U.S. patent application number 15/558132 was filed with the patent office on 2018-02-08 for supply line for a robotic arm instrument.
The applicant listed for this patent is CAMBRIDGE MEDICAL ROBOTICS LTD. Invention is credited to Andrew Murray SCHOLAN.
Application Number | 20180036091 15/558132 |
Document ID | / |
Family ID | 53016262 |
Filed Date | 2018-02-08 |
United States Patent
Application |
20180036091 |
Kind Code |
A1 |
SCHOLAN; Andrew Murray |
February 8, 2018 |
SUPPLY LINE FOR A ROBOTIC ARM INSTRUMENT
Abstract
A surgical robotic arm drape, the drape comprising: a sheet
defining a cavity for housing a robotic arm; and a set of guiding
elements attached to the sheet configured to retain a supply line
threaded there through for use in a surgical procedure.
Inventors: |
SCHOLAN; Andrew Murray;
(Waltham Cross, GB) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
CAMBRIDGE MEDICAL ROBOTICS LTD |
Cambridge |
|
GB |
|
|
Family ID: |
53016262 |
Appl. No.: |
15/558132 |
Filed: |
March 15, 2016 |
PCT Filed: |
March 15, 2016 |
PCT NO: |
PCT/GB2016/050702 |
371 Date: |
September 13, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 2017/00477
20130101; A61B 18/1206 20130101; A61B 34/30 20160201; A61B 46/10
20160201; A61B 2018/00595 20130101 |
International
Class: |
A61B 46/10 20060101
A61B046/10; A61B 34/30 20060101 A61B034/30 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 17, 2015 |
GB |
1504486.0 |
Claims
1-42. (canceled)
43. A surgical robotic arm drape, the drape comprising: a sheet
defining a cavity for housing a robotic arm; and a set of guiding
elements attached to the sheet configured to retain a supply line
threaded therethrough for use in a surgical procedure.
44. A surgical robotic arm drape as claimed in claim 43, wherein
the set of guiding elements are spatially arranged on the sheet so
that a supply line threaded therethrough is positioned for use in
the surgical procedure when the drape houses the robotic arm.
45. A drape as claimed in claim 43, wherein each of the guiding
elements in the set defines a loop of material for receiving the
threaded supply line, or a conduit portion for receiving the
threaded supply line.
46. A drape as claimed in claim 43, wherein each of the guiding
elements comprises a housing defining a channel for receiving the
threaded supply line.
47. A drape as claimed in claim 43, wherein the drape further
comprises a second set of guiding elements for retaining a second
supply line for use in a surgical procedure.
48. A drape as claimed in claim 43, wherein the drape further
comprises a supply line threaded through the set of guiding
elements.
49. A drape as claimed in claim 43, wherein the set of guiding
elements are integral with the sheet.
50. A drape as claimed in claim 43, wherein the set of guiding
elements are detachable from the sheet.
51. A drape as claimed in claim 43, wherein the set of guiding
elements are attached to an interior surface of the sheet, and the
sheet comprises a sealable opening located at a distal end of the
cavity through which a terminal end of the supply line can
pass.
52. A drape as claimed in claim 43, wherein the guiding elements
are arranged to permit relative motion of the supply line and
sheet.
53. A drape as claimed in claim 43, wherein each of the guiding
elements is rotatably connected to the sheet.
54. A surgical robotic system, comprising: a surgical robotic arm
having a surgical instrument attached thereto; a surgical robotic
arm drape comprising a sheet defining a cavity that houses the
robotic arm, and a set of guiding elements attached to the sheet
for retaining a supply line for use in a surgical procedure; and a
supply line threaded through the set of guiding elements for use in
a surgical procedure.
55. A surgical robotic system as claimed in claim 54, wherein the
set of guiding elements are positioned on the sheet so as to extend
along the direction of the robotic arm.
56. A surgical robotic system as claimed in claim 54, wherein the
supply line is a power cable for supplying power to the surgical
instrument, the power cable comprising a first terminal end for
connecting to a power supply and a second terminal end for
connecting to the surgical instrument, and the set of guiding
elements are spatially arranged on the sheet so that the second
terminal end of the power cable is positioned for connection to the
surgical instrument.
57. A surgical robotic arm drape for enveloping a portion of a
robotic arm, the drape comprising: a sheet configured to define a
cavity for housing a portion of a robotic arm, the sheet comprising
an interior surface and an exterior surface; and a supply line
interposed between the interior and exterior surfaces of the sheet
for use in a surgical procedure.
58. A drape as claimed in claim 57, wherein the supply line is
sandwiched between the interior and exterior surfaces of the
sheet.
59. A drape as claimed in claim 57, wherein the supply line is
housed within a channel defined by material of the sheet, the
channel being interposed between the interior and exterior surfaces
of the sheet.
60. A drape as claimed in claim 57, wherein the supply line
terminates at a first of its ends in an instrument connector
configured to connect to a robotic-arm instrument, and traverses
the exterior surface of the sheet proximal to the instrument
connector.
61. A drape as claimed in claim 57, wherein the drape is arranged
so that, when defining an elongate cavity, the supply line extends
along a longitudinal extent of the cavity and extends between an
opening mouth of the cavity for housing a basal portion of the
robotic arm and a distal end of the cavity for housing a distal
portion of the robotic arm.
62. A drape as claimed in claim 57, wherein the supply line is a
power cable for supplying power to a surgical instrument, the power
cable comprising a conductive core surrounded by a sheath formed
from material of the sheet, wherein the material of the sheet
interfaces directly with the conductive core.
Description
BACKGROUND
[0001] This invention relates to securing a supply line for
servicing a surgical robotic instrument to a surgical robotic
drape. More particularly, aspects relate to a drape having a supply
line interposed between interior and exterior surfaces of a drape
sheet and to a drape having a set of guiding elements attached to
the drape sheet to retain a supply line threaded through the
guiding elements.
[0002] FIG. 1 shows a typical surgical robot for performing robotic
surgery. The surgical robot 101 comprises a robotic arm 103
attached at one of its ends to a surgical instrument 105. The
surgical instrument is operable to pass into a patient for
performing surgery. The robotic arm comprises one or more joints
107 about which the arm can be articulated to control the movement
and/or position of the surgical instrument. The robotic arm 103 is
shrouded by a surgical drape 109 to provide a sterile boundary
between the surgical instrument (which must be sterile) and the
robotic arm (which may not be sterile). The drape provides a
boundary between the robotic arm and the sterile field in which the
arm is positioned (for example an operating theatre).
[0003] The robotic instrument may be serviced by one or more supply
lines. For example, the surgical instrument 105 may be electrically
powered to enable the instrument to perform surgical operations
such as cauterisation or cutting. In such cases the supply line may
be a power cable 111 for supplying power to the surgical
instrument. The power cable may connect to an external power supply
such as a generator 113 for supplying power to the surgical
instrument. One approach for arranging the supply lines in a
surgical procedure is to string the supply lines along the exterior
surface of the drape to reduce the risk of the supply line being a
safety hazard. The supply line may be attached to the drape using
tape, cable ties or other similar components. One drawback with
this approach is that it may be awkward to attach the supply line
to the drape, particularly under sterile conditions, potentially
contributing to the difficulty in preparing a surgical robot for a
procedure.
[0004] There is therefore a need for an improved way to attach a
supply line to a robotic arm drape.
