Abstract:
A robotic arrangement for use in medical fields has a robot arm having, in particular, a plurality of hinges, an instrument holder provided on the robot arm in order to receive a medical instrument, and supply lines which can be connected to the instrument. An adapter element is used for connecting the supply lines to the instrument.

Description:
BACKGROUND 
       [0001]    1. Field of the Disclosure 
         [0002]    The disclosure relates to a robotic arrangement for use in medical fields. In particular, the robotic arrangement is suited for use in sterile areas, such as operating rooms. 
         [0003]    2. Discussion of the Background Art 
         [0004]    In surgery, instruments that come into contact with a patient or the interior of a patient have to be sterile, i.e. free from living microorganisms. Various methods exist for the sterilization of devices. For example, such methods include vapor sterilization, hot air sterilization, fractionated sterilization, chemical sterilization, radiation sterilization or plasma sterilization. The sterilization most often takes place outside the operating area so that the devices are moved into the same in a sterile condition. However, some devices cannot be sterilized because of their structure or size. For example, medical robots, frequently used in surgery today, include electronic components that could be damaged by conventional sterilization methods. 
         [0005]    In order to avoid that non-sterilized surfaces of medical robots contaminate sterilized devices or instruments, medical robots are usually packed in a sterile condition in situ. 
         [0006]    Most often, sterile packaging materials such as films are used for the sterile packages for devices, such as medical robots, these materials also being referred to as drapes. Generally speaking, a drape is a sterilized film hose pulled over the technical device and fixed thereon. In this regard it is of particular importance that the drape is not damaged while it is applied and that the sterile surface of the drape facing the sterile side of the operating area is not contaminated. 
         [0007]    Further, a surgical manipulator for robotic systems is known from DE 696 35 050. Here, an instrument holder is provided between the instrument and the robot arm to releasably hold an instrument. Thus, force is transmitted from the robot arm or the individual elements of the robot arm to the instrument holder and from there to the instrument. 
         [0008]    There is a general problem that the supply lines, such as electric wires, data transmission lines and hoses for medium supply and discharge,  have to be connected to the instrument. The supply lines enable the supply or discharge of media, for example, such as liquids and gases. Further, the supply lines may also include light conductors, laser conductors, HF, plasma etc. In this regard, the corresponding supply lines are either guided outside the robot arm or inside the robot arm. Guiding the lines inside the robot arm is disadvantageous in that the available space is limited. Therefore, only a limited number of supply lines can be integrated into the robot arm. In case of the supply lines being guided outside the robot arm, the supply lines can be connected permanently to the instrument or may be detachable from the same. This separation may be useful, since the supply lines can thus be used again, remain permanently connected to the medical instruments and fewer lines are present in the operating area. For this purpose, the connection between the supply lines and the instrument must be releasable, so that another instrument can be connected to the supply lines. While the supply lines are detached from or reconnected  to the instruments, sterility problems can occur. 
         [0009]    It is an object of the present disclosure to provide a robotic arrangement  for use in medical fields, which enables a simple change of instruments, while observing the necessary sterility requirements and allowing the reuse of the supply lines, if so desired. 
       SUMMARY 
       [0010]    The robotic assembly for use in medical fields, in particular in sterile areas such as operating rooms, for example, comprises a robot arm having a plurality of hinges, for example. An instrument holder is arranged  on the robot arm to receive a medical instrument. According to the disclosure, the supply lines connectable to the instrument are not connected directly to the instrument, but are connected thereto via an adapter element. Possibly, according to the disclosure, a part of the supply lines is connected directly to the instrument, while another part of the supply lines is connected indirectly to the instrument via the adapter element. Preferably, all supply lines are connected to the instrument  via the adapter element. This has the advantage provided by the disclosure that in order to change an instrument, the same merely has to be detached from the adapter element and the new instrument has to be set on or connected to the adapter element. By providing the adapter element, the disclosure remedies the disadvantage of a separate connection, in particular of a plurality of supply lines, plug-in connectors or the like to the instrument, and the sterility and manipulation  disadvantages associated therewith. 
         [0011]    The transmission of force onto the instrument, such as the transmission  of forces and moments for moving the instrument by means of the robot arm, can be effected directly from the robot arm to the instrument  holder or from the robot arm to the instrument holder via the adapter element. In a particularly preferred embodiment, the forces and moments are transmitted directly from the robot arm to the instrument. Thus, in a particularly preferred embodiment, the adapter element is at least substantially free from force influences. 
         [0012]    In order to enable a change of instruments that is as simple as possible, it is particularly preferred that all instrument supply lines are connected  to the adapter element. 
