WO2026033353A1 - Mécanisme d'accouplement pour fixer de manière amovible des instruments chirurgicaux à un système chirurgical de co-manipulation - Google Patents

Mécanisme d'accouplement pour fixer de manière amovible des instruments chirurgicaux à un système chirurgical de co-manipulation

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Publication number
WO2026033353A1
WO2026033353A1 PCT/IB2025/057828 IB2025057828W WO2026033353A1 WO 2026033353 A1 WO2026033353 A1 WO 2026033353A1 IB 2025057828 W IB2025057828 W IB 2025057828W WO 2026033353 A1 WO2026033353 A1 WO 2026033353A1
Authority
WO
WIPO (PCT)
Prior art keywords
surgical instrument
coupler
coupler body
clamp
lumen
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.)
Pending
Application number
PCT/IB2025/057828
Other languages
English (en)
Inventor
Andrew Elliott Heinrich
Victoria Cheng-Tan Wu
David Paul Noonan
Moran Gera MAMO
Carlos Bolivar
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.)
Moon Surgical SAS
Original Assignee
Moon Surgical SAS
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
Application filed by Moon Surgical SAS filed Critical Moon Surgical SAS
Publication of WO2026033353A1 publication Critical patent/WO2026033353A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • 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
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A61B2017/00486—Adaptors for coupling parts with incompatible geometries
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/0084—Material properties low friction
    • A61B2017/00845—Material properties low friction of moving parts with respect to each other
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/00858—Material properties high friction or non-slip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/00876—Material properties magnetic
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Definitions

  • This technology relates to co-manipulation robotic systems, such as those designed to be coupled to clinician-selected surgical instruments to permit movement of the robot arm(s) via movement at the handle of the surgical instrument(s).
  • Managing vision and access during a surgical procedure is a challenge.
  • the surgical assistant paradigm is inherently imperfect, as the assistant is being asked to anticipate and see with the surgeon’s eyes, without standing where the surgeon stands, and similarly to anticipate and adjust how the surgeon wants the tissue of interest exposed, throughout the procedure.
  • one assistant may be required to hold a retractor device to expose tissue for the surgeon, while another assistant may be required to hold a scope device to provide a field of view of the surgical space within the patient to the surgeon during the procedure, either one of which may be required to hold the respective tools in an impractical position, e.g., from between the arms of the surgeon while the surgeon is actively operating additional surgical instruments.
  • a rail-mounted orthopedic retractor which is a purely mechanical device that is mounted to the patient bed/table, may be used to hold a scope device in position during a laparoscopic procedure, and another railmounted orthopedic retractor may be used to hold a retractor device in position during the
  • laparoscopic surgery relies on 2D video images from a camera inside the patient’s body, which can lead to a loss of depth perception, thereby making it challenging to accurately discern the distance between instruments and tissues. Misjudging depth can result in excessive or insufficient force application, potentially causing harm to nearby anatomical structures.
  • laparoscopic instruments have limited degrees of freedom compared to the human hand, which can make precise and delicate movements more challenging to execute, and surgeons must adapt to these limitations when applying forces.
  • different tissues in the body have varying properties, such as thickness, elasticity, and fragility, and understanding how to adapt force application based on the tissue being manipulated is crucial to avoid injury to the patient.
  • Trocar placement complications include vascular injury, bowel/visceral injury.
  • the bowel and vascular injuries are often due to placement of the primary trocar or Veress needle because they are done blindly.
  • injuries also can occur with secondary trocar insertion if the trocars are not properly visualized throughout their insertion. Surgeons must be cautious and precise to minimize these risks.
  • no single technique or instrument has been proven to completely eliminate laparoscopic entry associated injury. Limiting the force applied during access may be beneficial to prevent injuries.
  • surgeons often undergo extensive training using simulators and virtual reality tools. These platforms may help surgeons practice force application and refine their skills in a controlled environment before operating on real patients.
  • learning to differentiate between tissues and tailor force accordingly to apply the right forces during trocar placement can be challenging, and is a skill that takes time to develop.
  • robot arm 300 may include a base, which includes base portion 302 rotatably coupled to shoulder portion 304 at base joint 303.
  • shoulder portion 304 may sit on top of base portion 302, and may be rotated relative to base portion 302 about axis QI at base joint 303.
  • the base of robot arm 300 may be mounted on platform 200, and selectively moved relative to platform 200 via the stage assembly of platform 200.
  • robot arm 300 may include actuator 330, e.g., a collar, lever, button, or switch, operatively coupled to a motor operatively coupled to distal shoulder link 308 and/or proximal shoulder link 306 at joint 320, such that distal shoulder link 308 may only be rotated relative to proximal should link 306 upon actuation of actuator 330.
  • actuator 330 e.g., a collar, lever, button, or switch
  • collar 330 may include setup mode actuator 336 disposed thereon, e.g., a button, which the system may require to be actuated to permit a rotation of collar 330 to cause a corresponding rotation of distal shoulder link 308 relative to proximal shoulder link 306.
  • setup actuator 336 disposed thereon, e.g., a button, which the system may require to be actuated to permit a rotation of collar 330 to cause a corresponding rotation of distal shoulder link 308 relative to proximal shoulder link 306.
  • the user may be required to actuate setup actuator 336 to switch the system to the user-guided setup mode, and maintain setup actuator 336 in an actuated state while collar 330 is rotated to cause a corresponding rotation of distal shoulder link 308 relative to proximal shoulder link 306.
  • motorized axis Q3 may be a “setup” axis, such that distal shoulder link 308 may be automatically rotated and fixed relative to proximal shoulder link 306 upon actuation of actuator 330 and/or setup actuator 336, e.g., during a setup stage of robot arm 300, prior to operation of robot arm 300 in a surgical procedure.
