WO2014203005A1

WO2014203005A1 - A system for use in supporting a surgical robot

Info

Publication number: WO2014203005A1
Application number: PCT/GB2014/051909
Authority: WO
Inventors: Clive Francis; Jeremy Russell; David Pinto
Original assignee: Freehand 2010 Limited
Priority date: 2013-06-21
Filing date: 2014-06-20
Publication date: 2014-12-24
Also published as: GB2515476B; GB2515476A; GB201311129D0

Abstract

A system comprising: a surgical robot configured to receive an endoscope or endoscopic surgical tool and to drive one or more movements of the endoscope or endoscopic surgical tool in accordance with one or more instructions from a user, wherein the surgical robot includes a shaft extending therefrom for connection to an armature structure; and an attachment unit coupled to the shaft of the surgical robot, the attachment unit having a longitudinal axis which is substantially perpendicular to a longitudinal axis of the shaft of the surgical robot and having a free end for coupling to an armature structure such that a first arm member of the armature structure is offset with respect to the shaft of the surgical robot.

Description

Title: A system for use in supporting a surgical robot Description of Invention

Embodiments of the present invention relate to a system including a surgical robot and an attachment unit. Embodiments of the present invention include an armature structure for supporting a surgical robot, and/or a lockable joint for use in an armature structure, and/or a lockable joint for use in an attachment unit.

Surgical robots (sometimes known as robotic surgical assistants) for use in surgery are becoming increasingly popular; this is particularly true of surgical robots used in minimally invasive surgery such as endoscopic surgical operations.

In a typically endoscopic surgical operation one or more incisions in a patient are each fitted with a respective port. One or more endoscopes or endoscopic surgical tools are inserted through the one or more ports such that an operative portion of the or each endoscope or endoscopic surgical tool is located at a surgical site within the patient and a control portion of the or each endoscope or endoscopic surgical tool is located outside the patient to allow for easy manipulation by the user.

Accordingly, a conventional endoscope or endoscopic surgical tool comprises an elongate main body with the operative portion towards a distal end thereof and the control portion towards a proximal end thereof (the distal and proximal ends opposing each other across a length of the endoscope or endoscopic surgical tool).

H13305WO In many operations there is a plurality of endoscopes and/or endoscopic surgical tools in use at any one time and one or more of the scopes and/or instruments must be moved with respect to one or more others of the plurality of scopes and/or tools.

This can cause instances in which a desired movement of one endoscope or endoscopic surgical tool with respect to another cannot be achieved because of interference between the two . A conventional surgical robot must be located with respect to the patient in order to support one or more endoscopes and/or endoscopic surgical tools and to move the or each endoscope and/or endoscopic surgical tool with respect to the patient. In addition, a typical conventional surgical robot must be secured to at least part of an endoscope or endoscopic surgical tool in order to support that scope or tool. Accordingly, at least part of the typical conventional surgical robot is located (in use) within a region in which one or more endoscopes or endoscopic surgical tools must be manoeuvred.

The use of a surgical robot, therefore, increases the risk of a desired movement of one endoscope or endoscopic surgical tool being impossible or hindered - as both the endoscope or endoscopic surgical tool and at least part of the robot are within the general region in which such issues may arise. Such issues are typically known as 'port clashes'. There has, therefore, been an impetus within surgical robot development to make the robot as small as possible. This is particularly the case in relation to surgical robots which provide an assistive role in surgical operations in which the user is not remote from the patient. The Freehand robot provided by Freehand 2010 Limited, UK, represents a significant advancement in this regard. Surgical robots must be supported relative to the patient and this support is often provided through an armature structure. This armature structure, however, provides a source of further potential inconvenience to the user as the armature may restrict or hinder the movement of a surgical scope or tool, limit access to a particular port, and/or hinder the passing of scopes or tools from one user to another across the patient.

The present invention seeks to ameliorate one or more such problems associated with the prior art.

Accordingly, an aspect of the present invention provides a system comprising: a surgical robot configured to receive an endoscope or endoscopic surgical tool and to drive one or more movements of the endoscope or endoscopic surgical tool in accordance with one or more instructions from a user, wherein the surgical robot includes a shaft extending therefrom for connection to an armature structure; and an attachment unit coupled to the shaft of the surgical robot, the attachment unit having a longitudinal axis which is substantially perpendicular to a longitudinal axis of the shaft of the surgical robot and having a free end for coupling to an armature structure such that a first arm member of the armature structure is offset with respect to the shaft of the surgical robot. The system may further comprise the armature structure, wherein the first arm member of the armature structure may be positionable such that the first arm member extends from the attachment unit towards a pan axis of the surgical robot, a longitudinal axis of the shaft of the surgical robot being substantially perpendicular to the pan axis. The first arm member of the armature structure may be positionable such that the first arm member extends from the attachment unit away from the pan axis of the surgical robot. The system may further comprise the armature structure, wherein the first arm member of the armature structure may be positionable such that the first arm member extends from the attachment unit away from a pan axis of the surgical robot, a longitudinal axis of the shaft of the surgical robot being substantially perpendicular to the pan axis.

A longitudinal axis of the first arm member may be substantially perpendicular to the longitudinal axis of the attachment unit.

The first arm member may be positionable at least partially between a pan module and a tilt module of the surgical robot.

The first arm member may be positionable adjacent to a portion of a tilt module of the surgical robot remote from a pan module of the surgical robot. The attachment unit may be located outside a rotational envelope of a tilt module of the surgical robot.

The attachment unit may be immoveably fixed to the shaft of the surgical robot.

The attachment unit may be configured for rotation with respect to the shaft of the surgical robot.

The attachment unit may be selectably lockable at any one of a plurality of rotational positions with respect to the shaft of the surgical robot. The system may further comprise the armature structure including a first and a second arm member, wherein the armature structure may include a lockable joint between the first and second arm members. The second arm member may be coupleable to a clamp.

