Surgical instrument holder for use with a robotic surgical system
Described herein is a surgical instrument holder for use with a robotic surgical system, for example, during spinal surgery. In certain embodiments, the surgical instrument holder is an interface between the robotic arm and a surgical instrument used during surgery. This interface may hold the surgical instrument precisely, rigidly, and in a stable manner while permitting a surgeon to easily and quickly install or withdraw the instrument in case of emergency.
1. A surgical instrument holder for use with a robotic surgical system, the surgical instrument holder comprising:
a base configured to be mechanically coupled to a robotic arm of the robotic surgical system, the base comprising:
a first channel having an interior surface sized and shaped to accommodate a tightening screw configured to securely attach the base directly or indirectly to a robotic arm of the robotic surgical system,
a second channel having an interior surface with a tapered cylindrical shape sized to accommodate a surgical instrument therethrough such that movement of the surgical instrument is constrained in all directions except along an axis defined by the second channel surface,
a first tapered curved surface extending along the axis of the second channel configured to be engaged by a surgical instrument when the surgical instrument is secured in the second channel, wherein first channel and the second channel intersect, and
one or more pins inserted into the base such that the one or more pins, upon mechanically coupling the base to the robotic arm, engage one or more openings in a tool support thereby precisely locating the surgical instrument holder relative to the robotic arm; and
a clamp configured to engage the surgical instrument when placed through the second channel such that the surgical instrument is securely held between the clamp and the base upon tightening of a nut.
2. The surgical instrument holder of claim 1 , wherein the base comprises a threaded bushing having an interior surface.
3. The surgical instrument holder of claim 2 , wherein the first channel passes through interior surface of the threaded bushing and the interior surface of the threaded bushing is threaded such that the threads on the tightening screw engage the threads on the threaded bushing as the tightening screw is inserted through the threaded bushing.
4. The surgical instrument holder of claim 1 , wherein the tightening screw comprises:
a tip on a proximate end of a screw body;
a head on a distal end of the screw body; and
threads along a portion of the screw body.
5. The surgical instrument holder of claim 4 , wherein the threads along the portion of the screw body are along a portion of the screw body closest to the tip of the tightening screw.
6. The surgical instrument holder of claim 5 , wherein the portion of the screw body closest to the head is smooth such that the tightening screw is loosely held in place by the threaded bushing when the tightening screw is fully inserted into the threaded bushing.
7. The surgical instrument holder of claim 1 , the clamp comprising:
a third channel having an interior surface shaped and sized to accommodate the first channel sliding therethrough;
a second tapered curved surface configured to be engaged by a surgical instrument when the surgical instrument is secured in the second channel; and
one or more slits configured to allow a body of the clamp to elastically deform upon tightening of the nut, wherein the nut is configured to engage threads on an exterior surface of the first channel and a cambered surface of the clamp.
8. The surgical instrument holder of claim 1 , wherein the one or more openings are one or more oblong openings.
9. The surgical instrument holder of claim 1 , wherein the one or more pins comprise three pins.
10. The surgical instrument holder of claim 1 , wherein the surgical instrument is an instrument guide configured to receive a second surgical instrument therethrough, the second surgical instrument comprising a member selected from the group consisting of: a drill bit, tap, screw driver, and awl.
11. The surgical instrument holder of claim 10 , wherein the instrument guide is a drill guide.
12. The surgical instrument holder of claim 1 , wherein the robotic surgical system is for use in spinal surgery.
13. The surgical instrument holder of claim 1 , wherein instrument holder is configured such that a navigation marker is securely held between the clamp the base upon placing the navigation marker between the clamp and the base and tightening the nut.
14. The surgical instrument holder of claim 13 , wherein the navigation marker is used by a navigation camera to track the surgical instrument.
15. The surgical instrument holder of claim 1 , wherein the tool support is a localization plate of the robotic arm.
16. The surgical instrument holder of claim 1 , wherein the one or more openings are wider than the one or more pins and the one or more openings taper long their lengths.
17. The surgical instrument holder of claim 1 , wherein an exterior surface of the first channel is threaded to securely accommodate the nut such that surgical instrument is securely held between the clamp the base upon placing the surgical instrument in the second channel and tightening the nut.