BACKGROUND
It is known to use robots for assisting and performing surgery. Figure 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.
A typical laparoscopic operation may require several surgical robots, each one carrying an
instrument or other implement which is used concurrently with the others at the surgical site.
For example, a pair of pincers, a scalpel and an endoscope may all be concurrently
manipulated at the surgical site, each of which is attached to a different surgical robot.
Each surgical robot is located around the patient in such a position that its
instrument/implement can reach the surgical site via its port and perform the required
manipulations at the surgical site. The available space around the patient is limited and is
also required by the operating room staff for access to the patient. Ideally, the robot arms
are spaced sufficiently far apart that each robot arm can have any joint configuration and not
clash with an adjacent robot arm. This spacing can be set by determining the working space
of each robot arm to be the total swept volume of the robot arm in all its configurations. If
the end of the instrument/implement which interfaces the distal end of the robot arm
extends beyond the profile of the distal end of the robot arm, the swept volume of that
extension is determined and added to the swept volume of the robot arm to determine the
working space of the robot arm. To ensure collisions are avoided, no other apparatus is
allowed to encroach into this working space. An alternative approach is to allow one robot
arm to be within the working space of another robot arm, but to limit the configurations that
one or both of the robot arms can adopt so as to avoid collisions between the two. A complex
control system which implements a collision avoidance mechanism is used to accomplish this.
If the end of the instrument/implement which interfaces the distal end of the robot arm is
bulky, this also limits the positions at which the port may be located so as to enable access of
the instrument/implement to the surgical site of the patient.
Endoscopes are particularly bulky implements due to the optical equipment they house. The
end of the endoscope which interfaces the robot arm is typically larger than the equivalent
interface on an instrument, and also typically larger than the end of the robot arm to which
it attaches.
SUMMARY OF THE INVENTION
According to an aspect of the invention, there is provided a surgical endoscope for
manipulation by a surgical robot arm, the surgical endoscope comprising: a shaft having a
distal end for insertion into a patient and a proximal end; an endoscope interface attached to
the proximal end of the shaft, the endoscope interface configured to engage a robot arm
interface of the surgical robot arm, the endoscope interface comprising: an endoscope wedge
mechanism moveable between an unlocked position and a locked position, the endoscope
wedge mechanism comprising: endoscope wedge elements which are displaceable such that
collective displacement of the endoscope wedge elements actuates the endoscope wedge
mechanism between the unlocked position and the locked position.
The endoscope interface may be received in the robot arm interface such that the endoscope
wedge elements are retained by complementary robot arm wedge elements when the
endoscope interface and robot arm interface are engaged.
The endoscope interface may primarily extend parallel to the longitudinal axis of the surgical
endoscope and transverse to the longitudinal axis of the surgical endoscope.
Each endoscope wedge element may be displaceable transverse to the longitudinal axis of
the surgical endoscope.
Each endoscope wedge element may be biased towards its configuration in the locked
position of the endoscope wedge mechanism.
The endoscope wedge elements may be spring-biased towards their configuration in the
locked position of the endoscope wedge mechanism.
The surgical endoscope may comprise two endoscope wedge elements configured to be
separated by a greater distance in the locked position of the endoscope wedge mechanism
than in the unlocked position of the endoscope wedge mechanism.
The endoscope wedge mechanism may further comprise a lock configured to constrain the
endoscope wedge elements in a spaced apart configuration in the locked position of the
endoscope wedge mechanism, and to not constrain the endoscope wedge elements in the
unlocked position of the endoscope wedge mechanism.
The lock may be biased towards its configuration in the locked position of the endoscope
wedge mechanism.
The lock may be spring-biased towards its configuration in the locked position of the
endoscope wedge mechanism.
An endoscope wedge element may comprise a mating wedge and a projection, the mating
wedge configured to mate with a robot arm wedge element of the robot arm interface, the
mating wedge further configured to be spaced apart from a mating wedge of the other
endoscope wedge element by the lock.
The projection may be configured to, as the endoscope wedge mechanism is actuated from
the locked position to the unlocked position, engage the lock so as to move the lock from
between the mating wedges thereby permitting the mating wedges to be brought together
in the unlocked position.
The projection may be configured to, as the endoscope wedge mechanism is actuated from
the locked position to the unlocked position, apply a force to the lock which opposes the
direction in which the lock is biased.
The projection may be biased towards its configuration in the locked position of the
endoscope wedge mechanism.
The projection may be spring-biased towards its configuration in the locked position of the
endoscope wedge mechanism.
The mating wedge and the projection may both be displaceable in the same direction.
The projection may be displaceable relative to the mating wedge.
The projection may be subject to a projection bias force and the mating wedge may be subject
to a mating wedge bias force, the projection bias force and mating wedge bias force being in
the same bias direction, the mating wedge bias force being greater than the projection bias
force, wherein the projection and mating wedge are both configured to be actuated by the
same external force applied in an opposing direction to the bias direction.
