Guiding engagement of a robot arm and surgical instrument

{
  "publication_number": "US11033348B2",
  "country": "US",
  "kind": "B2",
  "title": "Guiding engagement of a robot arm and surgical instrument",
  "abstract": "A robotic surgical instrument comprises an articulation at its shaft's distal end and an instrument interface at its proximal end. The articulation is driveable by pairs of driving elements to articulate an end effector. The instrument interface comprises instrument interface elements configured to drive the driving elements. The instrument interface elements engage drive assembly interface elements of a drive assembly interface of a surgical robot arm when the robotic surgical instrument engages the surgical robot arm. A guide bar is located at an external face of the instrument interface, which, on engaging the instrument interface with the drive assembly interface, is received in the drive assembly interface prior to the instrument interface elements. Once received in the drive assembly interface, the guide bar constrains a relative orientation at which the instrument interface and the drive assembly interface are permitted to engage so as to align their longitudinal attitudes.",
  "claims": [
    "1. A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft configured to articulate an end effector, the articulation driveable by pairs of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface configured to engage a drive assembly interface of a surgical robot arm in a direction perpendicular to a longitudinal direction of the shaft, the instrument interface comprising: instrument interface elements configured to drive the pairs of driving elements, the instrument interface elements configured to be received in the drive assembly interface in the said direction and engage drive assembly interface elements of the drive assembly interface so that the drive assembly interface elements drive the instrument interface elements when the robotic surgical instrument engages with the surgical robot arm; and a guide bar located at an external face of the instrument interface which faces the drive assembly interface when they are brought into engagement, the guide bar configured to: on engaging the instrument interface with the drive assembly interface, be received in the drive assembly interface prior to the instrument interface elements engaging the drive assembly interface elements; and on having been received in the drive assembly interface, constrain a relative orientation at which the instrument interface and the drive assembly interface are permitted to engage so as to align their longitudinal attitudes.",
    "2. A robotic surgical instrument as claimed in claim 1, wherein the guide bar is elongate.",
    "3. A robotic surgical instrument as claimed in claim 1, wherein the guide bar is straight.",
    "4. A robotic surgical instrument as claimed in claim 3, wherein the guide bar is parallel to a longitudinal axis of the shaft.",
    "5. A robotic surgical instrument as claimed in claim 4, wherein the guide bar extends parallel to the longitudinal axis of the shaft over a longitudinal range bounded by longitudinal positions of the instrument interface elements when the robotic surgical instrument is in a straight configuration in which the end effector is aligned with the shaft.",
    "6. A robotic surgical instrument as claimed in claim 4, wherein an instrument interface element of the instrument interface elements is linearly displaceable parallel to the longitudinal axis of the shaft between a minimum longitudinal position and a maximum longitudinal position, and the guide bar extends over a longitudinal range bounded by the minimum longitudinal position and the maximum longitudinal position.",
    "7. A robotic surgical instrument as claimed in claim 4, wherein the guide bar extends across the instrument interface from the proximal end of the shaft.",
    "8. A robotic surgical instrument as claimed in claim 1, wherein the guide bar is narrower than a diameter of the shaft.",
    "9. A robotic surgical instrument as claimed in claim 1, wherein the guide bar and a first instrument interface element of the instrument interface elements are configured to be received in a first drive assembly interface element.",
    "10. A robotic surgical instrument as claimed in claim 9, wherein the first instrument interface element comprises a first body part and a second body part, the first body part configured to engage the first drive assembly interface element on one side of the guide bar, and the second body part configured to engage the first drive assembly interface element on an opposing side of the guide bar.",
    "11. A surgical robot arm extending between a base and a terminal link, the terminal link comprising a drive assembly interface, the drive assembly interface comprising: drive assembly interface elements configured to engage so as to drive instrument interface elements of an instrument interface of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the instrument comprising a shaft and the instrument interface being configured to engage the drive assembly interface in a direction perpendicular to a longitudinal direction of the shaft, the instrument interface elements being configured to be received in the drive assembly interface in the said direction, the drive assembly interface being configured to: receive a guide bar located at an external face of the instrument interface in prior to receiving the instrument interface elements; and on having received the guide bar, constrain a relative orientation at which the instrument interface and the drive assembly interface are permitted to engage so as to align their longitudinal attitudes.",
    "12. A surgical robot arm as claimed in claim 11, wherein the drive assembly interface is configured to receive a guide bar parallel to a longitudinal axis of the terminal link.",
