• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SURGICAL SYSTEM WITH STEREO WRAPS. A surgical system comprises a first element with a base (19), which removably receives a surgical instrument (14) for its operational use. The base (19) is provided with at least one first electrical connector (25) that is intended for electrical connection with a second complementary electrical connector (26) present on the instrument when the instrument is mounted on the base. At least one of the two said connectors (25, 26) is designed to be able to be moved in a controlled manner between a first retracted resting position and a second advanced position for the electrical connection with the other connector and is provided with electrical contacts for engagement in the another connector that are suitable for drilling, during the movement between the first and second positions, at least one sterile sheath (18, 24), which is disposed between the first and second connectors.
    公开号:BR112015025299B1
    申请号:R112015025299-0
    申请日:2014-03-10
    公开日:2021-02-09
    发明作者:Fabio Giorgi
    申请人:Transenterix Italia, S.R.L；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    [001] The present invention relates to a surgical system, in particular, for mini-invasive surgical operations, such as endoscopic operations, preferably, but not exclusively, of the robotic type. BACKGROUND OF THE INVENTION
    [002] It is known that in the state of the art there are surgical systems consisting of a first support element (for example, a manipulator or a robotic arm) to which a surgical instrument, for example, intended for mini-invasive surgical operations is fixed.
    [003] For example, the surgical instrument may comprise a main body that is intended to be fixed on a suitable base provided in the first mentioned element, and that has, that protrudes from it, an endoscopic tube that ends at the active end of the instrument (forceps or similar). The main bodily shelters internally to the mechanical transport systems and any electrical actuators and / or sensors of the instrument.
    [004] The surgical instrument thus conceived is generally provided with a quick release system, so that it can be easily replaced inside the base.
    [005] A problem that affects known systems is that of ensuring the sterility of the operating environment. For example, a robot arm, obviously, cannot be sterilized as a whole, and therefore, prior to a surgical operation, it is usually covered with a special plastic sleeve that has been previously sterilized.
    [006] In some cases, the entire surgical instrument can be sterilized, but often the fact that the electronic and electromechanical components are contained within the main body prevents sterilization, which is, therefore, performed only in the endoscopic tube that for this purpose it is designed to be detachable from the main body.
    [007] It is preferable, however, that the sterile sleeve should not extend along the instrument, so as not to harm its replacement during the operation. Instrument replacement is, in fact, indispensable to be able to switch between different types of instruments. For the operation of the mechanical instrument of coupling systems, for example, it has been proposed, where its two halves are coupled together, so that they remain on both sides of the sterile sheath or cover.
    [008] It would, however, be preferable for certain types of instruments to have electrical connections to the outside for motorized operation of specific functions and / or for the use of sensors. This, however, conflicts with the need to ensure that a sterile barrier is maintained between the base part (for example, the robotic arm) and the surgical environment, in particular, in the area closest to the field of operation with the possibility for quick removal of the instrument. SUMMARY OF THE INVENTION
    [009] The general objective of the present invention is to provide a surgical system that allows rapid change, using surgical instruments, while, however, allowing an adequate sterility to be provided and maintained even in the case of electrical connections that are present between the instrument and the base to receive that instrument.
    [0010] In view of this objective the idea that occurred, according to the invention is to provide a surgical system that comprises a support element in the first place with a base that removably receives a surgical instrument for operational use of the same, characterized by the fact that the base is present at least in a first electrical connection device that is intended for electrical connection with a second complementary electrical connection device presented in the instrument, when the instrument is received in the base, and in which at least at least one of the two connectors is designed to be movable in the control between a first retracted resting position and a second advanced position for the electrical connection with the other connector and is provided with electrical contacts for engagement in the other connector that are suitable to cause the perforation, during the movement between the first and second positions, of at least one sterile sheath, which is interposed between the first connector and the second connector. BRIEF DESCRIPTION OF THE FIGURES
    [0011] In order to more clearly illustrate the innovative principles of the present invention and their advantages compared to the state of the art, an example of embodiment that applies these principles will be described below with the aid of the attached drawings. In the drawings:
    [0012] - Figure 1 shows a view of the coupling zone together with a first support element and a surgical instrument from a surgical system;
    [0013] - Figure 2 shows another view of the connection zone according to Figure 1, which shows schematically in cross-section of a set to electrically connect together the instrument and the bench;
    [0014] - Figures 3 and 4 show schematic views of the electrical connection set in a disengaged condition and the electrical state involved;
    [0015] Figure 5 shows a schematic side view of the system, according to Figure 1, in an operating condition;
    [0016] - Figure 6 shows a side view of the system, according to Figure 1 during an intermediate stage of engaging / disengaging a surgical instrument;
    [0017] - Figure 7 shows a partial, enlarged and cross-sectional view of a connector zone during an initial disengagement phase;
    [0018] - Figure 8 shows a schematic perspective view of a robotic surgical system that applies the principles of the present invention. DETAILED DESCRIPTION OF THE INVENTION
    [0019] With reference to the figures, Figure 1 shows a zone for the coupling together of a first support element 13 and an instrument 14 in a surgical system.