SUMMARY
[0005] According to one aspect of the present disclosure there is
provided a surgical robotic arm drape for enveloping a portion of a
robotic arm, the drape comprising: a sheet configured to define a
cavity for housing a portion of a robotic arm, the sheet comprising
an interior surface and an exterior surface; and a power cable
interposed between the interior and exterior surfaces of the sheet
for supplying power to a robotic arm instrument.
[0006] The power cable may be sandwiched between the interior and
exterior surfaces of the sheet.
[0007] The power cable may be housed within a channel defined by
material of the sheet, the channel being interposed between the
interior and exterior surfaces of the sheet.
[0008] The power cable may comprise a conductive core, the core
being surrounded by an insulating sheath.
[0009] The sheath may be formed from material of the sheet.
[0010] The material of the sheet may interface directly with the
conductive core.
[0011] The power cable may comprise a conductive core and an
insulating sheath that surrounds the conductive core.
[0012] The sheath may be formed from material which is not integral
with the material of the sheet.
[0013] The power cable may terminate at a first of its ends in a
supply connector configured to connect to a power supply, and at a
second of its ends in an instrument connector configured to connect
to a robotic arm instrument.
[0014] The power cable may traverse the exterior surface of the
sheet proximal to the instrument connector.
[0015] The power cable may be configured to not traverse the
interior surface of the sheet.
[0016] The drape may be configured so that the sheet defines an
elongate cavity and the power cable extends along a longitudinal
extent of the cavity.
[0017] The power cable may extend between an opening mouth of the
cavity for housing a basal portion of the robotic arm instrument
and a distal end of the cavity for housing a distal portion of the
robotic arm instrument.
[0018] At least one of the supply connector and the instrument
connector may be exterior to the cavity defined by the sheet.
[0019] The power cable may comprise a solid core.
[0020] The conductive core may comprise a plurality of conductive
strands in a braided or twisted arrangement.
[0021] According to a second aspect of the present disclosure there
is provided a surgical robotic arm drape for enveloping a portion
of a robotic arm, the drape comprising: a sheet configured to
define a cavity for housing a portion of a robotic arm, the sheet
comprising an interior surface and an exterior surface; and a
supply line interposed between the interior and exterior surfaces
of the sheet for use in a surgical procedure.
[0022] According to a third aspect of the present disclosure there
is provided a surgical robotic arm drape, the drape comprising: a
sheet defining a cavity for housing a robotic arm; and a set of
guiding elements attached to the sheet configured to retain a
supply line threaded therethrough for use in a surgical
procedure.
[0023] The set of guiding elements may be spatially arranged on the
sheet so that a supply line threaded therethrough is positioned for
use in the surgical procedure when the drape houses the robotic
arm.
[0024] Each of the guiding elements in the set may define a loop of
material for receiving the threaded supply line.
[0025] Each of the guiding elements in the set may define a conduit
portion for receiving the threaded supply line.
[0026] Each of the guiding elements may comprise a housing defining
a channel for receiving the threaded supply line.
[0027] Each of the guiding elements may be configured to receive a
plurality of supply lines.
[0028] The drape may further comprise a second set of guiding
elements for retaining a second supply line for use in a surgical
procedure.
[0029] The drape may further comprise a supply line threaded
through the set of guiding elements.
[0030] According to a fourth aspect of the present disclosure there
is provided a surgical robotic system, comprising: a surgical
robotic arm having a surgical instrument attached thereto; a
surgical robotic arm drape comprising a sheet defining a cavity
that houses the robotic arm, and a set of guiding elements attached
to the sheet to retain a robotic-instrument supply line; and a
supply line threaded through the set of guiding elements for use in
a surgical procedure.
[0031] The set of guiding elements may be spatially arranged on the
sheet so that the supply line is positioned to service the surgical
instrument.
[0032] The supply line may be a power cable for supplying power to
the surgical instrument.
[0033] The power cable may comprise a first terminal end for
connecting to a power supply and a second terminal end for
connecting to the surgical instrument, and the set of guiding
elements are spatially arranged on the sheet so that the second
terminal end of the power cable is positioned for connection to the
surgical instrument.
[0034] The set of guiding elements may be positioned on the sheet
so as to extend along the longitudinal extent of the cavity. The
set of guiding elements may be positioned on the sheet so as to
extend along the direction of the robotic arm.
[0035] Each of the guiding elements in the set may define a loop of
material through which the supply line is threaded.
[0036] Each of the guiding elements in the set may define a conduit
portion through which the supply line is threaded.
[0037] The system may comprise a plurality of supply lines, each
threaded through the set of guiding elements.
[0038] The drape may further comprise a second set of guiding
elements attached to the sheet; and a second supply line threaded
through the second set of guiding elements for use in a surgical
procedure.
[0039] The set of guiding elements may be integral with the
sheet.
[0040] The set of guiding elements may be detachable from the
sheet.
[0041] The set of guiding elements may be attached to an exterior
surface of the sheet.
[0042] The set of guiding elements may be attached to an interior
surface of the sheet, and the sheet may comprise a sealable opening
located at a distal end of the cavity through which a terminal end
of the supply line can pass.
[0043] The guiding elements may be arranged to permit relative
motion of the supply line and sheet. Each of the guiding elements
may be rotatably connected to the sheet.
[0044] The supply line could be one of: a power cable for supplying
power to a surgical instrument, an irrigation tube, a suction tube
or a data cable.
[0045] The drape forming part of the system may be any of the
drapes according to the first second and third aspects of the
present disclosure.
[0046] According to another aspect of the present disclosure there
is provided a surgical robotic arm drape comprising: a sheet
defining a cavity for housing a robotic arm; a set of guiding
elements attached to the sheet configured to retain a supply line
threaded therethrough for use in a surgical procedure; and a supply
line threaded through the set of guiding elements. The drape may
additionally comprise any of the features of the drape of the
second, third and fourth aspects of the disclosure.
BRIEF DESCRIPTION OF DRAWINGS
[0047] The present invention will now be described by way of
example with reference to the accompanying drawings. In the
drawings:
[0048] FIG. 1 shows a typical set-up of a surgical robot for
performing a surgical procedure.
[0049] FIG. 2 shows a cross-sectional view of a surgical drape
enveloping a portion of a robotic arm with a power cable interposed
between interior and exterior surfaces of the drape sheet.
[0050] FIG. 3 shows an example of a drape in a planar
arrangement.
[0051] FIG. 4 shows a cross-sectional view of a drape in which a
power cable is sandwiched between interior and exterior surfaces of
the drape sheet.
[0052] FIG. 5 is an illustration of how a drape may be
constructed.
[0053] FIG. 6 shows a cross-sectional view of a drape in which a
power cable is interposed between interior and exterior surfaces of
the drape so that there exists an air gap between the material of
the drape sheet and the outer surface of the cable
[0054] FIG. 7 shows a cross-sectional view of a surgical drape
enveloping a robotic arm, where the drape comprises two layers of
material in cross-section only in the vicinity of the power
cable.
[0055] FIG. 8 shows a planar arrangement of an example drape with
two layers of material in cross-section only in the vicinity of the
power cable.
[0056] FIG. 9 shows an example of a surgical robotic system
comprising a supply line threaded through guiding elements to
secure the supply line to the sheet of the drape.
[0057] FIGS. 10A-10D show various examples of the guiding
elements.
[0058] FIG. 11 shows another example of a surgical robotic system
comprising two supply lines threaded through respective sets of
guiding elements.
[0059] Where appropriate, like reference numerals have been used in
the following description to refer to like features, or
components.