  • the system may switch between the operating stage and the setup stage during a surgical procedure to permit reconfiguration of the robot arm via the setup joints as needed.
  • robot arm 300 further may include elbow link 310.
  • a proximal end of elbow link 310 may be rotatably coupled to a distal end of distal shoulder link 308 at
  • Robot arm 300 further may include wrist portion 311, which may include proximal wrist link 312 rotatably coupled to the distal end of elbow link 310 at wrist joint 324, middle wrist link 314 rotatably coupled to proximal wrist link 312 at joint 326, and distal wrist link 316 coupled to/extending from middle wrist link 314, which may be rotatably coupled to surgical instrument coupler interface 400 (not shown) at joint 328, as further described in further detail with regard to FIG. 3.
  • wrist portion 311 may include proximal wrist link 312 rotatably coupled to the distal end of elbow link 310 at wrist joint 324, middle wrist link 314 rotatably coupled to proximal wrist link 312 at joint 326, and distal wrist link 316 coupled to/extending from middle wrist link 314, which may be rotatably coupled to surgical instrument coupler interface 400 (not shown) at joint 328, as further described in further detail with regard to FIG. 3.
  • wrist portion 311 may be rotated relative to elbow link 310 about axis Q5 at wrist joint 324
  • middle wrist portion 314 may be rotated relative to proximal wrist link 312 about axis Q6 at joint 326
  • surgical instrument coupler interface 400 may be rotated relative to distal wrist link 316, and accordingly middle wrist link 314, about axis Q7 at joint 328.
  • robot arm 300 may include actuator 332, e.g., a clutch lever, button, or switch, operatively coupled to elbow link 310 and/or proximal wrist link 312 at joint 324, e.g., a setup joint, such that proximal wrist link 312 may only be rotated relative to elbow link 310 upon actuation of actuator 332.
  • actuator 332 e.g., a clutch lever, button, or switch
  • axis Q5 may be a “setup” axis, such that proximal wrist link 312 may be rotated and fixed relative to elbow link 310 during the setup stage, upon actuation of actuator 332.
  • setup joint 324 prevents relative movement between proximal wrist link 312 and elbow link 310, such that proximal wrist link 312 is fixed relative to elbow link 310.
  • proximal wrist link 312 may be manually rotated in predefined increments relative to elbow link 310, thereby removing the necessity of having additional motors and/or electronics at the distal region of robot arm 300.
  • Robot arm 300 further may include a plurality of motors, e.g., motors Ml, M2, M3, which may all be disposed within the base of robot arm 300, and M4, which preferably may be disposed adjacent to joint 320.
  • system 100 may include one or more stage assembly motors operatively coupled to the stage assembly of platform 200, preferably disposed within platform 200.
  • motors Ml, M2, M3, may be operatively coupled to a respective motorized joint of robot arm 300, e.g., base joint 303, shoulder joint 318, and elbow joint 322, to thereby apply a localized impedance at the respective joint.
  • motors Ml, M2, M3 may produce an impedance/torque at any of base joint 303, shoulder joint
  • impedance may be applied to the distal end of robot arm 300, and accordingly the surgical instrument coupled thereto, to provide a sensation of a viscosity, a stiffness, and/or an inertia to the operator manipulating the surgical instrument.
  • applied impedances may simulate a tissue density or stiffness, communicate surgical boundaries to the operator, and may be used to direct a surgical instrument along a desired path, or otherwise.
  • the motors may actuate the respective joints to thereby cause movement of robot arm 300 about the respective joints.
  • axis QI, axis Q2, and axis Q4 may each be a “motorized” axis, such that motors Ml, M2, M3 may apply an impedance/torque to base joint 303, shoulder joint 318, and elbow joint 322, respectively, to inhibit or actuate rotation about the respective axis.
  • motors Ml, M2, M3 may apply an impedance/torque to base joint 303, shoulder joint 318, and elbow joint 322, respectively, to inhibit or actuate rotation about the respective axis.
  • some implementations of robot arm 300 may apply force/torque at the distal end of robot arm 300 in three directions to thereby move the surgical instrument coupled to the distal end of robot arm 300 in three degrees of freedom.
  • system 100 may automatically move each of robot arms 300 to one or more preset configurations, e.g., via the motorized joints of the robot arms, upon selection of the preset configuration, e.g., via GUI 210, during the setup stage.
  • the preset configurations may be user specific based on user preference for a given surgical procedure and may be stored in a surgeon profile associated with the user, as described in U.S. Patent Appl. Publ. No. 2024/0024053 to Wu.
  • motor M4 may be operatively coupled to setup joint 320 to thereby apply a torque to joint 320 to actuate rotation of distal shoulder link 308 relative to proximal shoulder link 306 about axis Q3.
  • motorized joint 320 is preferably not “back-drivable,” in that the user cannot actuate motorized joint 320, e.g., via movement of the surgical instrument coupled to the robot arm when the system is in co-manipulation mode.
  • actuation of motorized joint 320 may be conducted via one or more actuators, e.g., actuator 330, setup actuator 336, and/or an actuator displayed on GUI 210, that
  • Axis Q6 and axis Q7 may each be a “passive” axis, such that middle wrist link 314 may be rotated relative to proximal wrist link 312 at passive joint 326 without any applied impedance from system 100, and surgical instrument coupler interface 400 may be rotated relative to distal wrist link 316 at passive joint 328 without any applied impedance from system 100.
  • the distal end of distal wrist link 316 may be rotatably coupled to surgical instrument coupler interface 400, e.g., at a passive joint, for removably coupling with a surgical instrument, e.g., via coupler body 500 as shown in FIG. 3, which may be removeably coupled to the surgical instrument and to coupler interface 400, as described in further detail below.
  • wrist portion 311 may include a passive ball joint at the attachment point with the surgical instrument, as described in U.S. Patent No. 10,582,977, the entire content of which is incorporated herein by reference.
