Applicator for robot-assisted surgery

Abstract

The present disclosure relates to a laparoscopic applicator for dispensing a substance, e.g. a substance comprising a haemostatic agent, at a selected site by means of a surgical robotic arm, the laparoscopic applicator comprising a delivery tube configured for holding the substance under a pressure; and an applicator tip connected to a distal end of the delivery tube, wherein the applicator tip is configured for being controllable operated by the robotic arm by being spatially manipulated by the robotic arm, and controllably releasing the substance from the delivery tube by the robotic arm.

Claims

1. A laparoscopic applicator for dispensing a substance comprising a haemostatic agent for stopping a bleeding, at a selected site by means of an external surgical robotic arm, the laparoscopic applicator comprising: a delivery tube configured for holding the substance; and an applicator tip connected to a distal end of the delivery tube and configured for holding the substance under a pressure, the applicator tip configured for being controllably operated by the external robotic arm by: being spatially manipulated by the external robotic arm, and controllably releasing the substance from the delivery tube at the applicator tip by the external robotic arm.

2. The laparoscopic applicator according to claim 1, wherein the delivery tube and/or applicator tip has an inner diameter of less than 5 mm.

3. The laparoscopic applicator according to claim 1, wherein the applicator tip further comprises at least one valve configured for releasing the substance from the delivery tube upon opening of said valve.

4. The laparoscopic applicator according to claim 3, wherein the applicator tip further comprises at least one actuator configured to open and/or close the at least one valve.

5. The laparoscopic applicator according to claim 4, wherein the at least one actuator is activated by pulling the actuator along a longitudinal axis of the tube/applicator tip and/or by rotating the actuator around the longitudinal axis.

6. The laparoscopic applicator according to claim 4, wherein the at least one actuator is configured to, upon activation, send an electrical signal to a pressure source configured to exert a pressure sufficient to dispense the substance from the laparoscopic applicator.

7. The laparoscopic applicator according to claim 1, wherein the applicator tip further comprises a status indicator, said status indicator configured to indicate the remaining volume of substance in the applicator.

8. The laparoscopic applicator according to claim 1, wherein the applicator further comprises at least one fluid source for holding a fluid, said fluid source being in fluid connection with the delivery tube.

9. The laparoscopic applicator according to claim 8, wherein the delivery tube and the at least one fluid source is configured to comprise the same substance, such that the at least one fluid source constitutes a first substance reservoir.

10. The laparoscopic applicator according to claim 9, comprising one or more second substance reservoirs, wherein the second substance reservoirs are detachably attached to the first substance reservoir via at least one auxiliary connector element.

11. The laparoscopic applicator according to claim 8, wherein the at least one fluid source is configured to be pressurized.

12. The laparoscopic applicator according to claim 1, wherein the applicator further comprises at least one pressure source configured for applying a pressure to the at least one fluid source and/or configured for applying a pressure to the inside of the delivery tube.

13. The laparoscopic applicator according to claim 12, wherein the at least one pressure source is a drive mechanism selected from the group of: manual piston, motorized piston, spring force, and gas pressure.

14. A kit of parts comprising: a laparoscopic applicator according to claim 1, one or more pressure sources, and optionally one or more fluid sources.

15. A kit of parts comprising: a laparoscopic applicator according to claim 1; and a driver unit for holding: at least one fluid source for holding a fluid, said fluid source being in fluid connection with the delivery tube; and/or at least one pressure source configured for applying a pressure to the at least one fluid source and/or configured for applying a pressure to the inside of the delivery tube.

16. The laparoscopic applicator according to claim 2, wherein the inner diameter is less than 3 mm or less than 2 mm.

17. The laparoscopic applicator according to claim 3, wherein the at least one valve is a pressure-activated valve.

18. The laparoscopic applicator according to claim 6, wherein the pressure source is a drive mechanism.

19. The laparoscopic applicator according to claim 7, wherein the status indicator is in the form of light diodes.

20. The kit of parts according to claim 15, wherein the at least one pressure source is a motor.

Description

DESCRIPTION OF DRAWINGS

[0060] The invention will in the following be described in greater detail with reference to the accompanying drawings.

[0061] FIG. 1 shows an embodiment of an applicator according to the present disclosure.

[0062] FIG. 2 shows perspective views of an embodiment of an applicator according to the present disclosure, being manipulated by a robotic arm.

[0063] FIG. 3 shows an embodiment of an applicator according to the present disclosure comprising embodiments of: (A, B) a delivery tube being stretchable and comprising a rigid surface area at the tip, (C) a delivery tube comprising a rigid surface area located at a distance from the tip, and (D) a delivery tub being semi-rigid.

[0064] FIG. 4 shows an embodiment of an applicator according to the present disclosure comprising embodiments of a deformable section being stretchable, compressible, and/or flexible.

[0065] FIG. 5 shows an embodiment of an applicator according to the present disclosure comprising a spring-loaded check valve.

[0066] FIG. 6 shows an embodiment of an applicator according to the present disclosure comprising a duckbill valve.

[0067] FIG. 7 shows an embodiment of the applicator according to the present disclosure comprising a pressure source.

[0068] FIG. 8 shows an embodiment of the applicator according to the present disclosure comprising a pressure source.

[0069] FIG. 9 shows an embodiment of the applicator according to the present disclosure comprising a pressure source.

[0070] FIG. 10 shows an embodiment of the applicator according to the present disclosure comprising a pressure source.

[0071] FIG. 11 shows an embodiment of the applicator according to the present disclosure comprising a pressure source.

[0072] FIG. 12 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a delivery tube for holding a substance, a fluid source for holding a fluid, and a pressure source for exerting a pressure on the fluid source.

[0073] FIG. 13 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a driver unit for holding the fluid source and delivery tube.

[0074] FIG. 14 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a driver unit for holding the fluid source and delivery tube.

[0075] FIG. 15 shows three different activation mechanisms of the actuator: pushing (A), pulling (B), and rotating (C).

[0076] FIG. 16 shows three different embodiments of the actuator: a single button covering a part of the applicator tip (A), two buttons placed opposite each other on the tip (B), and a single button surrounding the entire circumference of the applicator tip (C).

[0077] FIG. 17 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a deformable section and an actuator, which can be placed on either side of the deformable section.

[0078] FIG. 18 shows a driver unit holding a fluid source (here a syringe). The driver unit may feature various controls such as a flow controller for controlling the flow rate of the substance being released from the applicator.

[0079] FIG. 19 shows an embodiment of an applicator tip according to the present disclosure, wherein the tip comprises an actuator and a pressure light indicator for indicating the applied pressure to the actuator.

[0080] FIG. 20 shows an embodiment of an applicator tip according to the present disclosure, wherein the tip comprises an actuator, a pressure light indicator for indicating the applied pressure to the actuator, and a status indicator for indicating the remaining volume of substance in the delivery tube.

[0081] FIG. 21 shows an embodiment of an applicator tip according to the present disclosure, wherein the tip comprises a status indicator, an actuator, a rigid section, and a deformable section. The measurements are provided as an example only.

[0082] FIG. 22 shows a cross-section of an embodiment of the delivery tube according to the present disclosure, wherein the delivery tube comprises a plurality of lumens (here four lumens).

[0083] FIG. 23 shows three different embodiments of a delivery tube with various deformable and rigid sections.

[0084] FIG. 24 shows three embodiments of the applicator according to the present disclosure, wherein the deformable section allows approximately 360? manipulation of the applicator tip (A), wherein the delivery tube comprises a malleable wire such that the position of the applicator tip can be varied but remain in the same position relative to the tube (B), and wherein the wire allows bending the deformable section along one or more planes at predefined angles (C).

[0085] FIG. 25 shows an embodiment of the applicator according to the present disclosure, wherein the applicator tip comprises an actuator and a status indicator.

[0086] FIG. 26 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a screw conveyor for transporting a powder through the delivery tube.

[0087] FIG. 27 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a vibrating device for shaking a powder through the delivery tube.

[0088] FIG. 28 shows the embodiment of FIG. 27 from another angle, wherein the end of the valve is visible.

[0089] FIG. 29 shows the embodiment of FIG. 27 from another angle, wherein a robotic arm is squeezing the valve, thereby forcing the valve to open such that powder is released from the applicator.

[0090] FIG. 30 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises two fluid sources (here two syringes) and a drive mechanism for pressurizing the two fluid sources.

[0091] FIG. 31 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a gas pressure source for transporting a powder through the delivery tube, where the gas pressure source is bellows, which are activated by a motorized piston, e.g. a piston vibrating back and forth in the horizontal direction. (A) shows a perspective view, and (B) a cross-sectional view of the applicator.

[0092] FIG. 32 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a gas pressure source for transporting a powder through the delivery tube, where the gas pressure source is obtained via a motorized propeller, and optionally a gas inlet. (A) shows a perspective view, and (B) a cross-sectional view of the applicator.

[0093] FIG. 33 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a pressure source for transporting a powder through the delivery tube, where the pressure source is a distally located piston with apertures, and where the distally located piston may be motorized to vibrate back and forth in the horizontal direction. (A) shows a partly perspective view, where the distal end is enlarged in the inserted frame, (B) shows a cross-sectional view, where the distal end is enlarged in the inserted frame in perspective view.

[0094] FIG. 34 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a gas pressure source for transporting a powder through the delivery tube, where the gas pressure source is obtained form a rotating paddle wheel or impeller. The impeller may further be controlled by a gas cartridge in combination with a gas flow control valve.

[0095] FIG. 35 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a pressure source for transporting a powder through the delivery tube, and further flow confining elements for reducing the gas flow at the powder delivery site, where the flow confining elements are (A) grid or slit elements within the delivery tube, and (B) a screw conveyor for transporting a powder through the delivery tube in combination with a separate gas flow channel.

[0096] FIG. 36 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a first and second substance reservoirs.

[0097] FIG. 37 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a first and second substance reservoir, where the second substance reservoir is detachably attached to the first substance reservoir via an auxiliary connector element. (A) shows the attached reservoirs, and (B) the detached reservoirs.

[0098] FIG. 38 (A) shows an embodiment of the applicator according to the present disclosure, wherein the applicator is configured for being loaded with substance from the distal end, where the distal end includes (B) a detachably attached auxiliary connector element to a substance reservoir, and (C) a flow controlling element.

[0099] FIG. 39 shows an embodiment of the applicator according to the present disclosure, wherein the applicator is configured for being loaded with substance from the distal end as shown in (B), and where the pressure source for pressurizing and dispensing the substance as shown in (C-D) is a spring.

[0100] FIG. 40 shows an embodiment of the applicator according to the present disclosure, wherein the applicator is configured for being loaded with substance from the distal end as shown in (A), and where the pressure source for pressurizing and dispensing the substance as shown in (D) is a gas cartridge.

[0101] FIG. 41 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises two first substance reservoirs, and a detached drive mechanism for pressurizing the two first substance reservoirs.

[0102] FIG. 42 shows the applicator of FIG. 41 comprising two first substance reservoirs, and further comprising two second substance reservoirs (here two syringes), where (A) shows loading of the first reservoirs by the syringes, and (B) shows the loaded applicator.

[0103] FIG. 43 shows the applicator of FIGS. 41-42, wherein the detachable drive mechanism for pressurizing the two first substance reservoirs is attached in (A), and in (B) the drive mechanism has emptied the two first reservoirs.

DETAILED DESCRIPTION

[0104] The invention is described below with the help of the accompanying figures. It would be appreciated by the people skilled in the art that the same feature or component of the device are referred with the same reference numeral in different figures. A list of the reference numbers can be found at the end of the detailed description section.

Applicator for Dispensing a Substance

[0105] For surgical procedures, and particularly endoscopic and/or laparoscopic procedures, a substance such as a medical substance such as a surgical haemostatic substance e.g. in the form of a powder, a fluid or a paste, is dispensed to a target site within a body cavity, via an elongated applicator 1 comprising a delivery tube 2 prefilled with the medical fluid/paste/powder 4, or configured to be filled with the medical fluid/paste/powder during the surgery, as illustrated in FIG. 1. The distal end 2.2 of the delivery tube may be introduced into the body cavity e.g. via a trocar port, e.g. manually by an assistant. To facilitate the handling and insertion of the delivery tube, which may be flexible, the applicator advantageously comprises a rigid sheath 3 configured for inserting the delivery tube into the trocar. The rigid sheath may for example be in the form of a rigid tubular sheath, which may be positioned around a section of the delivery tube, such as attached to a section of the delivery tube, or forming a coating layer around a section of the outer delivery tube, as illustrated in FIG. 1.

[0106] The delivery tube can have an inner diameter of approximately 1-8 mm, e.g. approximately 5 mm, which will ensure a good flow of the substance without the need for much power from the pressure source or the variable rate feeder for transporting the substance through the delivery tube. The delivery tube may have an inner diameter of less than 5 mm, or less than 3 mm, or less than 2 mm. In case the delivery tube comprises a plurality of lumens, the inner diameter refers to the inner diameter of the lumen configured to contain the substance to be dispensed.

[0107] In case the delivery tube or a lumen for holding the substance has an inner diameter of less than 2 mm, this implies that only a small residue of the substance will be left in the delivery tube after the dispense of the substance.

[0108] In an embodiment of the disclosure, the applicator further comprises a rigid sheath configured for inserting the delivery tube into a trocar, such as a sheath configured to be positioned around a section of the delivery tube.