DETAILED DESCRIPTION
[0060] A surgical robotic arm drape is used to envelope a portion
of a robotic arm, for example during a surgical procedure. The
surgical drape comprises a sheet that defines a cavity for housing
at least a portion of the robotic arm. The robotic arm may have
attached thereto a surgical instrument for performing a surgical
procedure on a patient. The drape may be fitted to shroud the
robotic arm but to leave the instrument uncovered. In this manner
the drape defines a sterile barrier around the robotic arm (which
may not be sterile) whilst leaving the instrument (which is
sterile) free to perform the surgical procedure. The drape sheet
comprises an interior surface that interfaces with the non-sterile
environment surrounding the robotic arm, and an exterior surface
that interfaces with the sterile environment.
[0061] During a surgical procedure, one or more supply lines may be
used to service the robotic instrument or assist the surgeon in
performing the surgical procedure. The supply lines may connect to
the instrument, for example by attaching to an interface located on
the instrument. They may alternatively connect to the robotic arm.
The supply lines may service the instrument by enabling the
instrument to perform one or more of its functions, or by providing
one or more services to the instrument during a surgical procedure.
The supply line could for example be a power cable for supplying
power to the instrument (e.g. if the instrument was electrically
powered). Alternatively, the supply line may be a tube or conduit
for maintaining the condition of a surgical site during a
procedure, for example by removing fluid and/or debris from the
surgical site; that is the supply line may be a suction tube or
irrigation tube. In another example, the supply line could be a
data transmission cable for communicating data and/or control
signals to and/or from the surgical instrument or robotic arm. The
control signals could for example be signals transmitted from the
surgeon's input controls. In a further example, the supply line
could be an optical fibre, or an endoscope. In general, the supply
line could be a cable, or lead (e.g. a data transmission cable or
power supply cable), or a tube (e.g. an irrigation tube or suction
tube). The supply line may also be referred to as a conduit.
[0062] Described herein are various examples of securing a supply
line/conduit to the drape sheet that may expedite set-up of the
surgical robot by eliminating the need to manually string the
supply line/conduit along the sheet using ties, tape etc. In a
first set of examples described with reference to FIGS. 2 to 8, the
supply line is interposed between the interior and exterior
surfaces of the drape sheet. In a second set of examples described
with reference to FIGS. 9 to 11, the supply line is secured to the
surgical sheet via a set of guiding elements that retain the supply
line.
[0063] The first set of examples will now be described. In these
examples, the supply line is a power cable for supplying electrical
power to the surgical instrument. It will be appreciated that this
is for the purpose of illustration only, and the following
description is equally applicable for any of the various forms of
the supply line. In these examples the cable is between the
interior and exterior surfaces of the sheet. The cable may be
housed within a conduit defined by material of the sheet. Making
the power cable integral with the drape sheet negates the need to
manually set up and secure the power cable to the drape during
set-up of the surgical robot. This may make the set-up of the robot
for a surgical procedure easier and quicker compared to the
situation in which the power cable is a separate and distinct
component that requires manual securement to the drape.
[0064] FIG. 2 shows an example of a surgical robot set up to
perform a surgical procedure. The surgical robot is indicated
generally at 201 and comprises a robotic arm 203 and a surgical
instrument 205. A surgical drape 207 envelopes the robotic arm to
define a sterile boundary thereover. The drape is shown in
cross-sectional view (indicated by the hatched markings). The drape
comprises a sheet 211 that defines a cavity 209 that houses the
robotic arm. The sheet comprises an interior surface 217 and an
exterior surface 219. The interior surface interfaces with the
cavity 209 and the exterior surface interfaces with the external
environment. When the surgical robot is set up to perform a
surgical procedure, the interior surface may interface with the
non-sterile environment and the exterior surface may interface with
the sterile environment.
[0065] The sheet 207 may be flexible so as to permit a degree of
compliance in the drape to make it suitable for use with a range of
robotic arms of differing sizes and shapes. The sheet may be made
of material such as polyester, polypropylene, polyethylene or
polytetrafluoroethylene (PTFE) for example.
[0066] The surgical instrument 205 is powered by an external power
supply (shown here as a generator 213). Power is supplied from the
power supply 213 to the instrument 205 via a power cable 215. The
power cable is interposed between the interior and exterior
surfaces of the drape sheet. The power cable can therefore be
viewed as being embedded within the sheet. The cable may be
integrated with the sheet during the manufacturing process of the
drape. The power cable may be permanently embedded within the
sheet. Alternatively the power cable may not be permanently
embedded within the sheet but may be detachable from the sheet. The
power cable may for example be integrated with the drape sheet at a
time after manufacture of the sheet, e.g. in an operating theatre
when the robotic instrument is being set up to perform a surgical
procedure. The power cable may be integrated with the sheet by
feeding the cable through an integrated conduit of the sheet. When
the surgical procedure has finished, the cable may be detached from
the sheet by removing the cable from the conduit.
[0067] As discussed in more detail below, the power cable may be
sandwiched between the interior and exterior surfaces of the sheet
so that the material of the sheet is flush with the outer surface
of the cable. Alternatively the power cable may be housed within a
conduit defined by the sheet material that is not flush with the
surface of the cable.
[0068] The power cable may terminate at each of its ends with a
connector. The power cable may comprise a supply connector 221 at
one of its ends for connecting to the power supply 213, and an
instrument connector 223 at the other one of its ends for
connecting to the robotic arm instrument 205. The instrument
connector and supply connector may be moulded connectors, for
example.
[0069] The power cable need not necessarily be interposed between
the interior and exterior surfaces of the sheet along its entire
length. For example, the connectors may be positioned externally of
the sheet 207 to facilitate connection of the cable to the
instrument and/or power supply. The power cable may nevertheless be
interposed between the surfaces of the sheet along a substantial
part of its length so as to minimise exposure of the cable to the
sterile environment. The power cable may traverse the exterior
surface of the sheet (as shown) to connect to the robotic arm
instrument, but not traverse the interior surface of the sheet.
This is advantageous because it means the cable can be integrated
within the drape without requiring a fluid passage between the
non-sterile environment within the cavity to the sterile
environment external to the cavity. The power cable may traverse
the exterior surface of the sheet at a region proximal to the
instrument connector so that the majority of the cable is
interposed between the sheet surfaces.
[0070] The power cable may extend through an opening, or mouth, 227
at the perimeter of the sheet to connect to the power supply. The
mouth may have a boundary, or lip, defined by the interior and
exterior surfaces of the sheet, as shown. The mouth may be directed
or oriented in a direction substantially parallel with the surfaces
of the sheet. That is, the plane of the opening may be
substantially transverse, or perpendicular to the surfaces of the
sheet. Alternatively the power cable may traverse the interior
surface of the sheet in a region proximal to the power connector.
Typically, the power supply 213 will not be sterile. As such, it
may be desirable to store the power supply in a non-sterile region
and not in the sterile environment. The drape may be configured so
that the power cable traverses the interior surface of the sheet to
enable the power cable to connect to a power supply that is stored
in a non-sterile region when the surgical robot is set up for a
procedure. This is advantageous because it enables the power cable
to connect to the power supply without having to store the power
supply in the sterile environment. The drape may comprise a port,
or opening, positioned on the interior surface of the sheet through
which the cable can pass to traverse the interior surface of the
sheet.
[0071] To prepare the robot 201 for a surgical procedure, the drape
207 is passed over the robotic arm 203. The drape may be
manufactured in a general elongate shape that can be passed over
the arm. For example the drape may be manufactured so as to have a
general tubular shape, closed at one end and open at its other end.
