Retracting tool for robotic surgery
The invention involves a system and method for quickly retracting a tool from a surgical site. The system is generally constructed and arranged for attachment to a robotic arm for manipulation of the tool to perform an in-vivo surgery. The tool is constructed to retract from the surgical site upon a predetermined condition. The system and the robot can be reset when the condition has cleared so that the surgery can continue.
1. A system for retracting a surgical tool from a surgical site comprising:
a robot having at least one axis of movement, said robot having an attachment point for securing a surgical tool to said robot for robotically controlled movement of said surgical tool for completion of at least a portion of a surgical procedure;
a monitoring system configured to monitor movement of a patient;
said surgical tool including a retraction mechanism for automatically causing said surgical tool to retract from a first operational position to a second non-operational position independent of said robotically controlled movement upon detection of a predetermined condition related to the patient movement by the monitoring system.
2. The system for retracting a surgical tool from a surgical site of claim 1 , wherein said retraction mechanism includes a track portion and a shuttle portion, a functional portion of said surgical tool secured to said shuttle portion to move therewith upon detection of said predetermined condition.
3. The system for retracting a surgical tool from a surgical site of claim 2 , wherein said track portion is secured to said attachment point of said robot to be moveable therewith.
4. The system for retracting a surgical tool from a surgical site of claim 3 , wherein said track portion includes a plate, said plate having a first side surface and a second side surface, said first side surface secured to said robot attachment point, said second side surface including said track portion, said track portion including at least two guide members for guiding said shuttle during movement thereof to said non-operational position.
5. The system for retracting a surgical tool from a surgical site of claim 4 , wherein said shuttle includes at least one first electrical contact, said track portion including at least one second electrical contact, said at least one first electrical contact and said at least one second electrical contact positioned to contact each other when said shuttle is positioned in said operational position, and thus provide electrical flow to said surgical tool for operation thereof.
6. The system for retracting a surgical tool from a surgical site of claim 5 , wherein said at least one first electrical contact and said at least one second electrical contact are separated during movement of said shuttle to said non-operational position, thereby disabling motive movement of said surgical tool.
7. The system for retracting a surgical tool from a surgical site of claim 4 , wherein said first side surface of said plate includes a tool change structure for interlocking cooperation with a tool change mechanism, said tool change mechanism secured to said robot arm to provide for tool interchangeability to said robot, said surgical tool being a self-contained system connectable to said tool change mechanism to provide said first motive power and said second motive power to said surgical tool retraction system.
8. The system for retracting a surgical tool from a surgical site of claim 7 , wherein said tool change mechanism includes at least one primary electrical contact for supplying electrical motive power to said tool change structure and thus said surgical tool for operation thereof.
9. The system for retracting a surgical tool from a surgical site of claim 8 , wherein said tool change mechanism includes at least one primary pneumatic connection for supplying pneumatic motive power to said cylinder for operation thereof.
10. The system for retracting a surgical tool from a surgical site of claim 7 , wherein said tool change structure includes a pilot aperture for providing positional location of said surgical tool with respect to said robot arm.
11. The system for retracting a surgical tool from a surgical site of claim 10 , wherein said tool change structure includes a plurality of rod members secured about said pilot aperture for providing orientation of said surgical tool with respect to said robot arm.
12. The system for retracting a surgical tool from a surgical site of claim 2 , wherein movement of said shuttle disables robotically controlled movement of said functional portion of said surgical tool.
13. The system for retracting a surgical tool from a surgical site of claim 12 , wherein a motive power is disabled to said functional portion of said surgical tool when the surgical tool retracts to the second non-operational position.
14. The system for retracting a surgical tool from a surgical site of claim 13 , wherein movement of said shuttle is provided by a second source of motive power.
15. The system for retracting a surgical tool from a surgical site of claim 14 , wherein said second source of motive power is pneumatic.
16. The system for retracting a surgical tool from a surgical site of claim 15 , wherein said pneumatic motive power is an air cylinder having a moveable piston therein, whereby said pneumatic motive power is supplied to a first side of said piston to position said surgical tool in said operational position, and whereby supplying said pneumatic motive power to a second side of said piston causes said surgical tool to retract to said non-operational position.
17. The system for retracting a surgical tool from a surgical site of claim 15 , wherein said first side of said piston includes a rod member secured thereto, said rod member extending outside of said air cylinder, said rod moving with said piston, said rod connected to said shuttle so that said shuttle moves with said piston.
18. The system for retracting a surgical tool from a surgical site of claim 17 , wherein said shuttle is removably secured to said rod, whereby said surgical tool is removable and replaceable with respect to said shuttle.
19. The system for retracting a tool from a surgical site of claim 18 , wherein said shuttle is removably secured to said rod via a hand operated spring pin.
20. The system for retracting a surgical tool from a surgical site of claim 17 , wherein said shuttle is tethered to said plate with a flexible member.
21. The system for retracting a tool from a surgical site of claim 1 , wherein said surgical tool includes a first set of electrical contacts for receiving electrical power from a second set of electrical contacts and retraction from a first operational position to a second non-operational position causes the first set of electrical contacts to disconnect from the second set of electrical contacts.