[0109] The delivery tube may be prefilled with the substance (e.g. a medical fluid, paste or powder), and/or configured to be filled with the substance after insertion into the trocar port. Accordingly, the delivery tube may contain a substance, such as a substance comprising a bioactive agent, said substance being in the form of a fluid, a paste, or a powder. The substance may be a haemostatic substance comprising a haemostatic agent. Advantageously, the filling of the delivery tube may be performed via the proximal end 2.1 of the delivery tube, which is accessible to the surgeon or an assistant during surgery, as illustrated in FIG. 1. The filling of the delivery tube is advantageously done using a separate syringe comprising the substance within a syringe barrel, where the syringe may be prefilled with the substance, or configured for aspirating the substance from a substance source such as a medical fluid source. Hence, the container or syringe comprising the substance may be referred to as a substance reservoir 24. To facilitate safe and precise filling with a minimum of substance waste, the proximal end 2.1 advantageously comprises one or more connectors 6 for detachably attaching the fluid source, such as a syringe prefilled with the substance. An example of a connector is a Luer lock for attaching a syringe, or a compression joint or adhesive joint for attaching a substance reservoir or fluid container. Alternatively, the delivery tube and the fluid source, e.g. the syringe, may be attached without the use of a connector.

[0110] The substance is subsequently dispensed from the filled delivery tube by a driving force, such as a pressure source 8. The driving force for expelling the substance is advantageously a pressure generated at the proximal end 2.1 of the delivery tube, which is directly accessible to the assistant during surgery. For example, the pressure may be generated by a second fluid, which is forced to enter the proximal end from a separate fluid source 7, and thereby pressurizing the substance present within the delivery tube, as seen from FIG. 1.

[0111] In an embodiment of the disclosure, the applicator further comprises at least one pressure source configured for applying a pressure to the at least one fluid source and/or configured for applying a pressure to the inside of the delivery tube, such as the substance within the delivery tube.

[0112] It follows that the pressure source advantageously comprise a drive mechanism configured for moving the at least one fluid source and/or the substance within the delivery tube towards the distal end. The drive mechanism may be mechanically and/or electrically operated. For example, the at least one pressure source may comprise a drive mechanism, selected from the group of: manual piston, motorized piston, spring force, and gas pressure.

[0113] Further advantageously, the pressure of the second fluid is predefined and/or controllable, e.g. by being in the form of a predefined pressurized fluid source, where the predefined pressure is released upon fluid connection with the proximal end of the delivery tube. To facilitate safe and precise pressure transfer, the proximal end of the delivery tube advantageously comprises one or more connectors 6 for detachably attaching the pressure source 8 or fluid source 7, such as a fluid container, and more preferably a fluid container configured to be pressurized.

[0114] Further advantageously, the fluid connectors are configured for forming a fluid connection between the fluid source and the proximal end of the delivery tube upon connection, e.g. in the same manner as a vial adapter wherein a rubber sealing of the fluid source is pierced by a hollow piercing element. Hence, a fluid connection may be obtained between a sealed fluid source and the delivery tube via the piercing element. Alternatively, the fluid source does not need to be pierced in order to form a fluid connection. Instead, it may simply be attached to the delivery tube, either directly (e.g. tube and syringe connected) or via a connector.

[0115] In an embodiment of the disclosure, the proximal end of the delivery tube comprises one or more connectors 6 for detachably attaching the fluid source, such as a Luer lock, a compression joint, and/or an adhesive joint for attaching a syringe and/or a fluid container. In a further or alternative embodiment, the one or more connectors comprise a hollow piercing element for piercing the fluid source, whereby a fluid connection between the fluid source and the delivery tube is established.

[0116] Hence, the drive mechanism of the pressure source may be mechanically controlled by the attachment of the pressure source to the applicator. Thus by the mechanical assembly, the applicator is adapted for dispensing a (medical) substance, such as a medical paste.

[0117] In addition or alternatively, the drive mechanism of the pressure source may be controllable via a motor, e.g. as a piston driven by a motor, which pressurizes the substance within the delivery tube or the fluid source, and hence provides discharge of the substance. For example, the pressure source 8 may be a fluid source 7 flow driven by a motor, Thus, the drive mechanism of the pressure source is motor or electrically controlled.

[0118] Advantageously, the delivery tube of the applicator is configured for holding the substance under a pressure or holding a pressurized substance at least immediately before the substance is discharged. This provides a more precise and reliable discharge of a substance at a determined site and at a determined time, For example, this has the advantage that the substance may be released from the delivery tube by a simple interaction with the applicator tip without significant time delay.

[0119] Depending on the form of the substance to be pressurized, the distal end of the delivery tube may thus include one or more flow controlling elements 26, such as valves adapted such that the substance may be contained and pressurized within the delivery tube. For example, the applicator tip may comprise at least one valve configured for holding and releasing the substance under a pressure, or a flow controlling element, such as a three-way valve. In addition, or alternatively, the valve may be a constriction valve. A valve is defined as a device that regulates, directs or controls the flow of a fluids (i.e. gases, liquids, and fluidized solids, such as paste and slurries) by opening, closing, and/or partially obstructing the flow passageway. Thus, an example of a valve includes a flow constriction element, such as a protrusion within a fluid passageway, where the protrusion blocks fluid passage, when the fluid pressure is below a threshold value, and when the fluid pressure is above the threshold valude, the fluid flows and circumvents the protrusion. A valve including a flow constriction element is also referred to as a constriction valve.

[0120] In an embodiment of the disclosure, the delivery tube is configured for holding the substance under a pressure or holding a pressurized substance. In another or further embodiment, the laparoscopic applicator tip comprises at least one valve configured for holding and releasing the substance under a pressure. For example the valve may comprise a flow controller, such as a tree-way valve, which may control the amount and direction of a flow.

[0121] Alternatively, or in addition, the delivery tube and/or applicator tip may be dimensioned such that the substance may be pressurized within the delivery tube due to the capillary forces present. Hence, advantageously, the delivery tube has a length above 200 mm, preferably a length between 300-600 mm, such as 440 mm or 500 mm. Further, the outer diameter of the delivery tube is preferably between 3-10 mm, such as 5 mm. Further, the inner diameter of the delivery tube, or at least the inner diameter of the applicator tip, is preferably equal to or less than 2 mm, such as 1.5 or 1.8 mm. In case the delivery tube comprises a plurality of lumens, the inner diameter refers to the inner diameter of the lumen configured to contain the substance to be dispensed. In case the delivery tube or a lumen for holding the substance has an inner diameter of less than 2 mm, this implies that only a small residue of the substance will be left in the delivery tube after the dispense of the substance.

[0122] Hence, the delivery tube, and particularly the applicator tip, is advantageously dimensionally configured for holding the substance under a pressure or holding a pressurized substance, and/or configured to include one or more flow controlling elements.

[0123] The delivery tube may comprise a plurality of lumens, such as at least two lumens, or at least three lumens, or at least four lumens. FIG. 22 illustrates an embodiment, wherein the delivery tube comprises four lumens. At least one of the plurality of lumens should be configured to contain the substance to be dispensed from the applicator. In one embodiment, the delivery tube comprises a first lumen and a second lumen, wherein the first lumen is configured to contain the substance and the second lumen is configured to contain electrical wiring or an optical fibre. The electrical wiring may be used to electrically connect an actuator, e.g. located at the distal end of the tube or at the tip, to a control unit or a pressure source, e.g. located at the proximal end of the tube. The delivery tube may also comprise a plurality of lumens, wherein at least two lumens are configured for holding a substance. As an example, the tube may comprise a first lumen for holding a first type of substance and a second lumen for holding a second type of substance. In some applications, the two types of substances are mixed once the substances are dispensed or before they are dispensed. In this case, one substance may be in the form of a liquid and the other substance could be a powder to be mixed in the liquid. The two substances could also be two liquids or two pastes, or other combinations of liquid, paste, and powder. An applicator with a delivery tube having two lumens is shown in FIG. 30.

[0124] In another embodiment, at least one of the plurality of lumens is configured to contain a malleable wire or rod, which is placed in a lumen inside the delivery tube (illustrated in FIGS. 24 (B) and (C)). Accordingly, the applicator may further comprise a malleable wire or rod, configured such that the deformable section of the delivery tube may be bent into a desired shape, said shape being approximately maintained upon release of the delivery tube. This has the advantage that the deformable section may be bent without the tube returning to the point of origin. This gives the surgeon more freedom to put the distal end of the tube and/or the applicator tip in desired orientations, e.g. such that hard-to-access areas inside the body are more easily reached. In one embodiment, the deformable section of the delivery tube may be bent along two planes at two pre-determined angles, such as at least 30? or at least 45?. This may similarly be achieved by using a malleable wire or rod placed inside the delivery tube.

Spatial Manipulation

[0125] Replacing the movements of human hands by robotic arms controlled by computer software, facilitates very precise and controlled movements. Hence, a laparoscopic applicator being spatially manipulated by a robotic arm may be more precise and accurately controlled, as well as being more reliable with reduced risk of accidental movements. Thus, for example a laparoscopic applicator for dispensing a substance by means of a robotic arm will be able to dispense the substance at a selected site more precisely and reliably. Specifically, a robotic manipulated applicator for dispensing a haemostatic substance at a selected site, may result in a bleeding being stopped more efficiently.

[0126] FIG. 2 shows perspective views of an embodiment of an applicator configured for being spatially manipulated by a robotic arm 5. The robotic arm may include a medical device, e.g. a tool for surgery, such as a grasper, tweezer, or a similar robotic finger element for gripping, pushing, or forming an attachment to the applicator.

[0127] Robotic arms and fingers may not include haptic feedback. Thus, to ensure safe robotic use of the applicator with reduced risk of breaking the applicator, the applicator may advantageously comprise a rigid surface area 2.4 or rigid section 2.8, the area or section configured for manipulation by the robotic arm/fingers. Accordingly, the delivery tube may comprise at least one rigid section, such as a rigid tubular section or a rigid surface area. The rigid section and/or rigid surface area is preferably dimensioned such that the robotic arm/fingers may grip, push, or form an attachment to the rigid surface area without risking breaking the applicator. For example, for a robotic arm including a grasper the rigid surface area is advantageously a rigid tubular section, as illustrated in FIG. 2. The rigid section is preferably provided with an opening, such that the robotic arm may press an actuator placed in said opening, wherein the actuator is configured for opening a valve when the pressure exceeds a predefined pressure level, whereby the medical substance can be dispensed from the applicator.

[0128] In an embodiment of the disclosure, the distal end of the delivery tube comprises one or more rigid surface areas configured for manipulation by the robotic arm. In a further embodiment, the rigid surface areas are dimensioned such they are tangible by the robotic arm, such as tangible by gripping, pushing, or attachment. In a further embodiment, the distal end comprises a rigid tubular section.

[0129] To facilitate precise and user friendly discharge of the substance at a selected site, the one or more rigid surface areas 2.4 are advantageously located at the distal end 2.2 of the applicator and/or on the applicator tip, as illustrated in FIGS. 1 and 2. It follows that the substance discharge may be more precisely and easily directed, when the rigid surface is in the vicinity of where the substance is dispensed.

[0130] However, the rigid surface area 2.4 may also be located at a distance from the distal tip, as illustrated in FIG. 3C. This may be advantageous when the substance is to be dispensed at a location, where there is restricted space within the body cavity. Hence, the rigid surface area may be a rigid tubular section of the delivery tube 2, located at a distance from the distal tip, as shown in FIG. 3C. The orientation of the distal end is thus manipulated by use of the rigid tubular section located at a distance from the tip.

[0131] In addition, or alternatively, flexible manipulation of the distal end of the delivery tube, may be obtained by use of a delivery tube, where either a section of the delivery tube, or optionally the entire delivery tube, comprises a semi-flexible or semi-rigid material, as illustrated in FIG. 3D. Since the semi-rigid material is sufficiently tangible by the robotic arm/fingers, the interaction may occur at any point along the delivery tube and at any distance to the distal tip 2.2, which is being spatially manipulated.

[0132] The flexible and precise manipulation of the distal end may be further improved by the delivery tube comprising a deformable section 2.3. By the term deformable section is meant a section, which may be plastically or elastically deformed when subjected to a deformation force, such as a tensile, compressive, or bending force. Advantageously, the deformable section is plastically deformed, meaning that the deformation remains after the deformation force is removed. Alternatively, the deformation is elastic, meaning that the deformation is reversible upon removal of the deformation force.

[0133] For example, the deformable section 2.3 may be configured to be stretchable or extendable, such that when subjected to a tensile force in the longitudinal direction, e.g. by a robotic arm pulling at delivery tube tip, the delivery tube is stretched, as illustrated in FIGS. 3A-B and FIGS. 4A-B as shown by the arrows. In addition, and correspondingly, the deformable section may be configured to be compressible, such that the delivery tube may be compressed when subjected to a compressive force, e.g. by a robotic arm pushing at the delivery tube tip, as indicated in FIG. 4B. In addition, and correspondingly, the deformable section is further advantageously configured to be flexible or bendable, as indicated by the arrows in FIG. 4B.

[0134] The deformable section may comprise an elastically or plastically stretchable, compressible, and/or flexible material. In addition, or alternatively, the deformable section may comprise a corrugated surface profile, e.g. in the form of multiple, circumferentially extending kinked folds, as illustrated in FIGS. 4C-D and FIG. 17. The corrugated surface profile enables extension, compression, and/or bending in the same manner as a drinking straw. Accordingly, the delivery tube may comprise a deformable section that is compressible, e.g. in the form of a corrugated tube, such that the length of the tube may be varied.