The lockable joint may be configured, on actuation, to lock a position of the second arm member with respect to the clamp, a position of the first arm member with respect to the second arm member, and a position of the first arm member with respect to the attachment unit.

The lockable joint may be actuateable between a locked and an unlocked state through a hydraulic or pneumatic actuation system. A pneumatic actuation system may be provided.

The pneumatic actuation system may be connectable to a vacuum line and the pneumatic actuation system may include a vacuum chamber such that actuation of the lockable joint is achievable with the vacuum line disconnected.

The pneumatic actuation system may be connectable to a source of pressurised fluid and the pneumatic actuation system may include a chamber configured to hold a reservoir of pressurised fluid such that actuation of the lockable joint is achievable with the source of pressurised fluid disconnected.

The attachment unit may be configured for retrofitting to the surgical robot.

The attachment unit may include a ball portion configured to be received by a socket of the armature structure. Another aspect of the present invention provides an attachment unit for use in a system as set out above.

Embodiments of the present invention are described, by way of example only, with reference to the accompanying drawings, in which:

Figure 1 shows aspects of embodiments of a surgical robot and other associated parts of embodiments of the present invention; Figure 2 shows a side view of a surgical robot in accordance with some embodiments;

Figure 3 shows an end view of a surgical robot in accordance with some embodiments;

Figure 4 shows a perspective end and side view of a surgical robot in accordance with some embodiments;

Figure 5 shows a top view of a surgical robot in accordance with some embodiments;

Figure 6 shows a side view of a surgical robot in accordance with some embodiments; Figure 7 shows a perspective top and side view of a surgical robot in accordance with some embodiments;

Figure 8 shows a side view of a surgical robot in accordance with some embodiments; Figure 9 shows a schematic view of a surgical robot in accordance with some embodiments;

Figure 10 shows an end and side view of a surgical robot in accordance with some embodiments;

Figure 1 1 shows an end and side view of a surgical robot in accordance with some embodiments with some features transparent for ease of explanation; Figure 12 shows a top and side view of a surgical robot in accordance with some embodiments with some features transparent for ease of explanation;

Figure 13 shows a schematic cross-section of a lockable joint in accordance with some embodiments;

Figure 14 shows a schematic view of a lockable joint in accordance with some embodiments;

Figure 15 shows a schematic cross-section of a lockable joint in accordance with some embodiments;

Figure 16 shows a side view of a surgical robot in accordance with some embodiments; and Figure 17 shows an arm member in accordance with some embodiments.

Embodiments of the present invention may include a surgical robot 1 .

With reference to figures 1 and 9, the surgical robot 1 of some embodiments of the invention comprises a main body 2, a support arm 3, and armature support member 4. The main body 2 is coupled to the support arm 3 and the armature support member 4. The support arm 3 is coupled to a mounting member 5 configured to be coupled to an endoscope or endoscopic tool 6. In some embodiments, the mounting member 5 is removably coupled to the support arm 3 (it will be noted that some of the figures do not show the mounting member 5, in variations of such embodiments, the mounting member 5 may be irremovably coupled to the support arm 3). The support arm 3 is configured, in embodiments, for telescopic movement with respect to the main body 2. In embodiments, the support arm 3 may move from a retracted state in which the mounting member 5 is relatively close to the main body 2 to an extended state in which the mounting member 5 is relatively distant from the main body 2. The support arm 3 may include a plurality of telescopic stages (e.g. two or three stages). The telescopic stages may be configured such that movement of all of the stages with respect to each other is substantially contemporaneous (e.g. movement may be such that all telescopic stages reach their respective extreme positions at substantially the same time) - the support arm 3 may be configured such that extension and retraction thereof is restricted to such contemporaneous movement of the telescopic stages (if provided).

The support arm 3 may be a curved support arm 3 such that movement of the support arm 3 from the retracted state to the extended state moves the mounting member 5 along an arcuate path.

As described above, the mounting member 5 may be configured for detachable mounting to the support arm 3 and for removable coupling to the endoscope or endoscopic tool 6. In embodiments, the mounting member 5 is configured for detachable mounting to the support arm 3 and is integrally formed with the endoscope or endoscopic tool 6 or otherwise secured thereto in an irremovable manner (such that removal would cause damage to the mounting member 5). In embodiments, the mounting member 5 may be integrally formed with (or otherwise secured in an irremovable manner to) the support arm 3 and configured for removable coupling to the endoscope or endoscopic tool 6. The mounting member 5 may form the primary attachment of the endoscope or endoscopic tool 6 to the support arm 3 (in other words, the mounting member 5 may support a substantial part of the mass of the endoscope or endoscopic tool 6). The mounting member 5 may include an arrangement configured to move an endoscope or endoscopic tool 6 mounted thereto axially with respect thereto. The mounting member 5 may include an arrangement configured to move an endoscope or endoscopic tool 6 mounted thereto rotationally about a longitudinal axis thereof. As will be appreciated from the above discussion, in some embodiments, the endoscope or endoscopic tool 6 may be irremovably coupled to the mounting member 5 but that coupling may allow some movement between the mounting member 5 and the endoscope or endoscopic tool 6 - such as the aforementioned axial and rotational movement. The armature support member 4 of the surgical robot 1 may be configured to be coupled to a distal end of an armature structure 7. The coupling between the main body 2 and the armature support member 4 is configured, in embodiments, to allow rotation of the main body 2 with respect to the armature support member 4 and, hence, with respect to the armature structure 7. As will be appreciated, the main body 2 has a rotational envelope representing the volume through which the main body 2 passes during rotation about the rotational axis with respect to the armature support member 4.