    [0020] This instrument will be, in general terms, for example, a known instrument for performing endoscopic operations, with the end of the tube ending at the active end 17 of the instrument, such as a suitable surgical tool (for example fixed or forceps) device, a vacuum cleaner, a scalpel, etc.). In the case of a forceps, the end can be, for example, articulated in order to rotate and / or rotate and these movements are preferably controlled by electric actuators arranged in the body of the instrument. One of the instruments may also advantageously comprise an endoscopic chamber that records the operating field within the patient.
    [0021] The first element (of which only the end with the base is shown for the simplest illustration) can be, for example, a known hand manipulator for support and operation of the instrument or a terminal wrist zone or zone of an arm. robot, as will be clarified below. For the sake of simplicity, in Figure 1, the active end 17 is shown as an oval shape, in dashed lines, which is easy for the person skilled in the art to imagine many possible shapes of the same.
    [0022] As can be clearly seen in said figure 1, the element 13 has a suitable base 39 within which the body 20 of the instrument 14 is removably fixed. A sterile sheath or cover 18, made of a suitable thin plastic material (advantageously polyurethane), ends at a closed end to enclose the wrist and seat 19. In this way, the support element (for example, a robot arm) and the base 19 to do does not require sterilization.
    [0023] The instrument 14 is mechanically coupled inside the base with the arrangement of the sterile sheath 18 in the middle. For example, advantageously, the instrument can be fixed by means of a suitable magnetic retention system 21 - known per se - which can comprise permanent magnets at the base that attract complementary ferromagnetic plates on the instrument.
    [0024] A mechanical transmission system known between the base and the body of the instrument may also be present, even with the arrangement of the sterile sheath 18 in the middle. For example, it is possible to provide a fork-type coupling system 22, which is automated, so that it is sliding parallel to the main axis of the instrument and that engages with a complementary coupling element (for example, in the form of a pin 34, shown schematically in dashed lines in Figure 5) present on the side of the instrument that engages inside the seat, to transmit a mechanical movement to the instrument. For example, in the case of a surgical tool, in the form of tweezers, the transmitted movement can be a movement to open and close the tweezers, in order to avoid the need to have, for this purpose, an electric actuator on the instrument.
    [0025] A handle 23 can be provided to facilitate the removal of the instrument from the base. This handle can also be of the lever type, so that when pulled or pushed, it acts with its opposite end 38 at the base of the instrument, in order to facilitate the release of the instrument, as shown schematically in dashed lines in Figure 6 .
    [0026] As can be seen in Figure 1, if sterilization of the instrument is not possible or is not desirable (for example, the instrument contains delicate electronic components), it can be advantageously inserted into a second special sterile housing or cover 24 which is made of flexible plastic (advantageously polyurethane) similar to that of the sheath 18 and from which, preferably, only the end that must come into contact with the patient (for example the endoscopic tube) 15 protrudes, the latter being designed, in this case, to be detached in a known form from the body 20, so that they can be sterilized using the known method.
    [0027] The second liner 24 is advantageously in the form of a bag which is opened only at the front so that the instrument with the tube can be inserted inside and protruding from the opening. The opening is then sealed around the tube, for example, using a suitable adhesive tape or an elastic band. The second sheath, when present, will therefore also be arranged between the body of the instrument and the base 19.
    [0028] As can be clearly seen in the partial cross section of Figure 2 (in which, for simplicity, the sheaths 18 and 24 are not shown) complementary electrical connectors 25, 26 are present in the body of the base and instrument, referred to connectors aiming to engage with each other through the sterile sheath wall or sheaths, pierce the sheath wall that is crossed between the base and the instrument body. Connectors 25, 26 are internally connected to the respective electrical circuits (not shown) that extend on one side inside the base and, on the other hand, are located inside the instrument. These circuits can comprise sensors, actuators, control units, etc., as can be easily imagined by a person skilled in the art.