[0135] In an embodiment of the disclosure, the delivery tube comprises a deformable section. Advantageously, the deformable section is located at the distal end of the delivery tube, such that the applicator tip may be manipulated by a smaller torque/moment. Alternatively, the deformable section is located at a distance from the distal end of the delivery tube, such that the tip may be manipulated by a defined torque/moment. In a further embodiment, the deformable section is configured to be stretchable and/or flexible, such as comprising a stretchable and/or flexible tube material. In a further or alternative embodiment, the deformable section comprises a corrugated surface profile. In a further embodiment, the corrugated surface profile comprises a plurality of circumferential folds in the manner of the kink of a drinking straw.

Controllable Substance Release

[0136] For precise, reliable and user friendly substance discharge at a selected site, e.g. for intra-abdominal substance dispense, the substance release may advantageously be controlled by the robotic arm. This may be obtained by one or more actuators 2.6, e.g. in the form of a valve, configured for releasing the substance from the delivery tube.

[0137] To make the movements of the robotic arm more efficient, the one or more actuators are preferably located in the vicinity of the applicator tip used for the spatial manipulation of the delivery tube. Hence, the actuators are preferably located at the distal end, and/or within the one or more rigid surface areas of the delivery tube, and/or on the applicator tip. For example, the actuator 2.6 may advantageously be located within an opening 2.5 of the rigid surface area, as illustrated in FIG. 2. Thus, only a relative small translation of the robotic arm is needed after the robotic arm has oriented the distal end to a selected target site via the rigid surface area, and for the robotic arm to activate the actuator for releasing the substance. The actuator may be configured to activate by a pressure force, e.g. applied by the robotic arm, or by an electrical current, e.g. applied by an energy tool. In one embodiment, the actuator is provided in the form of a pressure-sensitive button, e.g. located on the applicator tip, wherein the button is configured to open the valve upon being pressed. The actuator/button may be sensitive to the amount of pressure (e.g. in a stepwise or continuous manner), such that the valve opens to a certain degree based on the applied pressure to the actuator/button. In another embodiment, the actuator is configured to be activated by pulling the actuator along a longitudinal axis of the tube/applicator tip and/or by rotating the actuator around the longitudinal axis. These embodiments are illustrated in FIG. 15.

[0138] In an embodiment of the disclosure, the distal end comprises one or more actuators configured for releasing the substance from the delivery tube by the robotic arm. In a further embodiment, the one or more actuators are located within the one or more rigid surface areas, such as within an opening of the rigid surface area.

[0139] In an embodiment of the disclosure, the at least one actuator covers a predefined circumferential section of the tube and/or applicator tip, such as less than 180? of the circumference of the tube and/or applicator tip 9, preferably less than 140?. This embodiment is illustrated in FIG. 16 (A). The advantage is that the applicator and thus also the applicator tip can be rotated so that the risk is reduced that the robotic arm accidentally activates the actuator 2.6. In another embodiment, the at least one actuator covers at least 180? of the circumference of the tube and/or applicator tip. The advantage is that the robotic arm can activate the actuator 2.6 irrespective of the rotational orientation of the applicator and the actuator. The substance can be delivered from the applicator without having the orient the applicator correctly in relation to the robotic arm. In yet another embodiment, two actuators are provided on opposite parts of the applicator tip and/or tube, each of said actuators covering less than 120? of the circumference of the tube and/or applicator tip, preferably less than 90? each. The advantage is again that the applicator and thus also the applicator tip can be rotated so that the risk is reduced that the robotic arm accidentally activates the actuator 2.6. This is illustrated in FIG. 16 (B). In yet another embodiment, the at least one actuator covers 360? of the circumference of the tube and/or applicator tip, such that the at least one actuator surrounds a part of the tube and/or applicator tip. This is illustrated in FIG. 16 (C). Providing the applicator tip with an actuator, e.g. a pressure sensitive button, surrounding the entire circumference of the tip has the advantage that it enables 360? activation, i.e. the robotic arm may activate the actuator/button regardless of how the actuator is gripped.

[0140] The one or more actuators 2.6 may be in the form of a valve 2.7, or in combination with one or more valves, such as electronically or manually controlled valves. Accordingly, the applicator may comprise at least one valve configured for releasing the substance from the delivery tube upon opening of said valve. The valve(s) may be controllable by an actuator located on the applicator and/or by an external actuator, such as a foot pedal. The actuator/button may be located at the distal end of the delivery tube, such as on the rigid section, on the applicator tip, or on an external device such as the driver unit. Preferably, the actuator/button is placed directly above the valve. Advantageously, the at least one valve is activated by a pressure, such as a manual pressure from a robotic arm. Hence, by pressing the actuator 2.6, the valve 2.7 is either electronically or manually activated to open and release the substance, as e.g. illustrated in FIG. 5. Accordingly, the applicator may comprise at least one actuator configured to open and/or close the at least one valve. To ensure the substance is efficiently transported to and through the distal tip, the valve is preferably a one-way valve. The at least one valve may be a pressure activated valve, such as a valve having a pre-defined opening pressure threshold. Preferably, the substance is dispensed from the applicator when the pre-defined opening pressure threshold is exceeded. The at least one valve may be located in the delivery tube and/or in the applicator tip. Alternatively, the applicator does not comprise a valve, but rather is dimensioned such that the substance is retained within the applicator below a certain pressure threshold. This can be achieved e.g. by providing a long delivery tube (e.g. more than 30 cm) with a small diameter (e.g. 2-4 mm or less), whereby the delivery tube itself provides a resistance to fluid flow inside the tube.

[0141] To improve the simplicity of the applicator and to reduce the number of electronic controls and components, the actuator is advantageously a manually controlled valve. An examples of manually pressure controlled valve is a spring-loaded check valve 2.7 as shown in FIG. 5, where the spring force may be configured to be overcome by the pressure applied by e.g. a robotic arm.

[0142] In another example, the actuator 2.6 when activated will not necessarily activate the valve 2.7 mechanically, but may send an electric signal to a pressure source (not shown) to be activated and provide a pressure on the substance that will overcome the spring of the spring-loaded check valve 2.7 so that the spring-loaded check valve 2.7 opens and the substance is flowing out of the delivery tube 2.

[0143] Another example of a one-way valve, which may be manually pressure controlled, is elastomeric one-way valves, such as duckbill valves and cross slit valves.

[0144] For example of a manually pressure controlled valve is a duckbill valve 2.7 as shown in FIG. 6. A duckbill valve is made of an elastically deformable material, and comprises a deformable linear closure. A perspective view of a duckbill valve in the non-deformed and closed state is shown in FIGS. 6B-C. FIG. 6A shows an embodiment of a duckbill valve within the delivery tube 2, where the duckbill valve in the non-deformed state is seen to prevent flow from left to right in the Figure. When the duckbill valve is elastically deformed, e.g. by a compressive pressure in parallel with the linear closure, as illustrated in FIG. 6D, the linear closure is deformed, whereby the valve is opened and allows flow from left to right in the Figure. Close up perspective views of an embodiment of a duckbill valve in the deformed open state is shown in FIGS. 6E-F.

[0145] It follows that an elastomeric valve comprising any number and orientation of the deformable closures may be used. However, to ensure precise actuation, elastomeric valves, where the opening of the valve is obtained by a well defined pressure orientation, are preferred. For a duckbill valve, opening of the valve is only obtained when the compressive pressure is applied in parallel with the linear closure.

[0146] A cross slit valve is similar to a duckbill valve, but comprises two deformable linear closures, which are oriented perpendicular to each other. Thus, opening of the valve may be obtained when a compressive pressure is applied in parallel with any of the linear closures. This has the advantage that for a robotic grasper arm, the valve may be actuated in at least two positions.

[0147] In a further embodiment, the one or more actuators are one or more valves. In a further embodiment, the one or more valves are pressure activated valves. In a further embodiment, the one or more valves are selected from the group of: one-way valve, elastomeric one-way valve, duckbill valve, cross slit valve, and spring-loaded check valve.

Feedback Mechanisms

[0148] Advantageously, the applicator is configured to provide feedback e.g. on the applied pressure to the actuator/pressure-sensitive button, or feedback relating to the remaining volume of substance in the delivery tube. This feedback may be provided by integrating various sensors into the applicator. The applicator may comprise a first pressure sensor for sensing the pressure in the delivery tube. The pressure may be communicated wired or wirelessly to the user, e.g. the surgeon.

[0149] In an embodiment, the applicator comprises a second pressure sensor for sensing the pressure applied to the actuator/pressure-sensitive button. As an example, the second pressure sensor may be a resistive film pressure sensor and/or a force-sensitive resistor and/or a weight sensor, preferably provided under the actuator. Accordingly, the applicator may comprise at least one pressure-sensitive button covering a part of the applicator tip, wherein a second pressure sensor for sensing the pressure applied to the actuator is integrated in said button or placed under the button. The applicator may further comprise a pressure indicator light for indicating the pressure applied to the at least one actuator/pressure-sensitive button. The pressure indicator light may be located in the applicator tip or on the applicator tip as illustrated in FIGS. 19-20. In one embodiment, the pressure indicator light is provided as a circular band positioned along the circumference of the applicator tip as shown in FIG. 19. Advantageously, the pressure indicator light is configured to: [0150] display light of a first color, e.g. green, when the applied pressure is below a predefined first threshold; and [0151] display light of a second color, e.g. red, when the applied pressure is above a predefined second threshold.

[0152] The pressure indicator light may be further configured to display light of a third color, e.g. yellow, when the applied pressure is between the predefined first and second thresholds. Other alternative arrangements of light or sound for indicating the pressure by the pressure indicator light can easily be contemplated.

[0153] The applicator may further comprise a status indicator, e.g. in the form of light diodes, said status indicator configured to indicate the remaining volume of substance in the applicator. As an example, the status indicator may comprise four light diodes (e.g. LEDs), wherein e.g. two lit diodes indicates a remaining volume of 50% relative to the initial volume of the contained substance, whereas three lit diodes would indicate a remaining volume of 75%. This is illustrated in FIG. 25. The status indicator may be located on any part of the applicator, e.g. on the driver unit, the delivery tube, and/or the applicator tip. Hence, the applicator tip may comprise a status indicator, e.g. in the form of light diodes, said status indicator configured to indicate the remaining volume of substance in the delivery tube. The remaining volume of substance in the applicator (i.e. in the delivery tube and/or in the fluid source) may be estimated using a variety of methods depending on what type of substance is contained in the applicator. Some of these methods are explained in the following. Other alternative arrangements of light or sound for indicating the remaining volume of substance in the applicator can easily be contemplated. Alternatively, the status indicator may comprise only one light that is lit when e.g. only 25% of the substance remains in the applicator.

[0154] In some embodiments, the laparoscopic applicator comprises a fluid source in the form of a syringe, such as a medical syringe, wherein the syringe comprises a barrel for holding a fluid and a plunger for pushing the fluid out of the syringe. The syringe may be filled with a fluid, e.g. a saline solution or a gas, for pushing the substance out of the delivery tube, or alternatively it may be filled with the substance to be dispensed. In an embodiment, the applicator further comprises a second positional sensor configured for determining the position of the plunger of the syringe. This may be achieved by providing the plunger with a magnet, wherein the second positional sensor is a magnetic sensor configured to detect the presence of the magnet. The position of the plunger can be used to estimate the remaining volume of fluid/substance in the barrel of the syringe and/or the position may be used to estimate the remaining volume of substance in the delivery tube. Accordingly, the applicator may comprise at least one fluid source comprising a plunger in a barrel, wherein the position of the plunger is used to estimate the remaining volume of substance in the delivery tube, wherein the remaining volume is indicated by the status indicator, preferably positioned at the distal end/tip. The second positional sensor may alternatively be an optical sensor.

[0155] In other embodiments, the laparoscopic applicator comprises a haemostatic powder, e.g. contained in the delivery tube. In this case, the applicator may comprise a variable rate feeder, such as a screw conveyor, configured for transporting the haemostatic powder through the delivery tube to the outside of the delivery tube, whereby the haemostatic powder is dispensed from the applicator. In order to determine the remaining volume of powder, the applicator may comprise a first positional sensor configured to determine the position of the variable rate feeder, since the position may be correlated with the remaining volume of powder. The variable rate feeder may be provided with a magnet, wherein the first positional sensor is a magnetic sensor configured to detect the presence of the magnet. Alternatively, the first positional sensor may be an optical sensor.

[0156] In yet another embodiment, the applicator comprises a vibrating device, such as an ultrasonic vibrating device, configured for shaking the haemostatic powder out of the delivery tube. In this case, the applicator may further comprise a clock configured for measuring the elapsed time when the vibrating device is activated/vibrating. The elapsed time may be used to estimate the remaining volume of haemostatic powder in the delivery tube.

[0157] Accordingly, the remaining volume may be determined by the first positional sensor, the second positional sensor, the clock, and/or combinations thereof.

[0158] According to another embodiment, the delivery tube comprises one or more light sensitive sensors configured for sensing light of a pre-defined wavelength range passing through the delivery tube, wherein: [0159] the delivery tube comprises a light source positioned opposite the one or more light sensitive sensors; and/or [0160] the delivery tube is transparent to at least a portion of the wavelength range.