The armature structure 7 is configured to support the surgical robot 1 with respect to a table 8 on which a patient 9 may be located. As such, a proximal end of the armature structure 7 may be coupled to the table 8 or to a further support structure which is positioned with respect to the table 8. The further support structure may, for example, comprise a stand configured to be positioned on and/or secured to a floor or wall surface. The proximal end of the armature structure 7 may be coupled to the table 8 or other support structure by the use of a clamp 10. For example, the clamp 10 may be configured to secure a part of the armature structure 7 to a rail of the table 8 (a rail which may be located along a side of the table 8 and which may be secured thereto). The clamp 10 may include a shaft 101 which extends from the clamp 10. The direction of extension may be such that the armature structure 7 couples to the shaft 101 of the clamp 10 at a position which is on the patient-side of the table 8. In embodiments, the shaft 101 of the clamp 10 has a length such that the armature structure 7 couples thereto at a position which is generally above the patient 9 (or a part thereof) when the patient 9 is positioned as shown in figure 1 .

Thus, the surgical robot 1 is configured to move an endoscope or endoscopic tool 6 coupled to the mounting member 5 in one of a predetermined number of degrees of freedom of movement. In embodiments, all of the degrees of freedom of movement are confocal on a substantially fixed point (known as the goniometric or confocal point) in free space with respect to the surgical robot 1 .

Accordingly, the support arm 3 may be configured to move the mounting member 5 along an arcuate path with a curvature which is centred on the confocal point. The axis of rotation of the main body 2 with respect to the armature support member 4 may pass through the confocal point (or substantially pass through that point). In addition, the mounting member 5 may be configured to hold the endoscope or endoscopic tool 6 such that the longitudinal axis of the endoscope or endoscopic tool 6 passes through the confocal point. As will be appreciated, in embodiments, the longitudinal axis of the endoscope or endoscopic tool 6 and the axis of rotation of the armature support member 4 and the main body 2 define a plane which may rotate around said rotational axis with rotation of the main body 2. In addition, in some such embodiments, the endoscope or endoscopic tool 6 has a longitudinal axis which points towards the aforementioned rotational axis from the mounting member 5.

In an operation, the confocal point may be positioned with respect to an incision in the patient 9 (to which a port may be fitted) such that the forces applied to the incision are minimised (to reduce the risk of damage to the surrounding tissue).

As will be appreciated, in such embodiments, the rotation of the main body 2 with respect to the armature support member 4 provides a pan operation for an endoscope or endoscopic tool 6 supported by the surgical robot 1 . Movement of the support arm 3 between the retracted and the extended states provides a tilt operation for an endoscope or endoscopic tool 6 supported by the surgical robot 1 . Movement of the endoscope or endoscopic tool 6 along its own longitudinal axis with respect to the mounting member 5 provides a zoom operation. Accordingly, in embodiments, the armature support member 4 may be known as a 'pan module', the main body 2 may be known as a 'tilt module', and the mounting member 5 may be known as a 'zoom module'.

One or more driving systems 1 1 may be provided to drive one or more of the aforementioned pan, tilt, and zoom operations. In embodiments, each of these operations includes an independent driving system. In embodiments, one or more of these operations is manual (by interaction of the user during use) and an associated driving system is not, therefore, provided. In embodiments, the or each driving system 1 1 is configured to allow a user to override the driving system 1 1 and move the relevant parts of the surgical robot 1 manually (e.g. in the event of an emergency) even if the one or more driving systems 1 1 are also configured to drive such movements. Accordingly, one or more clutch arrangements (not shown) may be provided.

In embodiments, rotation of the endoscope or endoscopic tool 6 about its own longitudinal axis is permitted and this movement may be manual or a driving system 1 1 may be provided - which may, again, be an independent driving system.

An 'independent driving system' is, in the context of the present description, a driving system in which actuation of one driving system from one driven state to another does not cause actuation of another driving system from one driven state to another.

The or each driving system 1 1 may be coupled to a common control system 12. The common control system 12 may include a user input device 13 configured to receive one or more user inputs and to output one or more commands to the or each driving system 1 1 accordingly.

The user input device 13 may be configured to detect a movement of the user and to output one or more commands based on the detected movement. The movement may be a head movement, an arm movement, a foot movement, a leg movement, a finger movement, or an eye movement. Accordingly, the user input device 13 may include a sensor which is configured to be worn by a user. The user input device 13 may comprise a microphone and a voice command detection system which is configured to identify one or more commands received by the microphone from the user (e.g. using speech recognition).

In embodiments, a secondary user input device 14 is provided as part of the common control system 12. The secondary user input device 14 may be actuated, for example, to confirm a command, to switch between modes of operation of the common control system 12, and/or to control the duration of a command issued by the common control system 12. The secondary input device 14 may comprise a switch. The switch may be provided as part of a foot pedal configured for actuation by the user.

In embodiments, the common control system 12 is a direct control system which does not apply computation to user inputs in the generation of the or each command. In embodiments, the common control system 12 includes a plurality of parts which may be connected to each other by a wired or wireless communication channel (or channels, or a mixture thereof).

The common control system 12 may include a display screen 123 which is configured to display one or more images to a user representing: the operational state for the surgical robot, and/or a selected movement or control input (e.g. pan left, pan right, zoom in, etc). A surgical site display screen 124 may also be provided which is configured to display an image of the surgical site (which may be obtained from an endoscope 6).

In embodiments, the wireless communication channel or channels include radio channel(s) and/or infrared channel(s).

A main part of the common control system 12 which may include, for example, one or more electrical power regulation subsystems, may be located within a housing 121 which is separate from one or more other parts of the surgical robot 1 . The housing 121 may be securable to, for example, a stand and/or to a table 8 on which a patient 9 may be located. In embodiments, the housing 121 is secured to the clamp 10. In embodiments, the housing 121 has its own clamp and may be secured to a rail of an operating table 8. In embodiments, a clamp which secures the housing 121 to the operating table 8 may include a hinge which allows the housing to be moved between an accessible and a stowed position - the accessible position allowing access to one or more sockets (for example) to allow the surgical robot 1 to be setup and the stowed position being such that the housing 121 is less obtrusive. For example, the housing 121 may be located substantially or at least partially beneath the table 8 in the stowed position.

The main part of the control system 12 may have a wired connection to the surgical robot 1 and, in particular, to any driving systems 1 1 associated therewith (to provide electrical power thereto).