    [0029] At least one of the two aforementioned connectors is designed to be able to be moved in a controlled way between a first retracted resting position and a second advanced position for the electrical connection with the other connector and is provided with electrical contacts to engage the other connector which are suitable for drilling, during the movement between a first and a second position, the sterile sheath arranged so as to surround said end of the first element with the base and (if present) also the sterile coating, which surrounds the instrument and is arranged between the first and second connectors.
    [0030] It has been found to be particularly advantageous if the mobile connector is arranged on the instrument.
    [0031] Advantageously, a manually operated control device 30 (preferably a push button) mechanically controls the mutual engagement movement of the connectors. In this way, after the instrument has been placed in position and fixed inside the seat, a manual pressure on the control device 30 causes the forward movement of the contacts or pins of the mobile connector 26 to the complementary contacts or pins of another connector 25, piercing the sterile sheaths and engaging the connectors together. Advantageously, the fact that drilling occurs at a point in the sheaths that is crossed between the body of the base and the device helps to prevent the casing from breaking at the drilling points and helps to ensure that the holes are small and adhere to the side walls of the holes. drill pins. Sealing of the sterile barrier is thus ensured. Advantageously, the sheath plastic can be chosen so as to be of a known type which is perforable, but is not easily torn.
    [0032] The number, arrangement and size of the pins or contacts of the electrical connector will depend on the specific connection conditions of the instrument, as can easily be imagined by a person skilled in the art. For example, especially in the case of a relatively large number of pins, which can be arranged in several parallel lines.
    [0033] As will be further described below, the forward movement of the movable connector can take place against the action of spring means that exert a pushing force to return to the first resting position. In addition, the means is advantageously provided between the base and the instrument for retaining the movable connector in the second position, when the instrument is mounted within the base and the movable connector has been moved from the first position to the second position. In this way, by separating the instrument from the bench, the retaining means can also automatically release the movable connector that returns to its resting position. The retention means can advantageously be of the magnetic type.
    [0034] Figure 3 shows schematically an advantageous embodiment of electrical connectors 25, 26. In particular, connector 25 is a substantially fixed connector with a number of electrical contacts or pins 27, advantageously of the female type, which are extend into the base to engage the instrument in the base. The connector 26 instead comprises contacts or pins 28 that complement the contacts 27 and are mounted on a movable support 29, in order to project from the support for the contacts 27. The contacts 28 have an end with a tip suitable for drilling the sterile sheath wall. For example, they can be cylindrical with a tapered tip. The tip can be sufficiently tapered and pointed so that it is able to perforate the leaf of the sheath without tearing and also facilitate the entry into the female contacts. Advantageously, the female contacts can have a flared (or funnel-shaped) inlet opening to facilitate the entry / exit of the male pins also with a movement not perfectly axial. This allows, for example, easy coupling and disengagement with a movement along a curved path, as will be described below.
    [0035] The support 29 can slide, against the action of the springs (for example, a spring 31 that acts under the button 30), between a resting position (shown in figure 3), in which the contacts 28 are retracted, and an operating position (shown in Figure 4), in which the contacts 28 are advanced so that they protrude from the wall of the instrument until they pierce the sterile sheath and are inserted inside the corresponding contacts 27. Advantageously , in the resting position, the tips of the moving contacts are completely retracted inside the body of the instrument, in order to avoid possible distortion of the contacts and / or cause injury to the people who manipulate the instruments.
    [0036] Once the connectors have been involved, the connector 26 can remain with the contacts in the operating position due to retaining means, until the instrument is disengaged from the bank for replacement. These retaining means can be, for example, mechanical means of a type known per se for releasable engagement of the support 26, such as pull-push systems (an initial pressure on the button engages them and a second pressure disengages them) or trip performed by separating the instrument again from the seat. Alternatively, the retaining means may also consist of the same contacts 27 and 28, if it is designed to have a suitable relative friction opposite to accidental extraction. However, it has been found to be particularly advantageous to use a magnetic retention system that fits by virtue of the movement of the two connectors from one to the other and to the fit that is released simply by the subsequent separation of the instrument from the base. This system is particularly simple and very reliable.
    [0037] As can be clearly seen in Figures 3 and 4, in order to provide such a magnetic system, advantageously magnets 32 are provided in one of the two connectors (preferably the connector present in the base) and complementary ferromagnetic inserts 33 in the other connector . The relative position of the magnets and the inserts is such that, when the connectors are attached by means of the pressure applied to the control device 30, the magnets and the inserts move to each other enough to attract each other through the sterile sheath and remain coupled together with a force such as to overcome that of the return spring 31. When the instrument body is lifted out of the seat, the magnets and inserts are separated and the connector can retract freely due to the action of its return spring.