[0161] In one embodiment, the one or more light sensitive sensors are positioned at a distal part of the delivery tube. In another embodiment, the delivery tube comprises at least two light sensitive sensors, wherein the first sensor is positioned at a distal part of the tube and the second sensor is located at a different position than the first light sensitive sensor, such as further away from the distal part. The one or more light sensitive sensors may be used to provide an indication of whether there is any remaining substance in the tube, and/or they may be used to estimate the remaining volume of substance in the tube.

Pressure Source

[0162] The release of substance from the applicator implies that the substance held within the tube is being pushed through the delivery tube to the distal end and tip, where it is expelled and dispensed. In case the substance is a paste, a pressure source 8 is preferred to provide the driving force for dispensing the paste. The pressure source is preferably configured for pressurizing the delivery tube and/or for pressurizing the fluid source. The substance held within the delivery tube will preferably be pressurized at least immediately before the paste is discharged. In some embodiments, the applicator forms a pressurized system, wherein the substance in the delivery tube is pressurized. Upon activation of a valve (e.g. via an actuator or button), said pressure is released whereby the substance is dispensed. In other embodiments, the system (applicator) is not pressurized beforehand. Rather, the pressure is applied once an actuator is activated, e.g. by sending an electrical signal from said actuator to a pressure source. An advantage of the first type of embodiments (i.e. the pressurized applicators), is that there is less delay between the activation of the valve and the dispense of the substance.

[0163] In case the medical substance is a powder, such as a haemostatic powder, a pressure source is not necessarily needed, since the powder may be discharged from the applicator by other means. In this case the applicator may, as an alternative, or in addition, to the pressure source, comprise a variable rate feeder configured for transporting the haemostatic powder through the delivery tube to the outside of the delivery tube, whereby the haemostatic powder is dispensed from the applicator. Alternatively, the applicator may comprise a vibrating device for shaking the powder out of the applicator.

[0164] As an example, the pressure source may be a solid stylus advancing through the delivery tube, e.g. by linear translation by use of a piston, spring force, and/or trigger, where the piston or trigger may be activated manually or electronically controlled. An example of an intermediate pressure source includes a fluid source 7, which contains a liquid (e.g. a saline liquid solution or the medical paste to be dispensed) or a gas (e.g. air, nitrous oxide or carbon dioxide), wherein the liquid or gas is forced to advance through the delivery tube when the pressure source exerts a force on the fluid source, as illustrated in FIG. 7. The pressure source may comprise a spring, a gas, and/or a piston, wherein the pressure source is configured to exert a pressure on the at least one fluid source. In this case, the piston, spring and/or trigger may be activated manually or electronically controlled. Advantageously, the fluid source comprises an incompressible liquid for a more efficient pressure transfer.

[0165] In an embodiment of the disclosure, the applicator further comprises one or more pressure sources. In a further embodiment, the pressure source is selected from the group of: a solid stylus configured to be translated through the delivery tube, a drive mechanism such as a motor with a piston, a pump, and/or a pressurized fluid source.

[0166] In one embodiment, the pressure source is a drive mechanism, such as a motor, comprising at least one piston configured to exert a pressure on the at least one fluid source. The motor may be a mechanical motor or an electric motor. The applicator may comprise an actuator configured to, upon activation, send an electrical signal to the drive mechanism, whereby, upon receipt of said electrical signal, the drive mechanism exerts a pressure on the at least one fluid source such that the substance is dispensed from the applicator.

[0167] In a further embodiment, the drive mechanism comprises two pistons, wherein a first piston is configured to exert a first pressure on a first fluid source and a second piston is configured to exert a second pressure on a second fluid source. This embodiment is illustrated in FIG. 30. In this case, the drive mechanism may further comprise a switching mechanism, such as a gear mechanism, configured to switch between operating the first piston and/or the second piston. Alternatively, the drive mechanism may drive the two pistons for dispensing two substances, simultaneously. That is advantageous, if e.g. the two substances are both necessary for achieving the desired reaction. This may be the case e.g. for thrombin and fibrinogen. Preferably, the drive mechanism further comprises a direction control configured to control the direction (forward or reverse) of the selected piston. A reverse direction will enable suction of substance, e.g. blood from the surgery site to allow the surgeon to better decide what to do.

[0168] To ensure a reproducible and user friendly dispense of substance, the pressure source is preferably configured to deliver a predefined pressure and/or controllable pressure. For example, the pressure source may be a pressurized fluid source, e.g. a fluid container comprising a pre-established positive pressure, such that when an opening is formed into the fluid container, the fluid source is forced through the opening as defined by the established pressure.

[0169] The pre-established positive pressure may be obtained by a fluid source 7 being pressurized by a propellant 8.1, such as a gaseous propellant, as known from food spray dispensers, such as sprayed cream. FIGS. 8 and 10A show embodiments of a fluid source 7 that contained with a gaseous propellant 8.1. Upon forming fluid connection between the applicator 2 and the pressure source 8, the propellant pressure may be released, and the fluid source is forced to advance into the delivery tube.

[0170] Alternatively, the pressure source may include a spring loaded element contained in physical communication with the fluid source. Upon release of the spring loaded element, the element acts as a propellant 8.1 forcing the fluid source to advance into the delivery tube, as shown in FIG. 9A.

[0171] Alternatively, the pressure source may include a moveable piston, such as a manually driven piston as shown in FIG. 9B, or a mechanically or electronically driven piston as shown in FIG. 10B. In both embodiments, the piston acts as the propellant 8.1, and a predefined pressure force may be generated based on the movement of the piston.

[0172] Alternatively, the pressure source 8 may be a fluid source 7 contained in an inflatable balloon or bladder, as illustrated in FIG. 11. Upon forming fluid connection between the applicator 2 and the pressure source 8, the inflated balloon will elastically contract or collapse, thereby applying a pressure to a substance contained in the delivery tube, whereby the substance is pressurized.

[0173] In an embodiment of the disclosure, the pressure source is configured to deliver a predefined pressure force. In a further embodiment of the disclosure, the pressure source comprises a propellant, selected from the group of: spring loaded element, gaseous propellant, inflatable balloon or bladder, and/or moveable piston, such as an electrically driven piston or a manually driven piston.

Fluid Source

[0174] Preferably, the applicator comprises at least one fluid source for holding a fluid, said fluid source being in fluid connection with the delivery tube (see e.g. FIG. 7 or FIGS. 12-13). The fluid source may act as an intermediate pressure source, i.e. a component that transfers the pressure from the pressure source to the substance inside the delivery tube. Therefore, the fluid source need not contain the substance to be dispensed, but can instead contain an inert fluid such as a saline solution or a gas.

[0175] In one embodiment, the fluid source comprises a liquid such as a saline solution. In another embodiment, the fluid source comprises a gas selected from the group of CO.sub.2 (carbon dioxide), N.sub.2 (dinitrogen), N.sub.2O (nitrous oxide), and air. However, the fluid source may alternatively contain the substance to be dispensed, e.g. a medical substance such as a medical paste, such that said substance is contained in the fluid source and/or in the delivery tube. In an embodiment, the delivery tube and the at least one fluid source comprises the same substance provided in the form of a liquid, a paste, or a powder. Hence, the fluid source constitutes a substance reservoir 24.

[0176] The applicator may also comprise at least two fluid sources as shown in FIG. 30. This has the advantage that each fluid source may contain a specific type of substance, whereby multiple different substances may be dispensed and/or withdrawn by the applicator.

Driver Unit

[0177] The applicator may further comprise a driver unit for holding: [0178] at least one fluid source for holding a fluid, said fluid source being in fluid connection with the delivery tube; and/or [0179] at least one pressure source configured for applying a pressure to the at least one fluid source and/or configured for applying a pressure to the inside of the delivery tube.

[0180] In its simplest form, the driver unit may constitute a housing for holding the fluid source and/or for holding the pressure source. However, the driver unit may also comprise additional, more advanced features, which are explained in further detail in the present section. An advantage of providing the driver unit as a separate component from the remaining parts of the laparoscopic applicator, is that it provides a modular design, wherein the driver unit may be reused multiple times, whereas the delivery tube and fluid source may be disposed after each use. FIG. 14 shows how the delivery tube and the fluid source (here a syringe) may be inserted in the driver unit, optionally via a connector. FIG. 18 shows another perspective view of the driver unit, wherein the fluid source is inserted. The driver unit is preferably configured to exert a pressure on the fluid source, e.g. via a driving mechanism such as a motor and a piston, such that the driver unit is configured for providing the driving force for driving the substance out of the applicator. As an example, the fluid source may be as a medical syringe or another container comprising a plunger, where the driver unit comprises a piston configured to exert a force on the plunger. In this case, the driver unit may similarly be configured to withdraw the plunger in order to withdraw a substance into the applicator.

[0181] The applicator may be provided with a safety mechanism configured for switching between two modes (on/off), wherein the off mode means that no substance can be released from the applicator and the on mode means that substance can be released. The safety mechanism may be located on the delivery tube, the applicator tip or the driver unit. The applicator may further comprise a flow controller configured for controlling the flow rate of the substance to be released from the applicator. The flow controller may be located in the driver unit, and the exterior of the driver unit may be provided with a button or potentiometer configured to adjust the flow rate, e.g. by turning the button.

Kit of Parts

[0182] The applicator according to the present disclosure may be provided as a part in a kit of parts for laparoscopic procedures, and particularly as a kit of parts suitable for robotic-assisted surgery. Preferably, the kit of parts is a medical substance kit, such as a haemostatic matrix kit, for laparoscopic procedures. The kit preferably includes the applicator, one or more pressure sources, and optionally a syringe configured to be filled with a medical substance, e.g. a haemostatic substance such as a haemostatic paste. Preferably, the syringe is prefilled with the substance, such that it constitutes a substance reservoir 24. Optionally, the applicator may be provided as separate parts of the kit, e.g. as a delivery tube and an applicator tip, which upon assembly forms the applicator according to the first aspect,

[0183] The kit may optionally further comprise one or more substance reservoirs 24 for loading or charging the delivery tube prior to use. For example, the substance reservoir may be a syringe configured to be filled with a substance and configured for forming a fluid connection to the delivery tube of the applicator, such as via a connector 6 to the proximal opening of the delivery tube, or via an auxiliary connector element 25 to the distal opening of the delivery tube.

[0184] To reduce the number of parts and to simplify the assembly, the kit of parts may comprise the applicator and a pressure source 8, which is easily assembled and which upon assembly is configured for delivering a substance under pressure. For example, the pressure source may be a gas cartridge 8.2 configured for forming a fluid connection to the delivery tube of the applicator, such as the proximal opening of the delivery tube, as illustrated in FIGS. 38 and 40.

[0185] To further simplify the assembly, the one or more pressure sources 8 may be integrated into the applicator. For example, the pressure source may be integrated into the delivery tube in the form of a spring 8.3 located at a proximal end, where the spring energy is pre-stored and/or stored upon loading the delivery tube with a substance, as illustrated in FIG. 38.

[0186] A third aspect of the disclosure relates to a kit of parts comprising the applicator according to the first aspect, or the applicator tip according to the second aspect, one or more pressure sources, and optionally one or more substance reservoirs. For example, the substance reservoirs may be one or more syringes configured to be filled with a substance and configured for forming a fluid connection to the delivery tube, such as the distal opening of the delivery tube.

[0187] The kit of parts has the advantage that all parts may be manually assembled and operated, and that all the parts are disposable after use and adapted for single-use.

[0188] Alternatively, the kit of parts may include parts adapted for multiple uses to obtain a more reproducible and sustainable applicator design. For example, the applicator may be assembled into a reusable unit or holder, which may include the pressure source 8 in the form of a reusable piston or motor.

[0189] To further increase the sustainable impact, the driver unit may be refilled with the substance 4 or the fluid source 7. Hence, the kit of parts optionally comprises one or more substance reservoirs 24 or fluid source reservoirs, where the fluid source reservoirs are configured to be detachably attached to the fluid source within the driver unit.

[0190] According to one embodiment, the kit of parts comprises the laparoscopic applicator according to the first aspect, and a driver unit for holding at least one fluid source for holding a fluid, said fluid source being in fluid connection with the delivery tube; and/or for holding at least one pressure source, such as a motor, configured for applying a pressure to the at least one fluid source and/or configured for applying a pressure to the inside of the delivery tube.

[0191] The kit of parts may further comprise at least one fluid source for holding a fluid, said fluid source being in fluid connection with the delivery tube. In one embodiment, the fluid source is a syringe having a plunger, wherein the driver unit further comprises a positional sensor configured for determining the position of the plunger.

[0192] The kit of parts may further comprise at least one pressure source configured for applying a pressure to the at least one fluid source and/or configured for applying a pressure to the inside of the delivery tube.

[0193] The driver unit in the kit of parts may be configured to hold at least two fluid sources, such as at least two syringes. An advantage hereof is that two different substances may be dispensed from the applicator. Alternatively, one of the at least two syringes may be used to withdraw a substance, such as blood, from a patient.

