# US 10,307,214 B2 · Modular sterilizable robotic system for endonasal surgery > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,307,214 B2 - Document ID: US10307214B2 - Status: Granted - Kind: B2 - Application number: 15/360,087 - Filed: 2016-11-23 - Published: 2017-05-25 - Granted: 2019-06-04 - Earliest claimed: 2015-11-23 - Assignees: Vanderbilt University - Applicants: Vanderbilt University - Inventors: Ray Lathrop; Trevor L. Bruns; Arthur W. Mahoney; Hunter B. Gilbert; Philip J. Swaney; Richard J. Hendrick; Kyle Weaver; Paul T. Russell; Stanley Duke Herrell; Robert J. Webster - Web page: https://patentgrep.com/patent/US10307214B2 ## CPC - A61B 34/30: Surgical robots - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/35: for telesurgery - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 90/37: {Surgical systems with images on a monitor during operation} - A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2090/3614: {using optical fibre} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A surgical robot system includes a support structure for positioning relative to a patient. The support structure includes a plurality of mounting structures. One or more robotic tool cassettes that are configured to interchangeably connect with any of the mounting structures. Each tool cassette includes a concentric tube manipulator and a transmission for operating the concentric tube manipulator. The support structure also includes a tube collector including a tube assembly associated with each of the mounting structures. The tube assemblies are configured to receive the concentric tube manipulators and guide the manipulators to extend along predetermined trajectories relative to each other. ## Claims ### Claim 1 A surgical robot system comprising: a support structure for positioning relative to a patient, the support structure including a plurality of mounting structures; one or more robotic tool cassettes that are configured to interchangeably connect with any of the mounting structures, each tool cassette comprising a concentric tube manipulator and a transmission for operating the concentric tube manipulator; wherein the support structure further comprises a tube collector comprising a tube assembly associated with each of the mounting structures, the tube assemblies being configured to receive the concentric tube manipulators and guide the manipulators to extend along predetermined trajectories relative to each other. ### Claim 2 (depends on 1) The surgical robot system recited in claim 1, wherein the support structure comprises a main beam and wherein the mounting structures are connected to the main beam at positions spaced radially about the main beam. ### Claim 3 (depends on 1) The surgical robot system recited in claim 1, the mounting structures are configured to position the tool cassettes so that the concentric tube manipulators are directed toward a common location. ### Claim 4 (depends on 1) The surgical robot system recited in claim 1, wherein the tube collector is configured to receive and guide the concentric tube manipulators to exit the tube collector at trajectories that are substantially parallel to each other. ### Claim 5 (depends on 4) The surgical robot system recited in claim 4, wherein the tube collector is configured to redirect the concentric tube manipulators from angled trajectories at which the manipulators are received in the tube collector to substantially adjacent and parallel trajectories at which the manipulators exit the tube collector. ### Claim 6 (depends on 1) The surgical robot system recited in claim 1, wherein the tube collector is configured to direct the concentric tube manipulators to exit the tube collecting structure in a pattern configured so that the manipulators can extend through an ellipse having a major diameter of about 14 mm. ### Claim 7 (depends on 1) The surgical robot system recited in claim 1, wherein each concentric tube manipulator comprises a rigid outer tube and two curved inner tubes, the innermost tube carrying a surgical tool at its tip. ### Claim 8 (depends on 1) The surgical robot system recited in claim 1, wherein each of the tool cassettes have a form factor that is identical, the tool cassettes being interchangeably connectable to the mounting structure. ### Claim 9 (depends on 1) The surgical robot system recited in claim 1, wherein each mounting structure comprises a carriage assembly configured to receive a tool cassette, the mounting structure comprising a motor that is actuatable to move the carriage assembly linearly along the mounting structure to cause translational movement of the concentric tube manipulator of the tool cassette supported by the carriage assembly. ### Claim 10 (depends on 9) The surgical robot system recited in claim 9, wherein the carriage assembly comprises one or more guide pins configured to be received in corresponding guide apertures in the robotic tool