The endoscope interface may comprise an endoscope assembly and an endoscope drape, the
endoscope drape being detachable from the endoscope assembly.
The mating wedge may comprise an endoscope drape wedge element and an endoscope
assembly wedge element, the endoscope drape wedge element being detachable from the
endoscope assembly wedge element, the endoscope drape wedge element configured to
engage directly with the robot arm interface.
According to a second aspect of the invention, there is provided a surgical robot for
manipulating a surgical endoscope, the surgical robot comprising: a robot base connected to
a distal robot arm link via a series of intermediate articulated robot arm links; a robot arm
interface attached to the distal robot arm link, the robot arm interface configured to receive
and engage an endoscope interface of the surgical endoscope, the robot arm interface
comprising: robot arm interface elements for engaging endoscope interface elements of the
endoscope interface, all the robot arm interface elements being static in the robot arm
interface, wherein the robot arm interface is shaped so as to only receive and engage the
endoscope interface when the endoscope interface and robot arm interface are brought into
engagement in a direction perpendicular to the longitudinal axis of the distal robot arm link.
The robot arm interface may primarily extend parallel to the longitudinal axis of the distal
robot arm link and transverse to the longitudinal axis of the distal robot arm link.
The robot arm interface may comprise a rim transverse to the longitudinal axis of the distal
robot arm link, the rim acting to constrain the robot arm interface to only being able to receive
and engage the endoscope interface when the endoscope interface is brought into
engagement with the robot arm interface in a direction perpendicular to the longitudinal axis
of the distal robot arm link.
The robot arm interface elements may comprise robot arm wedge elements for retaining
complementary endoscope wedge elements when the endoscope interface and robot arm
interface are engaged.
The robot arm wedge elements may be angled in the direction in which the endoscope
interface is brought into engagement with the robot arm interface, such that when the
endoscope interface and robot arm interface are engaged, the robot arm wedge elements
constrain the endoscope wedge elements in the direction in which the endoscope interface
is brought into engagement with the robot arm interface.
The surgical robot may comprise two robot arm wedge elements separated so as to be
capable of retaining the endoscope wedge elements between them, wherein the separation
of the robot arm wedge elements varies over the robot arm interface.
The robot arm interface may comprise a robot arm assembly and a robot arm drape, the robot
arm drape being detachable from the robot arm assembly.
The robot arm drape may comprise the robot arm wedge elements.
According to a third aspect of the invention, there is provided a surgical robot for
manipulating a surgical endoscope, the surgical robot comprising: a robot base connected to
a distal robot arm link via a series of intermediate articulated robot arm links; a robot arm
interface attached to the distal robot arm link; and a surgical endoscope comprising: a shaft
having a distal end for insertion into a patient and a proximal end; an endoscope interface
attached to the proximal end of the shaft; wherein the robot arm interface is configured to
receive and engage the endoscope interface such that the longitudinal axis of the distal robot
arm link is aligned with the longitudinal axis of the surgical endoscope.
The distal robot arm link may be attached to a second robot arm link by a roll joint, the
longitudinal axis of the surgical endoscope being aligned with the roll axis of the roll joint.
The distal robot arm link may be attached to the second robot arm link by a compound joint,
the compound joint permitting the distal robot arm link to rotate about a roll axis, a pitch axis
and a yaw axis relative to the second robot arm link, the longitudinal axis of the surgical
endoscope intersecting the pitch axis and the yaw axis.
The robot arm interface may be shaped so as to only receive and engage the endoscope
interface when the endoscope interface and robot arm interface are brought into
engagement in a direction perpendicular to the longitudinal axis of the distal robot arm link
and perpendicular to the longitudinal axis of the surgical endoscope.
The surgical endoscope may be operable when detached from the distal robot arm link.
According to a fourth aspect of the invention, there is provided a replica endoscope interface
for mating with a robot arm interface of a surgical robot in a process of characterising the
environment of the surgical robot, the replica endoscope interface comprising: an endoscope
wedge mechanism moveable between an unlocked position and a locked position, the
endoscope wedge mechanism comprising: endoscope wedge elements which are
displaceable such that collective displacement of the endoscope wedge elements actuates
the endoscope wedge mechanism between the unlocked position and the locked position.
BRIEF DESCRIPTION OF THE FIGURES
The present invention will now be described by way of example with reference to the
accompanying drawings. In the drawings:
Figure 1 illustrates a surgical robot performing a surgical procedure;
Figure 2 illustrates a surgical endoscope;
Figures 3a and 3b illustrate an endoscope being brought into engagement and
engaged with a robot arm;
Figure 4 illustrates the distal end of a robot arm;
Figures 5, 6 and 7 illustrate a cross-section through an endoscope and robot arm in
various stages of their engagement; and
Figures 8a and 8b illustrate cross sections of the endoscope interface and robot arm
interface which are transverse to the cross sections of figures 5 to 7.
