cantilevered arm 22 that extends approximately over a distance in a longitudinal direction. The first holder 25 of the holding device movably mounts on the cantilevered arm 22 and is guided along the fixed longitudinal guides 24 of the cantilever arm 22 in the longitudinal direction, by means of a drive unit 27, discussed in greater detail below. The fixed guides 24 extends in the longitudinal direction of the holding device 20, preferably at least over a distance corresponding to the desired movement of the surgical instrument between the proximal and distal ends of the holding device 20. The guides 24 may either be integrally formed within the holding device 20 or remains mechanically coupled to it.

Figure 3 shows the holding device carrying the surgical instrument, in one of the intermediate positions along the guides 24. Once the surgical instrument 50 is engaged with the holding device 20, it travels along the fixed guides 24 by means of a drive unit 27 housed within the first holder 25. The drive unit 27 further interacts with the manipulating end 9 of the manipulating assembly to transfer motion from the manipulating end to the first holder. The manipulator assembly 10, then, along with the fastener 15 travels in a desired, generally longitudinal direction, to enable the first holder 25 carrying the surgical instrument 50 traverse a linear path into the surgical site. Thus, the movement of the manipulator assembly 10 and the fastener 15 complements the desired movement of the surgical instrument 50.

Referring to Figure 4, sectional view of the holding device is illustrated, wherein the individual components of drive unit for adjusting the surgical instrument relative to the holding device are clearly visible in the axial direction. The holding device 20, as shown, comprises a driving unit 27 preferably disposed within the housing 26, and in particular designed as a motor - transmission unit integrated at least partly in the first holder; driving unit comprising an electric motor 27(a), a gear unit (2b) and a guide nut 27 (c) to drive the spindle 28 forward and backward, substantially parallel to the longitudinal axis of the surgical instrument. The spindle 28, in one exemplary embodiment, is fixed arranged between the proximal and distal end of the holding device 20, and more particularly, relatively in between the fixed guides 24. The guide nut 27(c) remains disposed over the fixedly held spindle 28 and travels in a linear fashion along an entire axial length of the spindle 28 to carry the first holder along.

The spindle rod, in one exemplary embodiment, may be formed partly as a push rod that remains mechanically connected to the holding device 20. In an alternate embodiment, the spindle 28 and the push rod may be constructed as separate parts. In other embodiments, a rack and pinion or belt drive or a hydraulic or pneumatic drive means can be selected instead of a spindle drive. The driving unit 27 enables the second holder 30 to be adjustable relative to the first holder 25 in the longitudinal direction of the surgical instrument 50.

In one preferred embodiment, the drive unit 27 may be provided with one or more sensors, such as, the position, motion, acceleration, force and / or moment sensors. In case of a position sensor, the position of the surgical instrument with respect to the holding device can be determined anytime. The sensor information can be monitored and necessary precautionary step scan be taken whenever a critical value is reported, as a safety feature.

The second holder 30 for the trocar preferably includes a clamping device. The clamping device, can, for instance comprises two opposite clamping jaws adapted to clamp the surgical instrument therebetween. The holding device 20 preferably is operable to function as an electrical/mechanical interface capable of transmitting forces, torques, electrical variables and/or data to the surgical instrument.

In one preferred embodiment, a release device is positioned at the rear end of the robotic arm is shown. In the most illustrated embodiment, the release device comprises a push button that remains disposed within the arm, while it projects outward from the arm in its unactuated state. The push button can be pressed manually and made to move in a generally longitudinal direction.

The foregoing description has been directed to one or more specific embodiments of the articulated arm. It will be apparent; however, that other variations and modifications may be made to the described embodiments, with the attainment of some or all of their advantages. Accordingly this description is to be taken only by way of example and not to otherwise limit the scope of the invention, or depart from the basic inventive concepts. All such variations and modifications are to be considered within the scope of the present invention, the nature of which is to be determined from the foregoing description and the appended claims.

Claims

We Claim:

1) A robotic surgical system for use in performing surgical procedures with a surgical instrument, comprising:

a manipulator assembly having a base and a manipulating end;

a modular holding device releasably engaged with the manipulating end, and configured to removably mount thereupon the surgical instrument, comprising: a first holder positioned towards proximal end of the holding device for supporting the surgical instrument; and

a second holder positioned towards distal end of the holding device for supporting a port that provides a channel for the surgical instrument to pass there through;

wherein the first holder further comprises a drive unit for adjusting the first holder relative to the second holder in a longitudinal direction.

2) The robotic surgical system of claim 1, wherein the modular holding device engages with the manipulating end by means of a fastening element, including but not limited to quick release means such as pin and grove connection, quick- connect, clamp or screw.

3) The robotic surgical system of claim 1, wherein the modular holding device further includes a cantilevered arm that is adapted to house therein a pair of longitudinal guides to guide movement of the surgical instrument along the linear path.

4) The robotic surgical system of claim 3, wherein the cantilevered arm further houses a spindle rod held in a fixed configuration relatively between the pair of longitudinal guides to slidably dispose thereupon the first holder.

5) The robotic surgical system of claim 1, wherein the drive unit further interacts with the manipulating end for motion transmission from said manipulating end to the first holder as the surgical instrument slidably moves in coordination with the corresponding movement of the manipulating end.

6) The robotic surgical system of claim 5, wherein the motion of the manipulating end along with the fastener is coordinated with the holding device such that entire arrangement including the manipulating assembly and the fastening element moves to drive the first holder carrying the surgical instrument along the linear path.

7) The robotic surgical system of claim 1, wherein the drive unit comprises an electric motor, gear unit and a guide nut, said guide nut disposed over the fixedly held spindle moves in a linear fashion along an entire axial length of the spindle, carrying the first holder therewith.