Port control
A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.
1. A port locator for a surgical port, for receiving a surgical instrument attached to an articulated robot arm, the port locator configured to couple to the robot arm, the port locator comprising:
a base for attachment to a portion of a patient support;
an interface for coupling to the surgical port;
an articulated support mechanism linking the base and the interface, the articulated support mechanism including fewer articulations than the robot arm and permitting at least one of translational and rotational movement of the interface relative to the base; and
a controller for controlling at least one of a position and an orientation of the interface relative to the base in dependence on the position of the robot arm.
2. The port locator as claimed in claim 1 , wherein the support mechanism includes a lock having a locked configuration for at least partially restricting movement of the support mechanism and an unlocked configuration for at least partially permitting movement of the support mechanism.
3. The port locator as claimed in claim 1 , wherein the support mechanism includes at least one of an articulated support arm and a belt.
4. The port locator as claimed in claim 1 , wherein the support mechanism includes a rotational mechanism permitting rotation of the interface relative to the base.
5. The port locator as claimed in claim 4 , wherein the rotational mechanism includes a gimbal system.
6. The port locator as claimed in claim 1 , wherein the support mechanism includes a support mechanism driver for altering the configuration of the support mechanism by altering at least one of the translational configuration of the interface relative to the base and the rotational configuration of the interface relative to the base.
7. The port locator as claimed in claim 1 , wherein the support mechanism is arranged to permit motion of the interface in a direction perpendicular to that of a direction of insertion or removal of an instrument shaft through the surgical port.
8. The port locator as claimed in claim 1 , in which the support mechanism permits solely linear relative motion of the base and the interface.
9. The port locator as claimed in claim 1 having a surgical port attached to the interface.
10. The port locator as claimed in claim 1 , wherein the controller includes a processor configured to estimate the position of a part of the robot arm and to set the position of the base relative to the interface in dependence on the estimated position.
11. A surgical port assembly comprising:
a port locator for a surgical port, for receiving a surgical instrument attached to an articulated robot arm, the port locator configured to couple to the robot arm, the port locator including:
a base for attachment to a portion of a patient support;
an interface for coupling to the surgical port;
an articulated support mechanism linking the base and the interface, the articulated support mechanism comprising fewer articulations than the robot arm and permitting at least one of translational and rotational movement of the interface relative to the base; and
a controller for controlling at least one of a position and an orientation of the interface relative to the base in dependence on the position of the robot arm; and
a surgical port unitarily formed with the interface of the port locator.
12. A surgical robot comprising: a robot arm and a port locator for a surgical port, for receiving a surgical instrument attached to an articulated robot arm, the port locator being coupled to the robot arm and comprising:
a base for attachment to a portion of a patient support;
an interface for coupling to the surgical port;
an articulated support mechanism linking the base and the interface, the articulated support mechanism including fewer articulations than the robot arm and permitting at least one of translational and rotational movement of the interface relative to the base; and
a controller for controlling at least one of a position and an orientation of the interface relative to the base in dependence on the position of the robot arm.
13. The surgical robot as claimed in claim 12 including a surgical tool or instrument attached to the robot arm, wherein a portion of the surgical tool is arranged to pass through the surgical port.
14. The surgical robot as claimed in claim 13 , wherein the surgical tool is substantially unsupported by the port locator.
15. The surgical robot as claimed in claim 12 including a surgical tool or instrument with an instrument shaft, wherein the port locator is coupled to the robot arm by being coupled to the instrument shaft.
16. The surgical robot as claimed in claim 12 , wherein the controller includes a processor configured to estimate the position of a part of the robot arm and to set the position of the base relative to the interface in dependence on the estimated position.