DETAILED DESCRIPTION
Figure 2 illustrates an endoscope which is attachable to the end of a robot arm for use in
minimally invasive surgery. The endoscope 200 has a distal end 202 for insertion into the
surgical site of the patient, and a proximal end 204. The distal end is connected to the
proximal end by an elongate shaft 206. The proximal end 204 comprises an interface 208 for
engaging the end of the robot arm.
The endoscope has a power source and a light source for illuminating the surgical site. The
endoscope also has a data line for extracting the image data from the surgical site. These may
all be attached to the proximal end of the endoscope independently and externally of the
robot arm, as shown in figure 2. In figure 2, power is applied through stem 212, image data
is extracted through stem 212, and light is applied through light stem 210. In an alternative
implementation, any one or more of the light input, power input and data output may be
applied/extracted to the endoscope through the robot arm.
The endoscope mounts to the end of the robot arm. The robot arm has the form shown in
figure 1. In other words, the robot arm extends between a base and an interface by which it
attaches to the endoscope. The robot arm comprises a series of rigid links interspersed by
joints. Those joints enable articulation of the robot arm.
The endoscope interface 204 engages a complementary interface of the robot arm. Figure 3a
illustrates an endoscope being brought into engagement with the robot arm, and figure 3b
illustrates the endoscope and robot arm in an engaged configuration. Suitably, the
endoscope does not have an articulated distal end. Thus, there is no transfer of drive (for
example cable drive) from the robot arm to the endoscope through the robot arm and
endoscope interfaces. The robot arm only acts to support the endoscope. Since the
endoscope is a rigid extension of the distal end of the robot arm, the orientation of the distal
end of the endoscope matches that of the distal end of the robot arm. The distance that the
endoscope is inserted into the patient through the port is controlled by the joint configuration
of the robot arm. In other words, the distance that the endoscope is inserted into the patient
through the port is controlled by the distance between the distal end of the robot arm and
the port.
The endoscope is attachable to and detachable from the robot arm via the robot arm and
endoscope interfaces. Suitably, the endoscope is operable independently of the robot arm in
its detached state. In other words, the endoscope can be operated manually by a member of
the operating room staff when detached from the robot arm.
With reference to figures 3a and 3b, the distal end of the robot arm 302 terminates in the
robot arm interface 304. The distal link of the robot arm 302 has a longitudinal axis 306. The
endoscope shaft 206 has a longitudinal axis 308. As can be seen in figure 3b, when the
endoscope is docked on the robot arm, the longitudinal axis of the endoscope shaft 308 is
aligned with the longitudinal axis of the robot arm 306. By aligning the longitudinal axes of
the endoscope and robot arm, the additional swept volume resulting from the size of the
proximal end of the endoscope exceeding the size of the distal end of the robot arm is
minimised. If the endoscope is mounted off-axis with the distal end of the robot arm, then
for the same size of proximal end of the endoscope, the swept volume of the endoscope is
larger. Thus, by aligning the longitudinal axes of the endoscope and distal end of the robot
arm, the overall working space of the surgical robot is reduced. Thus other surgical robots
can be located closer to the surgical robot supporting the endoscope whilst avoiding clashes.
Figure 4 illustrates an exemplary distal end of the robot arm. The final joint of the robot arm
of figure 4 is a roll joint 402. The roll joint 402 enables the distal link of the robot arm 302 to
rotate about the roll joint axis 306 relative to the next link of the robot arm 404. The axis of
the roll joint 306 is aligned with the longitudinal axis of the distal end of the robot arm. In
figure 4, the distal link of the robot arm 302 is connected to the next robot arm link 404 by a
compound joint. This compound joint comprises the roll joint 402. The compound joint also
comprises a pitch joint 406 and a yaw joint 408. The pitch joint axis 410 intersects the yaw
joint axis 412. The roll joint axis 306, the pitch joint axis 410 and the yaw joint axis 412 all
intersect at the same point. Thus, when the endoscope is docked to the robot arm, the
longitudinal axis of the endoscope 308 is aligned with the roll joint axis 306 and intersects the
pitch joint axis 410 and the yaw joint axis 412. The compound joint may further comprise a
further roll joint 313 whose roll joint axis 416 is aligned with the longitudinal axis of the
penultimate link of the robot arm 404.
Referring back to figures 3a and 3b, the endoscope interface and robot arm interface are
located (on the endoscope and robot arm respectively) and shaped such that in order to
engage each other, the endoscope and robot arm are brought together perpendicular to the
longitudinal axis of the endoscope 308 and also perpendicular to the longitudinal axis of the
robot arm 306. In the example of figures 3a and 3b, the robot arm interface 304 extends
primarily in directions parallel to the longitudinal axis 306 of the distal link of the robot arm
and transverse to the longitudinal axis 306 of the distal link of the robot arm. Similarly, the
endoscope interface 204 extends primarily in directions parallel to the longitudinal axis 308
of the surgical endoscope and transverse to the longitudinal axis 308 of the surgical
endoscope. Both interfaces are substantially planar.