Alternatively the drape may be manufactured as a planar sheet that
is manipulated into an elongate shape as the drape is fitted over
the robotic arm. Regardless, the drape sheet is configured to
define a cavity for housing the robotic arm. The cavity may
comprise a basal end for housing a basal portion of the robotic
arm, and a distal end for housing a distal portion of the robotic
arm. The cavity comprises an opening, or mouth (indicated generally
at 225), at its proximal or basal end that may permit the drape to
be passed over the robotic arm. The mouth may be sealed against the
arm to enclose a volume between the interior surface of the sheet
and the exterior of the arm. The drape may be configured so that
the power cable extends along a longitudinal extent of the cavity.
The cable may extend from a region proximal to the basal end of the
cavity to a region proximal to the distal end of the cavity. Once
the drape has been passed over the robotic arm, the power cable can
be connected to the instrument 205 near the distal end of the
cavity, and to the power supply 213 near the opening mouth 225 of
the cavity.
[0072] When preparing a surgical robot for a procedure using a
conventional drape, there is typically a requirement to consider
where to place the power cable so as to minimise the likelihood
that it will interfere with or distract the personnel taking part
in the procedure. One solution is to secure the cable to the
exterior surface of the drape, however this may be an awkward and
time consuming task. In addition, the power cable may need to be
connected and subsequently removed each time the robot is prepared
for a procedure. By interposing the cable between interior and
exterior surfaces of the drape sheet, these problems may be
circumvented. Because the power cable is integral with the drape
sheet 207, there is no need to consider where to position and/or
attach the power cable during set-up of the surgical robot.
Furthermore, because the cable is sealed within the sheet, it may
not require pre-sterilisation prior to use of the drape.
[0073] FIG. 3 is an example of a drape shown in a planar
arrangement. The drape may be constructed as a planar sheet before
being fitted over a robotic arm to define a cavity that houses the
arm. The drape 301 comprises a sheet 303 having an interior surface
307 and an exterior surface 309. The drape 301 comprises a duct, or
channel, or conduit 311 interposed between the interior and
exterior surfaces 307 and 309 respectively for housing the power
cable 305. The channel extends in a direction substantially
parallel to the surfaces of the sheet and has a mouth 313 located
at the perimeter of the drape. The mouth may comprise an opening,
and a lip formed from material of the sheet. The channel is bounded
along its length by the material of the sheet. The channel is thus
defined by the material of the sheet. The drape further comprises a
port 315 to permit the power cable to traverse the exterior surface
309 to connect to a robotic arm instrument. The port 315 is
positioned on the exterior surface. The port 315 enables the cable
to extend from the channel through the exterior surface.
[0074] The drape may be manufactured without a power cable. That
is, the power cable may not be embedded within the drape sheet
during manufacture of the drape. A power cable can be integrated
with the drape by threading the cable through the channel 311 via
the mouth 313 and port 315. This may be done by a user of the drape
(e.g. a surgeon or nurse). The power cable may be removed from
within the sheet in a similar way. The power cable may thus be
detachable from the sheet and not permanently embedded therein.
[0075] The power cable (e.g. a cable embedded in the sheet during
manufacture or an integrated cable detachable from the sheet) may
extend at least between the mouth of the channel and the port so
that the length of cable therebetween is embedded within the sheet
303. A distal portion of the power cable may extend beyond the port
315 for connecting to the robotic instrument. This portion may
comprise the instrument connector. Likewise, a proximal, or basal
portion of the power cable may extend beyond the channel mouth for
connecting to the external power supply. This proximal portion may
comprise the supply connector.
[0076] The drape may be configured so that the channel mouth
circumscribes the outer surface of the cable. In other words, the
mouth may touch or be in contact with the outer surface of the
cable. The mouth may be sealed against the outer surface of the
cable. The channel mouth may be adhered to the surface of the
cable, for example.
[0077] Circumscribing the mouth around the cable may limit
non-sterile air being drawn through the channel where it could
potentially enter the sterile environment during a surgical
procedure. Circumscribing the mouth around the cable may also help
to secure the cable relative to the sheet to prevent unwanted
movement of the cable. For similar reasons, the drape may also be
configured so that the port likewise circumscribes the power
cable.
[0078] The drape may comprise a further port or opening (not shown)
in a region proximal to the perimeter of the sheet. The port may be
positioned on the interior surface of the sheet to enable the cable
to traverse the interior surface to connect to a power supply. This
would enable the power cable to extend from the channel into a
non-sterile region to connect to the power supply, as discussed
above. The drape may comprise the additional port instead of the
mouth 313. Alternatively the drape may comprise a port and the
mouth.
[0079] The cable may be sandwiched between the interior and
exterior surfaces of the sheet. For example the cable may sit
within a channel or conduit that circumscribes the outer surface of
the power cable along its length so that the material of the sheet
is flush with the outer surface of the cable. The material of the
sheet may touch, or be in contact with the outer surface of the
cable. FIG. 4 shows an exemplary cross-section through part of a
drape in which the power cable is sandwiched between interior and
exterior surfaces of the sheet. The drape could for example be the
drape illustrated in FIG. 2 or 3. In FIG. 4 a power cable 405 is
shown housed within a channel. The power cable 405 is interposed
between the interior surface 407 and the exterior surface 409 of
sheet 403, and is sandwiched by those surfaces so that that the
outer surface of the cable is flush with, or adhered to, the sheet
material. The power cable can be said to be surrounded, or
embedded, by the sheet.
[0080] The power cable may be sandwiched between the interior and
exterior surfaces of the sheet during the manufacture of the drape.
As such, the power cable may be permanently embedded within the
sheet. An example of how the cable may be sandwiched between the
surfaces of the drape sheet is described with reference to FIG. 5.
As a first step, the power cable 505 may be placed on a first sheet
of material 501. A second sheet of material 503 can then be placed
congruently with the first sheet and the first and second sheets
subsequently bonded together, for example by heat, through use of
an adhesive, or a combination thereof. The outer surfaces of the
two sheets of material (i.e. the surfaces of the sheets that do not
interface with each other) correspond to the interior and exterior
surfaces of the drape sheet 403 once the sheets are bonded
together.
[0081] Sandwiching the cable between the interior and exterior
surfaces of the sheet may prevent the cable from becoming dislodged
during use of the drape. In addition, sandwiching the cable does
not require the use of elaborate or expensive manufacturing
techniques.
[0082] FIG. 6 shows an alternate cross-section through part of a
drape. The drape could for example be the drape in FIG. 2 or 3. In
this example a power cable 605 is housed within a channel or
conduit 611 interposed between interior 605 and exterior 607
surfaces of a drape sheet 603, but is not circumscribed thereby.
For example the drape may be configured to permit lateral movement
of the power cable within the conduit. There may exist air gaps 613
and 615 between the sheet material defining the conduit and the
outer surface of the power cable. The conduit may have a larger
cross sectional area than the cross-sectional area of the cable.
The additional space within the conduit may reduce the constraints
placed by the sheet on the compliance of the power cable. This may
be useful when securing the drape to the surgical robot in advance
of a procedure. For example, when securing the drape to the robotic
arm, the drape is manipulated through a range of structural shapes
and forms. Such manipulation requires a degree of compliance from
the power cable. That compliance may be increased by reducing the
locomotive constraints on the cable.