The control system 12 may, in embodiments, include a control panel 122 through which a user can operate one or more aspects of the operation of the surgical robot 1 . The control panel 122 may be provided as part of the armature support member 4.

The armature structure 7 may take a number of different forms. In embodiments, the armature structure 7 includes a shaft 15 which is received by a corresponding socket 16 of the armature support member 4. An engagement mechanism (not shown) may be provided in the socket 16 and on the shaft 15 to ensure a secure engagement of the socket 16 and shaft 15. The engagement mechanism may comprise correspondingly threaded engagement surfaces of the shaft 15 and socket 16 or a bayonet-type fitting. The shaft 15 may, in embodiments, form part of the surgical robot 1 rather than part of the armature structure 7.

The shaft 15 extends from the surgical robot 1 to provide a proximal coupling end 17. The direction of extension of the shaft 15 may be along an axis which is substantially perpendicular to the rotational axis of the main body 2 with respect to the armature support member 4. The proximal coupling end 17 of the shaft 15 is configured to be attached to a first arm member 18. This attachment may be via an attachment unit 19 (see figures 2 to 8). The attachment unit 19 is configured to be secured to the proximal coupling end 17 of the shaft 15 and to a distal end 20 of the first arm member 18. Accordingly, the attachment unit 19 may include an arrangement to allow a part thereof to be secured to the proximal coupling end 17 of the shaft 15. In embodiments, this arrangement comprises a threaded portion which is configured for receipt by a correspondingly threaded bore of the proximal coupling end 17 of the shaft 15. Thus, in embodiments, once fitted, the attachment unit 19 has a longitudinal axis with which immoveable with respect to the longitudinal axis of the shaft 15.

The attachment unit 19 may further include a ball portion 21 which extends away from the shaft 15 (and may located at a free end of the attachment unit 19). The direction of this extension may be substantially perpendicular to the longitudinal axis of the shaft 15. In embodiments, the direction of extension is towards the main body 2 of the surgical robot 1 . In embodiments, the direction of extension is generally parallel with the rotational axis of the main body 2 with respect to the armature support member 4.

The first arm member 18 includes an arrangement configured to be coupled to the attachment unit 19. In embodiments, this arrangement is configured to be coupled to an end of the attachment unit 19 which is remote from the shaft 15. In embodiments, this arrangement comprises a socket 22 which is configured to mate with the ball portion 21 of the attachment unit 19. In embodiments, the socket 22 includes at least one recess 23 such that the first arm 18 is securable to the attachment unit 19 with a longitudinal axis of the first arm 18 being substantially perpendicular to the direction of extension of the attachment unit 19. In other words, the or each recess 23 is configured to receive at least part of the attachment unit 19. The attachment unit 19 is, in some embodiments, of a length such that the first arm member 18 is generally located adjacent to the portion of the main body 2 of the surgical robot 1 which is coupled to the armature support member 4. In other embodiments, the length of the attachment unit 19 is such that the first arm member 18 is located generally adjacent to a portion of the main body 2 remote from the armature support member 4 (i.e. a portion adjacent to the support arm 3). In embodiments, the attachment unit 19 has a length such that the first arm member 18 may be located between a lateral plane through a part of the armature support member 4 and a lateral plane thought a part of the main body 2. In such embodiments, the length of the attachment unit 19 is such that none of the attachment unit 19 or first arm member 18 passes through the rotational envelope of the main body 2. In these embodiments, the first arm member 18 is located towards the armature support member 4 relative to the rotational envelope.

In embodiments, the attachment unit 19 has a length such that the first arm member 18 is located between a plane which passes through the confocal point (and which is substantially perpendicular to the rotational axis of the main body 2 with respect to the armature support member 4) and a parallel plan which passes though the nearest part of the main body 2 to the confocal point. In embodiments, the attachment unit 19 has a length such that the first arm member 18 can be generally aligned in the plane which passes through the confocal point. In such embodiments, the length of the attachment unit 19 is such that none of the attachment unit 19 or first arm member 18 passes through the rotational envelope of the main body 2. In these embodiments, the first arm member 18 is located towards the patient 9 relative to the rotational envelope. In embodiments, the first arm member 18 can be positioned to extend from the attachment unit 19 generally towards and past the rotational axis of the main body 2 with respect to the armature support member 4 - generally perpendicular to the rotational axis. Thus, the first arm member 18, the attachment unit 19, and the shaft 15 form a roughly C-shaped arm configuration. In embodiments, the direction of extension of the first arm member 18 can be altered by rotation of the socket 22 with respect to the ball portion 21 of the attachment unit 19. In embodiments, the first arm member 18 extends away from the surgical robot 1 along an axis which is substantially perpendicular to the rotational axis of the main body 2 with respect to the armature support member 4 - the first arm member 18 extending away from said rotational axis.

In embodiments, the attachment unit 19 includes a lockable joint 25 (see figures 10 to 12). The lockable joint 25 is configured for actuation between an unlocked state (in which a movement between the attachment unit 19 and the shaft 15 is permitted) and a locked state (in which that movement is restricted, hindered, and/or substantially prevented).

The lockable joint 25 may comprise a cup portion 26 which is configured to receive at least part of the proximal coupling end 17 of the shaft 15 and/or a member which is secured to the proximal coupling end 17 of the shaft 15 (e.g. through a bore in the shaft 15 by a threaded or bayonet-type fitting). The cup portion 26 is attached (and may be integrally formed with) a body 27 of the attachment unit 19. The body 27 of the attachment unit 19 may extend from in a direction which is substantially perpendicular to the longitudinal axis of the shaft 15.

The lockable joint 25 may be such that the body 27 of the attachment unit 19 may rotate with respect to the shaft 15 by rotation of the cup portion 26 with respect to the at least part of the proximal coupling end 17 of the shaft 15, and/or member which is secured to the proximal coupling end 17, which is received by the cup portion 26. A pin 28 may form part of the lockable joint 25 and may be located at least partially within the body 27 of the lockable joint 25. An end of the pin 28 extends through an internal aperture defined by the cup portion 26 of the lockable joint 25 and may be configured to bear selectively against an external surface of the member or portion of the shaft 15 received by the cup portion 26.

