Robot Assisted Volume Removal During Surgery

Patent metadata

Field	Value
Publication number	US-2016151120-A1
Application number	US-201514957204-A
Country	US
Kind code	A1
Filing date	Dec 2, 2015
Priority date	Dec 2, 2014
Publication date	Jun 2, 2016
Grant date	—

Abstract

Described herein is a device and method used to effectively remove volume inside a patient in various types of surgeries, such as spinal surgeries (e.g. laminotomy), neurosurgeries (various types of craniotomy), ENT surgeries (e.g. tumor removal), and orthopedic surgeries (bone removal). Robotic assistance linked with a navigation system and medical imaging it can shorten surgery time, make the surgery safer and free surgeon from doing repetitive and laborious tasks. In certain embodiments, the disclosed technology includes a surgical instrument holder for use with a robotic surgical system. In certain embodiments, the surgical instrument holder is attached to or is part of an end effector of a robotic arm, and provides a rigid structure that allows for precise removal of a target volume in a patient.

First claim

1 . A surgical instrument holder for use with a robotic surgical system, the surgical instrument holder comprising:
a rigid hollow tubular structure having a proximal open end and a distal open end, said structure defining an axis along which movement of a surgical instrument sliding through the structure is restricted, wherein the tubular structure has an interior surface shaped and sized to accommodate the surgical instrument sliding through the surgical instrument holder such that movement of the surgical instrument is constrained to move along the axis defined by the surgical instrument holder; and a connector element associated with the holder that, when engaged a corresponding connector element associated with a surgical instrument, provides power to the surgical instrument.

2 . The surgical instrument holder of a claim 1 , wherein the tubular structure has an exterior surface comprising at least one flange that is sized and shaped to secure coupling of the surgical instrument holder to an end effector of the robotic surgical system.

3 . The surgical instrument holder of claim 1 , wherein the tubular structure comprises a longitudinal notch along its length, wherein the longitudinal notch is sized in relation to a peg on the surgical instrument to permit the surgical instrument to slide along the axis defined by the surgical instrument holder.

4 . The surgical instrument holder of claim 1 , comprising a lock that, when engaged, restricts movement of a surgical instrument within the rigid hollow tubular structure.

5 . The surgical instrument holder of claim 4 , wherein the lock, when engaged, prevents removal of the surgical instrument from the surgical instrument holder.

6 . The surgical instrument holder of claim 1 , comprising a force sensor that measures one or more forces and/or torques applied to at least a portion of the surgical instrument.

7 . The surgical instrument holder of claim 1 , wherein:
the surgical instrument comprises a force sensor that measures one or more forces and/or torques applied to at least a portion of the surgical instrument, and the measurement information provided to the surgical instrument holder via the connector comprises the one or more forces and/or torques.

8 - 17 . (canceled)

18 . The surgical instrument holder of claim 1 , wherein the longitudinal notch is a slot.

19 . The surgical instrument holder of claim 1 , wherein the longitudinal notch is sized in relation to a peg to (i) permit a navigation marker attached to the surgical instrument at least in part via the peg to be viewable by a navigation camera along an entire range of movement of the surgical instrument through the surgical instrument holder, and (ii) constrain movement of the marker in a fixed orientation along the axis defined by the surgical instrument holder.

20 - 21 . (canceled)

22 . The surgical instrument holder of claim 1 , wherein the tubular structure has an interior surface sized and shaped to accommodate a tool support of the surgical instrument.

23 . The surgical instrument holder of claim 1 , comprising a second connector associated with the surgical instrument holder that communicates with a sensor measuring the position of the surgical instrument.

24 . The surgical instrument holder of claim 1 , wherein the second connector is one or more brushes.

25 . The surgical instrument holder of claim 1 , wherein the rigid hollow tubular structure is a cylindrical structure.

26 - 44 . (canceled)

45 . A surgical instrument holder for use with a robotic surgical system, the surgical instrument holder comprising:
a rigid hollow tubular structure having a proximal open end and a distal open end, said structure defining an axis along which movement of a surgical instrument sliding through the structure is restricted,
wherein the tubular structure has an interior surface shaped and sized to accommodate the surgical instrument sliding through the surgical instrument holder such that movement of the tool support is constrained to move along the axis defined by the surgical instrument holder,
wherein the tubular structure has an exterior surface comprising at least one flange that is sized and shaped to securely couple the surgical instrument holder to an end effector of the robotic surgical system, and
wherein the tubular structure comprises a longitudinal notch along its length, wherein the longitudinal notch is sized in relation to a peg on the tool support to permit the tool support to slide along the axis defined by the surgical instrument holder;
a lock that, when engaged, restricts movement of a surgical instrument within the rigid hollow tubular structure; and a connector element associated with the surgical instrument holder that, when engaged with a corresponding connected associated with the surgical instrument, provides power to the surgical instrument.

46 . (canceled)

47 . The surgical instrument holder of claim 45 , wherein the surgical instrument comprises a force sensor for measuring one or more forces and/or torques applied to at least a portion of the surgical instrument.

48 - 56 . (canceled)

57 . The surgical instrument holder of claim 45 , wherein the longitudinal notch is a slot.

58 . The surgical instrument holder of claim 45 , wherein the longitudinal notch is sized in relation to a peg to (i) permit a navigation marker attached to the surgical instrument via the peg to be viewable by a navigation camera along an entire range of movement of the surgical instrument through the surgical instrument holder, and (ii) constrain movement of the marker in a fixed orientation along the axis defined by the surgical instrument holder.

59 - 61 . (canceled)

62 . The surgical instrument holder of claim 45 , comprising a second connector associated with the surgical instrument holder for communicating with a sensor measuring the position of the surgical instrument.

63 . The surgical instrument holder of claim 45 , wherein the second connector is one or more brushes.

64 . The surgical instrument holder of claim 45 , wherein the lock, when engaged, prevents removal of the surgical instrument from the surgical instrument holder.

65 - 135 . (canceled)

Assignees

• KB Medical SA

Inventors

• Kostrzewski Szymon
• Patel Chetan
• Mason Alexander

Classifications

• A61B2017/00017

  Electrical control of surgical instruments · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61B2576/00

  Medical imaging apparatus involving image processing or analysis (A61B1/00009, A61B6/52 and A61B8/52 take precedence) · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title