  • a redundant encoder is disposed at each location along robot arm 300 where an encoder is placed, to provide more accurate position data, as well as, to facilitate detection of a fault condition, e.g., when the readings between an encoder and a redundant encoder differs.
  • robot arm 300 will move responsive to the movement of the surgical instrument to provide the operator the ability to freely move surgical instrument relative to the patient.
  • robot arm 300 may include less or more articulation joints than is shown in FIG. 2, as well as a corresponding number of motors and encoders/sensors.
  • the coupling mechanism may be constructed as described in U.S. Patent No. 11,812,938.
  • the coupling mechanism may include coupler interface 400 at the distal end of the distal-most link of the robot arm (illustratively, link 316), and a coupler body, e.g., coupler body 500, which may be configured to be removably coupled to a surgical instrument and to coupler interface 400, such that a sterile drape may be placed between coupler interface 400 and coupler body 500.
  • coupler body 500 may be disposable, or alternatively, sterilizeable between surgical procedures.
  • coupling mechanism 4400 may be operatively coupled to one or more sensors for detecting when
  • link 316 includes at least two Hall effect sensors to provide redundancy for more accurate magnetic field measurements.
  • Hall effect sensors 414 may be positioned adjacent to a proximal end of ferrous rod 410.
  • coupler interface 400 may include repulsion magnet 412 disposed within protrusion 404 adjacent to the distal end of ferrous rod 412.
  • protrusion 404 may have a non-circular profile, which corresponds to the geometry of groove 505 of coupler body 500, as described in further detail below.
  • protrusion 404 may have a diamond-shaped profile. Accordingly, when protrusion 404 is disposed within groove 505 of connection portion 504 of the coupler body, as described in further detail below, rotational movement between coupler
  • protrusion 404 may include one or more locking portions 406 disposed on the outer surface of the sidewall of protrusion 404.
  • locking portions 406 may be indentations/grooves extending along the outer surface of protrusion 404, and sized and shaped to engage with the locking arms of the coupler body, as described in further detail below, for securing the coupler body to coupler interface 400, and for securing a sterile drape between the coupler body and coupler interface 400.
  • protrusion 404 includes at least a pair of locking portions 406.
  • the pair of locking portions 406 may be disposed on opposing apexes of the diamond-shaped profile of protrusion 404. Accordingly, the coupler body may be securely coupled to coupler interface 400 in two orientations.
  • coupler interface 400 further may include one or more additional protrusions 410, e.g., “mating dots,” disposed on flat portion 402.
  • coupler interface 400 may include a plurality of protrusions 410, preferably evenly spaced apart along flat portion 402, e.g., adjacent to the outer edge of flat portion 402.
  • Protrusions 410 may have a geometry that corresponds with the geometry of one or more additional grooves 507 of connection portion 504, as described in further detail below with regard to FIG. 6A.
  • protrusions 410 may have a semi-spherical shape, and grooves 507 may have a corresponding semi-spherical shape.
  • Coupler body 500 may be configured to be removably coupled to a surgical instrument having a predefined shaft diameter, e.g., a 10 mm surgical instrument. Coupler body 500 is preferably designed to be locked to the distal end of the robot arm with a sterile drape therebetween such that the robot arm remains covered and sterile throughout a procedure. Further, coupler body 500 also has a separate portion for locking to a surgical instrument (e.g., a commercially available laparoscopic instrument) to permit the clinician to perform the surgeries with the robot arm(s) as described herein. As shown in FIG.
  • a surgical instrument e.g., a commercially available laparoscopic instrument
  • coupler body 500 may include coupler interface connection portion 504 and surgical instrument connection portion 502. Coupler interface connection portion 504 and surgical instrument connection portion 502 may generally have an outer diameter that coincides with the outer diameters of flat portion 402 of coupler interface 404 and link 316. Additionally, coupler interface connection portion 504 may include a pair of locking
  • Surgical instrument connection portion 502 may include opening 516 extending therethrough, sized and shaped to receive the shaft of a surgical instrument.
  • opening 516 may be sized and shaped to receive a 10 mm surgical instrument shaft.
  • Opening 516 may be defined by a channel extending downward from an upper surface of surgical instrument connection portion 502 such that a surgical instrument may be inserted into opening 516 via the channel.
  • the upper surface of surgical instrument connection portion 502 may include tapered portions 514 that angle downward towards opening 516, thereby defining the channel into opening 516.
  • tapered portions 514 ensure that the shaft of the surgical instrument is properly inserted into opening 516 in one of two orientations by rotating coupler body 500 and accordingly distal wrist link 316 to align with the longitudinal axis of the surgical instrument in one of two orientations.
  • tapered portions 514 may facilitate in “self-alignment” of the distal end of robot arm 300, e.g., by causing coupler body 500, and accordingly coupler interface 400 coupled thereto, to automatically rotate relative to distal wrist link 316 about axis Q7 at passive joint 328 as the instrument shaft is guided down tapered portions 514, such that the longitudinal axis of opening 516 aligns with the longitudinal axis of the surgical instrument.
  • the user does not need to align the instrument shaft to opening 516, but rather, opening 516 rotates via rotation of coupler body 500 and distal wrist link 316 relative to middle wrist link 314 to align with the longitudinal axis of the instrument shaft.
  • surgical instrument connection portion 502 may include clamp 518 pivotally coupled to surgical instrument connection portion 502 about axis 512, such that clamp 518 may be transitionable between an unlocked state and a locked state.
  • clamp 518 may be pivotally coupled to surgical instrument connection portion 502 via a torsion spring, such that clamp 518 is biased toward the locked state.
  • Clamp 518 may include locking portion 520 configured to secure the surgical instrument within opening 516 when clamp 518 is in its locked state.