The robot arm interface 304 also comprises a rim 310 transverse to the longitudinal axis of
the robot arm 306. The rim limits the length of the robot arm interface 304 which can receive
and retain the endoscope interface in the direction of the longitudinal axis 306 of the distal
link of the robot arm. This length is limited to be the length of the endoscope interface in the
direction of the longitudinal axis 308 of the endoscope. Thus, the rim acts to constrain the
robot arm interface such that it can only receive and engage the endoscope interface when
the endoscope interface is brought into engagement with the robot arm interface in a
direction perpendicular to the longitudinal axis of the distal link of the robot arm. In other
words, the endoscope interface cannot be brought into engagement with the robot arm
interface with a component of motion in the direction of the longitudinal axis of the distal
end of the robot arm 306.
Not moving the endoscope in the direction of the longitudinal axis of the endoscope 308 when
detaching the endoscope increases the safety of the detachment action. This is because if
the endoscope was detached from the robot arm when it was still in the patient, this action
would not cause the endoscope to be pushed further into the surgical site where such a
movement could cause significant damage.
Suitably, the endoscope is attachable to and detachable from the robot arm by a person onehanded.
A mechanism is used to engage and lock the endoscope and robot arm together.
The mechanism is operated mechanically by a person. The mechanism is all contained within
one of the endoscope interface and robot arm interface. By locating all the moving parts of
the endoscope interface and robot arm interface in one of the endoscope interface and robot
arm interface, the endoscope can be attached to and detached from the robot arm onehanded.
Figures 5, 6 and 7 illustrate a cross-section through an exemplary endoscope and robot arm
in various stages of their engagement. The cross-section is in a plane perpendicular to the
longitudinal axes of the robot arm 306 and endoscope 308. In figure 5, the endoscope and
robot arm are locked in engagement. In figures 6 and 7, the endoscope and robot arm are
partially engaged. In the example shown in figures 5 to 7, the mechanism used to engage and
lock the endoscope and robot arm together is wholly contained within the endoscope
interface. The robot arm interface comprises static components only. In an alternative
example, the mechanism used to engage and lock the endoscope and robot arm together
may be wholly contained within the robot arm interface. In this case, the endoscope interface
may comprise static components only.
Referring to figure 5, the endoscope interface comprises an endoscope wedge mechanism.
The endoscope wedge mechanism is actuated by a user to engage and disengage the
endoscope from the robot arm. The mechanism is moveable between an unlocked position
and a locked position. The endoscope wedge mechanism comprises endoscope wedge
elements 502, 504 which are movable. The wedge elements protrude from the profile of the
endoscope. It is the wedge elements which are retained in the robot arm interface when the
endoscope and robot arm are engaged. The wedge elements displace when the user actuates
the wedge mechanism. Collective displacement of the endoscope wedge elements actuates
the endoscope wedge mechanism between its unlocked position and its locked position.
Figure 5 illustrates two endoscope wedge elements 502, 504. The endoscope wedge
elements are separated in a direction A perpendicular to the longitudinal axis 308 of the
endoscope. By comparing the locked position of figure 5 to the unlocked position of figure 7,
it can be seen that the endoscope wedge elements are separated by a greater distance in the
direction A in the locked position than in the unlocked position. The endoscope wedge
elements 502, 504 are displaceable in the direction A. The endoscope wedge elements 502,
504 displace towards each other to move the endoscope wedge mechanism towards its
unlocked position. The endoscope wedge elements 502, 504 displace away from each other
to move the endoscope wedge mechanism towards its locked position.
Each endoscope wedge element is connected to an arm 510, 512 which terminates in a user
contact 506, 508 at the exterior of the endoscope's proximal end. The arms may be aligned
as shown in figures 5-7. The user contacts may be exposed external to the profile of the
endoscope when the endoscope wedge mechanism is in its locked state. The user contacts
may be exposed on opposing sides of the exterior of the endoscope as shown in figures 5-7.
The user contacts are depressible by a user. Each arm is displaceable in the direction A. A
user depresses the user contact 506, 508 in the direction A thereby causing the arm and hence
the endoscope wedge element to displace in the direction A. The two user contacts 506, 508
and hence the two arms 510, 512 of the endoscope wedge elements 502, 504 displace
towards each other to move the endoscope wedge mechanism towards its unlocked position.
The two user contacts 506, 508 and hence the two arms 510, 512 of the endoscope wedge
elements 502, 504 displace away from each other to move the endoscope wedge mechanism
towards its locked position.