An actuation member 29 may be located along a length of the pin 28 and may be coupled to the pin 28 through cooperating threads of the actuation member 29 and pin 28. At least a part of the actuation member 29 is accessible such that a user can rotate the actuation member 29 to cause movement of the pin 28 with respect to the member or portion of the shaft 15 received by the cup portion 26 (between an locked and unlocked position). As such the force applied by the pin 28 to the member or portion of the shaft 15 received by the cup portion 26 may be varied by rotation of the actuation member 29. Movement of the actuation member 29 in an axial direction with respect to the cup portion 26 is inhibited, for example, by a part of the body 27 of the attachment unit 19. In some embodiments, the actuation member 29 is located in a correspondingly shaped recess or aperture 30 in the body 27 - the aperture 30 may be through an entire depth of the body 27. In embodiments, a portion of the actuation member 29 extends beyond a plane of an adjacent external surface of the body 27 to aid user manipulation of the actuation member 29. In embodiments, the actuation member 29 is cylindrical in form with a central bore in which part of the pin 28 is received. A diameter of such an actuation member 29 may be greater than a thickness of the body 27 adjacent to the actuation member 29 such that respective portions of the actuation member 29 extend beyond the body 27 on either side thereof. In embodiments, the body 27 of the attachment unit 19 may have a substantially rectangular cross-section which may be configured such that the actuation member 29 is accessible through apertures 30 defined by the body 27 through the larger surfaces thereof.

The end of the pin 28 which is configured to bear against the portion of the shaft 15 or member received by the cup portion 26 may be tapered.

The portion of the shaft 15 or member received by the cup portion 26 may include a groove into which the end of the pin 28 may extend - such that, in embodiments, the movement of the cup portion 26 off the shaft 15 or member received by the cup portion 26 is inhibited or substantially prevented when a part of the pin 28 is received by the groove. In embodiments, the groove is of a shape corresponding to the shape of the end of the pin 28 which may, in embodiments, bear thereagainst. As will be appreciated, the pin 28 may take a number of different forms and may be some other elongate member. In embodiments, the lockable joint 25 takes a different form with the same functional specification.

In embodiments, one or more other lockable joints are provided in the armature structure 7. For example, a second lockable joint 31 may be provided to couple the first arm member 18 to the second arm member 24 (see figures 13 to 15).

In embodiments, the second lockable joint 31 has an unlocked and a locked state. In the unlocked state, movement of the first arm member 18 with respect to the second arm member 24 about the second lockable joint 31 is substantially free - to allow the first and second arm members 18,24 to be appropriately positioned. In the locked state, movement of the first arm member 18 with respect to the second arm member 24 about the second lockable joint 31 is substantially prevented - such that the first and second arm members 18,24 can be locked in a desired configuration with respect to each other.

In some embodiments, the second lockable joint 31 is further configured, on actuation, to cause the coupling between the first arm member 18 and the attachment unit 19 along with the coupling between the second arm member 24 and the clamp 10 to change between corresponding locked and unlocked states. The second lockable joint 31 may, in embodiments, comprise a joint housing 32. The joint housing 31 is configured to receive at least part of the first and second arm members 18,24. In particular, the joint housing 32 may be configured to receive a distal end of the second arm member 24 and a proximal end of the first arm member 18.

The first arm member 18 and second arm member 24 may, in such embodiments, include respective outer sleeves 33,35 and inner members 34,36 arranged in a concentric manner with the outer sleeves 33,35 substantially surrounding their respective inner members 34,36. Inner members 34,36 and outer sleeves 33,35 of each respective arm member 18,24 may be configured to allow a degree of axial movement therebetween.

As discussed above, the first arm member 18 may include a socket 22. Similarly, the second arm member 24 may also include a socket 37 at a proximal end thereof (which may be of the same form as the socket 22 of the first arm member 18). The socket 37 of the second arm member 24 may be configured to receive a ball portion 38 of the clamp 10.

In some embodiments, the sockets 22,37 of the two arm members 18,24 may be attached to the respective outer sleeves 33,35 of their associated arm member 18,24. Within each outer sleeve 33,35 there may be a bearing member 39,40 which is configured for axial movement within the associated outer sleeve 33,35. A portion of each bearing member 39,40 is configured to abut a ball portion (such as, in the present example, the ball portions 21 ,38 of the attachment unit 19 and clamp 10). Another portion of each bearing member 39,40 is configured to abut an end portion of the associated inner member 34,36 such that movement of the inner member 34,36 causes movement of the bearing member 39,40. In embodiments, the inner members 34,35 are integrally formed with their respective bearing members 39,40. Thus, movement of a bearing member 39,40 towards the associated ball portion 21 ,38 will press the bearing member 39,40 against the ball portion 21 ,38 which will, in turn, be pressed against an end part of the socket 22,37. Frictional engagement between the ball portion 21 ,38 and the end part of the socket 22,37, and between the ball portion and the bearing member 39,40 locks the ball portion 39,40 with respect to the socket 22,37 in such a configuration. Similarly, when the bearing member 39,40 is not pressed against the associated ball portion 21 ,38, the ball portion 21 ,38 may be moved within the socket 22,37. A resilient biasing arrangement (not shown) may be provided in each socket 22,37 to bias the bearing members 39,40 into the unlocked state.

In such embodiments, the joint housing 32 may be rigidly fixed to the outer sleeves 33,35 of the two arm members 18,24. The inner members 34,36 of the two arm members 18,24 may extend through a wall of the joint housing 32 and into a cavity therein.

In embodiments, the joint housing 32 comprises a first part 321 and a second part 322. The first arm member 18 is associated with the first part 321 and is attached thereto whilst the second arm member 24 is associated with the second part 322 and is attached thereto. The two parts 321 ,322 of the joint housing 32 are configured for rotational movement with respect to each other about an axis. In embodiments, the two parts 321 ,322 of the joint housing 32 abut each other.