  • a lower surface of locking portion 520 may define the upper surface of opening 516 when clamp 518 is in its locked state, such that locking portion 520 prevents
  • the upper surface of locking portion 520 may be tapered to facilitate guidance of the surgical instrument into opening 516 along with tapered portions 514.
  • the upper surface of locking portion 520 may have a tapered angle that more or less coincides with the tapered angles of tapered portions 514.
  • the tapered angle of locking portion 520 may be alone sufficient to permit a surgical instrument to be inserted into opening 516, such that insertion of the surgical instrument towards opening 516 applies a force against the tapered upper surface of locking portion 520, thereby causing clamp 518 to rotate about axis 512 from the locked state to the unlocked state to permit the surgical instrument to be received by opening 516.
  • Clamp 518 further may include handle 522 sized and shaped to be actuated by the user’s fingers to transition clamp 518 from the locked state to the unlocked state.
  • handle 522 may be actuated to transition clamp 518 to the unlocked state for insertion of the surgical instrument into opening 516, and/or for removal of the surgical instrument from opening 516.
  • coupler body 500 further may include switch 524 pivotally coupled to surgical instrument connection portion 502, and configured to facilitate securement of the surgical instrument within opening 516.
  • switch 524 may include one or more surgical instrument engagement portions 526, each having a geometry that corresponds with the outer diameter of the shaft of the surgical instrument to be inserted within opening 516.
  • switch 524 may include handle portion 528 sized and shaped to be actuated by the user’s fingers to transition switch 524 between an unlocked state and a locked state where surgical instrument engagement portion 526 engages with the surgical instrument shaft within opening 516 and applies a friction force to the surgical instrument shaft.
  • switch 524 may include two surgical instrument engagement portions 526, one on each side of switch 524, such that switch 524 may be rotated from its unlocked state in either direction to transition to its locked state where one of the surgical instrument engagement portions will engage with the surgical instrument within opening 516. Accordingly, in its locked state, surgical instrument engagement portion 526 further defines
  • Surgical instrument engagement portion 526 may have a coefficient of friction, such that when the surgical instrument is disposed within opening 516 and switch 524 is in its locked state, surgical instrument engagement portion 526 applies a friction force against the surgical instrument that prevents longitudinal movement of the surgical instrument relative to coupler body 500, while permitting rotational movement of the surgical instrument within opening 516. Accordingly, when the surgical instrument is disposed within opening 516, switch 524 may be actuated to its unlocked state to permit the user to readj ust/move the surgical instrument longitudinally relative to coupler body 500 within opening 516, and back to its locked state to prevent longitudinal movement of the surgical instrument relative to coupler body 500. Preferably, both switch 524 and clamp 518 must be in their unlocked states to permit removal of the surgical instrument from coupler body 500.
  • FIG. 5B is a cross-sectional view of coupler body 500.
  • coupler body 500 further may include holder 530 disposed within surgical instrument connection portion 502.
  • Holder 530 is configured to be slidably disposed within surgical instrument connection portion 502, e.g., toward or away from coupler interface connection portion 504.
  • holder 530 is configured to hold magnet 540.
  • holder 530 may include one or more cradles 534 extending between a contact surface, e.g., friction pad 532, and magnet harness 538 configured to hold magnet 540.
  • Each cradle 534 of holder 530 may include channel 536 extending within cradle 534 in a direction from magnet harness 538 towards friction pad 532.
  • Channels 536 may be sized and shaped to slidably receive a longitudinally extending rod therethrough, such that the longitudinally extending rod extends along axis 512 between channels 536.
  • Clamp 518 may be pivotally coupled to the longitudinally extending rod, such that clamp 518 may rotate about axis 512, as described above.
  • Axis 512 may be fixed relative to surgical instrument connection portion 502, such that holder 530 may move toward/away from coupler interface connection portion 504 via movement of channel 536 along the longitudinally extending rod.
  • the upper surface of friction pad 532 defines the lower surface of opening 516.
  • the upper surface of friction pad 532 may have a curved profile, which may coincide with the curvature of the surgical instrument. Friction pad 532 may have a coefficient of friction, such that when the surgical instrument is disposed within opening 516 and switch 524
  • friction pad 532 applies a friction force against the surgical instrument that prevents longitudinal movement of the surgical instrument relative to coupler body 500, while permitting rotational movement of the surgical instrument within opening 516.
  • friction pad 532 may be formed of a single or multiple pieces configured to contact the surgical instrument within opening 516, or alternatively, may be wrapped around the upper surface of holder 530 or otherwise integrated with holder 530. When switch 524 is moved to its unlocked state, the friction force of friction pad 532 may not be sufficient to prevent longitudinal movement of the surgical instrument relative to coupler body 500.
  • Magnet 540 may have a magnetic force such that when coupler body 500 is coupled to coupler interface 400, magnet 540 induces a magnetic field, which may be detected by one or more magnetic field sensors, e.g., disposed within link 316 and/or coupler interface 400. Accordingly, the strength of the induced magnetic field will be proportional to the distance between magnet 540 and coupler interface 400 such that the magnetic field detected by the magnetic field sensors may be indicative of the position of magnet 540, and accordingly holder 530, within coupler body 500. Similarly, when no magnetic field is induced via magnet 540, the magnetic field sensors may detect that coupler body 500 is not coupled to coupler interface 400.
  • the repulsion magnet of coupler interface 400 may have a magnetic force such that when coupler body 500 is coupled to coupler interface 400, the repulsion magnet applies a magnetic force to magnet 540 to thereby cause magnet 540, and accordingly holder 530, to move away from coupler interface connection portion 504.
  • the position of holder 530 relative to coupler body 500 may be indicative of whether a surgical instrument is or is not coupled to coupler body 500 when coupler body 500 is coupled to coupler interface 400.
