Robotic surgery system and surgical instrument

Patent metadata

Field	Value
Publication number	US-9743995-B2
Application number	US-201414523693-A
Country	US
Kind code	B2
Filing date	Dec 30, 2014
Priority date	Apr 27, 2012
Publication date	Aug 29, 2017
Grant date	Aug 29, 2017

Abstract

A robotic surgery system includes a robot and an instrument assembly. The instrument assembly includes a drive unit with at least one rotary drive having an electric motor and a drive shaft that has a coupling part for coupling to a drive shaft of the instrument; an instrument including an instrument shaft and a drive shaft that has a coupling part for coupling to a drive shaft of the drive unit; and an instrument interface including a sheath that encompasses the drive unit. In order to detachably couple an instrument module to an instrument part of a surgical instrument, an electromagnet in a magnet assembly of the instrument module is activated or deactivated, a permanent magnet of said magnet assembly is moved into a locking position and/or an angular position of a coupled counter element assembly of the instrument part is detected by an angle sensor of the instrument module.

First claim

What is claimed is:

1. An instrument assembly detachably coupled with a robot of a robotic surgery system, the instrument assembly comprising:
an instrument;
a drive unit, the drive unit including at least one rotary drive having a hollow drive shaft configured to receive an additional instrument inserted therein, and having a coupling part, wherein axial rotation of the drive shaft of the drive unit actuates a degree of freedom of the instrument to perform a surgical procedure;
the instrument detachably connected to the drive unit, the instrument including an instrument shaft and at least one hollow instrument drive shaft with a coupling part configured to couple with the drive shaft of the drive unit;
the coupling part of the at least one rotary drive configured to couple the drive shaft of the drive unit to the instrument drive shaft; and
an instrument interface arranged between the drive unit and the instrument.

2. The instrument assembly of claim 1 , further comprising a cover encompassing the drive unit, the cover including a tubular inner passage for guiding through a hollow shaft of a robot or the drive unit and through an outlet opening of the cover, the inner passage comprising a blind plug and a cap ring for fastening at a circumferential section of the inner passage, which is released by removing the blind plug.

3. The instrument assembly of claim 1 , further comprising at least one of an auxiliary instrument or a drive for actuating an end effector of the robotic surgery system, the auxiliary instrument or drive inserted through the instrument of the instrument assembly.

4. The instrument assembly of claim 3 , wherein the auxiliary instrument or drive is detachably inserted through the instrument.

5. The instrument assembly of claim 1 , wherein at least one drive shaft of the drive unit and one drive shaft of the instrument are arranged coaxially.

6. A drive unit for an instrument assembly of a robotic surgery system, the instrument assembly including an instrument, the drive unit comprising:
at least one rotary drive including a hollow drive shaft configured to receive an additional instrument inserted therein; and
a coupling part configured to couple the drive shaft of the rotary drive to a drive shaft of the instrument of the instrument assembly;
wherein axial rotation of the drive shaft of the rotary drive actuates a degree of freedom of the instrument to perform a surgical procedure.

7. The drive unit of claim 6 , wherein the hollow drive shaft comprises at least one inner drive shaft concentrically arranged in a hollow outer drive shaft.

8. The drive unit of claim 7 , wherein the at least one inner drive shaft is hollow.

9. The drive unit of claim 6 , wherein the at least one rotary drive is at least one of coaxially, parallel offset, or angularly disposed relative to the drive shaft of the rotary drive.

10. The drive unit of claim 6 , wherein the coupling part is arranged on the drive shaft in an axially displaceable manner.

11. The drive unit of claim 10 , wherein the coupling part is axially biased on the drive shaft.

12. An instrument for an instrument assembly of a robotic surgery system, the instrument assembly including a drive unit having a rotary drive with a hollow drive shaft for receiving an additional instrument therein, the instrument comprising:
an instrument shaft;
at least one hollow drive shaft associated with the instrument shaft and configured to receive an additional instrument inserted therein; and
a coupling part configured to couple the instrument drive shaft to the drive shaft of the drive unit;
wherein axial rotation of the drive shaft of the drive unit actuates a degree of freedom of the instrument to perform a surgical procedure.

13. The instrument of claim 12 , wherein the at least one hollow drive shaft of the instrument comprises at least one inner drive shaft arranged concentrically in a hollow outer drive shaft.

14. The drive unit of claim 13 , wherein the at least one inner drive shaft is hollow.

15. The instrument of claim 12 , wherein the at least one hollow drive shaft of the instrument is at least one of coaxially, parallel offset, or angularly disposed relative to the instrument shaft.

16. The instrument of claim 12 , further comprising:
a transmission configured to convert a rotation of one of the drive shafts into a translation of at least one of a tensile means or thrust means;
wherein at least one of:
the transmission comprises a guide bar, or
the transmission is arranged in one half of the instrument shaft and faces toward or away from the drive unit.

17. A robotic surgery system, comprising:
a robot; and
an instrument assembly according to claim 1 detachably coupled with the robot.

Assignees

• Kuka Lab Gmbh
• Kuka Roboter Gmbh

Inventors

• Lohmeier Sebastian
• Schober Wolfgang

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2090/0813

  Accessories designed for easy sterilising, i.e. re-usable · CPC title

• A61B2090/067

  for measuring angles · CPC title

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title

• A61B2017/00876

  magnetic · CPC title