The endoscope wedge elements may be biased towards their configuration in the locked
position of the endoscope wedge mechanism. In the example of figures 5-7, the endoscope
wedge elements 502,504 are spring-biased towards their configuration in the locked position
of the endoscope wedge mechanism. Spring 514 resists displacement of the arm 510 and
hence the endoscope wedge element 502 in the direction A towards the other endoscope
wedge element 504. Spring 514 provides a spring force which opposes the force applied by
the user to the user contact 506. In the example of figures 5-7, spring 514 is within arm 510
and wound so as to compress and expand in the direction A. When the user applies a user
force to the user contact 506 which exceeds the opposing force of the spring 514, the
endoscope wedge mechanism moves towards the unlocked position. When the user releases
the user contact 506, the spring force is greater than the user force, thus the endoscope
wedge mechanism moves back to the locked position. Spring 516 resists displacement of the
arm 512 and hence the endoscope wedge element 504 in the direction A towards the other
endoscope wedge element 504. Spring 516 provides a spring force which opposes the force
applied by the user to the user contact 508. In the example of figures 5-7, spring 516 is within
arm 512 and wound so as to compress and expand in the direction A. Spring 516 may be the
same spring as spring 514. When the user applies a user force to the user contact 508 which
exceeds the opposing force of the spring 516, the endoscope wedge mechanism moves
towards the unlocked position. When the user releases the user contact 508, the spring force
is greater than the user force, thus the endoscope wedge mechanism moves back to the
locked position. Thus, by applying opposing user forces to the user contacts 506, 508 which
exceed the forces of springs 514,516, the user moves the endoscope wedge mechanism away
from the locked position of figure 5 towards the unlocked position of figure 7.
The endoscope wedge mechanism may further comprise a lock which constrains the
endoscope wedge elements to their configuration in the locked position of the endoscope
wedge mechanism. The lock does not constrain the endoscope wedge elements in the
unlocked position of the endoscope wedge mechanism. In the example of figures 5-7, the
lock comprises a plunger 518 which is moveable in a direction B transverse to the direction A.
In the locked position shown in figure 5, the plunger 518 wedges the endoscope wedge
elements 502,504 apart. In the unlocked positions shown in figures 6 and 7, the plunger does
not impede the position of the endoscope wedge elements 502, 504 in the direction A. The
plunger is biased towards its configuration in the locked position. In the example of figure 5,
the plunger is spring-biased towards the locked position by spring 520. Spring 520 provides
a spring force in the direction B which pushes the plunger in between the endoscope wedge
elements. Spring 520 is wound about the longitudinal axis of plunger 518 so as to compress
and expand in the direction B.
The endoscope wedge element 502 of figure 5 comprises two parts which are moveable
relative to each other: a mating wedge 526, and a projection 524. The mating wedge 526
mates with a complementary robot arm wedge element of the robot arm interface. The
plunger 518 comprises a surface feature which engages the projection 524. In figure 5, this
surface feature is an angled lead-in 522. The projection 524 has a complementary shape to
the angled lead-in 522.
The projection 524 is biased towards its configuration in the locked position of the endoscope
wedge mechanism. In the example of figures 5-7, the projection 524 is spring-biased towards
its configuration in the locked position of the endoscope wedge mechanism. Spring 530
resists displacement of the arm 510 and hence the projection 524 in the direction A towards
the plunger 518. Spring 530 provides a spring force which opposes the force applied by the
user to the user contact 506. Spring 530 is within arm 510 and wound so as to compress and
expand in the direction A. When the user applies a user force to the user contact 506 which
exceeds the opposing force of the spring 530, the projection 524 moves in the direction A
towards the plunger 518. By virtue of the angled shapes of the projection 524 and lead-in
522, once the projection contacts the plunger 518, as the projection 524 moves further
towards the plunger, the plunger moves in the direction B away from between the mating
wedges 526, 528. The force of the projection 524 on the plunger 518 overcomes the spring
bias of spring 520, thereby causing the plunger 518 to displace in the direction B away from
between the mating wedges 526, 528. Figure 6 illustrates the projection 524 having moved
its maximum displacement towards the plunger 518. The plunger 518 is not obstructing the
motion of the mating wedges 526, 528. When the user releases the user contact 506, the
force of spring 530 is greater than the user force, thus the projection 518 moves in the
direction A away from the plunger 518, which consequently causes the plunger to move
between the mating wedges 526, 528.
Although only one projection 524 and one plunger 518 are illustrated in figures 5-7, two or
more projections may engage one or more plungers. The projections may be connected to
one or both arms.
In the example of figures 5-7, the projection 524 and mating wedge 526 are both subject to
biasing forces in the same direction, from springs 530 and 514 respectively. Displacement of
both the projection 524 and the mating wedge 526 are actuated by application of force to the
same user contact 506. The biasing force of the projection is selected to be lower than the
biasing force of the mating wedge, for example by the projection being more lightly sprung
than the mating wedge. Thus, when the user applies force to the user contact, the biasing
force of the projection is overcome before the biasing force of the mating wedge. Thus, when
the user applies force to the user contact in the locked position of the endoscope wedge
mechanism, the projection 524 moves towards the plunger 518 in the direction A before the
mating wedge 526 moves towards the other mating wedge 528 in the direction A. Thus, on
application of force by the user to the user contact, the endoscope wedge mechanism moves
from the locked configuration of figure 5 in which the plunger 518 wedges the mating wedges
526, 528 apart to the unlocked configuration of figure 6 in which the plunger 518 has moved
out from between the mating wedges 526, 528. On further application of force by the user
to the user contact, the endoscope wedge mechanism moves from the unlocked
configuration of figure 6 to the disengageable configuration of figure 7 in which the
endoscope interface can be removed from the robot arm interface.