  • the repulsion magnet may apply a magnetic force to magnet 540, thereby causing magnet 540, and accordingly holder 530, to move towards opening
  • the induced magnetic field by magnet 540 when magnet 540 is in the position within channel 503 farthest away from coupler interface 400 responsive to the magnetic force of the repulsion magnet when coupler body 500 is coupled to coupler interface 400 and no instrument is coupled to coupler body 500 may provide a clean signal that may be detected by the magnetic field sensors, indicative of coupler body 500 being coupled to coupler interface 400 without a surgical instrument attached thereto.
  • the system may determine that coupler body 500 is coupled to coupler interface 400 with no surgical instrument coupled to coupler body 500, based on the strength of the magnetic field induced by magnet 540, e.g., when magnet 540 is a maximum distance from coupler interface 400 within coupler body 500.
  • the shaft applies a downward force against friction pad 532, thereby causing holder 530 to move downward within channel 503 and increasing the size of opening 516 until the shaft is completely disposed within opening 516 and clamp 518 is permitted to transition back to its locked state, such that the shaft is positioned between the lower surface of locking portion 520 and friction pad 532.
  • friction pad 532 applies an upward force against the shaft due to the magnetic force of the repulsion magnet applied against magnet 540, such that the shaft is pinned between the lower surface of locking portion 520 and friction pad 532.
  • the magnetic field induced by magnet 540 when magnet 540 is in the position within channel 503 responsive to the magnetic force of the repulsion magnet when coupler body 500 is coupled to coupler interface 400 as well as the force applied to holder 530, and accordingly magnet 540, by the shaft via friction pad 532, may be detected by the magnetic field sensors, and which may be indicative of coupler body 500 being coupled to coupler interface 400, and the surgical instrument being coupled to coupler body 500. Accordingly, the system may determine that coupler body 500 is coupled to coupler interface 400 and that surgical instrument 10 is coupled to coupler body 500, based on the strength of the magnetic field induced by magnet 540.
  • the position of magnet 540 within channel 503 will depend on the diameter size of the surgical instrument disposed within opening 516 when coupler body 500 is coupled to coupler interface 400, such that the induced magnetic field will vary based on the surgical instrument shaft size disposed within opening 516.
  • the system may identify the precise size of the surgical instrument shaft based on the strength of the magnetic field induced by magnet 540, as detected by the magnetic field sensors. Based on the identified type of surgical instrument coupled to coupler body 500, the system may load the calibration file associated with the identified surgical instrument as described above. Moreover, based on the identified make of the surgical instrument, provided that each specific make has a distinguishable shaft diameter size, the system may determine whether the attached surgical instrument is authorized for use with the system.
  • Coupler interface connection portion 504 for coupling coupler body 500 to coupler interface 400 is provided.
  • Coupler interface connection portion 504 may include groove 505 extending inward from a bottom surface of coupler body 500.
  • Groove 505 may have a geometry that corresponds with the profile shape of protrusion 404 of coupler interface 400, such that protrusion 404 may be received by groove 505.
  • the geometry of groove 505 may include two straight sides connected by two curved sides. The sterile drape may be positioned between protrusion 404 and groove 505 when protrusion 404 is disposed within groove 505.
  • the profile of protrusion 404 and the corresponding geometry of groove 505 are symmetrical such that protrusion 404 may be received by groove 505 in at least two orientations. Moreover, the profile of protrusion 404 and the corresponding geometry of groove 505 may guide the coupling of coupler body 500 to coupler interface 400 by the user.
  • additional grooves 507 may be disposed along connection portion 504, such that grooves 507 are aligned with protrusions 410 so that protrusions 410 may be disposed within grooves 507 when connection portion 504 is coupled to coupler interface 400, as shown in FIG. 6B. Accordingly, when protrusion 402 is disposed within groove 505 of connection portion 504, and protrusions 410 are disposed within grooves 507, rotational movement between coupler interface 400 and connection portion 504, and accordingly coupler body 500, is prevented. As will be understood by a person having ordinary skill in the art,
  • coupler interface 400 and connection portion 504 may include more or less protrusions 410 and grooves 507, respectively, than are shown in FIGS. 4B and 6A.
  • other coupler bodies described herein, e.g., coupler body 700 may include similar additional grooves for providing additional stabilization when the coupler interface is coupled to the coupler body.
  • connection portion 504 may include a pair of locking arms 506 configured to facilitate securing of coupler body 500 to coupler interface 400 when protrusion 404 is disposed within groove 505.
  • Each of locking arms 506 may include handle portion 510 sized and shaped to be actuated by the user’s fingers, and connection portion 508 sized and shaped to engage with locking portions 406 of protrusion 404.
  • connection portion 508 may have a tapered profile for securely engaging with locking portion 406.
  • Locking arms 506 may be pivotally coupled to coupler interface connection portion 504, such that locking arms 506 may be transitionable between an unlocked state where locking arms 506 are disengaged from protrusion 404, as shown in FIG.
  • locking arms 506 may be pivotally coupled to coupler interface connection portion 504 via a spring, e.g., a torsion spring, an extension spring, a compression spring, etc., such that locking arms 506 are biased toward the locked state. Accordingly, handle 510 may be actuated to transition locking arms 506 from the locked state to the unlocked state.
  • a spring e.g., a torsion spring, an extension spring, a compression spring, etc.
  • an exemplary coupler body for coupling a surgical instrument e.g., having a shaft diameter between about 4.5 to 5.5 mm
  • a surgical instrument e.g., having a shaft diameter between about 4.5 to 5.5 mm
  • surgical instruments having a long and thin shaft that are generally classified as 5 mm surgical instruments, e.g., instruments having a predefined shaft diameter of 5 mm, may actually have a shaft diameter that ranges between 4.5 to 5.5 mm, e.g., between 4.7 to 5.1 mm.