[0083] A surgical drape that permits movement of the power cable
within the conduit may nevertheless be configured so that the sheet
material circumscribes the cable at the mouth of the conduit and/or
at the port(s). This may be to secure the cable relative to the
sheet and/or limit the flow of non-sterile air through the conduit.
The drape may be configured so that the mouth and/or port(s) are
sealed to the power cable. The sheet material could be adhered to
the power cable at these locations, for example.
[0084] A drape with a cross-section as shown in FIG. 6 may be
manufactured in a similar manner to the process described with
reference to FIG. 5. The process would differ in that, rather than
adhering together the entire surfaces of the two sheets of material
501 and 502, each sheet would be adhered to the other along two
contact strips on opposing sides of the cable. The interspace
between the contact strips would determine the size of the conduit
relative to the size of the cable. The sheet material may then be
closed off around the mouth of the conduit and/or port to seal the
material in these regions to the power cable. It will be
appreciated that this process is just an example and that the drape
may be manufactured in other suitable ways. For example the drape
may be manufactured without embedding a power cable and/or
manufactured so that the power cable is detachable from the drape
sheet.
[0085] The drape sheet may comprise two layers or sub-sheets of
material. The two layers may be congruent. That is, the sheet may
comprise two layers of material across the whole surface of the
sheet. An example of such a sheet is shown in FIGS. 2, 3 and 5. The
drape may alternatively be configured so that the drape sheet
comprises two layers or sub-sheets only in the proximity, or
surrounding area, of the power cable. An example of such a drape is
shown in FIG. 7.
[0086] FIG. 7 shows an example of a surgical robot set up to
perform a surgical procedure. In this example the surgical robot is
the same robot 201 described with reference to FIG. 2. A drape 701
envelopes the robotic arm to define a sterile boundary thereover.
The drape is shown in cross-sectional view (indicated by the
hatched markings). The drape comprises a sheet 703 that defines a
cavity 705 that houses the robotic arm. The sheet comprises an
interior surface 707 and an exterior surface 709. The interior
surface interfaces with the cavity 705 and the exterior surface
interfaces with the external environment.
[0087] The surgical instrument 205 is powered by power supply 213.
Power is supplied to the instrument from the power supply through
power cable 215. The cable is interposed between the interior and
exterior surfaces of the sheet.
[0088] The drape sheet 703 comprises two layers of material 711 and
713. The drape is configured so that the sheet comprises the two
layers of material in cross-section only in regions of the sheet in
proximity to, or in the vicinity of the power cable. That is, in
regions of the sheet remote from the power cable, such as the
region indicated generally at 715, the sheet comprises only a
single layer in cross-section. In regions of the sheet in proximity
to or in the surrounding area of the cable, the drape sheet
comprises two material layers in cross section. In this way the
secondary layer can be viewed as forming a pocket for the cable.
The drape sheet thus only contains the secondary layer where
needed, that is to house the cable. This is advantageous because it
may reduce the amount of material required to manufacture the drape
sheet.
[0089] The drape sheet may comprise a primary material layer (e.g.
layer 711) and a secondary material layer (e.g. 713). The primary
layer of material may have a larger surface area than the secondary
layer of material. The primary and secondary layers may therefore
not be congruent. The primary layer may define the inner surface of
the drape sheet. The secondary layer may define an outer surface of
the drape sheet such that the power cable is interposed between an
exterior surface of the secondary layer and an inner surface of the
primary layer. The outer surface of the drape sheet may therefore
comprise a surface of the primary layer and a surface of the
secondary layer.
[0090] The secondary layer may comprise an opening, or port to
enable the power cable to traverse the outer surface of the drape
sheer for connection to the instrument. The primary layer may
comprise an opening or port to enable the power cable to traverse
the interior surface of the sheet to connect to the power supply.
The first and second layers may alternatively define a mouth at the
perimeter of the drape through which the power cable can
extend.
[0091] A drape such as drape 701 may be manufactured in a similar
manner to the process illustrated in FIG. 5. The process may differ
in that, rather than adhering together two congruent sheets as in
FIG. 5, a primary layer may be adhered to a secondary layer with a
smaller surface area than the primary layer. The primary and
secondary layers may be equal in one length dimension but differ in
another perpendicular length dimension. E.g. the layers may be of
the same length but of differing widths. Alternatively the primary
and secondary layers of material may have different lengths along
both perpendicular directions, i.e. the primary and secondary
layers have different lengths and widths. The secondary layer may
for example be formed in a strip that is adhered to the primary
layer.
[0092] FIG. 8 shows how the secondary layer can be adhered to the
primary layer to form a channel or conduit for the power cable. A
drape 801 is shown in a planar arrangement. The drape comprises a
sheet 803 that comprises a primary layer of material 805 and a
secondary layer of material 807. The secondary layer is formed as a
strip, or general elongate shape and has a smaller surface area
than the primary layer. The surface area of the secondary layer may
be less than 40%, or 20% of the primary layer, for example. The
secondary layer is adhered to the primary layer to form a channel
or conduit that houses the power cable (not shown).
[0093] When the cable is housed within the channel the cable is
interposed between an interior surface of the sheet 809 (the
interior surface being defined by a surface of the primary layer of
material) and an exterior surface of the sheet 811 (the exterior
surface being defined by a surface of the secondary layer of
material). The secondary layer may comprise an opening or port 813
through which the power cable can extend to traverse the exterior
surface of the sheet to connect to the robotic instrument. The
channel may have a mouth 815 as shown that is located at the
perimeter of the drape. The mouth comprises an opening bounded by a
lip formed from material of the primary layer and the secondary
layer. The cable can extend out of the mouth to connect to the
power supply.
[0094] Alternatively, the secondary layer may be adhered along its
entire perimeter to the primary layer. In other words there may be
no mouth 815. In this case, the power cable traverses the drape
sheet to connect to the power supply by passing through a second
port or opening located on either the primary layer or the
secondary layer.
[0095] The above description illustrates various examples of how a
supply line (in the form of a power cable) can be integrated within
the sheet of a surgical drape by interposing the cable between
interior and exterior surfaces of the sheet. A further set of
examples will now be described that illustrate a further approach
to securing a supply line to the sheet of the drape. In the
following examples, the drape comprises a set of routing
structures, or elements, that are attached to the sheet. These
structures may also be referred to as guiding elements. The drape
is configured so that each element can receive a threaded supply
line for use in a surgical procedure. That is, the drape is
configured so that a supply line can be threaded through each
element of the set and thereby be secured to the sheet of the
drape. This advantageously allows the supply line to be secured in
place during a surgical procedure without having to manually tie
the supply line in place using clips, ties etc., which may be
difficult and somewhat cumbersome.
[0096] FIG. 9 shows an example of a surgical robotic system set up
for a surgical procedure. The robotic system is shown generally at
901 and comprises robotic arm 203 and surgical instrument 205. The
instrument 205 is attached to a distal end of the robotic arm.
Surgical drape 903 is shown enveloping the robotic arm to define a
sterile boundary thereover. As before, the drape comprises a sheet
905 that defines a cavity 907 that houses the robotic arm 203. The
sheet may be flexible, as described above. The cavity has a basal
portion 913 and a distal portion 915. The basal portion includes
the mouth, or opening, of the cavity. The distal portion of the
cavity is closed.