A lockable joint actuator 41 may be provided which extends through at least part of both the first part and the second part 321 ,322 of the joint housing 32.

The lockable joint actuator 41 includes a shaft 141 , and a handle 142. The shaft 141 is threaded and a corresponding thread is provided in a shaft receiving member 323 of the joint housing 32. The handle 142 is fitted to the shaft 141 in a rotationally immovable configuration such that rotation of the handle 142 causes rotation of the shaft 141 . In embodiments, the shaft receiving member 323 of the joint housing 32 is provided in or adjacent to a part of the joint housing 32 which is remote from the handle 142 - which may be the first part 321 or the second part 322 depending on the configuration of the specific embodiment. The part 321 ,322 of the joint housing 32 adjacent to the handle 142 includes a portion which is configured to abut a part of the handle 142. Accordingly, rotation of the lockable joint actuator 41 (by manual rotational force applied to the handle 142) causes the shaft 141 to move through the joint housing 32. The handle 142 bears against the joint housing 32 as this occurs the two parts 321 ,322 thereof are pressed together. When the compressive force applied to the two parts 321 ,322 by the shaft receiving member 323 and handle 142 is sufficient, the two parts 321 ,322 are locked together in a rotationally immoveable state (i.e. a locked state). Similarity, when the compressive force is reduced (by rotation of the handle 142 in the opposite direction) rotational movement of the two parts 321 ,322 with respect to each other is possible (i.e. an unlocked state).

Within the cavity (which may comprise a plurality of sub-cavities) of the joint housing 32 are two pressing members 43. A first end of each pressing member 43 is configured to abut against a portion of the joint housing 32 (or other item in the cavity such as a member fixedly secured to the shaft 141 ) which moves when the second lockable joint 31 is actuated between the locked and unlocked states. A second end of each pressing member 43 bears against a respective one of the inner members 34,36 of the arm members 18,24 (a spherical or cylindrical end bearing member may be located at the second end of each pressing member 43 for this purpose). Operation of the lockable joint actuator 41 causes the pressing members 43 to press against their respective associated inner members 34,36. This, in turn, causes the inner members 34,36 to press against the bearing members 39,40 to lock the ball portions 21 ,38 with respect to the sockets 22,37.

Thus, a user can operate a single actuator (the lockable joint actuator 41 ) to lock or unlock three joints.

In embodiments, the lockable joint actuator 41 is pneumatically or hydraulically driven between the locked and unlocked states. In such embodiments, the shaft 141 may not include a thread. In embodiments, the lockable joint actuator 41 is pneumatically driven and includes a connector 48 suitable for connection to a vacuum line (as is often provided in an operating theatre). The lockable joint actuator 41 may include a cylinder 51 and a piston 52 with the shaft 141 being attached to the piston 52 and configured for movement therewith. A valve system 47 may be provided to allow selective fluid communication between the connector 48 for the vacuum line and the cylinder 51 such that fluid (e.g. air) within a first part of the cylinder 51 is extracted. The valve system 47 may permit the selective ingress of a fluid (such as air) into a second part of the cylinder 51 to cause movement of the piston 52 within the cylinder 51 and, therefore, movement of the shaft 141 (to cause actuation of the second lockable joint 31 ). A fixed abutment member 53 may be secured to the opposing end of the shaft 141 and configured to apply a compressive force on the housing 31 under the control of the valve system 47, piston 52, cylinder 51 and shaft 141 - as will be understood. The valve system 47 may, similarly allow fluid communication between the connector 48 for the vacuum line and the second part of the cylinder (and ingress of fluid into the first part of the cylinder) to cause movement of the shaft 141 in the opposing direction (to cause actuation of the second lockable joint 31 ).

In embodiments, the connector 48 is instead configured to be connected to a source of fluid under pressure (such as hydraulic fluid or a gas). As will be appreciated, the valve system 47 may then operate to allow the selective ingress of fluid from the source of fluid under pressure to the cylinder 51 to cause movement of the piston 51 - in much the same manner as described above. The valve system 47 may further control the selective removal of fluid from the cylinder 51 . In embodiments, one or more buttons 49 or other user interface elements are provided to control these operations of the valve system 47.

The embodiment in figure 15 depicts a different pressing member 43 configuration - in which the pressing members 43 are attached to or integrally formed with the shaft 141 and have respective inclined surfaces which are configured to cooperate with correspondingly inclined surfaces of the inner members 34,36. A similar configuration may be used in relation to other embodiments described herein. In embodiments, the valve system 47 includes a vacuum chamber 50 between the connector 48 for the vacuum line and the cylinder 51 , a one way valve being provided between the connector 48 and the vacuum chamber 50. Accordingly, the vacuum line may be used (when initially connected) to form a volume of low pressure fluid in the vacuum chamber 50 which acts as a reservoir to allow actuation of the second lockable joint 31 a predetermined number of times even if the connection to the vacuum line is lost. In embodiments in which a fluid under pressures is utilised, the vacuum chamber 50 may be a chamber forming a reservoir of fluid under pressure, instead. One or more valves may be provided between the connector 48 and the chamber 50 in order to inhibit any unwanted release of the fluid from the chamber 50. Accordingly, the source of fluid under pressure may be used (when initially connected) to form a volume of high pressure fluid in the vacuum chamber 50 which acts as a reservoir to allow actuation of the second lockable joint 31 a predetermined number of times even if the connection to the source of fluid under pressure is lost.

In embodiments, the valve system 47 includes an emergency release valve subsystem 54 which is configured to allow the free movement of fluid into and out of both parts of the cylinder 51 on activation. This allows a user to move the first and second arm members 18,24 quickly in the event of an emergency. In embodiments, the activation of the emergency release valve subsystem 54 does not allow fluid to pass into the vacuum chamber 50 - such that, on deactivation of the subsystem 54, the low pressure fluid in the vacuum chamber 50 (and/or the vacuum line) may be used to lock the first and second arm members 18,24 in a configuration (e.g. to avoid damage to the surgical robot 1 ).