Substance

[0194] The applicator tube of the present disclosure is preferably configured for dispensing a substance. The substance may be in the form of a liquid, a paste, or a powder. As an example, the substance may be a medical paste. By the term medical paste is meant a paste comprising a bioactive agent. Examples of bioactive agents include thrombin or fibrinogen, which are also referred to as haemostatic agents. As another example, the substance may comprise a non-biological adhesive/glue such as a cyanoacrylate or a polyethylene glycol hydrogel (PEG). As yet another example, the substance may comprise a material selected from the group of: Oxidized regenerated cellulose (OCR), microporous polysaccharide spheres, and microfibrillar collagen. In case the substance is a powder, the powder is preferably a haemostatic powder comprising particles having a particle size greater than 180 micron. That the particle size is greater than 180 micron means that the particles have a good flowability so that the particles easily can be spread over an area. That will be extra advantageous if the powder is haemostatic powder, since it is important to cover the whole wound as soon as possible to stop the bleeding.

[0195] A bioactive agent is defined as any agent, drug, compound, composition of matter or mixture, which provides some pharmacologic, often beneficial, effect that can be demonstrated in vivo or in vitro. An agent is thus considered bioactive if it has interaction with or effect on a cell tissue in the human or animal body. As used herein, this term further includes any physiologically or pharmacologically active substance that produces a localized or systemic effect in an individual. Bioactive agents may be a protein, such as an enzyme. Further examples of bioactive agents include, but are not limited to, agents comprising or consisting of an oligosaccharide, a polysaccharide, an optionally glycosylated peptide, an optionally glycosylated polypeptide, an oligonucleotide, a polynucleotide, a lipid, a fatty acid, a fatty acid ester and secondary metabolites. It may be used either prophylactically, therapeutically, in connection with treatment of an individual, such as a human or any other animal. The term bioactive agent as used herein does not encompass cells, such as eukaryotic or prokaryotic cells.

[0196] A paste according to the present disclosure has a malleable, putty-like consistency, such as toothpaste. A paste is a thick fluid mixture of pulverized solid/solid in powder form with a liquid. A paste is a substance that behaves as a solid until a sufficiently large load or stress is applied, at which point it flows like a fluid, i.e. a paste is flowable. Flowables conform efficiently to irregular surfaces upon application. Pastes typically consist of a suspension of granular material in a background fluid. The individual grains are jammed together like sand on a beach, forming a disordered, glassy or amorphous structure, and giving pastes their solid-like character. It is this jamming together that gives pastes some of their most unusual properties; this causes a paste to demonstrate properties of fragile matter. A paste is not a gel/jelly. A slurry is a fluid mixture of a powdered/pulverized solid with a liquid, such as water. Slurries behave in some ways like thick fluids, flowing under gravity and being capable of being pumped if not too thick. A slurry may functionally be regarded as a thin, watery paste, but a slurry generally contains more water than a paste. Substantially water-insoluble powder particles, such as cross-linked gelatine particles, will form a paste upon mixing with an aqueous medium.

[0197] A gel is a solid, jelly-like material that can have properties ranging from soft and weak to hard and tough. Gels are defined as a substantially dilute cross-linked system, which exhibits no flow when in the steady-state. By weight, gels are mostly liquid, yet they behave like solids due to a three-dimensional cross-linked network within the liquid. It is the crosslinks within the fluid that give a gel its structure (hardness) and contribute to stickiness (tack). In this way gels are a dispersion of molecules of a liquid within a solid in which the solid is the continuous phase and the liquid is the discontinuous phase. A gel is not a paste or slurry. For example, non-crosslinked gelatine is soluble and forms a gel upon contact with an aqueous medium such as water.

[0198] For a medical paste to be discharged from a syringe and an applicator tube, it should be flowable, when subjected to a force applicable for a syringe. Thus, by the term flowable paste is meant a paste having a viscosity facilitating a steady flow, when subjected to a force applicable for a syringe. An example of a flowable paste is a paste having a viscosity between 500-3500 Pa.Math.s, when measured at 30? C. and a relative humidity between 65-75%. In an embodiment of the disclosure, the paste is flowable.

[0199] Forming a medical paste, such as a flowable medical paste, requires mixing of the bioactive agent with a paste or a paste forming material. Typically, bioactive agents are stored in a solid and dried state, such as a powdered form, facilitating stable storage of the active agent, and flexible concentrations by mixing the bioactive agent with a diluent in an adjustable ratio. Thus, for the bioactive agent to be administered by a syringe injection, the solid bioactive agent must first be reconstituted. Forming a medical paste therefore typically requires the steps of mixing a solid bioactive agent with a liquid or diluent to reconstitute the bioactive agent, and subsequently mixing the reconstituted bioactive agent with a paste forming material, which may also be referred to as paste precursor. The bioactive agent may be a haemostatic agent, such as thrombin or fibrinogen.

[0200] By the term paste forming material is meant a material for forming a paste from a liquid phase, such as a reconstituted bioactive agent. Thus, a paste forming material may also be referred to as a precursor material for forming a paste.

[0201] The reconstituted bioactive agent is obtained by mixing the bioactive agent with a liquid with low viscosity, such as sterile water or saline water, thereby ensuring uniform reconstitution. Thus, the reconstituted bioactive agent is a liquid with low viscosity. A paste may be obtained from the reconstituted bioactive agent by adding a paste forming material, which inherently increases the viscosity.

Substance Loading

[0202] As described earlier, the delivery tube of the applicator may be prefilled with the substance (e.g. a medical fluid, paste or powder) before use, e.g. before insertion of the applicator into the trocar port. Alternatively, the delivery tube may be configured to be filled with the substance after insertion into the trocar port, e.g. immediately before application or continuously during application of the substance.

Proximal Loading

[0203] In a first preferred embodiment, the filling of the delivery tube is performed via the proximal end 2.1 of the delivery tube, which is accessible to the surgeon or an assistant during surgery, as illustrated in FIG. 1. The filling of the delivery tube is advantageously done using a separate syringe comprising the substance 4 within a syringe barrel, where the syringe may be prefilled with the substance, or configured for aspirating the substance from a substance source such as a medical fluid source, as e.g. illustrated in FIGS. 12-14. Hence, the container or syringe comprising the substance 4 may be referred to as a substance reservoir 24. To facilitate safe and precise filling with a minimum of substance waste, the proximal end 2.1 advantageously comprises one or more connectors 6 for detachably attaching the fluid source, such as a syringe prefilled with the substance. An example of a connector is a Luer lock for attaching a syringe, or a compression joint or adhesive joint for attaching a substance reservoir or fluid container. Alternatively, the delivery tube and the fluid source, e.g. the syringe, may be attached without the use of a connector.

[0204] In an embodiment of the disclosure, the delivery tube and the at least one fluid source comprises the same substance, or is configured for comprising the same substance, such as a substance comprising a haemostatic agent, the substance provided in the form of a liquid, a paste, or a powder, such that the at least one fluid source constitutes a first substance reservoir.

Continuous Loading

[0205] In addition to being prefilled and configured for being filled or loaded with substance 4 from the proximal end, after being inserted into the trocar port, the applicator may advantageously further be configured for being loaded continuously while being inserted into the trocar. This may be obtained by the applicator being configured for being loaded from a multiple amount of substance reservoirs 24.

[0206] FIG. 36 shows an embodiment of the applicator according to the present disclosure, where the applicator 1 comprises a first 24.1 and second substance reservoir 24.2. Hence, the syringe substance reservoir 24 shown in e.g. FIG. 14 is replaced with an integrated first substance reservoir 24.1, which is different from a separate syringe, thereby avoiding a separate syringe and plunger. The integrated first substance reservoir may comprise a barrel for holding the substance, a stopper defining the first substance reservoir, which may also act as a piston for pushing the substance out of the barrel. The integrated first substance reservoir is not restricted to having conventional syringe dimensions, and may advantageously have a relatively wider diameter and shorter length than a conventional syringe.

[0207] In an embodiment of the disclosure, the first substance reservoir comprises a barrel for holding the substance and a piston for pushing the substance out of the barrel. In a further embodiment, the barrel has a diameter between 10-30 mm, more preferably between 12-20 mm, and most preferably between 14-18 mm.

[0208] A second substance reservoir 24.2 is detachably attachable to the first substance reservoir 24.1 via an auxiliary connector element 25, as illustrated in FIGS. 36-37. FIG. 37A shows the second reservoir being attached, and 37B shows when the second reservoir is detached.

[0209] For dispensing substance from the applicator before or during operation, the assistant may attach a second substance reservoir 24.2, optionally while the applicator is inserted into the trocar port. The assembly may be configured for transferring the substance, e.g. haemostat, from the second substance reservoir into the first substance reservoir. For example, the second substance reservoir may be pressurized and the auxiliary connector element may include a one way valve Luer lock facilitating the transfer.

[0210] In an embodiment of the disclosure, the applicator comprises one or more second substance reservoir(s). In a further embodiment, the first and/or second substance reservoirs are disposable.

[0211] In an embodiment of the disclosure, the second substance reservoir(s) are detachably attached to the first substance reservoir via at least one auxiliary connector element. In a further embodiment, the connector element comprises a Luer lock, a compression joint, or an adhesive joint.

[0212] The substance may then be dispensed by activating a dispensing button or actuator 2.6 at the distal end 2.2 of the delivery tube. The actuator may activate the drive mechanism of the pressure source, e.g. a mechanically controlled drive mechanism or a motor controlled or electrically controlled drive mechanism. For example, the pressure source may correspond to the drive unit 10 shown in FIG. 14, where the pressure source is motor controlled advancing piston, which may exert a pressure on the first substance reservoir 24.1. Due to the wider diameter and shorter length of the first substance reservoir, a smaller force is required for dispensing the substance. Hence, the pressure force may also be a manually driven piston, since a relatively low force is needed to prime. Further, the dimensions of the first substance reservoir enables that any substances 4 irrespective of the viscosity may be easily dispensed.

[0213] The auxiliary connector element may be configured to avoid back filling of the second substance reservoir from the pressure source. This may be obtained by the auxiliary connector element being adapted for establishing a sequential fluid connection between 1) the first and second substance reservoirs, and 2) the first substance reservoir and the delivery tube. Thus, the auxiliary connector element may have two configurations, which may be obtained by a one-way valve.

[0214] In an embodiment of the disclosure, the auxiliary connector element is configured for establishing a sequential fluid connection between 1) the first and second substance reservoirs, and 2) the first substance reservoir and the delivery tube. In a further embodiment, the auxiliary connector element is adapted to have a first configuration proving a fluid passageway between the first and second substance reservoirs, and a second configuration providing a fluid passageway between the first substance reservoir and the delivery tube. In an embodiment of the disclosure, the auxiliary connector element comprises at least one one-way valve.

[0215] It follows that the first substance reservoir may be refilled at any point by the nurse detaching and attaching any multiple of further second reservoirs. Further, the reservoirs are advantageously disposable, for simple and flexible application. For example, all parts excluding the driver unit may be disposable.

[0216] It follows from the above that the applicator comprising the first and second substance reservoirs may have a particularly compact design and be particularly suitable for substances of both high and low viscosity, e.g. liquids, pastes, and powders, due to the form factor of the first substance reservoir.

[0217] Continuous loading may be applied to an applicator comprising any number of substance reservoirs, and to an applicator for substance mixtures. For example, this may apply to the embodiment shown in FIG. 30, where the delivery tube comprises a first lumen for holding a first type of substance and a second lumen for holding a second type of substance, and where the two types of substances are mixed once the substances are dispensed or before they are dispensed. For example, the applicator tip may include a nozzle comprising a mixing chamber. In this case, one substance may be in the form of a liquid and the other substance could be a powder to be mixed in the liquid. The two substances could also be two liquids or two pastes, or other combinations of liquid, paste, and powder. The drive mechanism of FIG. 30 comprises two pistons, wherein a first piston is configured to exert a first pressure on two different reservoirs simultaneously or with a time delay to ensure sufficient mixing.

[0218] In analogy to FIG. 30, FIG. 41 shows an embodiment of the applicator according to the present disclosure, wherein the applicator 1 comprises two first substance reservoirs 24.1, and a detached drive mechanism 10 for pressurizing the two first substance reservoirs. The drive mechanism is exemplified as a motorized driver unit with two pistons.

[0219] FIG. 42 shows the applicator of FIG. 41, where the two first substance reservoirs 24.1 are connected via check valves 25 to two second substance reservoirs 24.2 (shown as two syringes). (A) shows loading of the first reservoirs by the syringes, and (B) shows the loaded applicator, where the stopper is defining the first substance reservoir, and after the two syringes are detached.

[0220] FIG. 43 shows the applicator of FIGS. 41-42, wherein the detachable drive mechanism for pressurizing the two first substance reservoirs 24.1 is attached in (A), and in (B) the pistons of the drive mechanism has translated the stopper, and thereby emptied the two first reservoirs.

Distal Loading

[0221] In addition to, or alternatively to, proximal loading, the applicator may also be configured for being loaded from the distal end. This may further improve the compact design, reduce the number of parts of the applicator, and provide a fully disposable applicator.

[0222] FIG. 38A shows an embodiment of the applicator according to the present disclosure, where the applicator is configured for being loaded with substance 4 from the distal end 2.2, opposite to the pressure source 8 located at the proximal end 2.1. This may be obtained by the distal end or tip of the delivery tube comprising a detachably attached auxiliary connector element 25 for forming a fluid communication with a substance reservoir, as shown in FIG. 38B, and a flow controlling element 26, as shown in FIG. 38C. The flow controlling element may for example be a 3-way valve having three configurations: a first configuration providing a fluid passageway from the distally attached substance reservoir and into the delivery tube, a second configuration where no fluid passageway is provided such that the substance within the delivery tube may be pressurized, and a third configuration providing a fluid passageway from the delivery tube and out of the distal end of the delivery tube. Advantageously, the flow controlling element is configured for establishing a sequential fluid connection with opposite directions, first between 1) the substance reservoir and the delivery tube, and then between 2) the delivery tube and the detached substance reservoir.