[0097] A supply line 909 for use in a surgical procedure is shown
that in this example attaches to the surgical instrument. The
supply line terminates at a first of its ends in an instrument
connector 917 for connecting to the surgical instrument. The supply
line may terminate in a second of its ends in a supply connector
919 for connecting to a supply source 921. The supply source 921
could for example be an electrical power supply or generator (if
the supply line were a power cable) or an irrigation or suction
pump if the supply line were an irrigation or suction tube.
[0098] The supply line is secured to the sheet via a set of one or
more guiding elements 911. The guiding elements are shown attached
to the exterior surface of the sheet 905, and retain the supply
line in position along the sheet. Here, the supply line is threaded
through the set of routing elements so that the routing elements
retain the supply line. The routing elements 911 are thus
intermittently spaced on the sheet. The routing elements may take
various forms: for example, each routing element may be in the form
of a loop of material defining an eyelet; alternatively a routing
element could be a sleeve of material, where the sleeve defines a
lumen through which the supply line is threaded. Some examples of
the various different forms of routing element are shown in FIGS.
10A-10D. Each of these examples shows the routing element attached
to the sheet 905 (of which only a portion is shown for
clarity).
[0099] A routing element in the form of a loop is shown in FIG. 10A
and denoted at 1001. The loop of material may be secured to the
sheet to define an eyelet 1003 for receiving the supply line. The
loop of material may be integral with the sheet. It could for
example be adhered to the sheet. The loop may be formed from a
strip of material secured to the sheet at its lateral ends. The
routing element may be made of the same material as the sheet.
Alternatively, the material of the routing element may be different
from that of the sheet. It may be advantageous to make the routing
element of a thicker, or more durable, material than the material
of the sheet so that the routing elements can adequately support
the supply line during a surgical procedure.
[0100] Alternatively the routing elements may take the form of a
set of conduit portions, or sleeves, as shown in FIG. 10B. Here,
the routing element 1005 is attached to the sheet to define a
sleeve, or conduit, through which the supply line is threaded.
Again, the set of conduit portions are intermittently spaced on the
sheet. The sleeve may be defined entirely by the material of the
routing element. This has the advantage of facilitating easy
construction of the drape as each sleeve can simply be adhered to
the sheet. Alternatively, the sleeve may be defined in part by the
material of the routing element and in part by the material of the
sheet.
[0101] FIG. 10C shows some further examples of the guiding element.
In these examples the guiding element is in the form of a housing
that defines a channel for receiving the guiding element. Element
1007 is in the form of a housing 1009 having an internal grooved
surface 1008 for retaining, or guiding, a supply line. Element 1011
shows a housing 1013 containing two opposing grooved surfaces as
shown at 1014. Alternatively, the housing may comprise a bore 1015
as shown for element 1017. In this case the supply line is threaded
through the bore 1015. The housing may be a rigid structure (as
shown in the examples in FIG. 10C) to facilitate easy attachment to
the sheet and/or to enable the supply line to be threaded more
easily.
[0102] FIG. 10D shows an example in which the guiding element is in
the form of a clasp 1019. In this particular example the clasp is
adjustable. The clasp comprises two opposing arms 1021 and 1023
where the spacing 1029 between the arms can be adjusted by means of
a screw 1025. Of course, other mechanisms for adjusting the clasp
are possible. For example, the arms of the clasp may be resiliently
deformable so that the spacing between the arms can be increased
upon application of a force. The arms may be biased towards a
closed position so that the routing element can securely retain the
supply line.
[0103] Other examples of guiding element are possible. For
instance, the guiding element may be a clip into which the supply
line can be push-fitted. It may be a peg.
[0104] Although the routing elements have been described as
possibly being adhered to the sheet, in other examples they may be
releasably attached to the sheet so that they may be detached by
the user. For example, the routing elements may be attached to the
sheet by a fastening mechanism such as a push-fit or snap-fit
attachment, a zip-lock mechanism, or a hook and loop fastener (e.g.
Velcro). Making the routing elements detachable from the sheet may
allow a set of routing elements to be reused following a procedure.
The drape sheet may be designed to be disposable, in which case
reusable routing elements may reduce the cost of the drape to
medical professionals or organisations who perform large numbers of
surgical procedures.
[0105] During a surgical procedure, articulations of the robotic
arm may cause the supply line to coil or bend. Because the supply
line is retained by the routing elements, such motion of the supply
line may in turn impart large forces through the sheet. The drape
sheet 905 may therefore be additionally reinforced in regions
surrounding each routing element. The use of a set of reinforcement
elements may prevent damage to the sheet (e.g. ripping or tearing)
caused by such articulations of the robotic arm during use. For
example the drape may comprise a set of patches adhered to the
sheet. Each guiding element may be attached to a respective patch.
The patches may be made of the same material as the sheet.
Alternatively, the patches may be made of a material with a greater
resilience and/or shear strength than the material of the sheet.
The patches may be flexible to permit an order of compliance so as
to not adversely affect the flexibility of the drape. Alternatively
the patches may be in the form of rigid plates for increased
protection and reinforcement. The patches may be adhered on one
side to the sheet 905. On its other side it may be attached to a
guiding element. The reinforcement elements may alternatively be
flanges each configured to attach to both a guiding element and the
drape sheet. The reinforcement element may be attached to the
guiding element by any suitable connection, for example it may be
adhered to the guiding element, fixed by one or more screws,
etc.
[0106] In another example, the drape sheet 905 may be reinforced by
having regions of increased thickness surrounding the guiding
elements. That is, the sheet may have a non-uniform thickness. It
may have multiple regions, or subareas, of increased thickness.
Each guiding element may be attached to a region of increased
thickness. These regions may be spatially arranged across the
sheet.
[0107] Although the guiding elements 911 retain the supply line,
they may not hold it fast. That is, the routing elements may be
arranged to permit relative movement of a threaded supply line and
the drape sheet 905. The guiding elements may for example permit a
degree of lateral and/or longitudinal motion of the supply line
(the terms lateral and longitudinal being relative to the general
direction of the supply line) relative to the guiding element
and/or sheet. As a simple example, each guiding element may
encircle, or bound, the supply line but may not circumscribe it.
Referring back to FIGS. 10A-D, the eyelet 1003 defined by the loop
of material may have a larger cross-sectional area than the supply
line; or the sleeve 1005 or bore 1015 may have a larger
cross-sectional area and/or diameter than the supply line. Thus,
the guiding element may permit slidable motion of the supply line
relative to the sheet. The conduit portion of FIG. 10B and the
housing of FIG. 10C may be particularly well suited to permit such
slidable movement of the supply line.
[0108] In another example, the guiding element itself may be
moveable relative to the drape sheet 905. The guiding element may
for example be rotatable, e.g. about an axis generally
perpendicular to the local plane of the sheet (i.e. the general
plane of the sheet in the vicinity of the guiding element).
Referring back to FIG. 10D, the clasp 1019 may be rotatable about
axis 1027 as indicated by the double-headed arrow, for example. The
guiding elements shown in FIGS. 10A-10C may also be made rotatable
with respect to the sheet, for example by being secured to a
support plate, or backing, that is rotatably mounted to the sheet.
The guiding element may be fast with a plate that is itself
rotatably attached to a backing plate attached to the sheet. In
these examples, the rotation of the guiding elements permits
movement of the supply line with respect to the sheet and may
enable the route adopted by the supply line across the sheet to be
altered as the robotic arm is articulated.