    [0038] Figure 5 shows schematically the instrument 20 attached to its base, with the connectors engaged together.
    [0039] Advantageously, guide means are present between the instrument and the base and ensure (at least during a first disengagement movement) that a predetermined path is followed by separation so that the connectors can be extracted from each other irreversibly without distorting the contacts.
    [0040] In particular, as shown schematically in Figure 6, guide means 35 can be provided to compel the instrument to follow an initial curved path with a radius of the path followed by the contacts that is wide enough to allow extraction of the contacts without irreversible distortion.
    [0041] Advantageously, the guide means (for example, consisting of pins 36 that fit inside bases 37 with adequate clearance) can be arranged towards the front of the body and the seat, while the connector area is close to the rear of them, such as having a relatively large distance between the connectors and the pivot point provided by the guide means 35 and, therefore, a sufficiently large radius. As can be seen in Figure 6, the release lever 23, when present, may have a thrust end 38 which pushes against the bottom of the base from within the base in order to assist the subsequent separation of the instrument from the base. From a comparison of Figures 5 and 6 it can be understood how the lever can be operated in order to assist the separation of the instrument from the base.
    [0042] Figure 7 shows in a schematic way an example of the initial extraction of the pins of the two connectors along a curved path, which does not permanently alter the contacts.
    [0043] Figure 8 shows in a schematic way an advantageous embodiment of the surgical system according to the invention, generically designated 10, in a robotic surgical application.
    [0044] System 10 comprises at least one robotic arm 11, which operates under the control of a control console 12 opened by the surgeon.
    [0045] The robotic arm will be of the type substantially known and designed for the specific use. The surgical station can also comprise several robotic arms, although here, for the sake of simplicity, only one is shown and described.
    [0046] The robotic arm (or each robotic arm) ends at a handle portion 13 designed to support and operate a surgical instrument 14, so as to act through its end 15 (for example an endoscopic tube) on a patient 16. The robot arm receives the instrument within a base 19 in the handle portion 13, which forms said first positioning element for positioning in a controlled manner to direct the instrument and in the maneuvering space.
    [0047] The robotic arms, the instruments and the actuators for the operation of these instruments will not be further described or shown in details, being known PER SE, and easily imagined by an expert in the art. In addition, the surgical operations that are possible with the system and its methods of preparation and execution are not yet described here, being easily capable of being imagined by a technician versed in the subject.
    [0048] The robotic arm, mounted thereon, a special sterile sheath or bag 18, which is suitably configured so as not to impede the movement of the robot arm, as can easily be imagined by a person skilled in the art. This sheath 18 is intended to be pierced by the connector, as described above, when applicable in conjunction with a second coating placed around the instrument. The need to sterilize the entire robotic arm is thus avoided.
    [0049] At this point, it is clear how the pre-defined objects were achieved. Due to the use of sterile sheaths, the wall is perforated, of which only in the area of the electrical connection element through the contact movement of the connector pins, the sterile barrier is preserved. In the case of instrument replacement, the contact area already drilled does not substantially alter the sterility due to the fact that the holes are small. In addition, the material of the sterile sheath can be chosen with adequate elasticity to obtain substantial re-closure of the perforating holes when the contacts are retracted.
    [0050] With the described solution it has the additional advantage that the removal of the instrument is particularly fast and does not require special procedures, the manual operation of a system to release the connector is not necessary, for example.
    [0051] Obviously, the description provided above of an embodiment that applies the innovative principles of the present invention is provided by way of example of these innovative principles and should therefore not be considered as limiting the scope of the rights claimed here. For example, the control device for the movement of the connection device can be different from a push button (for example, a lever) and / or comprise a mechanical transmission, also depending on the force required by the two connectors in order to pierce the sterile sheaths and be engaged together.
    [0052] The surgical instrument may also be different from what has been described and not necessarily be designed for endoscopic use.
    [0053] The male and female contacts, with any associated drilling / engaging mechanisms, can also be interchangeable, depending also on the usable space present in the part with the base and the instrument. For example, in the case of a robot arm, there may be a limited amount of space such that, advantageously, the movement mechanisms for piercing the covers are provided in the instrument.
    [0054] In addition, the connectors can also be supported in an elastic articulated manner, in order to allow them to be adapted to the insertion direction, depending on the forces that arise between the male and female contacts, during the coupling or disengagement of the connectors.