Although above two endoscope wedge elements 502, 504 have been described, further
endoscope wedge elements may be utilised. These further endoscope wedge elements may
be actuated by the same user contacts shown in figures 5-7, or by further user contacts.
The robot arm interface of figures 5 to 7 will now be described. The robot arm interface
comprises robot arm interface elements for engaging the endoscope interface elements.
More specifically, the robot arm interface comprises robot arm wedge elements 532, 534 for
retaining the endoscope wedge elements 502, 504. Both the endoscope wedge elements
502, 504 and the robot arm wedge elements 532, 534 have a surface at an angle to the
direction in which the endoscope interface is brought into engagement with the robot arm
interface. The angled surface of the endoscope wedge element 502 contacts the angled
surface of the robot arm wedge element 532. The angled surface of the endoscope wedge
element 504 contacts the angled surface of the robot arm wedge element 534. The contact
surfaces are angled such that when the endoscope interface and the robot arm interface are
engaged, the robot arm wedge elements 532, 534 constrain the endoscope wedge elements
in the direction in which the endoscope interface is brought into engagement with the robot
arm interface. In other words, in the locked position shown in figure 5, the angled surfaces
of the robot arm wedge elements 532, 534 prevent the endoscope interface from being lifted
away from the robot arm interface in the direction B. The endoscope interface is also
prevented from being lifted away from the robot arm interface in any other direction. Hence
a lateral force on the end of the endoscope does not cause the endoscope interface to
become detached from the robot arm interface. Each robot arm wedge element has a
complementary shape to the endoscope wedge element that it retains.
The separation of the robot arm wedge elements 532, 534 may vary over the length of the
robot arm interface. Figures 8a and 8b illustrate cross sections of the endoscope interface
and robot arm interface which are transverse to the cross sections of figures 5 to 7 and parallel
to the longitudinal axes 308 and 306 of the endoscope shaft and distal link of the robot arm.
Figure 8a illustrates the robot arm interface, and figure 8b illustrates the endoscope interface.
The separation of the robot arm wedge elements 532, 534 can be seen to vary in the direction
of the longitudinal axis of the terminal link of the robot arm 306. The separation of the robot
arm wedge elements 532, 534 decreases the more distal they are from the distal link of the
robot arm. The width of the endoscope wedge elements 502, 504 in the direction A can be
seen to vary over the length of the endoscope interface so as to match the separation of the
robot arm wedge elements over the length of the robot arm interface. Thus, the endoscope
interface engages the robot arm interface in one position only.
In order to ensure a sterile environment, components which are used in the operating room
are either pre-sterilised or covered by a sterile drape. Suitably, both the robot arm and the
endoscope are draped in orderto maintain the sterile barrier with the patient. The robot arm
and endoscope may be individually draped. By separately draping the robot arm and the
endoscope, the endoscope can be removed from the robot arm and used independently of
the robot arm whilst still maintaining the sterile barrier to the patient. Figures 3a and 3b
illustrate an endoscope drape 312 which covers the endoscope (or the portion of the
endoscope which is non-sterile) and a robot arm drape 314 which covers the robot arm.
The sterile barrier continues across the robot arm interface and the endoscope interface. In
one arrangement, one or more components of the robot arm interface may be integral to the
robot arm drape. For example, one or more components of the robot arm interface may be
bonded to the robot arm drape. Similarly, one or more components of the endoscope
interface may be integral to the endoscope drape. For example, one or more components of
the endoscope interface may be bonded to the endoscope drape. Thus, the robot arm
interface comprises components which are part of the robot arm and components which are
part of the robot arm drape. Similarly, the endoscope interface comprises components which
are part of the endoscope and components which are part of the endoscope drape. When
the endoscope interface engages the robot arm interface, contact is between the endoscope
drape and the robot arm drape.
In this arrangement, with reference to figure 5, the robot arm drape comprises the robot arm
wedge elements 532, 534. The robot arm drape also comprises reinforcing element 536. The
robot arm comprises the body 538 of the robot arm interface. The body 538 retains the robot
arm drape elements 532, 534 and 536. These robot arm drape elements are detachable from
the body. The body 538 comprises a lip 540 which retains each of the robot arm wedge
elements 532, 534 and the reinforcing element 536. The body 538 also comprises the rim
310.
The endoscope mating wedges 526, 528 each comprise an endoscope drape wedge element
542, 544 which is part of the endoscope drape, and an endoscope assembly wedge element
546, 548 which is part of the endoscope. The endoscope drape wedge elements are
detachable from the endoscope assembly wedge elements. The endoscope drape wedge
elements 542, 544 are retained by the endoscope assembly wedge elements 546, 548. The
contact surfaces of the endoscope drape wedge elements 542, 544 are complementarily
shaped to the endoscope assembly wedge elements 546, 548. The endoscope assembly
wedge elements 546, 548 comprise surface features such as nibs 550 which retain
complimentary shaped surface features of the endoscope drape wedge elements 542, 544.