  • coupler body 700 is configured to be removably coupled to any surgical instrument having a having a predefined shaft diameter ranging between 4.5 to 5.5 mm.
  • coupler body 700 may include surgical instrument connection portion 702 and coupler interface connection portion 704. Some features of coupler body 700 may be constructed similar to coupler body 500, described above. For example, coupler
  • interface connection portion 704 may correspond with coupler interface connection portion 504, and may include a pair of locking arms 706 having handle portion 710 and configured to facilitate securing of coupler body 700 to coupler interface 400.
  • the upper surface of surgical instrument connection portion 702 may similarly include tapered portions 714 that angle downward towards opening 716, thereby defining a channel into opening 716 that ensures that the shaft of the surgical instrument is properly inserted into opening 716 in one of two orientations and facilitates in “self-alignment” of the distal end of robot arm 300, e.g., by causing coupler body 700, and accordingly coupler interface 400 coupled thereto, to automatically rotate relative to distal wrist link 316 about axis Q7 at passive joint 328 as the instrument shaft is guided down tapered portions 714, such that the longitudinal axis of opening 716 aligns with the longitudinal axis of the surgical instrument.
  • holder 730 having friction pad 732 may correspond with holder 530 having friction pad 532, to thereby define the lower surface of opening 716 and to hold a magnet, as described above for automatically determining whether coupler body 700 is coupled to coupler interface 400 and/or whether a surgical instrument is coupled to coupler body 700 when coupler body 700 is coupled to coupler interface 400.
  • Coupler body 700 differs from coupler body 500 in that switch 724 does not engage with the surgical instrument to apply a friction force against the surgical instrument that prevents longitudinal movement of the surgical instrument relative to the coupler body. Instead, switch 724 may be actuated to engage with clamp 718 to provide a locking force thereto to provide the friction force against the surgical instrument.
  • clamp 718 may be pivotally coupled to surgical instrument connection portion 702 about axis 712, which is not fixed and may be shifted along an axis perpendicular to the axis of rotation of axis 712, e.g., towards and away from opening 716.
  • the rod within surgical instrument connection portion 702 about which clamp 718 is pivotally coupled to may be coupled via a slot extending longitudinally along the axis perpendicular to the longitudinal axis of the rod.
  • clamp 718 may be pivotally and slidable coupled to surgical instrument connection portion 702 such that clamp 718 may be transitionable between an open state and a closed state, and to provide upward and downward movement of clamp 718 to thereby engage the surgical instrument within opening 716, as described in further detail below.
  • clamp 718 may be pivotally coupled to surgical instrument connection portion 702 via
  • Clamp 718 may include locking portion 720 configured to secure the surgical instrument within opening 716 when clamp 718 is in its closed state.
  • a lower surface of locking portion 720 may include friction pad 721, which defines the upper surface of opening 716 when clamp 718 is in its closed state, such that locking portion 720 prevents upward movement of the surgical instrument when the surgical instrument is positioned within opening 716 and clamp 718 is in its closed state, and further applies a downward force to the surgical instrument when switch 728 is engaged with clamp 718 it its closed state, as described in further detail below.
  • Friction pad 721 may be formed of the same material as friction pad 732 of holder 730.
  • engagement of a surgical instrument that has a soft polymer jacket disposed on its elongated shaft with both friction pad 721 from below and friction pad 732 from above during a surgical procedure may prevent damage to the surgical instrument over time.
  • the upper surface of locking portion 720 of clamp 718 may be tapered to facilitate guidance of the surgical instrument into opening 716 along with tapered portions 714 of surgical instrument connection portion 702. Accordingly, insertion of the surgical instrument towards opening 716 may apply a force against the tapered upper surface of locking portion 720 and cause clamp 718 to rotate about axis 712 from the closed state, as shown in FIG. 7A, to the open state to permit the surgical instrument to be received by opening 716.
  • Clamp 718 further may include handle 722 sized and shaped to be actuated by the user’s fingers to transition clamp 718 from the closed state to the open state, e.g., for insertion/removal of the surgical instrument from opening 716.
  • the upper surface of locking portion 720 of clamp 718 further may include channel 742 extending therein and sized and shaped to lockably and releasably receive the engagement portion of switch 724, as described in further detail below.
  • the upper surface of locking portion 720 further may include tooth 748 extending upwardly along a lateral edge of locking portion 720, such that an upper surface of tooth 748 has a taper that matches the taper of the upper surface of locking portion 720.
  • Tooth 748 may have a semi-circular shape, such that channel 742 may have a U-shape extending from a first portion
  • Channel 742 further may include stop 743 disposed in a middle region thereof, e.g., at the halfway point along channel 742 between the entry ends of channel 742 at the lateral edge of locking portion 720. Stop 743 may be sized and shaped to be securely and releasably received within corresponding groove 727 of engagement portion 726 of switch 724, as described in further detail below. As shown in FIG.
  • the lower surface of channel 742 may include a first ramped portion 744, e.g., adjacent to the lateral edge of locking portion 720, and a second flat portion 746, such that upon actuation of switch 724, engagement portion 726 of switch 724 first engages with ramped portion 744 followed by flat portion 746.
  • switch 724 may be pivotally and slidably coupled to surgical instrument connection portion 702, and configured to facilitate securement of the surgical instrument within opening 716 via engagement with locking portion 720 of clamp 718.
  • switch 724 may be moved relative to surgical instrument connection portion 702 translationally along the same axis by which it is rotated relative to surgical instrument connection portion 702.
  • Switch 724 may include handle portion 728 sized and shaped to be actuated by the user’s fingers to cause rotation of switch 724 and transition switch 724 between an unlocked state and a locked state where engagement portion 726 engages with locking portion 720 of clamp 718.