    [0055] Finally, other systems of signal transmission without contact, for example, optics, radio or type of electromagnetic induction can also be provided between the instrument and the base.
    权利要求:
    Claims (15)
    [0001]
    1. Surgical system comprising a first support element (13) with a base (19), which removably receives a surgical instrument (14) for its operational use, characterized by the fact that for the base (19) it is present at least one first electrical connector (25) that is intended for electrical connection with a second complementary electrical connector (26) presents on the instrument when the instrument is received at the base, and in which at least one of the two said connectors (25, 26) it is designed to be movable in the control between a first retracted rest position and a second advanced position for the electrical connection with the other connector and is provided with electrical contacts for engagement in the other connector that are suitable to cause the perforation, during the movement between the first and the second position, of at least one sterile sheath (18), which is interposed between the first connector and the second connector.
    [0002]
    2. System, according to claim 1, characterized by the fact that, for the movement of the movable connector (26) from the first position to the second position in which a manually operated control command (30) is provided that acts against a spring (31) which is supplied by returning to the movable connector from the second position to the first position.
    [0003]
    3. System according to claim 1, characterized by the fact that the means (32, 33) are provided between the base (19) and the instrument (14) for magnetically retaining the movable connector in the second position when the instrument is received at the seat and the mobile connector was moved from the first position to the second position.
    [0004]
    4. System according to claim 3, characterized by the fact that the magnetic retaining means comprise permanent magnets (32) in one of the two ferromagnetic connectors and inserts (33) in the other of the two supports for mutual attraction in their connected condition electrically.
    [0005]
    5. System, according to claim 1, characterized by the fact that a system (21) for retaining the magnetically retaining instrument on the base (19) is provided between said base and the instrument (14).
    [0006]
    6. System, according to claim 1, characterized by the fact that the mobile connector (26) is provided with the instrument and the fixed connector (25) is provided on the base in a complementary position.
    [0007]
    7. System according to claim 1, characterized by the fact that the mobile connector (26) has male contacts (28) intended to be inserted inside the complementary female contacts (27) in the other connector.
    [0008]
    8. System according to claim 1, characterized by the fact that the instrument (14) comprises a body (20), which is intended to be received at the base (19) and is provided with the second connector (26), and an endoscopic tube (15) projecting from the body (20) and ending at its free end at an active end (17) of the instrument (17).
    [0009]
    9. System according to claim 8, characterized in that the sterile coating, which is interposed between the first connector and the second connector comprises a sheath part arranged so as to involve, at least partially, the zone of the first element with the base and / or a part of the sheath that surrounds the body (20) of the instrument.
    [0010]
    10. System according to claim 1, characterized by the fact that the guide means (35) are provided between the instrument and the base for a first movement of separation of the instrument outside the base along a predefined path for relative extraction of the first and second connectors.
    [0011]
    11. Surgical system according to any one of claims 1 to 10, characterized by the fact that it comprises a robot arm (11), which ends at its end in the first support element (13) to position and orient in space, through of the robot arm, the instrument (14) mounted on the base.
    [0012]
    12. System according to claim 11, characterized by the fact that at least the end of the robot arm, with said first support element, is surrounded by a sterile sheath (18) covering said base (19) and is pierced by electrical contacts of said at least one connector (25, 26) when the instrument is received inside the base and said movement, at least one connector to its advanced position for the electrical connection with the other connector is performed .
    [0013]
    13. System according to any one of claims 1 to 12, characterized in that the sterile sheath is made of polyurethane at least along the part that is disposed between the first connector and the second connector.
    [0014]
    14. System according to any one of claims 1 to 13, characterized by the fact that the electrical contacts intended to carry out the drilling of the housing are male contacts with a pointed end that are inserted into the female contacts on the other connector.
    [0015]
    15. System according to claim 14, characterized by the fact that the female contacts have a tapered inlet opening to guide the entry of the male contacts.
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    法律状态:
    2018-11-13| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-01-29| B25A| Requested transfer of rights approved|Owner name: TRANSENTERIX ITALIA, S.R.L. (IT) |
    2020-01-21| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-12-01| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-02-09| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 10/03/2014, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    ITMI2013A000516|2013-04-05|
    IT000516A|ITMI20130516A1|2013-04-05|2013-04-05|SURGICAL SYSTEM WITH STERILE TOWELS|
    PCT/IB2014/059577|WO2014162217A1|2013-04-05|2014-03-10|Surgical system with sterile wrappings|
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