[0109] Permitting the supply line to move relative to the drape
sheet when retained by the guiding elements may prevent the supply
line from interfering with the articulations of the robotic arm
and/or prevent articulations of the robotic arm from deforming the
supply line or altering its configuration in a way that adversely
affects its performance. This is because any movement of the
robotic arm that imposes a strain on the supply line could simply
cause the supply line to move to a position of reduced strain (e.g.
by causing the guiding element to rotate or by causing the supply
line to coil). Allowing the guiding elements to rotate may be
particularly useful for accommodating rotational movement of one or
more limbs of the robot arm about roll joints.
[0110] To further accommodate movement of the robotic arm 203, the
drape may be arranged so that the supply line is slack in regions
between adjacent guiding elements, rather than being taut. By
arranging the supply line to be slack, it may accommodate greater
articulation of the robotic arm.
[0111] To prepare the robotic system 901 for a surgical procedure,
the supply line may be threaded through the set of guiding elements
prior to the drape being fitted over the robotic arm. The drape
(including the guiding elements) may then be sterilised. The
sterilised drape can then be placed over the robotic arm. The
guiding elements may then be suitably positioned for use in the
surgical procedure. Securing the supply line to the sheet via the
guiding elements may be a more convenient way to retain the supply
line in place than having to secure the line with cable ties, tape
etc.
[0112] Furthermore, it may be seen with reference to FIG. 9 that
the set of routing elements may advantageously be positioned on the
sheet 905 so that the threaded supply line is suitably positioned
for use in the surgical procedure when the drape houses the robotic
arm. That is, the routing elements may be positioned on the sheet
so that the working end of the supply line (i.e. the end that
connects to the robotic instrument 205) is positioned in the
vicinity of the surgical site or in the vicinity of the instrument
socket that the supply line connects to (e.g., to a power socket
located on the instrument in the example that the supply line is a
power cable). To suitably position the supply line, the guiding
elements may be arranged so as to traverse the longitudinal extent
of the cavity defined by the sheet 905. In other words, the set of
guiding elements 911 may be disposed on the sheet in a similar
manner to that shown in FIG. 9 from the basal portion of the cavity
913 to the distal portion 915. Placing the guiding elements along
the longitudinal extent of the cavity means that, when the supply
line is threaded through the set of guiding elements, the supply
line is routed by the guiding elements along the cavity. The closed
end of the cavity is the portion located between the robotic arm
203 and surgical instrument 205, and so placing one or more guiding
elements in this region assists with positioning the working end of
the supply line for use in the surgical procedure. In another
arrangement, the guiding elements may be positioned on the drape so
that they extend along the general direction of the robotic arm
203. That is, the guiding elements may follow the contour of the
arm, or traverse the length of the arm. Such an arrangement assists
with correctly positioning the terminal ends of the supply line for
use in the surgical procedure whilst also reducing the chance that
the supply line will interfere with the articulations of the
arm.
[0113] Arranging the guiding elements on the sheet so that they
route a threaded supply line towards the instrument when the drape
covers the arm can facilitate an easier set-up of the surgical
system for a procedure. This is because simply placing the drape
over the arm brings the supply line broadly into position for use
in the surgical procedure. The person preparing the robotic system
for surgery may then simply maneuver the terminal end of the supply
line to correctly align it for use in the procedure (e.g. by
connecting it to the interface on the robotic instrument).
[0114] The above examples describe a drape with guiding elements
for retaining a single supply line. In other examples there may be
multiple supply lines to be retained in position by the guiding
elements, for example a power supply for the robotic instrument and
an irrigation tube to remove debris and fluid from the surgical
site.
[0115] One approach to retain multiple supply lines is to configure
each guiding element in the set 911 to be able to receive multiple
supply lines. That is, the guiding elements may be dimensioned so
that multiple supply lines can be threaded through each element of
the set. For example, referring back to FIGS. 10A-D, each of the
guiding elements 1001, 1005, 1007, 1011, 1017 or 1019 may be
dimensioned to receive multiple supply lines. In this regard, the
adjustable clasp may be particularly useful since the size of the
receiving space 1029 can be readily adjusted in dependence on the
number of supply lines (or the thickness of the supply line) to be
retained by the guiding elements.
[0116] An alternative approach to retain multiple supply lines is
to provide first and second sets of guiding elements, where each
set of guiding elements retains a respective supply line. FIG. 11
shows a robotic system 1101 comprising a drape 1103 that envelopes
robotic arm 203. The sheet 1105 of the drape comprises a first set
of guiding elements 1107 and a second set of guiding elements 1109
each configured to retain a respective supply line (denoted 1111
and 1113 respectively). Both sets of guiding elements route a
supply line along the cavity defined by the sheet towards the
instrument 205 for use in a surgical procedure. Supply line 1111 is
shown connected to a supply source 1115 (which may for example be a
power supply) and supply line 1113 is shown attached to supply
source 1117 (which may for example be a suction device for use an
irrigation tube). The sheet 1105 may additionally be reinforced in
the areas surrounding the guiding elements in the manner described
above.
[0117] The guiding elements of each set may be any of the types
described herein. The guiding elements of the first set may be of
the same type or a different type to the guiding elements of the
second set. For example, the first set of routing elements may be
in the form of an adjustable clasp 1015 and the second set of
routing elements may be in the form of conduit portions 1005;
routing elements of both sets may be in the form of loops, etc.
[0118] Retaining different supply lines in respective sets of
routing elements may have the advantage of providing a degree of
fault tolerance by providing a degree of spatial separation between
the supply lines. Thus, if one of the supply lines suffers damage
(e.g. an irrigation tube), another supply line (e.g. the power
cable) is less likely to suffer consequential damage from, e.g.
leaked fluids, compared to if the supply lines were retained in a
single set of guiding elements.
[0119] Although the drape shown in FIG. 11 comprises two sets of
guiding elements, in a more general example it may comprise N sets
of guiding elements for retaining a respective supply line, where
N.gtoreq.2. Each of the sets of guiding elements may be of the same
type (e.g. a sleeve), or each may be of a different type.
[0120] In the examples described above with respect to FIGS. 9 to
11, the guiding elements are attached to the exterior surface of
the sheet. It will be appreciated that for each of the above
examples the guiding elements may alternatively be attached to the
interior surface of the sheet (i.e. the surface of the sheet that
interfaces with the non-sterile region within the cavity). This may
negate the need to have to sterilise the supply line in order to
prepare the drape for surgical use because the supply line would no
longer be interfacing directly with the sterile environment.
[0121] If the guiding elements are attached to the inside surface
of the sheet, the drape may further comprise an opening through
which the supply line passes. This is so that the terminal end of
the supply line is on the exterior-side of the sheet (i.e. external
of the cavity), so that the supply line is suitably positioned for
use in the surgical procedure. The opening may as such be located
at or towards the distal end of the cavity. In order to maintain
the sterile boundary, the opening may be sealed against the supply
line. The seal may be air-tight.
[0122] The examples described above with reference to FIGS. 9 to 11
illustrate how a supply line can be retained in position by being
threaded through a set of guiding elements attached to the surgical
sheet of the drape. The use of the guiding elements may facilitate
easier set-up of the robot for a surgical procedure. The step of
securing the supply line(s) to the drape sheet may be performed by
the user. That is, the drape and the supply line may be separate
components that the user assembles for use in a surgical procedure.
For example, the user may select the supply line they wish to
attach to the drape (e.g. an instrument power cable), secure the
supply line to the drape by the set of guiding elements, sterilise
the drape (including the supply line) and then place the sterilised
assembled drape over the robotic arm for use in the procedure.