[0223] In an embodiment of the disclosure, the delivery tube is configured for being loaded with substance from the distal end. In an embodiment of the disclosure, the delivery tube comprises one or more detachably attached connectors for a substance reservoir, and/or a flow controlling element.

[0224] FIG. 39A shows an embodiment of the applicator according to the present disclosure, where the applicator is configured for being loaded with substance from the distal end 2.2 via a substance reservoir 24 in the form of a syringe comprising the substance 4. The applicator 1 comprises a pressure source 8, which advantageously is a spring 8.3 integrated within the delivery tube, as shown in FIG. 39A. The syringe 24 is attached to the distal end 2.2 of the delivery tube via the auxiliary connector element 25, which may be a Luer lock connector, as shown in FIG. 39B. The syringe content is transferred to the delivery tube, whereby the spring 8.3 is compressed, as shown in FIG. 39C. Hence, the pressure source in the form of spring energy is stored upon loading the delivery tube. Alternatively, the spring energy may be pre-stored by being pre-compressed, such that a predetermined spring energy amount is provided by the applicator. The syringe and the auxiliary connector element may then be detached, and the flow controlling element 26 facilitates that the substance within the delivery tube is pressured by the spring force. The applicator is ready for use, and the substance 4 may be dispensed as shown in FIG. 39D, e.g. via an actuator comprised within the flow controlling element, as indicated by arrows.

[0225] The present embodiment provides an applicator with a particularly compact design and small form factor. Further advantageously, the embodiment provides a non-motorized and fully disposable applicator for single use.

[0226] In an embodiment of the disclosure, the at least one pressure source is a spring configured to exert a pressure on the at least one fluid source and/or the substance within the delivery tube. In a further embodiment, the spring energy is pre-stored, and/or wherein the spring energy is stored upon loading the delivery tube.

[0227] As alternative, or in addition, to a spring 8.3, the pressure source may include a gas pressure source such as a pressurized container, e.g. a gas cartridge 8.2. FIG. 40A shows an embodiment of the applicator according to the present disclosure, where the applicator 1 is configured for being loaded with substance from the distal end 2.2 via a substance reservoir 24 in the form of a syringe attachable to the distal end via an auxiliary connector element 25. The applicator further comprises a pressure source 8 for pressurizing and dispensing the substance in the form of a gas cartridge 8.2. After loading, the syringe 24 and the auxiliary connector element 25 is detached, as shown in FIG. 40B, and the substance 4 is dispensed by the gas pressure exerted, as shown in FIG. 40C. It follows that a gas pressure may be obtained by other means than a gas cartridge, e.g from motorized bellows, -propellers, -compressors,

[0228] In an embodiment of the disclosure, the at least one pressure source is a gas configured to exert a pressure on the at least one fluid source and/or the substance within the delivery tube. In an embodiment of the disclosure, the gas pressure source is selected from the group of: gas cartridges, motorized bellows, -propellers, -compressors, and combinations thereof.

Haemostatic Powder Applications

[0229] According to one embodiment, the laparoscopic applicator is configured for dispensing a haemostatic powder at a selected site by means of a surgical robotic arm, wherein the laparoscopic applicator comprises: [0230] a delivery tube for holding the haemostatic powder; and [0231] a variable rate feeder, such as a screw conveyor, configured for transporting the haemostatic powder through the delivery tube to the outside of the delivery tube, whereby the haemostatic powder is dispensed from the applicator.

[0232] The haemostatic powder preferably comprises a haemostatic agent. Advantageously, the haemostatic powder comprises particles having a particle size greater than 180 micron. In an embodiment, the haemostatic powder comprises particles having an average particle size of at least 275 micron, such as approximately 300 micron in average. Furthermore, the particles may have a tapped density of at least 0.3 g/cm.sup.3, more preferably at least 0.4 g/cm.sup.3, even more preferably at least 0.44 g/cm.sup.3. As an example, the particles may have a tapped density in the range 0.3-1 g/cm.sup.3. In one embodiment, the variable rate feeder is a screw conveyor. This is illustrated in FIG. 26. In another embodiment, the variable rate feeder is a paddle wheel. The applicator may comprise a first positional sensor, such as a magnetic sensor or an optical sensor, said sensor being configured for determining the position of the screw conveyor and/or the paddle wheel. The first positional sensor is preferably configured to register each turn of the screw conveyor and/or the paddle wheel and each turn is added or subtracted depending on the rotational direction so that position of the screw conveyor and/or the paddle wheel can be determined. If a processor is used to control the screw conveyor and/or the paddle wheel processor will know the direction of the rotation. Alternatively, the first positional sensor can sense the direction e.g. by having two sensors next to each other. The position (e.g. determined by the number of turns) of the screw conveyor may be used to determine the remaining amount of powder in the delivery tube.

[0233] In another embodiment, the laparoscopic applicator for dispensing the haemostatic powder at a selected site by means of a surgical robotic arm, comprises: [0234] a delivery tube holding the haemostatic powder; [0235] a valve located at a distal end of the delivery tube, wherein the valve is configured to open at a pre-defined opening pressure; and [0236] a vibrating device, such as an ultrasonic vibrating device, configured for shaking the haemostatic powder out of the delivery tube when the valve is open.

[0237] A laparoscopic applicator comprising a vibrating device is shown in FIGS. 27-29. In case the applicator comprises a vibrating device, the applicator may further comprise a clock configured for measuring the elapsed time when the vibrating device is activated/vibrating. The elapsed time may be used to estimate the remaining volume of haemostatic powder in the delivery tube. Alternatively, the applicator may comprise one of the sensors described above for determining the amount of substance in the applicator.

[0238] The laparoscopic applicator is configured for dispensing or withdrawing a substance comprising a haemostatic agent, and said substance may be in the form of a liquid, a paste, or a powder. Due to the flow characteristics of powders, the pressure source or drive mechanism for transporting the haemostatic powder through the delivery tube to the outside of the delivery tube advantageously comprises a combination of a variable rate feeder, such as a screw conveyor, or a vibrating device, in combination with a pressure source, such as a gas pressure source.

[0239] In case the medical substance is a powder, such as a haemostatic powder, a pressure source is not necessarily needed, since the powder may be discharged from the applicator by other means. In this case the applicator may, as an alternative, or an addition, to the pressure source, comprise a variable rate feeder configured for transporting the haemostatic powder through the delivery tube to the outside of the delivery tube, whereby the haemostatic powder is dispensed from the applicator. Alternatively, the applicator may comprise a vibrating device for shaking the powder out of the applicator. However, advantageously for efficient and precise discharge of the powder, e.g. to obtain sufficient flow characteristics and spray angle, the variable rate feeder further comprises a pressure source, such as a gas pressure source.

[0240] FIG. 31 shows an embodiment of the applicator according to the present disclosure, wherein the applicator 1 comprises a gas pressure source 8 for transporting a powder through the delivery tube. For example, the gas pressure source is bellows, which are activated by a motorized piston 10.1, e.g. a piston vibrating back and forth in the horizontal direction, as indicated by the larger double arrow. (A) shows a perspective view, and (B) a cross-sectional view of the applicator. The driving mechanism of the pressure source may be activated via an actuator 2.6, such as an electrical actuator sending an electrical signal to the motor 10.1, as indicated in FIG. 31A, whereby the powder 20 is dispensed from the distal end 2.2 of the delivery tube. The powder may be prefilled into the applicator or supplied from a second substance reservoir 24.2 via an auxiliary connector element 25, or the bellows may comprise a substance reservoir, such as a powder 20 reservoir, such that the powder is transported simultaneously with the gas pressure source. as shown in FIG. 31B.

[0241] FIG. 32 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a gas pressure source 8 for transporting a powder 20 through the delivery tube, where the gas pressure source is obtained via a motorized propeller, and optionally a gas inlet. (A) shows a perspective view, and (B) a cross-sectional view of the applicator. The driving mechanism of the pressure source may be activated via an actuator 2.6, such as an electrical actuator sending an electrical signal to the motor 10.1, as indicated in FIG. 32A, whereby the powder 20 is dispensed from the distal end 2.2 of the delivery tube. The powder may be prefilled into the applicator or supplied from a second substance reservoir 24.2 via an auxiliary connector element 25,

[0242] FIG. 33 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a pressure source for transporting a powder through the delivery tube, where the pressure source is a distally located piston or actuator 2.6 with apertures for establishing fluid communication to the distal end 2.2 of the delivery tube. The distally located piston may be motorized 10.1 to vibrate back and forth in the horizontal direction, as indicated by the large double arrow, whereby the powder 20 is dispensed from the distal end 2.2 of the delivery tube. (A) shows a partly perspective view, where the distal end is enlarged in the inserted frame, (B) shows a cross-sectional view, where the distal end is enlarged in the inserted frame in perspective view. The powder may be prefilled into the applicator or supplied from a second substance reservoir via an auxiliary connector element.

[0243] FIG. 34 shows an embodiment of the applicator according to the present disclosure, wherein the applicator comprises a gas pressure source for transporting a powder through the delivery tube, where the gas pressure source is obtained form a rotating paddle wheel or impeller. The impeller may further be controlled by a gas cartridge 8.2 in combination with a gas flow control valve, e.g. in combination with the connector 6. Thus, the powder feed may be controlled by the rotation rate of the impeller and the gas cartridge supply. The powder may be prefilled into the applicator or supplied from a first or second substance reservoir 24, such as comprised within the impeller as indicated most clearly in FIG. 34B.

[0244] In an embodiment of the disclosure, the variable rate feeder further comprises a pressure source, such as a gas pressure source, optionally selected from the group of: gas cartridges, motorized bellows, -propellers, -compressors, and combinations thereof. In an embodiment of the disclosure, the variable rate feeder comprises a powder reservoir, wherein the reservoir optionally comprises a reservoir feed controller, such as an adjustable reservoir opening.

[0245] For efficient and precise discharge of the powder, e.g. to obtain sufficient flow characteristics and spray angle, the gas pressure source advantageously provides the possibility of a reduced gas flow, e.g. a reduced air flow or reduced air volume, such that the powder discharge is more controlled and powder turbulence at the discharge is avoided. This may be obtained by the applicator comprising flow confining elements for reducing the gas flow at the powder delivery site.

[0246] FIG. 35 shows an embodiment of the applicator according to the present disclosure, wherein the applicator 1 comprises a gas pressure source 8 for transporting a powder through the delivery tube, and further flow confining elements for reducing the gas flow at the powder delivery site. For example the flow confining elements 22 may be a grid or slit elements within the delivery tube that the powder 20 and gas has to pass, as shown in FIG. 35A. Alternatively, the flow confining element 22 may be a separate gas flow channel as shown in FIG. 35B, which is running in parallel with a screw conveyor 19 transporting the powder 20.

[0247] In an embodiment of the disclosure, the variable rate feeder comprises one or more flow confining elements, such as grid elements or separate gas flow channels.

REFERENCE NUMERALS

[0248] 1Laparoscopic applicator [0249] 2Delivery tube [0250] 2.1Proximal end [0251] 2.2Distal end [0252] 2.3Deformable section [0253] 2.4Rigid surface [0254] 2.5Rigid surface opening [0255] 2.6Actuator [0256] 2.7Valve [0257] 2.8Rigid section [0258] 3Rigid sheath [0259] 4Substance [0260] 5Surgical robotic arm [0261] 6Connector [0262] 7Fluid source [0263] 8Pressure source [0264] 8.1Propellant [0265] 8.2Gas cartridge [0266] 8.3Spring [0267] 9Applicator tip [0268] 10Driver unit [0269] 10.1Motor [0270] 11Flow controller [0271] 12Pressure indicator light [0272] 13Status indicator [0273] 14First lumen [0274] 15Second lumen [0275] 16Third lumen [0276] 17Fourth lumen [0277] 18Malleable wire/rod [0278] 19Screw conveyor [0279] 20Haemostatic powder [0280] 21Vibrating device [0281] 22Flow confining elements [0282] 24Substance reservoir [0283] 24.1First substance reservoir [0284] 24.2Second substance reservoir [0285] 25Auxiliary connector element [0286] 26Flow controlling element