In embodiments utilising pressurised fluid, the emergency release valve subsystem 54 may be coupled to an exhaust system (not shown) for the safe collection, and/or depressurisation, of fluid from the cylinder 51 . In some embodiments, that exhaust system may comprise a tubular exhaust including one or more internal baffles. In embodiments, the activation of the emergency release valve subsystem 54 does not allow fluid under pressure to pass from the chamber 50 - such that, on deactivation of the subsystem 54, the high pressure fluid in the chamber 50 (and/or the source of pressurised fluid) may be used to lock the first and second arm members 18,24 in a configuration (e.g. to avoid damage to the surgical robot 1 ).

In embodiments, a solenoid-type actuator is provided to move the shaft 141 of the second lockable joint 31 .

As will be appreciated, embodiments in which there is no need to rotate the handle 142 of the second lockable joint 31 are advantageous when the armature structure 7 is covered in surgical drapes or other sterile covering - as would typically be the case when the armature structure 7 is being configured in an operating theatre. One or more user interface controls (such as one or more buttons 49) for the second lockable joint 31 may be provided on the housing 31 or as part of the control system 12. As will be understood, other configurations of the first and second arm members 18,24 are possible with a second lockable joint 31 of a different form in order to achieve a similar effect. For example, the socket 22,37 may be attached to the inner member 34,36 and the outer sleeve 33,35 may bear against an outer surface of the socket 22,37 such that movement of the inner member 34,36 with respect to the outer sleeve 33,35 locks or unlocks socket 22,37 around the ball portion 21 ,38.

In accordance with embodiments of the present invention, the armature structure 7 may be located in a less obtrusive manner than was possible previously. For example, the first arm member 18 may be located adjacent to the patient 9 allowing the free movement of surgical scopes and tools between users on either side of the surgical robot 1 . In addition, the risk of port clashes can be reduced as the most suitable armature structure 7 can be selected for the location of the ports and the type of operation. In embodiments, the second arm member 24 is an L-shaped arm member (see figure 17). In such embodiments, the second arm member 24 may be secured adjacent to an operating table 8 such that a first portion 44 of the L- shaped second arm member 24 extends substantially vertically. A second portion 45 of the L-shaped arm member 24 may, in such embodiments, extend across a width of the operating table 8. In embodiments, the clamp 10 includes an L-shaped extension of similar form which is configured for coupling to the second arm member 24. In embodiments, a cradle 46 (see figured 16) is provided which is couple to the shaft 15 and to an opposing part of the armature support member 4. The cradle 46 provides additional support for the surgical robot 1 . The cradle 46 may extend around a side wall of the armature support member 4 or a base or top thereof. The cradle 46 may include one or move attachment unit 19 securing locations 461 to allow an attachment unit 19 to be coupled to the cradle at any one of a plurality of locations.

In the many of the above described embodiments of the surgical robot 1 , the armature support member 4 is coupled to the main body 2 of the surgical robot 1 such that the rotational axis between the two parts is relatively close to the mounting member 5. As will also be appreciated, the support arm 3, when retracted, is at least partially housed within the main body 2 and extends generally through the aforementioned rotational axis. In other embodiments, the armature support member 4 and main body 2 are coupled together such that the rotational axis between the two is located further away from the mounting member 5. In such embodiments, support arm 3 may be spaced apart from the aforementioned rotational axis or the rotational axis may pass through an end of the support arm 3 remote from the mounting member 5. In embodiments of the invention, the surgical robot 1 is configured such that the tilt operation is a manual operation rather than a driven operation. A locking mechanism may be provided to allow the mounting member 5 (and any attached endoscope or endoscopic tool 6) and/or the support arm 3 to be locked at one or more discrete predetermined tilt positions. In embodiments, a joint is provided between the attachment unit 19 and the shaft 15. The joint is such that the angle therebetween can be altered. In embodiments, the angle therebetween is an angle in a plane which is perpendicular to the rotational axis between the armature support member 4 and the main body 2. In embodiments, the angle therebetween is an angle in a plane which is parallel with the rotational axis between the armature support member 4 and the main body 2, and parallel with the longitudinal axis of the shaft 15. The joint may be a joint with a discrete plurality of predetermined angles and a locking mechanism to secure to attachment unit 19 with respect to the shaft 15.

As will be understood, the operations of the surgical robot 1 may be driven (i.e. driven by one or more motors). The movement of parts of the armature structure 7 with respect to other parts is, however, a manual task. During a typical operation, the armature structure 7 will be configured for the operation - positioning the surgical robot 1 in the desired location - and the armature structure 7 may not be moved until the end of the operation (or the end of the part of the operation using the surgical robot 1 ). In contrast, the movement of one part of the surgical robot 1 with respect to another continues throughout an operation. In embodiments, the armature structure 7 does not include any motors and no movements thereof are driven. In embodiments, the only parts of the armature structure 7 which are driven are the parts which enable joints to be actuated between a locked and an unlocked state or configuration. In such embodiments, the actual movement of one arm member with respect to another is not driven and is a manual operation. As will be appreciated, the attachment unit 19 allows versatility in the connection of the rest of the armature structure 7 to the surgical robot 1 . The attachment unit 19, therefore, has a longitudinal axis which may not be aligned with and/or may not be parallel with the longitudinal axis of the shaft 15. In other words, the attachment unit 19 allows the coupling of a first arm member 18 thereto such that the longitudinal axis of the first arm member 18 is offset from the shaft 15. This allows the attachment unit 19 to be retrofitted to existing surgical robots 1 to provide additional versatility. As used herein 'surgical robot' includes a robotic surgical assistant.

Although the surgical robot 1 has been shown in a particular orientation with respect to the patient 9, it will be apparent that other orientations are possible in order to provide access to the port required for a particular operation.

A user may be a surgeon or other person of a medical profession.