These surface features act to fasten the endoscope drape wedge elements to the endoscope
assembly wedge elements, and hence resist forces acting to detach the endoscope from the
endoscope drape.
In an alternative arrangement, the portion of the robot arm drape across the robot arm
interface may not comprise any of the components of the robot arm interface. For example,
this portion of the robot arm drape may be composed of fabric only with no rigid components.
This fabric may be the same as the fabric of the remainder of the robot arm drape.
Alternatively, the fabric across the robot arm interface may be reinforced relative to the fabric
of the remainder of the robot arm drape. The portion of the endoscope drape across the
endoscope interface may not comprise any of the components of the endoscope interface.
For example, this portion of the endoscope drape may be composed of fabric only with no
rigid components. This fabric may be the same as the fabric of the remainder of the
endoscope drape. Alternatively, the fabric across the endoscope interface may be reinforced
relative to the fabric of the remainder of the endoscope drape. In these arrangements, any
one or more of the robot arm wedge elements 532, 534 and the reinforcing element 536 may
be integral with the body 538 of the robot arm interface. These components are not
detachable from the robot arm interface, and hence not detachable from the robot arm in
use. Similarly, each endoscope mating wedge may be integrally formed. In other words,
endoscope mating wedge 526 does not comprise detachable components 542 and 546; and
endoscope mating wedge 528 does not comprise detachable components 544 and 548. These
components are not detachable from the endoscope interface, and hence not detachable
from the endoscope in use.
A replica endoscope interface may be utilised during a process of characterising the
environment of the surgical robot. The replica endoscope interface comprises an endoscope
wedge mechanism as described herein. Suitably, the replica endoscope interface does not
comprise any other features of an endoscope. The replica endoscope interface may be
located at a known location in the operating room, such as at a known location on the patient
table. During setup of the endoscope robot arm priorto an operation, the robot arm interface
is brought to the replica endoscope interface and the two are engaged using the procedure
described herein. The control system of the robot arm uses the known configuration of the
joints of the robot arm (from joint configuration signals received from position sensors on the
robot arm), the known position and orientation of the replica endoscope interface, and the
known position and orientation of the robot arm interface when in engagement with the
replica endoscope interface to determine the position of the robot arm in the operating room.
The control system may also use torque measurements from torque sensors on the robot arm
to determine the direction of gravity acting on the robot arm, and hence determine the
orientation of the robot arm.
The endoscope and robot arm could be used for non-surgical purposes. For example, the
endoscope could be used in an industrial robot manufacturing or machining procedure.
The applicant hereby discloses in isolation each individual feature described herein and any
combination of two or more such features, to the extent that such features or combinations
are capable of being carried out based on the present specification as a whole in the light of
the common general knowledge of a person skilled in the art, irrespective of whether such
features or combinations of features solve any problems disclosed herein, and without
limitation to the scope of the claims. The applicant indicates that aspects of the present
invention may consist of any such individual feature or combination of features. In view of
the foregoing description it will be evident to a person skilled in the art that various
modifications may be made within the scope of the invention.

CLAIMS-
1. A surgical endoscope for manipulation by a surgical robot arm, the surgical endoscope
comprising:
a shaft having a distal end for insertion into a patient and a proximal end;
an endoscope interface attached to the proximal end of the shaft, the
endoscope interface configured to engage a robot arm interface of the surgical robot
arm, the endoscope interface comprising:
an endoscope wedge mechanism moveable between an unlocked
position and a locked position, the endoscope wedge mechanism comprising:
endoscope wedge elements which are displaceable such that
collective displacement of the endoscope wedge elements actuates the
endoscope wedge mechanism between the unlocked position and the
locked position in which the endoscope wedge elements are retained
in the robot arm interface.
2. A surgical endoscope as claimed in claim 1, wherein the endoscope interface is
configured to be received in the robot arm interface such that the endoscope wedge
elements are retained by complementary robot arm wedge elements when the
endoscope interface and robot arm interface are engaged.
3. A surgical endoscope as claimed in claim 1 or 2, wherein each endoscope wedge
element is displaceable transverse to the longitudinal axis of the surgical endoscope.
4. A surgical endoscope as claimed in any preceding claim, wherein the endoscope
wedge elements are biased towards their configuration in the locked position of the
endoscope wedge mechanism.
5. A surgical endoscope as claimed in any preceding claim, comprising two endoscope
wedge elements configured to be separated by a greater distance in the locked
position of the endoscope wedge mechanism than in the unlocked position of the
endoscope wedge mechanism.
6. A surgical endoscope as claimed in claim 5, wherein the endoscope wedge mechanism
further comprises a lock configured to constrain the endoscope wedge elements in a
spaced apart configuration in the locked position of the endoscope wedge
mechanism, and to not constrain the endoscope wedge elements in the unlocked
position of the endoscope wedge mechanism.