FURTHER DETAILS OF THE INVENTION

[0287] 1. A laparoscopic applicator for dispensing or withdrawing a substance, e.g. a substance comprising a haemostatic agent, at a selected site by means of a surgical robotic arm, the laparoscopic applicator comprising: [0288] a delivery tube for holding the substance; and [0289] an applicator tip connected to a distal end of the delivery tube, the applicator tip configured for: [0290] being spatially manipulated by the robotic arm, and/or [0291] controllably releasing the substance from the delivery tube by the robotic arm, and/or [0292] controllably withdrawing the substance from the selected site into the delivery tube. [0293] 2. The laparoscopic applicator according to item 1, wherein the delivery tube comprises at least one rigid section, such as a rigid tubular section or a rigid surface area. [0294] 3. The laparoscopic applicator according to item 2, wherein the at least one rigid section is dimensioned such that it is tangible by the robotic arm, such as tangible by gripping, pushing, or attachment. [0295] 4. The laparoscopic applicator according to any of the preceding items, wherein the delivery tube comprises a deformable section. [0296] 5. The laparoscopic applicator according to item 4, wherein the deformable section is compressible, e.g. in the form of a corrugated tube, such that the length of the tube may be varied. [0297] 6. The laparoscopic applicator according to any of the items 4-5, wherein the deformable section comprises a corrugated surface profile, preferably wherein the corrugated surface profile comprises a plurality of circumferential folds. [0298] 7. The laparoscopic applicator according to any of the items 4-6, wherein the deformable section is located at a distal end of the delivery tube. [0299] 8. The laparoscopic applicator according to any of items 4-6, wherein the deformable section is located at a distance from the distal end of the delivery tube. [0300] 9. The laparoscopic applicator according to any of the preceding items, wherein the delivery tube and/or applicator tip is dimensionally configured for holding the substance under a pressure, and/or configured to include one or more flow controlling elements. [0301] 10. The laparoscopic applicator according to any of the preceding items, wherein the delivery tube and/or applicator tip has an inner diameter of less than 5 mm, preferably less than 3 mm, even more preferably less than 2 mm. [0302] 11. The laparoscopic applicator according to any of the preceding items, wherein the delivery tube contains a substance, e.g. a substance comprising a haemostatic agent, said substance being in the form of a liquid, a paste, or a powder. [0303] 12. The laparoscopic applicator according to item 11, wherein the substance comprises a bioactive agent and/or a haemostatic agent. [0304] 13. The laparoscopic applicator according to item 11, wherein the substance comprises a material selected from the group of: Polyethylene glycol (PEG), cyanoacrylate, oxidized regenerated cellulose, microporous polysaccharide spheres, and microfibrillar collagen. [0305] 14. The laparoscopic applicator according to item 11, wherein the substance is a haemostatic paste comprising a haemostatic agent. [0306] 15. The laparoscopic applicator according to item 14, wherein the haemostatic agent is selected from the group of: thrombin and fibrinogen. [0307] 16. The laparoscopic applicator according to item 11, wherein the substance is a haemostatic powder. [0308] 17. The laparoscopic applicator according to item 16, wherein the haemostatic powder comprises particles having a particle size greater than 180 micron. [0309] 18. The laparoscopic applicator according to any of the items 16-17, wherein the haemostatic powder comprises particles having an average particle size of at least 275 micron. [0310] 19. The laparoscopic applicator according to any of the items 16-18, wherein the haemostatic powder comprises particles having a tapped density of at least 0.4 g/mL. [0311] 20. The laparoscopic applicator according to any of the items 16-19, wherein the applicator further comprises a variable rate feeder, such as a screw conveyor, configured for transporting the haemostatic powder through the delivery tube to the outside of the delivery tube, whereby the haemostatic powder is dispensed from the applicator. [0312] 21. The laparoscopic applicator according to item 20, wherein the variable rate feeder is configured for being driven/rotated by an external motor. [0313] 22. The laparoscopic applicator according to item 20, wherein the applicator further comprises a motor for driving/rotating the variable rate feeder. [0314] 23. The laparoscopic applicator according to any of the items 20-21, wherein the variable rate feeder is a screw conveyor. [0315] 24. The laparoscopic applicator according to any of the items 20-21, wherein the variable rate feeder is a paddle wheel. [0316] 25. The laparoscopic applicator according to any of items 20-24, wherein the variable rate feeder further comprises a gas pressure source, optionally selected from the group of: gas cartridges, motorized bellows, -propellers, -compressors, and combinations thereof. [0317] 26. The laparoscopic applicator according to any of items 20-25, wherein the variable rate feeder comprises a powder reservoir, wherein the reservoir optionally comprises a reservoir feed controller, such as an adjustable reservoir opening and/or paddle wheel. [0318] 27. The laparoscopic applicator according to any of items 20-26, wherein the variable rate feeder comprises one or more flow confining elements, such as grid elements or separate gas flow channels. [0319] 28. The laparoscopic applicator according to any of the items 20-27, wherein the applicator further comprises a first positional sensor configured to determine the position of the variable rate feeder. [0320] 29. The laparoscopic applicator according to item 28, wherein the first positional sensor is an optical sensor. [0321] 30. The laparoscopic applicator according to item 28, wherein the variable rate feeder is provided with a magnet, and wherein the first positional sensor is a magnetic sensor configured to detect the presence of the magnet. [0322] 31. The laparoscopic applicator according to any of the items 16-30, wherein the applicator further comprises a vibrating device, such as an ultrasonic vibrating device, configured for shaking the haemostatic powder out of the delivery tube. [0323] 32. The laparoscopic applicator according to item 31, wherein the applicator further comprises a clock configured for measuring the elapsed time when the vibrating device is activated/vibrating. [0324] 33. The laparoscopic applicator according to item 32, wherein the elapsed time is used to estimate the remaining volume of haemostatic powder in the delivery tube. [0325] 34. The laparoscopic applicator according to any of the preceding items, wherein the delivery tube comprises a plurality of lumens, such as at least two lumens, or at least three lumens, or at least four lumens. [0326] 35. The laparoscopic applicator according to item 34, wherein the plurality of lumens comprises a first lumen and a second lumen, wherein the first lumen is configured to contain a substance, e.g. a substance comprising a haemostatic agent, and the second lumen is configured to contain electrical wiring or an optical fibre. [0327] 36. The laparoscopic applicator according to item 35, wherein the inner diameter of the first lumen is less than 4 mm, preferably less than 3 mm, even more preferably less than 2 mm. [0328] 37. The laparoscopic applicator according to any of the items 34-36, wherein at least one of the plurality of lumens is configured to contain a malleable wire or rod. [0329] 38. The laparoscopic applicator according to any of the items 4-37, wherein the applicator further comprises a malleable wire or rod, configured such that the deformable section of the delivery tube may be bent into a desired shape, said shape being approximately maintained upon release of the delivery tube. [0330] 39. The laparoscopic applicator according to any of the items 4-38, wherein the deformable section of the delivery tube may be bent along two planes at two pre-determined angles, such as at least 30? or at least 45?. [0331] 40. The laparoscopic applicator according to any of the preceding items, wherein the applicator tip is detachably attached to the distal end of the delivery tube. [0332] 41. The laparoscopic applicator according to any of the preceding items, wherein the applicator tip is integrated in the delivery tube, such that the delivery tube and the applicator tip is a single unit. [0333] 42. The laparoscopic applicator according to any of the preceding items, wherein the delivery tube and/or the applicator tip are disposable. [0334] 43. The laparoscopic applicator according to any of the preceding items, wherein the applicator or applicator tip further comprises at least one valve configured for releasing the substance from the delivery tube upon opening of said valve. [0335] 44. The laparoscopic applicator according to item 44, wherein the at least one valve is a pressure activated valve having a pre-defined opening pressure threshold. [0336] 45. The laparoscopic applicator according to item 44, wherein the substance is dispensed from the delivery tube when the pre-defined opening pressure threshold is exceeded. [0337] 46. The laparoscopic applicator according to any of the items 43-453, wherein the at least one valve is controllable by an actuator located on the applicator. [0338] 47. The laparoscopic applicator according to any of the items 43-46, wherein the at least one valve is controllable by an external actuator, such as a foot pedal. [0339] 48. The laparoscopic applicator according to any of the items 43-47, wherein the at least one valve is selected from the group of: one-way valve, elastomeric one-way valve, duckbill valve, cross slit valve, and spring-loaded check valve. [0340] 49. The laparoscopic applicator according to any of the items 43-48, wherein the at least one valve is located in the delivery tube. [0341] 50. The laparoscopic applicator according to any of the items 43-49, wherein the at least one valve is located in the applicator tip. [0342] 51. The laparoscopic applicator according to any of the preceding items, wherein the applicator or applicator tip further comprises at least one actuator configured to open and/or close the at least one valve. [0343] 52. The laparoscopic applicator according to item 51, wherein the at least one actuator is configured to activate by a pressure force, e.g. applied by the robotic arm, or by an electrical current, e.g. applied by an energy tool. [0344] 53. The laparoscopic applicator according to any of the items 51-52, wherein the at least one actuator is activated by pulling the actuator along a longitudinal axis of the tube/applicator tip and/or by rotating the actuator around the longitudinal axis. [0345] 54. The laparoscopic applicator according to any of the items 51-53, wherein the at least one actuator is located at a distal end of the delivery tube. [0346] 55. The laparoscopic applicator according to any of the items 51-54, wherein the at least one actuator is located on the rigid section of the delivery tube. [0347] 56. The laparoscopic applicator according to any of the items 51-55, wherein the at least one actuator is located on the applicator tip. [0348] 57. The laparoscopic applicator according to any of the items 51-56, wherein the at least one actuator is located on an external device. [0349] 58. The laparoscopic applicator according to any of the items 51-57, wherein the at least one actuator is a pressure-sensitive button. [0350] 59. The laparoscopic applicator according to any of the items 51-58, wherein the at least one actuator covers a predefined circumferential section of the tube and/or applicator tip. [0351] 60. The laparoscopic applicator according to item 59, wherein the at least one actuator covers less than 180? of the circumference of the tube and/or applicator tip, preferably less than 140?. [0352] 61. The laparoscopic applicator according to any of the items 59-60, wherein two actuators are provided on opposite parts of the applicator tip and/or tube, each of said actuators covering less than 120? of the circumference of the tube and/or applicator tip, preferably less than 90? each. [0353] 62. The laparoscopic applicator according to any of the items 59-61, wherein the at least one actuator covers at least 180? of the circumference of the tube and/or applicator tip. [0354] 63. The laparoscopic applicator according to any of the items 59-62, wherein the at least one actuator covers 360? of the circumference of the tube and/or applicator tip, such that the at least one actuator surrounds a part of the tube and/or applicator tip. [0355] 64. The laparoscopic applicator according to any of the items 51-63, wherein the at least one actuator is configured to, upon activation, send an electrical signal to a pressure source, such as a drive mechanism, configured to exert a pressure sufficient to dispense the substance from the laparoscopic applicator. [0356] 65. The laparoscopic applicator according to any of the preceding items, wherein the applicator further comprises a first pressure sensor for sensing the pressure in the delivery tube. [0357] 66. The laparoscopic applicator according to any of the items 51-65, wherein the applicator further comprises a second pressure sensor for sensing the pressure applied to the actuator. [0358] 67. The laparoscopic applicator according to item 66, wherein the second pressure sensor is a resistive film pressure sensor and/or a force-sensitive resistor. [0359] 68. The laparoscopic applicator according to any of the items 51-67, wherein the at least one actuator is a pressure-sensitive button, wherein a pressure sensor for sensing the pressure applied to the actuator is integrated in said button or placed under the button. [0360] 69. The laparoscopic applicator according to any of the items 51-68, wherein the at least one actuator is a pressure-sensitive button covering a part of the applicator tip, said part surrounding the entire circumference of the applicator tip, wherein a second pressure sensor for sensing the pressure applied to the actuator is integrated in said button or placed under the button. [0361] 70. The laparoscopic applicator according to any of the items 51-69, wherein the applicator further comprises a pressure indicator light for indicating the pressure applied to the at least one actuator. [0362] 71. The laparoscopic applicator according to item 70, wherein the pressure indicator light is located in the applicator tip or on the applicator tip. [0363] 72. The laparoscopic applicator according to any of the items 70-71, wherein the pressure indicator light is provided as a circular band positioned along the circumference of the applicator tip. [0364] 73. The laparoscopic applicator according to any of the items 70-72, wherein the pressure indicator light is configured to: [0365] display light of a first color, e.g. green, when the applied pressure is below a predefined first threshold; and [0366] display light of a second color, e.g. red, when the applied pressure is above a predefined second threshold. [0367] 74. The laparoscopic applicator according to item 73, wherein the pressure indicator light is further configured to: [0368] display light of a third color, e.g. yellow, when the applied pressure is between the predefined first and second thresholds. [0369] 75. The laparoscopic applicator according to any of the preceding items, wherein the applicator or applicator tip further comprises a status indicator, e.g. in the form of light diodes, said status indicator configured to indicate the remaining volume of substance in the applicator. [0370] 76. The laparoscopic applicator according to item 75, wherein the remaining volume is determined by the first positional sensor, the second positional sensor, the clock, and/or combinations thereof. [0371] 77. The laparoscopic applicator according to any of the items 75-76, wherein the applicator further comprises at least one fluid source comprising a plunger in a barrel, wherein the position of the plunger is used to estimate the remaining volume of substance in the delivery tube, wherein the remaining volume is indicated by the status indicator. [0372] 78. The laparoscopic applicator according to any of the items 75-77, wherein the status indicator is located in the applicator tip or on the applicator tip. [0373] 79. The laparoscopic applicator according to any of the preceding items, wherein the delivery tube comprises a first light sensitive sensor configured for sensing light of a pre-defined wavelength range passing through the delivery tube, and wherein: [0374] the delivery tube comprises a light source positioned opposite the first light sensitive sensor; and/or [0375] the delivery tube is transparent to at least a portion of