Robotic microsurgical assembly
A robotic surgical assembly includes a slave manipulator with an actuator, a pushing device connected to the actuator, a sensor detecting a contact force on the pushing device, a position sensing system, and a control unit. A surgical instrument is detachable to the slave manipulator and separated from the slave manipulator by a sterile barrier. The surgical instrument includes a frame; an articulated link; a tendon associated with the actuator, having proximal and distal portions secured to the link. A transmission device in contact with the tendon proximal portion exerts a traction action. The transmission device has one degree of freedom of motion relative to the frame. The pushing device releasably and selectively connects with the transmission device to transmit a pushing action to the transmission device through the sterile barrier. An elastic device biases the transmission device to exert a traction action on the tendon.
1 . A robotic surgical assembly comprising:
a slave manipulator comprising:
an actuator,
a pushing element coupled to said actuator, and
a sterile barrier;
a surgical instrument operated by said slave manipulator and separated from said slave manipulator by said sterile barrier, said surgical instrument comprising:
a frame,
a link articulating in a joint with respect to said frame,
a tendon coupled to said actuator and to said link,
a transmission element to exert a traction action on said tendon, and
an elastic element coupled to said frame and to said transmission element;
wherein:
said pushing element releasably and selectively connects with said transmission element to transmit a pushing action to said transmission element through said sterile barrier,
said elastic element biases said transmission element away from the pushing element and preloads said tendon.
2 . The robotic surgical assembly of claim 1 , wherein said transmission element is constrained to have a single degree of freedom of motion with respect to said frame.
3 . The robotic surgical assembly of the previous claim 2 , wherein said single degree of freedom of motion is a single degree of freedom of linear motion.
4 . The robotic surgical assembly of claim 1 , wherein said pushing element is selectively connected with said transmission element and engages unidirectionally with said transmission element to transmit said pushing action.
5 . The robotic surgical assembly of claim 1 , wherein the preload on said tendon is maintained while said pushing element selectively detaches from said transmission element.
6 . The robotic surgical assembly of claim 1 , wherein said pushing element is coupled to said transmission device to selectively detach from said transmission element, and wherein the preload on said tendon is maintained when said pushing element is detached from said transmission element from biasing action of said elastic element.
7 . The robotic surgical assembly of claim 1 , wherein said tendon preload is a minimum value required to avoid slack in the tendon.
8 . The robotic surgical assembly of claim 1 , wherein said surgical instrument is detachably attached to said slave manipulator, and said tendon is preloaded when the instrument is detached from the slave manipulator.
9 . The robotic surgical assembly of claim 1 , wherein the pushing action of said pushing element transmitted to said transmission element adds to biasing action of said elastic element.
10 . The robotic surgical assembly of claim 1 , wherein biasing action of said elastic element has a value equal to or lower than the 10% of a breaking load of said tendon.
11 . The robotic surgical assembly of claim 1 , wherein the sterile barrier comprises an elastic stretchable drape interposed between said pushing element and said transmission element.
12 . The robotic surgical assembly of claim 1 , wherein a proximal portion of said tendon has a proximal termination secured to said transmission element.
13 . The robotic surgical assembly of claim 1 , wherein a proximal portion of said tendon has a proximal termination secured to said frame.
14 . The robotic surgical assembly of claim 1 , wherein said transmission element comprises a plunger.
15 . The robotic surgical assembly of claim 1 , wherein said transmission element comprises a lever connected to the frame in a fulcrum joint.
16 . The robotic surgical assembly of claim 1 , wherein one of said transmission element and said pushing element comprises a cam and the other of said transmission element and said pushing element comprises a follower cooperating with said cam.
17 . The robotic surgical assembly of claim 1 , wherein said transmission element comprises a pulley to contact said proximal portion of the tendon.
18 . The robotic surgical assembly of claim 1 , wherein said tendon is a polymeric tendon.
19 . The robotic surgical assembly of claim 1 , wherein said slave manipulator comprises a pair of pushing elements configured as antagonistic pushing elements, and said surgical instrument comprises a pair of transmission elements configured as antagonistic transmission elements and a pair of tendons configured as antagonistic tendons to provide opposite motion to said link.
20 . The robotic surgical assembly of claim 1 , wherein the surgical instrument comprises a plurality of links connected to each other by joints and wherein, preferably, said surgical instrument also comprises a shaft proximally connected to said frame and distally connected to said links.