7. A surgical endoscope as claimed in claim 6, wherein an endoscope wedge element
comprises a mating wedge and a projection, the mating wedge configured to mate
with a robot arm wedge element of the robot arm interface, the mating wedge further
configured to be spaced apart from a mating wedge of the other endoscope wedge
element by the lock.
8. A surgical endoscope as claimed in claim 7, wherein the projection is configured to, as
the endoscope wedge mechanism is actuated from the locked position to the
unlocked position, engage the lock so as to move the lock from between the mating
wedges thereby permitting the mating wedges to be brought together in the unlocked
position.
9. A surgical endoscope as claimed in claim 7 or 8, wherein the mating wedge and the
projection are both displaceable in the same direction.
10. A surgical endoscope as claimed in claim 9, wherein the projection is displaceable
relative to the mating wedge.
11. A surgical endoscope as claimed in claim 10, wherein the projection is subject to a
projection bias force and the mating wedge is subject to a mating wedge bias force,
the projection bias force and mating wedge bias force being in the same bias direction,
the mating wedge bias force being greater than the projection bias force, wherein the
projection and mating wedge are both configured to be actuated by the same external
force applied in an opposing direction to the bias direction.
12. A surgical endoscope as claimed in any preceding claim, the endoscope interface
comprising an endoscope assembly and an endoscope drape, the endoscope drape
being detachable from the endoscope assembly.
13. A surgical endoscope as claimed in claim 12 when dependent on any of claims 7 to 11,
wherein the mating wedge comprises an endoscope drape wedge element and an
endoscope assembly wedge element, the endoscope drape wedge element being
detachable from the endoscope assembly wedge element, the endoscope drape
wedge element configured to engage directly with the robot arm interface.
14. A surgical robot for manipulating a surgical endoscope, the surgical robot comprising:
a robot base connected to a distal robot arm link via a series of intermediate
articulated robot arm links;
a robot arm interface attached to the distal robot arm link, the robot arm
interface configured to receive and engage an endoscope interface of the surgical
endoscope, the robot arm interface comprising:
robot arm interface elements for engaging endoscope interface
elements of the endoscope interface, all the robot arm interface elements
being static in the robot arm interface,
wherein the robot arm interface is shaped so as to only receive and engage the
endoscope interface when the endoscope interface and robot arm interface are
brought into engagement in a direction perpendicular to the longitudinal axis of the
distal robot arm link.
15. A surgical robot as claimed in claim 14, wherein the robot arm interface comprises a
rim transverse to the longitudinal axis of the distal robot arm link, the rim acting to
constrain the robot arm interface to only being able to receive and engage the
endoscope interface when the endoscope interface is brought into engagement with
the robot arm interface in a direction perpendicular to the longitudinal axis of the
distal robot arm link.
16. A surgical robot as claimed in claim 14 or 15, wherein the robot arm interface elements
comprise robot arm wedge elements for retaining complementary endoscope wedge
elements when the endoscope interface and robot arm interface are engaged.
17. A surgical robot as claimed in claim 16, wherein the robot arm wedge elements are
angled in the direction in which the endoscope interface is brought into engagement
with the robot arm interface, such that when the endoscope interface and robot arm
interface are engaged, the robot arm wedge elements constrain the endoscope wedge
elements in the direction in which the endoscope interface is brought into
engagement with the robot arm interface.
18. A surgical robot as claimed in claim 16 or 17, comprising two robot arm wedge
elements separated so as to be capable of retaining the endoscope wedge elements
between them, wherein the separation of the robot arm wedge elements varies over
the robot arm interface.
19. A surgical robot as claimed in any of claims 16 to 18, the robot arm interface
comprising a robot arm assembly and a robot arm drape, the robot arm drape being
detachable from the robot arm assembly.
20. A surgical robot as claimed in claim 19, wherein the robot arm drape comprises the
robot arm wedge elements.
21. A surgical robot for manipulating a surgical endoscope, the surgical robot comprising:
a robot base connected to a distal robot arm link via a series of intermediate
articulated robot arm links;
a robot arm interface attached to the distal robot arm link; and
a surgical endoscope comprising:
a shaft having a distal end for insertion into a patient and a proximal
end;
an endoscope interface attached to the proximal end of the shaft;
wherein the robot arm interface is configured to receive and engage the
endoscope interface such that the longitudinal axis of the distal robot arm link is
aligned with the longitudinal axis of the surgical endoscope.
22. A replica endoscope interface for mating with a robot arm interface of a surgical robot
in a process of characterising the environment of the surgical robot, the replica
endoscope interface comprising:
an endoscope wedge mechanism moveable between an unlocked position and
a locked position, the endoscope wedge mechanism comprising:
endoscope wedge elements which are displaceable such that collective
displacement of the endoscope wedge elements actuates the endoscope
wedge mechanism between the unlocked position and the locked position in
which the endoscope wedge elements are retained in the robot arm interface.