Robotic surgery system
One aspect of the robotic surgery system according to the invention relates to a robot assembly comprising at least one robot and an instrument assembly comprising at least one instrument that is guided by said robot assembly. Said instrument assembly comprises at least one instrument housing having at least one drive unit housing part containing a cavity designed to hold the drive unit, said drive unit housing part having a seal for the sterile sealing of an insertion opening of the cavity in addition to a dynamic sterile barrier which delimits the cavity in a sterile manner and across which the drive train arrangement can be actuated; and/or the drive unit is offset laterally in relation to a longitudinal axis of the instrument shaft towards a connection between the instrument housing and the robot assembly.
1. An instrument assembly for use with a surgical robot system, the instrument assembly comprising:
at least one instrument with at least one instrument shaft which is designed for partial insertion into a patient;
a drive train assembly with at least one drive train that actuates a degree of freedom of the end effector of the instrument shaft;
at least one modular drive unit for actuating the drive train assembly, whereby the degree of freedom of the end effector is actuated; and
an instrument housing, the instrument housing comprising:
at least one drive train housing part on which at least a part of the drive train assembly is located, and
at least one drive unit housing part with a hollow space which is configured for accommodating the modular drive unit, the drive unit housing part including a closure for sealing an insertion opening of the hollow space under sterile conditions and a dynamic sterile barrier which isolates the hollow space under sterile conditions and through which the drive train assembly can be actuated;
and the instrument assembly further comprising at least two modular drive units and/or at least two drive unit housing parts have different encodings.
2. A surgical robot system comprising:
a robot assembly with at least one robot, and
an instrument assembly in accordance with claim 1 , the instrument assembly including at least one instrument controlled by the robot assembly.
3. The instrument assembly of claim 1 , wherein the drive train housing part and the drive unit housing part are separably coupled with one another.
4. The instrument assembly of claim 3 , wherein at least two drive train housing parts or drive unit housing parts are configured for selective connection with the other of the drive train housing parts or drive unit housing parts.
5. The instrument assembly of claim 1 , wherein the drive train housing part and the drive unit housing part are permanently interconnected.
6. The instrument assembly of claim 1 , wherein the at least two modular drive units and/or at least two drive unit housing parts have different mechanical encodings.
7. The instrument assembly of claim 1 , wherein the dynamic sterile barrier is separably or permanently connected with the drive unit housing part.
8. The instrument assembly of claim 1 , further comprising an electromechanical interface for separably connecting the instrument housing to the robot assembly.
9. The instrument assembly of claim 8 , wherein the electromechanical interface separably connects the drive train housing part to the robot assembly.
10. The instrument assembly of claim 8 , wherein the electromechanical interface is connected with at least one of the instrument housing or the robot assembly by a mechanical plug connection.
11. The instrument assembly of claim 10 , wherein the mechanical plug connection perforates a static sterile barrier.
12. The instrument assembly of claim 1 , further comprising structure attaching the drive unit inside the hollow space.
13. The instrument assembly of claim 12 , wherein the structure attaching the drive unit inside the hollow space is configured for at least one of tensioning, interlocking, or fixed attachment.
14. The instrument assembly of claim 1 , wherein the insertion opening is located on an end face that faces toward or away from the instrument shaft, or is located on a lateral surface of the instrument housing.
15. A method for assembling an instrument assembly for use with a surgical robot system, the method comprising:
obtaining an instrument assembly according to claim 1 ;
covering the surroundings of the insertion opening in a sterile manner;
inserting the drive unit into the hollow space of the drive unit housing part; and
sealing the seal in a sterile manner.
16. A method for assembling a surgical robot system that includes a robot assembly having at least one robot, and an instrument assembly including at least one instrument according to claim 1 , wherein the instrument is controlled by the robot, the method comprising:
sterile packing of the robot assembly and/or at least one drive unit of the instrument assembly into a drive unit housing part;
establishing a mechanical plug connection of an electromechanical interface between the robot assembly and the instrument assembly;
perforating a static sterile barrier of the robot assembly and/or of the instrument housing, guided in particular by the mechanical plug connection; and
fastening the electromechanical interface.
17. The instrument assembly of claim 1 , wherein the modular drive unit is disposed between the dynamic sterile barrier and the closure.