the wavelength range. [0376] 80. The applicator according to item 79, wherein the first light sensitive sensor is positioned at a distal part of the delivery tube. [0377] 81. The applicator according to any of the items 79-80, wherein the delivery tube comprises a second light sensitive sensor located further away from the distal end than the first light sensitive sensor. [0378] 82. The laparoscopic applicator according to any of the preceding items, wherein the applicator tip further comprises a rigid section configured to be gripped by the robotic arm. [0379] 83. The laparoscopic applicator according to any of the preceding items, wherein the applicator tip further comprises an adjustable nozzle for adjusting the dispensing rate and or dispensing angle of the substance. [0380] 84. The laparoscopic applicator according to any of the preceding items, wherein the applicator further comprises at least one fluid source for holding a fluid, said fluid source being in fluid connection with the delivery tube. [0381] 85. The laparoscopic applicator according to item 84, wherein the at least one fluid source is a syringe such as a medical syringe, e.g. a single-use medical syringe. [0382] 86. The laparoscopic applicator according to item 85, wherein the syringe comprises a barrel for holding a fluid and a plunger for pushing the fluid out of the syringe. [0383] 87. The laparoscopic applicator according to item 86, wherein the applicator further comprises a second positional sensor configured for determining the position of the plunger. [0384] 88. The laparoscopic applicator according to item 87, wherein the second positional sensor is an optical sensor. [0385] 89. The laparoscopic applicator according to item 87, wherein the plunger is provided with a magnet, and wherein the second positional sensor is a magnetic sensor configured to detect the presence of the magnet. [0386] 90. The laparoscopic applicator according to any of the items 87-89, wherein the position of the plunger is used to estimate the remaining volume of substance in the barrel and/or in the delivery tube. [0387] 91. The laparoscopic applicator according to item 84, wherein the at least one fluid source is a container such as a container configured to be pressurized. [0388] 92. The laparoscopic applicator according to item 84, wherein the at least one fluid source is a flexible balloon. [0389] 93. The laparoscopic applicator according to any of the items 84-92, wherein the applicator comprises at least one connector, such as a Luer lock, a compression joint, and/or an adhesive joint, for detachably attaching the at least one fluid source. [0390] 94. The laparoscopic applicator according to item 93, wherein the at least one connector comprises a hollow piercing element for piercing the at least one fluid source, whereby a fluid connection between the fluid source and the delivery tube is established. [0391] 95. The laparoscopic applicator according to any of the items 84-92, wherein the at least one fluid source comprises a liquid such as a saline solution. [0392] 96. The laparoscopic applicator according to any of the items 84-95, wherein the at least one fluid source comprises a paste such as a haemostatic paste comprising a haemostatic agent. [0393] 97. The laparoscopic applicator according to any of the items 84-96, wherein the at least one fluid source comprises a gas. [0394] 98. The laparoscopic applicator according to item 97, wherein the gas is selected from the group of CO.sub.2 (carbon dioxide), N.sub.2 (dinitrogen), N.sub.2O (nitrous oxide), and air. [0395] 99. The laparoscopic applicator according to any of the items 84-97, wherein the delivery tube and the at least one fluid source comprises the same substance, such as a substance comprising a haemostatic agent, the substance provided in the form of a liquid, a paste, or a powder, such that the at least one fluid source constitutes a first substance reservoir. [0396] 100. The laparoscopic applicator according to item 99, wherein the first substance reservoir comprises a barrel for holding the substance and a piston for pushing the substance out of the barrel. [0397] 101. The laparoscopic applicator according to item 100, wherein the barrel has a diameter between 10-30 mm, more preferably between 12-20 mm, and most preferably between 14-18 mm. [0398] 102. The laparoscopic applicator according to any of items 99-101, comprising one or more second substance reservoir(s). [0399] 103. The laparoscopic applicator according to any of items 99-102, wherein the second substance reservoir(s) are detachably attached to the first substance reservoir via at least one auxiliary connector element. [0400] 104. The laparoscopic applicator according to item 103, wherein the auxiliary connector element comprises a Luer lock, a compression joint, or an adhesive joint. [0401] 105. The laparoscopic applicator according to any of items 103-104, wherein the auxiliary connector element is configured for establishing a sequential fluid connection between 1) the first and second substance reservoirs, and 2) the first substance reservoir and the delivery tube. [0402] 106. The laparoscopic applicator according to any of items 103-105, wherein the auxiliary connector element is adapted to have a first configuration proving a fluid passageway between the first and second substance reservoirs, and a second configuration providing a fluid passageway between the first substance reservoir and the delivery tube. [0403] 107. The laparoscopic applicator according to any of items 103-106, wherein the auxiliary connector element comprises at least one one-way valve. [0404] 108. The laparoscopic applicator according to any of items 99-107, wherein the first and/or second substance reservoirs are disposable. [0405] 109. The laparoscopic applicator according to any of the items 84-108, wherein the at least one fluid source is configured to be pressurized, e.g. by use of a pressure source. [0406] 110. The laparoscopic applicator according to any of the items 84-109, wherein the applicator comprises at least two fluid sources. [0407] 111. The laparoscopic applicator according to any of the preceding items, wherein the delivery tube is configured for holding the substance under a pressure or holding a pressurized substance. [0408] 112. The laparoscopic applicator according to any of the preceding items, wherein the applicator further comprises at least one pressure source configured for applying a pressure to the at least one fluid source and/or configured for applying a pressure to the inside of the delivery tube, such as the substance within the delivery tube. [0409] 113. The laparoscopic applicator according to item 112, wherein the delivery tube is configured for being loaded with substance from the distal end. [0410] 114. The laparoscopic applicator according to item 113, wherein the delivery tube comprises one or more detachably attached connectors for a substance reservoir, and/or a flow controlling element. [0411] 115. The laparoscopic applicator according to any of items 112-114, wherein the at least one pressure source is a spring configured to exert a pressure on the at least one fluid source, and/or the substance within the delivery tube. [0412] 116. The laparoscopic applicator according to item 115, wherein the spring energy is pre-stored, and/or wherein the spring energy is stored upon loading the delivery tube. [0413] 117. The laparoscopic applicator according to any of items 112-114, wherein the at least one pressure source is a gas configured to exert a pressure on the at least one fluid source, and/or the substance within the delivery tube. [0414] 118. The laparoscopic applicator according to item 116, wherein the gas pressure source is selected from the group of: gas cartridges, motorized bellows, -propellers, -compressors, and combinations thereof. [0415] 119. The laparoscopic applicator according to item 112-118, wherein the at least one pressure source comprises a propellant, selected from the group of: spring loaded element, gaseous propellant, inflatable balloon or bladder, and/or moveable piston, such as an electrically driven piston or a manually driven piston. [0416] 120. The laparoscopic applicator according to item 112-119, wherein the at least one pressure source is a drive mechanism, selected from the group of: manual piston, motorized piston, spring force, and gas pressure, such as a motor, comprising at least one piston configured to exert a pressure on the at least one fluid source. [0417] 121. The laparoscopic applicator according to item 120, wherein the drive mechanism is an electric motor. [0418] 122. The laparoscopic applicator according to any of the items 120-121, wherein the at least one actuator is configured to, upon activation, send an electrical signal to the drive mechanism, whereby, upon receipt of said electrical signal, the drive mechanism is configured to exert a pressure on the at least one fluid source such that the substance is dispensed from the laparoscopic applicator. [0419] 123. The laparoscopic applicator according to any of the items 120-122, wherein the drive mechanism comprises two pistons, wherein a first piston is configured to exert a first pressure on a first fluid source and a second piston is configured to exert a second pressure on a second fluid source. [0420] 124. The laparoscopic applicator according to item 123, wherein the drive mechanism comprises a switching mechanism, such as a gear mechanism, configured to switch between operating the first piston and/or the second piston. [0421] 125. The laparoscopic applicator according to any of the items 120-124, wherein the drive mechanism further comprises a direction control configured to control the direction (forward or reverse) of the at least one piston. [0422] 126. The laparoscopic applicator according to any of the preceding items, wherein the applicator further comprises a rigid sheath surrounding at least a part of the delivery tube, wherein the sheath is configured such that the delivery tube may be inserted into a trocar. [0423] 127. The laparoscopic applicator according to any of the preceding items, wherein the applicator further comprises a driver unit for holding: [0424] at least one fluid source for holding a fluid, said fluid source being in fluid connection with the delivery tube; and/or [0425] at least one pressure source configured for applying a pressure to the at least one fluid source and/or configured for applying a pressure to the inside of the delivery tube. [0426] 128. The laparoscopic applicator according to item 127, wherein the laparoscopic applicator comprises a syringe having a barrel for holding substance fluid and a plunger for pushing the fluid out of the syringe and/or for withdrawing a substance into the syringe, wherein the driver unit is configured for receiving and holding the syringe. [0427] 129. The laparoscopic applicator according to item 128, wherein the driver unit is further configured for withdrawing the plunger, such that a substance is withdrawn into the applicator. [0428] 130. The laparoscopic applicator according to any of the preceding items, wherein the delivery tube and/or the at least one fluid source are disposable. [0429] 131. The laparoscopic applicator according to any of the preceding items, wherein the applicator further comprises a safety mechanism configured for switching between two modes (on/off), wherein the off mode means that no substance can be released from the applicator and the on mode means that substance can be released. [0430] 132. The laparoscopic applicator according to item 131, wherein the safety mechanism is located on the delivery tube or the applicator tip or the driver unit. [0431] 133. The laparoscopic applicator according to any of the preceding items, wherein the applicator further comprises a flow controller configured for controlling the flow rate of the substance to be released from the applicator. [0432] 134. The laparoscopic applicator according to item 133, wherein the flow controller is located in the driver unit. [0433] 135. A laparoscopic applicator tip for connecting to a laparoscopic delivery tube for holding a substance such as a substance comprising a haemostatic agent, the applicator tip comprising: [0434] at least one valve configured for releasing the substance from the delivery tube upon opening of said valve; and [0435] at least one actuator configured to open/close the at least one valve. [0436] 136. The laparoscopic applicator tip according to item 135, wherein the at least one valve is configured for holding and releasing the substance under a pressure. [0437] 137. The laparoscopic applicator tip according to any of items 135-136, wherein the applicator tip further comprises a pressure sensor, such as a resistive film pressure sensor, for sensing the pressure applied to the actuator. [0438] 138. The laparoscopic applicator tip according to any of the items 135-137, wherein the applicator tip further comprises a pressure indicator light for indicating the pressure applied to the at least one actuator. [0439] 139. The laparoscopic applicator tip according to any of the items 135-138, wherein the applicator tip further comprises a status indicator, e.g. in the form of light diodes, said status indicator configured to indicate the remaining volume of substance in the delivery tube. [0440] 140. The laparoscopic applicator tip according to any of the items 135-139, wherein the applicator tip further comprises a rigid section configured to be gripped by the robotic arm. [0441] 141. The laparoscopic applicator tip according to any of the items 135-140, wherein the applicator tip further comprises an adjustable nozzle for adjusting the dispensing rate and or dispensing angle of the substance. [0442] 142. A laparoscopic applicator for dispensing or withdrawing a substance, such as a substance comprising a haemostatic agent, at a selected site by means of a surgical robotic arm, the applicator comprising: [0443] a delivery tube for holding the substance; and [0444] an applicator tip according to any of the items 135-141, the applicator tip being connected to a distal end of the delivery tube, wherein the applicator tip is configured for: [0445] being spatially manipulated by the robotic arm, and/or [0446] controllably releasing the substance from the delivery tube by the robotic arm, or controllably withdrawing the substance from the selected site into the delivery tube. [0447] 143. A kit of parts comprising: a laparoscopic applicator according to any of items 1-134, one or more pressure sources, and optionally one or more fluid sources, such as one or more substance reservoirs. [0448] 144. The kit of parts according to item 143, wherein the substance reservoirs are one or more syringes configured to be filled with a substance and configured for forming a fluid connection to the delivery tube, preferably the distal opening of the delivery tube. [0449] 145. The kit of parts according to any of items 143-144, wherein the pressure source is one or more gas cartridges configured for forming a fluid connection to the delivery tube, preferably the proximal opening of the delivery tube. [0450] 146. The kit of parts according to any of items 143-145, wherein the pressure source is integrated into the applicator, optionally the pressure source is a spring at a proximal end of the delivery tube. [0451] 147. A kit of parts comprising: [0452] a laparoscopic applicator according to any of the items 1-134; and [0453] a driver unit for holding: [0454] at least one fluid source for holding a fluid, said fluid source being in fluid connection with the delivery tube; and/or [0455] at least one pressure source, such as a motor, configured for applying a pressure to the at least one fluid source and/or configured for applying a pressure to the inside of the delivery tube. [0456] 148. The kit of parts according to item 147, wherein the kit of parts further comprises at least one fluid source for holding a fluid, said fluid source being in fluid connection with the delivery tube. [0457] 149. The kit of parts according to any of the items 147-148, wherein the kit of parts further comprises at least one pressure source configured for applying a pressure to the at least one fluid source and/or configured for applying a pressure to the inside of the delivery tube. [0458] 150. The kit of parts according to any of the items 147-149, the kit of parts further comprising at least one fluid source, said fluid source being a syringe having a plunger, wherein the driver unit further comprises a positional sensor configured for determining the position of the plunger. [0459] 151. The kit of parts according to any of the items 147-150, wherein the driver unit is configured to hold at least two fluid sources, such as at least two syringes. [0460] 152. Use of the laparoscopic applicator according to any of the items 1-134 to dispense a substance, such as a substance comprising a haemostatic agent, from the applicator.