Sterile console for robotic surgery

Abstract

A sterile console includes at least one master input tool mechanically ungrounded and suitable to be hand-held by a surgeon during surgery. A surgical chair has a seating surface to accommodate the surgeon during surgery. A tracking system detects position and orientation of the master input tool within a predefined tracking volume. A tool supporting element receives the master input tool. The consoles also includes a slave robot assembly has at least one surgical instrument designed to operate on a patient anatomy, and a control unit. A field generator of the tracking system is integral with a portion of the surgical chair so that, when the surgeon is seated and hand-holds the master input tool, the master input tool is located within the predefined tracking volume. The position and orientation of the master input tool are detected by the tracking system.

1 . A master console for robotic surgery comprising:
 a chair comprising a seating surface for a surgeon to sit thereon during surgery;   at least one mechanically ungrounded master input tool; and   a magnetic field generator integral with a portion of the chair for generating a tracking volume to detect position and orientation of the at least one master input tool;   wherein:   the seating surface is pivotable about a substantially vertical axis;   the field generator is integral in rotation with the pivotable seating surface.   
     
     
         2 . The master console of  claim 1 , further comprising a lower support portion under the seating surface and integral with the seating surface, wherein the lower support portion comprises the field generator. 
     
     
         3 . The master console of  claim 1 , further comprising a vision assembly for showing the surgery to the surgeon. 
     
     
         4 . The master console of  claim 1 , wherein the chair comprises at least one seating detector, comprising a load cell located onto or within or underneath the seating surface. 
     
     
         5 . The master console of  claim 1 , wherein the seating surface is adjustable in height. 
     
     
         6 . A master console for robotic surgery comprising:
 a chair comprising a seating surface for a surgeon to sit thereon during surgery;   at least one mechanically ungrounded master input tool; and   at least one magnetic field generator, integral with a portion of the chair for generating a tracking volume to detect position and orientation of the at least one master input tool;   wherein:   said chair comprises at least one armrest;   the at least one magnetic field generator is integral to the at least one armrest.   
     
     
         7 . The master console according to  claim 6 , wherein the at least one armrest comprises at least one tool supporting element comprising a cup, to support the at least one mechanically ungrounded master input tool. 
     
     
         8 . The master console according to  claim 7 , wherein the at least one field generator is attached to the at least one tool supporting element. 
     
     
         9 . The master console according to  claim 6 , wherein the at least one armrest is adjustable in height and/or in orientation. 
     
     
         10 . The master console according to  claim 6 , wherein the at least one armrest comprises a seat detector. 
     
     
         11 . The master console according to  claim 6 , wherein the at least one armrest chair comprises a display. 
     
     
         12 . A master console for robotic surgery comprising:
 a chair comprising a seating surface for a surgeon to sit thereon during surgery; and   at least one mechanically ungrounded master input tool;   wherein:   said chair comprises a pair of armrests;   each armrest of the pair comprises a magnetic field generator for generating a predefined tracking volume to detect position and orientation of the at least one master input tool, thereby defining two predefined tracking volumes.   
     
     
         13 . The master console according to  claim 12 , comprising a pair of master input tools including said at least one master input tool, wherein each field generator of the pair of master input tools generates a predefined tracking volume to detect position and orientation of only one respective master input tool of the pair of master input tools. 
     
     
         14 . The master console according to  claim 12 , wherein the two predefined tracking volumes are connected together. 
     
     
         15 . The master console according to  claim 12 , wherein each armrest has one tool supporting element comprising a cup. 
     
     
         16 . The master console according to  claim 14 , wherein each tool supporting element is attached to a respective field generator of the pair of master input tools. 
     
     
         17 . The master console according to  claim 12 , wherein each armrest of the pair of master input tools is independently adjustable in height and/or in orientation. 
     
     
         18 . The master console according to  claim 17 , wherein the chair comprises a locking device and a seat detector, the locking device blocking each armrest in height and/or orientation when the seat detector detects the surgeon as being seated on the chair. 
     
     
         19 . The master console according to  claim 12 , wherein the at least one armrest comprises a display. 
     
     
         20 . The master console of  claim 12 , further comprising a vision assembly for showing the surgery to the surgeon.