Alternatively, the drape and supply line may be pre-assembled. That
is, the drape may be distributed and sold with the supply line
already assembled. This may further expedite set-up of the surgical
robot by removing the step of the user threading the supply line
through the guiding elements or otherwise securing the supply line
to the drape via the guiding elements. The drape may be assembled
with a variety of different supply lines. It may be assembled with
more than one supply line threaded through a single set of guiding
elements. If the drape comprises multiple sets of the guiding
elements for retaining respective supply lines, then the drape may
be pre-assembled so that only one supply line (e.g. a power cable)
is pre-installed into the drape. Other supply lines (e.g. an
irrigation tube) could then be added by the user prior to use. More
generally, if the drape comprises N sets of guiding elements, the
drape may be pre-assembled with n (where n<N) supply lines. This
may provide the benefit of expedited assembly of the robotic system
whilst also providing a degree of flexibility in allowing the user
to add further supply lines as they require.
[0123] Above there have been described different examples of how a
supply line can be integrated with a sheet of a surgical drape. The
supply line is used in a surgical procedure, e.g. to service the
surgical instrument or to maintain a surgical site. As has been
mentioned, the supply line could be a power cable for supplying
power to a surgical instrument. The power cable itself may comprise
a conductive core to supply current generated by the power supply
to the robotic arm instrument. The conductive core may be
surrounded by an insulating sheath. The insulating sheath may
function to prevent current leakage from the conductive core. It
may additionally serve as a safety feature to prevent a user from
coming into electrical contact with the cable. The insulating
sheath may be an intrinsic part of the power cable. That is, the
power cable may comprise the conductive core and the insulating
sheath. Alternatively the cable may consist of a conductive core
(that terminates at each of its ends in a connector), with the
insulating sheath being provided by the drape sheet when the cable
is integrated therewith.
[0124] The conductive core may take many different forms. For
example, the conductive core may be a solid core. A solid core is a
single-strand wire, or conductive strip, typically formed from a
single piece of conductive material. A solid-core is typically one
of the cheaper and simpler cores to manufacture. Alternatively the
conductive core may comprise a plurality of conductive strands.
Such a core may be referred to as a stranded core. The strands may
be in a parallel arrangement, or in a braided or twisted
arrangement. Stranded core cables may offer greater compliance and
flexibility compared to solid core cables, which may make them
particularly suitable for use in the surgical drape.
[0125] The power cable may comprise a plurality of conductive
cores. Such a cable may be referred to as a multicore cable. Each
core of the multicore cable may be a solid core, or a stranded
core. The plurality of cores may be held together by a single outer
sheath.
[0126] The insulating sheath may be formed from the material of the
drape sheet. For example, the power cable integrated with the drape
may not have an intrinsic, or constituent, insulating layer; it may
just comprise the conductive core. When the cable is interposed
between the interior and exterior surfaces of the drape sheet, the
conductive core interfaces directly with material of the sheet, the
sheet thereby functioning as the insulating layer for the
cable.
[0127] A power cable that does not have an intrinsic insulating
layer/sheath may be used with any of the example drapes described
with reference to FIGS. 1 to 8. Using just a conductive core for
the power cable may result in a drape with greater flexibility
compared to using a power cable that comprises an insulating layer.
It may also reduce the cost of manufacturing the drape because no
separate insulator for the cable is required.
[0128] The power cable may alternatively comprise an insulating
layer/sheath for covering the conducting core. This insulating
layer is intrinsic to the cable and separate from the material of
the sheet. That is, the power cable comprises its own insulating
sheath that is not integral with the material of the drape sheet.
Such a cable may be used with any of the examples described herein.
Such a cable could be a coaxial cable, for example. In the event
the cable is a multicore cable, each of the plurality of cores may
be covered by a respective insulating sheath. The plurality of
cores may be covered by a single protective sheath to maintain the
cores in a bundled arrangement. Power cables that comprise an
insulating sheath may be more widespread than cables without a
sheath, which may make the manufacturing process of the drape more
versatile.
[0129] Of course, the supply line may not be a power cable but
could for example be an irrigation tube, a suction tube, a
data-communication line etc.
[0130] In some examples described herein, the supply line traverses
the exterior surface of the drape to connect to a surgical
instrument. In alternative embodiments, the supply line (e.g. power
cable) may connect to the surgical instrument through the drape
sheet. For example, the drape may comprise an interface plate that
is configured to connect to both the surgical instrument and the
power cable. The interface plate may be embedded within the sheet.
It may be positioned towards the distal end of the cavity so as to
be in proximity to the surgical instrument during use of the drape.
The plate may comprise one or more conductive contacts that permit
the power cable to electrically couple to the instrument. The power
cable may be integral with the interface plate. For example the
power cable may be adhered to, or fused to, the plate. As such the
power cable may be in permanent electrical contact with the plate.
In such a drape, the power cable may be connected to the surgical
instrument by appropriately positioning the drape relative to the
instrument so that the electrical contact of the plate interfaces
or connects to a conductive element on the instrument. The
conductive contacts of the interface plate may be moulded into an
appropriate shape for connection to the surgical instrument. For
example the contacts may be in the form of projections that mate
with an electrical contact on the instrument.
[0131] By having the cable connect to the instrument through the
drape, the cable including the instrument connector can be embedded
within the sheet and need not traverse the exterior sheet of the
drape. This is advantageous because it enables the power cable to
connect to the surgical instrument without requiring the power
cable to enter the sterile environment.
[0132] In some of the examples described herein, a surgical drape
has an embedded/integral or, more generally, a secured power cable
for supplying power to a surgical instrument attached to a surgical
robotic arm. The power cable may be configured to supply power to
an instrument used to perform electrosurgery, or electrocautery.
Electrosurgery and electrocautery are based on the general
principle of using an electrical current to perform surgical
procedures on a patient's tissue, for example to cut, coagulate,
desiccate or fulgurate the tissue. In general, electrocautery uses
a DC current to heat a surgical probe to a high temperature. The
heated probe is then applied to the patient's tissue. In contrast,
electrosurgery in general applies an AC current directly through
the patient's tissue via a pair of electrodes. The frequency of the
AC current is typically in the radio frequency (RF) range (e.g.
around 500 KHz), and so instruments used for electrosurgery may
need to be connected to an RF power supply (for example generator
213). The power cable may therefore be configured to supply RF
power to the surgical instrument. The instrument used in
electrosurgery may be a monopolar instrument or a bipolar
instrument. A monopolar instrument refers to an instrument that
comprises one relatively small `active` electrode placed locally to
the surgical site that concentrates the applied current, and one
relatively large `dispersive` electrode placed remotely from the
surgical site (but still attached to the patient). The relatively
large electrode is used to include a substantial part of the
patient's body as part of the electrical circuit. In contrast, a
bipolar instrument comprises only two `active` electrodes so that
only the tissue positioned between the two electrodes forms part of
the electrical circuit. It will be appreciated that the power cable
may be used to supply power to other types of surgical instrument
and/or to instruments used in performing other types of surgical
procedure.
[0133] The applicant hereby discloses in isolation each individual
feature described herein and any combination of two or more such
features, to the extent that such features or combinations are
capable of being carried out based on the present specification as
a whole in the light of the common general knowledge of a person
skilled in the art, irrespective of whether such features or
combinations of features solve any problems disclosed herein, and
without limitation to the scope of the claims. The applicant
indicates that aspects of the present invention may consist of any
such individual feature or combination of features. In view of the
foregoing description it will be evident to a person skilled in the
art that various modifications may be made within the scope of the
invention.
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