Mounting an endoscope to a surgical robot
A surgical endoscope for manipulation by a surgical robot arm. The surgical endoscope comprises a shaft having a distal end for insertion into a patient and a proximal end. An endoscope interface is attached to the proximal end of the shaft. The endoscope interface is configured to engage a robot arm interface of the surgical robot arm. The endoscope interface comprises an endoscope wedge mechanism moveable between an unlocked position and a locked position. The endoscope wedge mechanism comprises 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.
1. A surgical endoscope for manipulation by a surgical robot arm, the surgical endoscope comprising:
a shaft having a distal end configured 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:
two 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 configured to be retained in the robot arm interface, the endoscope wedge elements being 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, 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.
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 , wherein each endoscope wedge element is displaceable transverse to the longitudinal axis of the surgical endoscope.
4. A surgical endoscope as claimed in claim 1 , 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 claim 1 , 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.
6. A surgical endoscope as claimed in claim 5 , 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.
7. A surgical endoscope as claimed in claim 5 , wherein the mating wedge and the projection are both displaceable in the same direction, and the projection is displaceable relative to the mating wedge.
8. A surgical endoscope as claimed in claim 7 , 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.
9. A surgical endoscope as claimed in claim 5 , the endoscope interface comprising an endoscope assembly and an endoscope drape, the endoscope drape being detachable from the endoscope assembly, 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.
10. A replica endoscope interface configured to mate 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:
two 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 configured to be retained in the robot arm interface, the endoscope wedge elements being 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, 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.
11. A surgical endoscope as claimed in claim 4 , wherein the endoscope wedge elements are spring-biased towards their configuration in the locked position of the endoscope wedge mechanism.
12. A surgical endoscope as claimed in claim 1 , wherein the lock is biased towards its configuration in the locked position of the endoscope wedge mechanism.
13. A surgical endoscope as claimed in claim 12 , wherein the lock is spring-biased towards its configuration in the locked position of the endoscope wedge mechanism.
14. A surgical endoscope as claimed in claim 5 , wherein the projection is 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.
15. A surgical endoscope as claimed in claim 1 , wherein the projection is biased towards its configuration in the locked position of the endoscope wedge mechanism.
16. A surgical endoscope as claimed in claim 15 , wherein the projection is spring-biased towards its configuration in the locked position of the endoscope wedge mechanism.