  • switch 724 may include one or more engagement portions 726, each having ramped portion 750 and flat portion 752, as shown in FIG. 7C.
  • Switch 724 may include two engagement portions 726, one on each side of switch 724, such that switch 724 may be rotated from its unlocked state towards its unlocked state in either direction. As shown in FIG. 7C, the height of engagement portion 726 may increase from a first engagement end of ramped portion 750, along ramped portion 750 towards flat portion 752 such that flat portion 752 has a larger height than the first engagement end of ramped portion 750. Moreover, engagement portion 726 may form a lip extending downward from the upper surface of switch 718 and sized and shaped to be received within channel 742 of locking portion 720 of clamp 718, e.g., around tooth 748. Accordingly, upon actuation of switch 724, engagement portion 726 is rotated towards locking portion 720 such that ramped portion 750 first engages with ramped portion 744 of channel 742 and slides along ramped portion 744
  • each engagement portion 726 may include groove 727 having a geometry corresponding to the geometry of stop 743 within channel 742 of locking portion 720 of clamp 718, such that groove 727 may securely and releasably receive stop 743 therein to thereby maintain switch 724 in its locked state relative to clamp 218, e.g., via an interference fit, as shown in FIG. 7E. Accordingly, switch 724 may transition from its locked state towards its unlocked state upon application of force, e.g., via handle portion 728, sufficient to disengage stop 743 from groove 727.
  • switch 724 when switch 724 is in its locked state relative to clamp 218 and a surgical instrument is disposed within opening 716, the surgical instrument may apply an upward force against locking portion 720 of clamp 718, which in turn applies an upward force to engagement portion 726 of switch 724, which may cause switch 724 to move upward relative to surgical instrument connection portion 702, as described above.
  • engagement portion 726 applies a downward force against locking portion 720, thereby causing friction pad 721 to provide the desired friction force to the surgical instrument.
  • Coupler body 700' may be constructed similar to coupler body 700, with similar components having like-prime reference numerals.
  • surgical instrument connection portion 702' having tapered portions 714', coupler interface connection portion 704' including locking arms 706' having handle portion 710', opening 716', clamp 718' configured to rotate about axis 712' and including handle 722' and locking portion 720' having friction pad 721', switch 724' having engagement portion 726' and handle portion 728', and holder 730' having friction pad 732' correspond with surgical instrument connection portion 702 having tapered portions 714, coupler interface connection portion 704, locking arms 706 having handle portion 710, opening 716, clamp 718 configured to rotate about axis 712 and including handle 722 and locking portion 720 having friction pad 721, switch 724 having engagement portion 726 and handle portion 728, and holder 730 having friction pad 732.
  • Coupler body 700' differs from coupler body 700 in that opening 716', defined at least partially by friction pad 721' of locking portion 720' of clamp 718' and friction pad 732' of holder 730',
  • 713392135v1 31 225887-091001 may be sized and shaped for receiving a surgical instrument having a shaft diameter of about 10 mm.
  • FIG. 8 illustrates releasable coupling of a surgical instrument having an elongated shaft with coupler body 700.
  • the elongated shaft of surgical instrument 10 may be inserted toward opening 716 of coupler body 700, e.g., by sliding along tapered portions 714, such that the shaft contacts the tapered upper surface of locking portion 720 of clamp 718.
  • the downward force applied to locking portion 720 by surgical instrument 10 may cause clamp 718 to pivot about axis 712 and transition from its closed state to its open state, thereby providing access to opening 716.
  • clamp 718 may be manually actuated to transition to its open state by the user via handle 722.
  • clamp 718 As clamp 718 is biased towards its closed state, when surgical instrument 10 clears locking portion 720 and is disposed within opening 716, clamp 718 may return to its closed state. Moreover, holder 730 may move downward due to the downward force applied thereto by surgical instrument 10 and locking portion 720 to thereby enlarge opening 716 to accommodate surgical instrument 10 therein. When surgical instrument 10 is disposed within opening 716 and clamp 718 is in its closed state, holder 730 may apply an upward force to surgical instrument 10 via friction pad 732, while locking portion 720 may apply a downward force to surgical instrument 10 via friction pad 721.
  • switch 724 may be actuated via handle 728 to engage engagement portion 726 of switch 724 with locking portion 720 of clamp 718.
  • ramped portion 750 of engagement portion 726 first engages with ramped portion 744 of channel 742 of locking portion 720 and slides along ramped portion 744 within channel 742 until flat portion 752 of engagement portion 726 engages with flat portion 746 of channel 742.
  • engagement of flat portion 750 with flat portion 746 of channel 742 of locking portion 720 may cause switch 718 to move upward relative to opening 716 and clamp 718 to move downward towards opening 716.
  • engagement of switch 724 and clamp 718 causes engagement portion 726 of switch 724 to apply a downward force to locking portion 720 of clamp 718, such that locking portion 720 applies a downward force to surgical instrument 10 via friction pad 721 that, in combination with the upward force
  • switch 724 may be actuated to its unlocked state to permit the user to readjust/move the surgical instrument longitudinally relative to coupler body 700 within opening 716, and back to its locked state to cause clamp 718 to prevent longitudinal movement of the surgical instrument relative to coupler body 700.
  • switch 724 To remove surgical instrument 10 from coupler body 700, switch 724 must first be actuated to its unlocked state, followed by actuation of clamp 718 to its open state via handle 722.
  • Adapter 800 may removably coupled to any of the coupler bodies described herein to thereby couple a surgical instrument, preferably a surgical instrument without a long and thin shaft, to the distal end of the robot arm.
  • adapter 800 may include coupler body coupling portion 802 configured to be removably coupled to the coupler body, and attachment portion 804 configured to be coupled to surgical instrument attachment portion 820.
