US-20260124013-A1 - MECHANISM FOR MANAGING AND RETAINING A SURGICAL DRAPE

US20260124013A1US 20260124013 A1US20260124013 A1US 20260124013A1US-20260124013-A1

Abstract

A surgical support system, comprising: a manipulator arm assembly in control communication with a surgeon console so as to receive control signals from the surgeon console, the manipulator arm assembly comprising: a first manipulator link extending between opposite ends; a drape guide lip extending from one end of the opposite ends of the first actively controlled manipulator link; and a second manipulator link coupled to the first manipulator link wherein the second manipulator link comprises a plurality of instrument manipulator assemblies configured to couple with and transmit force to a medical instrument, wherein the second manipulator link is configured to move relative to the first manipulator link and under the drape guide lip, wherein the drape guide lip is a barrier between contact of a first drape portion covering the second manipulator link with a second drape portion covering the first manipulator link.

Inventors

Craig R. Ramstad
Jeffrey R. ROEDER
Jeffrey D. Brown
Robert E. Holop
Anthony K. McGrogan

Assignees

Intuitive Surgical Operations, Inc.

Dates

Publication Date: 20260507
Application Date: 20251107

Claims (7)

1 . A surgical support system, comprising: a manipulator arm assembly in control communication with a surgeon console so as to receive control signals from the surgeon console, the manipulator arm assembly comprising: a first manipulator link extending between opposite ends; a drape guide lip extending from one end of the opposite ends of the first actively controlled manipulator link; and a second manipulator link coupled to the first manipulator link wherein the second manipulator link comprises a plurality of instrument manipulator assemblies configured to couple with and transmit force to a medical instrument, wherein the second manipulator link is configured to move relative to the first manipulator link and under the drape guide lip, wherein the drape guide lip is a barrier between contact of a first drape portion covering the second manipulator link with a second drape portion covering the first manipulator link.
2 . The surgical support system of claim 1 , wherein the drape guide lip is configured to guide the second drape portion and prevent the second drape portion from catching on the first manipulator link during movement of the second manipulator link.
3 . The surgical support system of claim 2 , wherein the drape guide lip guides the second drape portion under the first manipulator link.
4 . The surgical support system of claim 1 , wherein the second manipulator link is rotatably coupled to the one end of the first manipulator link.
5 . The surgical support system of claim 1 , wherein the one end of first manipulator link is curved and the drape guide lip follows a curvature of the end of the first manipulator link.
6 . The surgical support system of claim 1 , wherein the first manipulator link further comprises an attachment feature located above the drape guide lip and configured to attach to a complementary attachment feature on the second drape portion.
7 . The surgical support system of claim 1 , wherein the second manipulator link.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application is a divisional application of U.S. application Ser. No. 18/545,555, filed Dec. 19, 2023, which is a divisional of U.S. application Ser. No. 16/317,285, filed Jan. 11, 2019 (now U.S. Pat. No. 11,883,123), which is a National Stage Application under 35 U.S.C. § 371 and claims the benefit of International Application No. PCT/US2017/038350, filed Jun. 20, 2017, which claims benefit of U.S. Provisional Application No. 62/362,194, filed Jul. 14, 2016 (now expired), each of which is hereby incorporated by reference in their entirety. BACKGROUND Field of Invention The present invention relates generally to surgical drapes for computer-assisted surgical systems, and more particularly to mechanisms used in management of a surgical drape during operation of the computer-assisted surgical system. Description of Related Art A surgical drape has been previously used to cover a surgical manipulator such as a plurality of surgical instrument manipulator assemblies 140 in computer-assisted surgical system 100. The drapes have taken various forms. In each instance, the manipulator and associated supports links are covered with a surgical drape prior to the start of the surgical procedure. Surgical system 100 is a computer-assisted surgical system that includes an endoscopic imaging system 192, a surgeon's console 194 (master), and a patient side support system 110 (slave), all interconnected by wired (electrical or optical) or wireless connections 196. One or more electronic data processors may be variously located in these main components to provide system functionality. Examples are disclosed in U.S. Pat. No. 9,060,678 B2 (filed Jun. 13, 2007), which is incorporated by reference herein. Imaging system 192 performs image processing functions on, e.g., captured endoscopic imaging data of the surgical site and/or preoperative or real time image data from other imaging systems external to the patient. Imaging system 192 outputs processed image data (e.g., images of the surgical site, as well as relevant control and patient information) to a surgeon at surgeon's console 194. In some aspects, the processed image data is output to an optional external monitor visible to other operating room personnel or to one or more locations remote from the operating room (e.g., a surgeon at another location may monitor the video; live feed video may be used for training; etc.). Surgeon's console 194 includes multiple degrees-of-freedom (“DOF”) mechanical input devices (“masters”) that allow the surgeon to manipulate the instruments, entry guide(s), and imaging system devices, which are collectively referred to as slaves. These input devices may in some aspects provide haptic feedback from the instruments and surgical device assembly components to the surgeon. Console 194 also includes a stereoscopic video output display positioned such that images on the display are generally focused at a distance that corresponds to the surgeon's hands working behind/below the display screen. These aspects are discussed more fully in U.S. Pat. No. 6,671,581 B2 (filed Jun. 5, 2002), which is incorporated by reference herein. Control during insertion of the instruments may be accomplished, for example, by the surgeon moving the instruments presented in the image with one or both of the masters; the surgeon uses the masters to move the instrument in the image side to side and to pull the instrument towards the surgeon. The motion of the masters commands the imaging system and an associated surgical device assembly to steer towards a fixed center point on the output display and to advance inside the patient. In one aspect, the camera control is designed to give the impression that the masters are fixed to the image so that the image moves in the same direction that the master handles are moved. This design causes the masters to be in the correct location to control the instruments when the surgeon exits from camera control, and consequently this design avoids the need to clutch (disengage), move, and declutch (engage) the masters back into position prior to beginning or resuming instrument control. Base 101 of patient side support system 110 supports an arm assembly that includes a passive, uncontrolled setup arm assembly 120 and an actively controlled manipulator arm assembly 130. Actively controlled manipulator arm assembly 130 is referred to as entry guide manipulator 130. In one example, setup assembly 120 includes two passive rotational setup joints 103 and 105. Rotational setup joints 103 and 105 allow manual positioning of coupled setup links 104 and 106 if the joint brakes for setup joints 103 and 105 are released. Alternatively, some of these setup joints may be actively controlled, and more or fewer setup joints may be used in various configurations. Setup joints 103 and 105 and setup links 104 and 106 allow a person to place entry guide manipulator 130 at various positions and orientations in Ca