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 robot for manipulating a surgical endoscope, the surgical robot comprising:
a robot base connected to a distal robot arm link via a series of intermediate articulated robot arm links;
a robot arm interface attached to the distal robot arm link; and
a surgical endoscope comprising:
a shaft having a distal end for insertion into a patient and a proximal end; and
an endoscope interface attached to the proximal end of the shaft;
wherein the robot arm interface is configured to receive and engage the endoscope interface such that the longitudinal axis of the distal robot arm link is aligned with the longitudinal axis of the surgical endoscope, wherein the robot arm interface is shaped so as to only receive and engage the endoscope interface when the endoscope interface and robot arm interface are brought into engagement in a direction perpendicular to the longitudinal axis of the distal robot arm link, and wherein the robot arm interface is shaped so as to only disengage the endoscope interface when the endoscope interface and robot arm interface are moved out of engagement in a direction perpendicular to the longitudinal axis of the distal robot arm link;
wherein the robot arm interface primarily extends parallel to the longitudinal axis of the distal robot arm link and transverse to the longitudinal axis of the distal robot arm link;
wherein the robot arm interface comprises a rim transverse to the longitudinal axis of the distal robot arm link, the rim acting to constrain the robot arm interface to only being able to receive and engage the endoscope interface when the endoscope interface is brought into engagement with the robot arm interface in a direction perpendicular to the longitudinal axis of the distal robot arm link; and
wherein the rim limits the length of the robot arm interface which can receive and retain the endoscope interface in the direction of the longitudinal axis of the distal robot arm link to be the length of the endoscope interface in the direction of the longitudinal axis of the endoscope.
2 . A surgical robot as claimed in claim 1 , wherein the distal robot arm link is attached to a second robot arm link by a roll joint, the longitudinal axis of the surgical endoscope being aligned with the roll axis of the roll joint.
3 . A surgical robot as claimed in claim 1 , wherein the distal robot arm link is attached to the second robot arm link by a compound joint, the compound joint permitting the distal robot arm link to rotate about a roll axis, a pitch axis, and a yaw axis relative to the second robot arm link, the longitudinal axis of the surgical endoscope intersecting the pitch axis and the yaw axis.
4 . A surgical robot as claimed in claim 1 , wherein the robot arm interface is shaped so as to only receive and engage the endoscope interface when the endoscope interface and robot arm interface are brought into engagement in a direction perpendicular to the longitudinal axis of the surgical endoscope.
5 . A surgical robot as claimed in claim 1 , wherein the surgical endoscope is operable when detached from the distal robot arm link.
6 . A surgical robot as claimed in claim 1 , the endoscope interface comprising:
an endoscope wedge mechanism moveable between an unlocked position and a locked position, the endoscope wedge mechanism comprising:
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.
7 . A surgical robot as claimed in claim 6 , 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.
8 . A surgical robot as claimed in claim 6 , wherein the endoscope interface primarily extends parallel to the longitudinal axis of the surgical endoscope and transverse to the longitudinal axis of the surgical endoscope.
9 . A surgical robot as claimed in claim 6 , wherein each endoscope wedge element is displaceable transverse to the longitudinal axis of the surgical endoscope.
10 . A surgical robot as claimed in claim 6 , wherein the endoscope wedge elements are biased towards their configuration in the locked position of the endoscope wedge mechanism.
11 . A surgical robot as claimed in claim 10 , wherein the endoscope wedge elements are spring-biased towards their configuration in the locked position of the endoscope wedge mechanism.
12 . A surgical robot as claimed in claim 6 , comprising two endoscope wedge elements 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.
13 . A surgical robot as claimed in claim 6 , the endoscope interface comprising an endoscope assembly and an endoscope drape, the endoscope drape being detachable from the endoscope assembly.
14 . A surgical robot as claimed in claim 1 , the robot arm interface further comprising robot arm interface elements for engaging endoscope interface elements of the endoscope interface, all the robot arm interface elements being static in the robot arm interface.
15 . A surgical robot as claimed in claim 1 , wherein the robot arm interface is configured to receive and engage the endoscope interface such that the longitudinal axis of the distal robot arm link is collinear with the longitudinal axis of the surgical endoscope.
16 . A surgical robot as claimed in claim 1 , wherein the rim acts to constrain the robot arm interface to only be able to disengage the endoscope interface when the endoscope interface is moved out of engagement with the robot arm interface in a direction perpendicular to the longitudinal axis of the distal robot arm link.