Surgical manipulator for a telerobotic system

Details Surgical manipulator for a telerobotic system Surgical manipulator for a telerobotic system

B - Operations, Transporting

25

J

B25J 15/02 (2006.01) A61B 19/00 (2006.01) B25J 1/12 (2006.01) B25J 9/10 (2006.01) B25J 11/00 (2006.01) B25J 15/04 (2006.01)

Patent

CA 2634141

The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The manipulator assembly includes an instrument holder removably coupled to a drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The invention is also directed to a system and method for releasably holding a surgical instrument (14). The system includes an instrument support for automatically locking mounting pins on the instrument within locking slots on the instrument holder to releasably couple the instrument to the holder. With a twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.

L'invention porte sur un dispositif de manipulation (2) permettant de tenir et de manipuler un instrument chirurgical (14) dans un système de télérobotique. Le dispositif de manipulation est constitué d'un porte-instrument amovible couplé à un système de commande, le porte-instrument pouvant être stérilisé. Le dispositif comprend également un capteur de la force (52), monté en aval du porte-instrument et du système de commande. Ce capteur permet de détecter les forces exercées sur l'instrument chirurgical et fournit une rétroaction au chirurgien. L'invention concerne aussi un système et une méthode permettant de tenir ou de libérer un instrument chirurgical (14). Le système est constitué d'un support destiné à insérer automatiquement des tiges de fixation de l'instrument à l'intérieur de fentes de verrouillage situées sur le porte- instrument afin de coupler de façon non permanente l'instrument au porte-instrument. Par un mouvement de torsion, le chirurgien peut rapidement coupler et découpler divers instruments au porte-instrument au cours d'une intervention chirurgicale, comme une chirurgie à ciel ouvert, une laparoscopie ou une thoracoscopie.

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