    "13. A surgical robot arm as claimed in claim 11, wherein a first drive assembly interface element is configured to receive both the guide bar and a first instrument interface element.",
    "14. A surgical robot arm as claimed in claim 13, wherein the first drive assembly interface element comprises a first socket part and a second socket part, the first socket part configured to receive a first body part of the first instrument interface element, and the second socket part configured to receive a second body part of the first instrument interface element.",
    "15. A surgical robot comprising: a robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft configured to articulate an end effector, the articulation driveable by pairs of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising instrument interface elements configured to drive the pairs of driving elements, and a guide bar located at an external face of the instrument interface which faces the drive assembly interface when they are brought into engagement; and a surgical robot arm extending between a base and a terminal link, the terminal link comprising a drive assembly interface, the drive assembly interface comprising drive assembly interface elements configured to engage so as to drive instrument interface elements of the instrument interface of the robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the instrument interface being configured to engage the drive assembly interface in a direction perpendicular to a longitudinal direction of the shaft; wherein the guide bar is configured to: on engaging the instrument interface with the drive assembly interface, be received in the drive assembly interface prior to the instrument interface elements engaging the drive assembly interface elements; and on having been received in the drive assembly interface, constrain a relative orientation at which the instrument interface and the drive assembly interface are permitted to engage so as to align their longitudinal attitudes.",
    "16. A surgical robot as claimed in claim 15, wherein the guide bar is at least one of elongate and straight.",
    "17. A surgical robot as claimed in claim 16, wherein the guide bar is parallel to a longitudinal axis of the shaft, and wherein the drive assembly interface is configured to receive the guide bar parallel to a longitudinal axis of the terminal link.",
    "18. A surgical robot as claimed in claim 17, wherein the guide bar extends parallel to the longitudinal axis of the shaft over a longitudinal range bounded by longitudinal positions of the instrument interface elements when the robotic surgical instrument is in a straight configuration in which the end effector is aligned with the shaft.",
    "19. A surgical robot as claimed in claim 17, wherein an instrument interface element is linearly displaceable parallel to the longitudinal axis of the shaft between a minimum longitudinal position and a maximum longitudinal position, and the guide bar extends over a longitudinal range bounded by the minimum longitudinal position and the maximum longitudinal position.",
    "20. A surgical robot as claimed in claim 15, wherein the guide bar and a first instrument interface element are configured to be received in a first drive assembly interface element."
  ],
  "description_excerpt": "It is known to use robots for assisting and performing surgery. FIG. 1 illustrates a typical surgical robot 100 which consists of a base 108, an arm 102, and an instrument 105. The base supports the robot, and is itself attached rigidly to, for example, the operating theatre floor, the operating theatre ceiling or a trolley. The arm extends between the base and the instrument. The arm is articulated by means of multiple flexible joints 103 along its length, which are used to locate the surgical instrument in a desired location relative to the patient. The surgical instrument is attached to the distal end 104 of the robot arm. The surgical instrument penetrates the body of the patient 101 at a port 107 so as to access the surgical site. At its distal end, the instrument comprises an end effector 106 for engaging in a medical procedure. FIG. 2 illustrates a typical surgical instrument 200 for performing robotic laparoscopic surgery. The surgical instrument comprises a base 201 by means of which the surgical instrument connects to the robot arm. A shaft 202 extends between base 201 and articulation 203. Articulation 203 terminates in an end effector 204. In FIG. 2, a pair of serrated jaws are illustrated as the end effector 204. The articulation 203 permits the end effector 204 to move relative to the shaft 202. It is desirable for at least two degrees of freedom to be provided to the motion of the end effector 204 by means of the articulation.\n\nFIG.",
  "cpc": [
    "A61B 34/71",
    "A61B 17/32",
    "A61B 2017/00477",
    "A61B 2018/00172",
    "A61B 2034/305",
    "A61B 2034/306",
    "A61B 2034/715",
    "A61B 2090/0811",
    "A61B 34/20",
    "A61B 34/30",
    "A61B 34/32",
    "B25J 15/00",
    "B25J 17/00",
    "B25J 9/104",
    "Y10S 901/21",
    "Y10S 901/28"
  ],
  "ipc": [
    "A61B 17/00",
    "A61B 17/32",
    "A61B 18/00",
    "A61B 34/00",
    "A61B 34/20",
    "A61B 34/30",
    "A61B 34/32",
    "A61B 90/00",
    "B25J 15/00",
    "B25J 17/00",
    "B25J 9/10"
  ],
  "assignees": [
    "CMR SURGICAL LTD"
  ],
  "inventors": [
    "CHAPLIN BEN ROBERT",
    "MARSHALL KEITH",
    "PHOOLCHUND NIKKI PRIYAM SU-LING",
    "CUTHBERTSON REBECCA ANNE"
  ],
  "filing_date": "2016-12-09",
  "publication_date": "2021-06-15",
  "grant_date": "2021-06-15",
  "priority_date": "2015-12-10",
  "application_number": "US-201615373934-A",
  "family_id": "55274526",
  "citations": [
    "EP3025667A1",
    "EP3206842A1",
    "US2008065105A1",
    "US2008287963A1",
    "US2011015650A1",
    "US2015265355A1",
    "WO2014162217A1",
    "WO2014201538A1",
    "WO2015132549A1"
  ]
}