         [0013]    The adapter element can be connected to the robot arm together with the instrument via a common holder element on the instrument holder. In this regard, it is possible to provide a connection such as holding the instrument and the adapter element by means of magnets, for example, wherein the magnets are arranged such that no forces or only negligible forces act on the adapter element. For a further reduction  of an unintentional transmission of force onto the adapter element  and, in particular, to exclude the same entirely, it is particularly preferred that the adapter element and the instrument are separately connected with the instrument holder via holder elements, in particular  mechanical holder elements. 
         [0014]    The connection of the supply lines to the instrument, which is made via the adapter element, can be effected such that when the instrument  is connected to the instrument holder, the instrument is at the same time connected to the adapter element and thereby the supply lines are connected to the instrument. Thus, when the instrument is coupled to the instrument holder, a connection to the supply lines is effected at the same time, e.g. by means of a plug connection. However,  a spatial/temporal separation of the connecting operations can be provided, so that the instrument can be independently connected to the instrument holder and to the adapter element. Thereby, a further  decoupling of forces can possibly be ensured. Even if in this embodiment an additional connecting operation, such as plugging the supply lines, is required when the instruments are changed, this is still simpler than in prior art, since spatial proximity is ensured. In particular,  a plurality of supply lines or ports of the instrument can be connected  to the adapter element at the same time, and can thus be connected to a plurality of supply lines at the same time. Further, it is avoided that the supply lines become caught, as could happen if a plurality  of instruments is used and is changed. Moreover, it is not necessary the supply lines to plug the supply lines into the devices again and the number of ports in the devices is reduced. 
         [0015]    In a preferred embodiment of the disclosure, the adapter element can be of a modular structure. In this case, the adapter element comprises a plurality of adapter modules, each connected to at least one supply line. By assembling the adapter modules in a corresponding manner, an adapter element adapted to an individual instrument, a set of instruments  or a specific operation can be put together in a simple manner. This can be done, for example, while preparing an operation, since the instruments used are known from the surgery plan. 
         [0016]    Preferably, the adapter element can comprise a standard adapter element that can be connected with one ore a plurality of additional adapter elements. With such a modular structure, the otherwise always necessary ports, such as a connection to a data transmission line etc., can be realized via the standard adapter element. The additional adapter elements of different design can then be added depending on the current requirements. In this regard, the standard adapter element can be designed such that it is at least partially surrounded by the additional adapter element. The additional adapter element can be in the form of a ring or a partial ring, the additional adapter element preferably being rotatable about the standard adapter element. Due to this in particular free rotatability of the additional adapter element about the standard adapter element, no movement of the supply lines is required, preferably when the instrument is turned. In this regard, the connection of the supply lines can be realized by annular ducts or the like. Generally, power transmission can be effected via sliding contacts, plug-in contacts, spring contacts, in an inductive or optical manner using coils. In this context, the corresponding power transmission  can be effected in particular between the adapter element or individual modules of the adapter element and the instrument. 
         [0017]    It is further possible to design the adapter element in such a modular manner that individual adapter modules are arranged in the axial direction, i.e. as a series of disc-shaped elements. 
         [0018]    Owing to the presence of an adapter element, as provided by the disclosure,  a good sterilizability of the instruments can be achieved. Further,  the robot arm and the supply lines connected with the adapter element can be enclosed by separate sterile drapes, i.e. sterilized hose elements. The supply lines and the robot arm can also have a common drape, with the provision of separate or double-lumen drapes being preferred, since in this case, for example, liquids leaking from supply lines are prevented from entering the hinges of the robot arm. The individual supply lines can be packed in a sterile condition in separate drapes. However, it is also possible to sterilely pack a plurality of groups of supply lines in a common drape, in particular a plurality of supply line groups connected with an adapter module. 
         [0019]    It is further preferred that the surgical instrument is driven and is therefore connected with corresponding lines, in particular for communication. 
         [0020]    In a particularly preferred embodiment of the robotic arrangement of the disclosure, the medical instrument is driven. Thus, for the purpose of being driven, the instrument is connected with power supply lines and/or communication lines for data communication. In this particularly  preferred embodiment, the instrument can be connected with very different supply lines via the adapter element. 
         [0021]    It is particularly advantageous that the robotic arrangement of the disclosure enables the realization of a variable coupling of supply lines to the surgical instrument. In particular, the adapter element can be detached from the drive unit so that various embodiments can be coupled thereto. Further, the adapter element can be designed such that different supply modules can be installed, thereby making the adapter element adaptable to the requirements of a surgical operation. 
         [0022]    The following is a detailed description of the disclosure with reference to preferred embodiments thereof and to the accompanying drawings. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0023]    In the Figures: 
           [0024]      FIG. 1  schematically illustrates a preferred embodiment of a robotic  arrangement, 
           [0025]      FIGS. 2 and 3  show different possible ways of fastening the instrument and the adapter element to the instrument holder, and 
           [0026]      FIGS. 4 to 8  show different preferred embodiments of the adapter element. 