cassette, and a handle that is actuatable to engage locking pins on the tool cassette to draw the tool cassette onto the carriage assembly with the guide apertures engaging the guide pins, and wherein the handle is configured to lock onto the locking pins to secure the tool cassette on the carriage assembly. ### Claim 11 (depends on 10) The surgical robot system recited in claim 10, wherein the guide pins and guide apertures have cross-sectional shapes selected such that a tool cassette having guide apertures of a matching cross-sectional shape can be installed only on carriage assemblies having guide pins configured to be received in those particular guide apertures. ### Claim 12 (depends on 9) The surgical robot system recited in claim 9, wherein the carriage assemblies and tool cassettes each have a form factor that is identical so that the tool cassettes are interchangeable on the carriage assemblies. ### Claim 13 (depends on 1) The surgical robot system recited in claim 1, wherein the concentric tube manipulators of each of the robotic tool cassettes is adapted to carry a tool at its distal end, such as grippers, surgical lasers, graspers, retractors, scissors, imaging tips, cauterization tips, ablation tips, wrists, curettes, morcelators, knives, scalpels, cameras, irrigation ports, and suction ports. ### Claim 14 (depends on 1) The surgical robot system recited in claim 1, wherein the tool cassettes and the concentric tube manipulators are configured to be sterilizable, and wherein the support structure is configured to receive a sterile curtain for providing a sterile barrier between the support structure and an operating room environment. ### Claim 15 (depends on 1) The surgical robot system recited in claim 1, wherein the tool cassettes are constructed of biocompatible and sterilizable components. ### Claim 16 (depends on 1) The surgical robot system recited in claim 1, further comprising one or more motor packs associated with the mounting structures and comprising one or more electric motors configured to supply rotational mechanical power to a tool cassette mounted thereon. ### Claim 17 (depends on 16) The surgical robot system recited in claim 16, wherein each tool cassette comprises a transmission for providing rotational and/or translational degrees of freedom of movement to the concentric tubes of its associated concentric tube manipulator, and wherein the motor pack includes an electric motor dedicated to each degree of freedom provided by the transmission. ### Claim 18 (depends on 17) The surgical robot system recited in claim 17, wherein the motor packs and the tool cassettes comprise couplings for automatically coupling the electric motors and the transmission. ### Claim 19 (depends on 1) The surgical robot system recited in claim 1, further comprising protective sleeves for protecting the concentric tube manipulators as they extend from the tool cassettes to the tube collector. ### Claim 20 (depends on 19) The surgical robot system recited in claim 19, further comprising a sliding port assembly configured to maintain the concentric tube manipulator centered within the protective sleeve, the sliding port assembly being connected to the concentric tube manipulator and being configured to arrest advancement of an outer concentric tube with its distal end proximate to and centered within an end portion of the collector tube so that the curved tubes of the concentric tube manipulator exit the tube collector from its center. ### Claim 21 (depends on 1) The surgical robot system recited in claim 1, further comprising markers applied to the concentric tubes of the concentric tube manipulator, the markers being configured to align in a predetermined pattern that is indicative of the concentric tube manipulator being in a home position. ### Claim 22 (depends on 1) The surgical robot system recited in claim 1, wherein the tube collector comprises an excluder opening through which the curved tubes of the concentric tube manipulator extend if installed in the tube collector in an improper orientation. ### Claim 23 (depends on 1) The surgical robot system recited in claim 1, wherein the tube collector comprises an opening through which the curved tubes of the concentric tube manipulator can extend if the tip of the curved tube moves over the opening, wherein the system is configured to have a homing mode in which the concentric tube manipulator is actuated translationally and rotationally within the collector tube while monitoring motor currents of motors actuating the concentric tube manipulator, a change in motor current being indicative of the curved tube tip engaging the opening, which is indicative of the location of the tip in the collector tube. ### Claim 24 (depends on 1) The surgical robot system recited in claim 1, further comprising a mechanical latch that locks the tool cassette in a retracted position to prevent re-use of the tool cassette.