  • coupler body coupling portion 802 may include shaft portion 808 having a cylindrical shape corresponding to the shape of an elongated shaft of a surgical instrument.
  • shaft portion 808 may have a diameter that corresponds with the coupler body that adapter 800 is to be used with, e.g., 10 mm for use with coupler body 500 or between 4.5 to 5.5 mm for use with coupler body 700.
  • coupler body coupling portion 802 includes opening 808 extending through coupler body coupling portion 802 and sized and shaped to permit the locking portion of the respective coupler body to pass therethrough. Accordingly, shaft portion 808 permits adapter 800 to be removably coupled to the coupler body in the same manner as the elongated shaft of a surgical instrument.
  • Attachment portion 804 may have a tapered geometry that corresponds with the tapered geometry of the upper surface of the coupler body, e.g., tapered portions 514 of coupler body 500 or tapered portions 714 of coupler body 700, to thereby provide a secure fit when adapter 800 is coupled to the coupler body, as shown in FIG. 9B. Moreover, attachment portion 804 may include first mating feature 810 having a geometry that corresponds with the geometry of second mating feature 824 of surgical instrument attachment portion 820, such that attachment
  • portion 804 may be removably coupled to surgical instrument attachment portion 820 via releasable engagement of first mating feature 810 and second mating feature 824.
  • attachment portion 804 may be formed integrally with surgical instrument attachment portion 820.
  • surgical instrument attachment portion 820 may include lower portion 822 having second mating feature 824, and upper portion 826 configured to be removably coupled to lower portion 822, e.g., via fasteners 828. Opening 830 may be formed between lower portion 822 and upper portion 826 when lower portion 822 and upper portion 826 are coupled together.
  • surgical instrument attachment portion 820 may include more or less than four fasteners as shown in FIG. 9A.
  • surgical instrument attachment portion 820 may include one or more fasteners on one side of opening 830 and, e.g., a hinge, on the opposite side of opening 830.
  • surgical instrument attachment portion 820 may include instrument block 832 sized and shaped to be disposed within opening 830 and configured to further define the size and shape of opening 830, such that opening 830 may securely receive a surgical instrument therein, e.g., surgical instrument 12, as shown in FIG. 9C.
  • instrument block 832 may have a geometry that corresponds with the specific type of surgical instrument to be coupled to the distal end of the robot arm via the coupler body and adapter 800.
  • instrument block 832 may be selected from a plurality of interchangeable instrument blocks, each having a unique geometry corresponding to the surgical instrument to be coupled.
  • instrument block 832 may include a plurality of receptacles 834 configured for receiving/coupling with instrument fasteners 836 for securing another surgical instrument, e.g., surgical instrument 14, as shown in FIG. 9D.
  • instrument fasteners 836 may be used to secure a surgical instrument to adapter 800 when
  • adapter 800 may permit coupling of an endless number of different types of surgical instruments and/or tools to robot arms 300 for use with co-manipulation surgical system 100 to perform various surgical procedures including procedures that do not require cannulation/insertion of the surgical instrument through a trocar port.
  • adapter 800 may be used to couple a uterine manipulator to robot arm 300 for performing gynecological procedures such as a hysterectomy, which typically requires additional scrub nurses to hold and maneuver the manipulator.
  • adapter 800 may be used to couple a suction and irrigation probe during a procedure while benefitting from the use of the comanipulation surgical system’s computer vision capabilities, as described in PCT Patent Appl. No.
  • adapter 800 may be used to couple a metal scoop, e.g., a Deaver retractor, to robot arm 300, which may hold the metal scoop in passive mode for the duration of the open surgery.
  • a metal scoop e.g., a Deaver retractor
  • adapter 800 may be used to couple non-surgical devices to robot arm 300 to benefit from the co-manipulation surgical system’s capabilities.
  • adapter 800 may be used to couple a camera, e.g., a 3D camera, to record a surgical procedure with optimal visibility of the surgical site, which may be used for peer-to-peer training for complicated surgical procedures.
  • adapter 800 may be used to couple a mayo stand/surgical tray to robot arm 300 to hold sterile surgical instruments in an optimal position relative to the surgeon for ease of access during a surgical procedure, and/or a mobile phone to permit the surgeon to make phone calls without interrupting the surgical workflow.

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Abstract

L'invention concerne des systèmes chirurgicaux de co-manipulation comportant des bras de robot qui peuvent être utilisés pour assister des interventions chirurgicales, notamment une chirurgie laparoscopique. Les systèmes chirurgicaux de co-manipulation permettent à un chirurgien d'utiliser des outils chirurgicaux disponibles dans le commerce tout en offrant des avantages associés à la robotique chirurgicale. Avantageusement, des outils chirurgicaux comportant un arbre allongé peuvent être accouplés sans interruption aux bras de robot à l'aide d'un accouplement jetable tandis que les parties réutilisables du bras de robot restent dans un champ stérile. Le système chirurgical de co-manipulation comprend en outre un adaptateur universel conçu pour accoupler de manière amovible des outils chirurgicaux supplémentaires aux bras de robot pour effectuer des procédures chirurgicales supplémentaires, notamment une chirurgie ouverte.
PCT/IB2025/057828 2024-08-05 2025-07-31 Mécanisme d'accouplement pour fixer de manière amovible des instruments chirurgicaux à un système chirurgical de co-manipulation Pending WO2026033353A1 (fr)

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EP24306323 2024-08-05
EP24306323.7 2024-08-05
US202463680040P 2024-08-06 2024-08-06
US63/680,040 2024-08-06

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US10582977B2 (en) 2015-02-05 2020-03-10 Centre National De La Recherche Scientifique (Cnrs) Method and device to assist with the operation of an instrument
US10118289B2 (en) 2015-06-26 2018-11-06 Haption Motor driven articulated arm with cable capstan including a brake
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