       
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
       [0027]    A robotic arrangement comprises a robot arm  10  having, in the embodiment illustrated, a stationary base element  12  and a plurality of arm links  16  connected by hinges  14 . An instrument holder  18  is arranged  on the free end of the robot arm  10 . The robot arm  10  is connected  with a control means  20  via an electric cable  22 . The cable  22  extends inside the robot arm  10  and supplies electric power in particular to the individual actuators and the electronics. The robot arm  10  is surrounded by a drape  22 , i.e. a sterile cover. 
         [0028]    Different supply lines  24  are guided to an adapter element  26 . The supply lines  24  may be electric wires, optical conductors, data transmission cables and hoses for the supply and the discharge of medium. In the embodiment illustrated, all supply lines  24  are jointly surrounded by one drape  25 . 
         [0029]    It is likewise possible to provide a common drape for the supply lines  24  and the robot arm  10  or a double-lumen drape. Similarly, the lines  24  can each be individually surrounded by a drape. 
         [0030]    The instrument  28  can be controlled via the control means  20  illustrated or via a separate control means not illustrated. 
         [0031]    Both the adapter element  26  and an instrument  28  are connected to the instrument holder. The connection between the instrument holder  18 , the adapter element  26  and the instrument  28  can be made at the same time. For the purpose of a simultaneous fixation, a magnet  30  can be provided, by which both the instrument  28  and the adapter element  26  are fixed to the instrument holder  18 . Thus, a connection with the corresponding ports of the adapter element can be made during the very fixation of the instrument  28 , so that a connection between the supply lines  24  and the instrument  28  is directly established. 
         [0032]    It is further possible to design the adapter element  26  in an annular shape ( FIG. 3 ), wherein a separate, in particular mechanical connection is made between the instrument holder  18  and the adapter element  26  and between the instrument holder  18  and the instrument  28 . 
         [0033]    An adapter element  26  is preferably connected with a plurality of supply lines  24  sheathed in a drape  25 . The adapter element can be annular in shape ( FIG. 4 ) so that a protrusion  32  ( FIG. 3 ) of the instrument  holder  18  extends through a cylindrical central opening  34 . 
         [0034]    Thus, a part of the protrusion  32  serves for connection with the instrument  28 . The adapter element  26  annularly surrounds the protrusion  32 . The adapter element has different connection points  36 ,  38 ,  40 . These are plug-in connections, for example. Depending on the type of instrument  28  used, these are connected in particular immediately upon fixation of the instrument. 
         [0035]    Another embodiment of the adapter element ( FIG. 5 ) is also annular in shape and has a corresponding opening  34 . However, the adapter element illustrated in  FIG. 5  is of modular design. Individual adapter modules  42  having a ring segment-shaped cross section, for example, can be exchanged in a simple manner so that different adapter elements  26  can be assembled that are easily adaptable to the corresponding requirements. The individual adapter modules  42  also have different plug-in connections  36 ,  38 ,  40 . In this regard, the supply lines to the adapter modules can be packed in one or a plurality of drapes. 
         [0036]    Further, a modular structure of the adapter element  26  is also possible in such a manner that a standard module  44  ( FIG. 6 ) is provided which is illustrated in an annular shape in the embodiment illustrated. The same is connected with corresponding supply lines  24  and is provided with plug-in connections  36 . An additional adapter module  46 , which in the embodiment illustrated is of a ring segment shape, is also provided with supply lines  24  and, in the embodiment illustrated, has the plug-in connections  36 ,  38 . It is also possible that a plurality of ring segment-shaped adapter modules  46  is arranged around an inner ring segment-shaped adapter module  44 . 
         [0037]    According to another embodiment ( FIG. 7 ) of the adapter element  26 , the same has an inner annular adapter module  48  comprising all plug-in connections  36 ,  38 ,  40 . The inner annular adapter module  48  is surrounded by a further annulus that is connected with the supply lines  24 . Preferably, the outer annulus  50  is rotatable with respect to the inner annular adapter module  34 . In particular, the outer annulus  50  is freely rotatable. The connection between the supply lines and the plug-in connections  36 ,  38 ,  40  can be made by sliding rings, ring ducts or the like. Due to the free rotatability of the outer ring element  50 , it is possible to rotate the instrument  28  in the ring  50  together with the adapter module  48 , so that no movement of the supply lines  24  is required during rotation. 
         [0038]    In a further preferred embodiment ( FIG. 8 ), identical or similar components are identified by the same reference numerals. It is the particularity of this embodiment that adapter modules  52  are placed inside the adapter element  26 . For this purpose, the adapter element  26  has correspondingly shaped recesses  54 . In this regard, a supply line  24  connected with the adapter module  52  can be packed separately in a drape. A surface  56 , which may not be sterilizable, does not come into contact with the tool or instrument that comes into contact with a patient. Only the outer surface  58  of the sterilizable adapter element  26  will come into contact with the instrument or the patient.