As will be understood from the above description, the rotational axis of the main body 2 with respect to the armature support member 4 is a pan axis. The axis which passes through the confocal point and which forms the centre of the curvature of the support arm 2 is a tilt axis. The longitudinal axis of the endoscope or endoscopic tool 6 is a zoom axis.

References have been made to a 'vacuum line' and 'vacuum chamber' such references are to be construed as references to a line providing an air pressure which is substantially less than the ambient air pressure and a chamber containing air at a pressure which is substantially less than the ambient air pressure, rather than references to an absolute vacuum. References to a 'source of pressurised fluid' and a 'source of fluid under pressure' encompass a source of fluid which is at a pressure sufficiently high to actuate the lockable joint actuator 41 . The pressure of the pressurised fluid is typically higher than the ambient air pressure. The fluid may be a gas and the gas may be air. The gas may be carbon dioxide or may be a gas which is substantially formed of carbon dioxide (e.g. more than 50% by volume carbon dioxide). The pressurised fluid may be a compressed gas.

As used herein, references to an 'endoscope' are to be construed as encompassing (but not being limited to) rigid endoscopes and/or "chip-on-a- stick7"chip-on-the-tip" (CCD-based) endoscopes and/or rigid endoscopes with flexible tips. The endoscope may be an angled endoscope and/or a wide- angle view endoscope. Such endoscopes may be surgical endoscopes.

As used herein, references to an "endoscopic tool" are to be construed as encompassing (but not being limited to) endoscopic clamps, forceps, scissors, retractors, needle holders, graspers, and/or dissectors, as well as trocars, cannulas. Such endoscopic tools are endoscopic surgical tools.

When used in this specification and claims, the terms "comprises" and "comprising" and variations thereof mean that the specified features, steps or integers are included. The terms are not to be interpreted to exclude the presence of other features, steps or components.

The features disclosed in the foregoing description, or the following claims, or the accompanying drawings, expressed in their specific forms or in terms of a means for performing the disclosed function, or a method or process for attaining the disclosed result, as appropriate, may, separately, or in any combination of such features, be utilised for realising the invention in diverse forms thereof.

Claims

1 . A system comprising:

a surgical robot configured to receive an endoscope or endoscopic surgical tool and to drive one or more movements of the endoscope or endoscopic surgical tool in accordance with one or more instructions from a user, wherein the surgical robot includes a shaft extending therefrom for connection to an armature structure; and

an attachment unit coupled to the shaft of the surgical robot, the attachment unit having a longitudinal axis which is substantially perpendicular to a longitudinal axis of the shaft of the surgical robot and having a free end for coupling to an armature structure such that a first arm member of the armature structure is offset with respect to the shaft of the surgical robot.

2. A system according to claim 1 , further comprising the armature structure, wherein the first arm member of the armature structure is positionable such that the first arm member extends from the attachment unit towards a pan axis of the surgical robot, a longitudinal axis of the shaft of the surgical robot being substantially perpendicular to the pan axis.

3. A system according to claim 2, wherein the first arm member of the armature structure is positionable such that the first arm member extends from the attachment unit away from the pan axis of the surgical robot.

4. A system according to claim 1 , further comprising the armature structure, wherein the first arm member of the armature structure is positionable such that the first arm member extends from the attachment unit away from a pan axis of the surgical robot, a longitudinal axis of the shaft of the surgical robot being substantially perpendicular to the pan axis.

5. A system according to claim 2, 3, or 4, wherein a longitudinal axis of the first arm member is substantially perpendicular to the longitudinal axis of the attachment unit.

6. A system according to any preceding claim, wherein the first arm member is positionable at least partially between a pan module and a tilt module of the surgical robot.

7. A system according to any of claims 1 to 5, wherein the first arm member is positionable adjacent to a portion of a tilt module of the surgical robot remote from a pan module of the surgical robot.

8. A system according to any preceding claim, wherein the attachment unit is located outside a rotational envelope of a tilt module of the surgical robot.

9. A system according to any preceding claim, wherein the attachment unit is immoveably fixed to the shaft of the surgical robot.

10. A system according to any of claims 1 to 8, wherein the attachment unit is configured for rotation with respect to the shaft of the surgical robot.

1 1 . A system according to claim 10, wherein the attachment unit is selectably lockable at any one of a plurality of rotational positions with respect to the shaft of the surgical robot.

12. A system according to any preceding claim, further comprising the armature structure including a first and a second arm member, wherein the armature structure includes a lockable joint between the first and second arm members.

13. A system according to claim 12, wherein the second arm member is coupleable to a clamp.

14. A system according to claim 13, wherein the lockable joint is configured, on actuation, to lock a position of the second arm member with respect to the clamp, a position of the first arm member with respect to the second arm member, and a position of the first arm member with respect to the attachment unit.

15. A system according to claim 12 or 13, wherein the lockable joint is actuateable between a locked and an unlocked state through a hydraulic or pneumatic actuation system.

16. A system according to claim 15, wherein a pneumatic actuation system is provided.

17. A system according to claim 16, wherein the pneumatic actuation system is connectable to a vacuum line and the pneumatic actuation system includes a vacuum chamber such that actuation of the lockable joint is achievable with the vacuum line disconnected.

18. A system according to claim 16, wherein the pneumatic actuation system is connectable to a source of pressurised fluid and the pneumatic actuation system includes a chamber configured to hold a reservoir of pressurised fluid such that actuation of the lockable joint is achievable with the source of pressurised fluid disconnected.

19. A system according to any preceding claim, wherein the attachment unit is configured for retrofitting to the surgical robot.

20. A system according to any preceding claim, wherein the attachment unit includes a ball portion configured to be received by a socket of the armature structure.

21 . An attachment unit for use in a system according to any of claims 1 to 20.

22. A system substantially as herein described with reference to the accompanying drawings.

23. An attachment unit substantially as herein described with reference to the accompany drawings.

24. Any novel feature or novel combination of features disclosed herein.