Surgical instrument holder for use with a robotic surgical system

Patent metadata

Field	Value
Publication number	US-10828116-B2
Application number	US-201916377396-A
Country	US
Kind code	B2
Filing date	Apr 8, 2019
Priority date	Apr 24, 2014
Publication date	Nov 10, 2020
Grant date	Nov 10, 2020

Abstract

Described herein is a surgical instrument holder for use with a robotic surgical system, for example, during spinal surgery. In certain embodiments, the surgical instrument holder is an interface between the robotic arm and a surgical instrument used during surgery. This interface may hold the surgical instrument precisely, rigidly, and in a stable manner while permitting a surgeon to easily and quickly install or withdraw the instrument in case of emergency.

First claim

What is claimed is:

1. A robotic surgical system comprising:
a surgical robot having a moveable robotic arm and a tool holder attached to the robotic arm,
wherein the tool holder includes a base configured to be mechanically coupled to the robotic arm, the base having a first channel sized and shaped to accommodate a tightening screw configured to securely attach the base to the robotic arm and a second channel sized and shaped to accommodate a surgical instrument therethrough, wherein the first channel intersects the second channel.

2. The robotic surgical system of claim 1 , wherein movement of the surgical instrument is constrained in all directions except along an axis defined by the second channel.

3. The robotic surgical system of claim 1 , wherein the tool holder further comprises one or more pins projecting from the base such that the one or more pins are configured to engage one or more openings in the robotic arm thereby precisely locating the tool holder relative to the robotic arm.

4. The robotic surgical system of claim 3 , wherein the one or more openings are one or more oblong openings.

5. The robotic surgical system of claim 3 , wherein the one or more openings are wider than the one or more pins and the one or more openings taper long their lengths.

6. The robotic surgical system of claim 1 , wherein the tool holder further comprises a clamp configured to engage the surgical instrument when placed through the second channel such that the surgical instrument is securely held between the clamp and the base.

7. The robotic surgical system of claim 6 , wherein the clamp comprises a third channel having an interior surface shaped and sized to accommodate the first channel sliding therethrough; a second tapered curved surface configured to be engaged by a surgical instrument when the surgical instrument is secured in the second channel; and one or more slits configured to allow a body of the clamp to elastically deform upon tightening of a nut, wherein the nut is configured to engage threads on an exterior surface of the first channel and a cambered surface of the clamp.

8. The robotic surgical system of claim 7 , wherein instrument holder is configured such that a navigation marker is securely held between the clamp and the base upon placing the navigation marker between the clamp and the base and tightening the nut.

9. The robotic surgical system of claim 7 , wherein an exterior surface of the first channel is threaded to securely accommodate the nut such that surgical instrument is securely held between the clamp the base upon placing the surgical instrument in the second channel and tightening the nut.

10. The robotic surgical system of claim 1 , wherein the base comprises a threaded bushing having an interior surface.

11. The robotic surgical system of claim 10 , wherein the first channel passes through an interior surface of the threaded bushing and the interior surface of the threaded bushing is threaded such that the threads on the tightening screw engage the threads on the threaded bushing as the tightening screw is inserted through the threaded bushing.

12. The robotic surgical system of claim 1 , wherein the tightening screw comprises a tip on a proximate end of a screw body, a head on a distal end of the screw body, and threads along a portion of the screw body.

13. The robotic surgical system of claim 12 , wherein the threads are along a portion of the screw body closest to the tip of the tightening screw.

14. The robotic surgical system of claim 13 , wherein the portion of the screw body closest to the head is smooth such that the tightening screw is loosely held in place by the threaded bushing when the tightening screw is fully inserted into the threaded bushing.

15. The robotic surgical system of claim 1 , wherein the surgical instrument is an instrument guide configured to receive a second surgical instrument therethrough, the second surgical instrument comprising a member selected from the group consisting of: a drill bit, tap, screw driver, and awl.

16. The robotic surgical system of claim 1 , wherein the robotic surgical system is for use in spinal surgery.

17. A robotic surgical system comprising:
a surgical robot having a moveable robotic arm and a tool holder attached to the robotic arm,
wherein the tool holder includes a base configured to be mechanically coupled to the robotic arm, the base having a first channel sized and shaped to accommodate a tightening screw configured to securely attach the base to the robotic arm and a second channel sized and shaped to accommodate a surgical instrument therethrough, wherein the first channel intersects the second channel, and
the tool holder further comprising one or more pins projecting from the base such that the one or more pins are configured to engage one or more openings in the robotic arm thereby precisely locating the tool holder relative to the robotic arm.

18. The robotic surgical system of claim 17 , wherein the clamp comprises a third channel having an interior surface shaped and sized to accommodate the first channel sliding therethrough; a second tapered curved surface configured to be engaged by a surgical instrument when the surgical instrument is secured in the second channel; and one or more slits configured to allow a body of the clamp to elastically deform upon tightening of a nut, wherein the nut is configured to engage threads on an exterior surface of the first channel and a cambered surface of the clamp.

19. A robotic surgical system comprising:
a surgical robot having a robotic arm;
a tool holder attached to the robotic arm,
wherein the tool holder includes a base configured to be mechanically coupled to the robotic arm, the base having a first channel sized and shaped to accommodate a tightening fastener configured to securely attach the base to the robotic arm and a second channel having a through-hole, the through-hole having an inlet through which a distal end of a surgical instrument enters and an outlet through which the distal end of the surgical instrument exits, the through-hole sized and shaped to slidably receive the surgical instrument therethrough such that movement of the surgical instrument is constrained in all directions except along an axis defined by the through-hole, wherein the first channel intersects the second channel.

Assignees

• KB Medical SA

Inventors

• Kostrzewski Szymon
• Nussbaumer Billy

Classifications

• A61B2090/3983

  Reference marker arrangements for use with image guided surgery · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B2017/00464

  for use with different instruments · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title