EP1843713A1 - Robotersystem zur steuerung und mikrometrischen betätigung eines endoskops - Google Patents
Robotersystem zur steuerung und mikrometrischen betätigung eines endoskopsInfo
- Publication number
- EP1843713A1 EP1843713A1 EP05778903A EP05778903A EP1843713A1 EP 1843713 A1 EP1843713 A1 EP 1843713A1 EP 05778903 A EP05778903 A EP 05778903A EP 05778903 A EP05778903 A EP 05778903A EP 1843713 A1 EP1843713 A1 EP 1843713A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- instrument
- control
- arms
- degrees
- actuation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
Definitions
- Least Invasive Surgery is taking more and more momentum as a perfect method to reduce invasiveness, recovery times and consequently also global costs of surgical procedures, minimizing also related risks.
- the reduction of the surgeries invasiveness is coupled with their much higher tolerability by the organism, that produces a faster recovery, allowing sometimes even patient's dismissal from the hospital on the same day of the surgery.
- Instruments used for such surgeries are rigid endoscopes, most commonly used the laparoscope. This is usually operated by hand by the doctor, that controls its movements, included the actuation of the operating instrument (forceps, scissors, etc.). Two or more further instruments are present, to inflate the abdomen using CO2, and a video camera.
- Robots Since the instrument control may not be easy, especially if the movements required are very fine, Robots have been introduced, allowing a finer motion control, that is in any event always actuated by the doctor. These allow also to employ only one medical operator, rather than to use, as it occurs now, two or three operators. Substantially the system allows a kind of motion demultiplication, improving its control.
- the endoscopic instrument is integrated not only with the Robot itself, but even with the auxiliary instruments, increasing the surgery costs, determined, not only by the Robot, but also by the cost of the specific disposable instruments.
- the endoscopes used are of non miniaturized dimensions (>8 -10 mm.).
- the idea of the present invention is to develop an instrument allowing the same type of actuation with extra fine motion control, using however the Ia endoscopic instruments existing, which not only should allow a good saving for the hospitals, reutilizing existing instruments, but also to utilize small size instruments (2 - 3 mm in diameter), necessary in neonatal and paediatric surgery, currently not usable in other way than free hand, while precise position control could be more useful, such in the case of neonatal laparoscopy, where body structures are, sort to say, miniaturized.
- each arm (either operator or auxiliary) may be similar to those described in Italian patent application N° CS2002A000005, of 28/20172002, N° CS2002A000022., of 7/11/2002 and N° CS2005A000010., of 28/06/2005 which are explicitly referred to.
- the first presents a first hinge having vertical axis, from which departs a second arm, bearing at the end a second hinge having horizontal axis, perpendicular to the arm. From such second hinge a third arm departs, at the end of which a third hinge having horizontal axis and parallel to that of the second hinge is present.
- the fourth arm is similar to the third, bearing at the end again a fouth hinge, also parallel to the last two. From the fourth hinge departs a very short fifth arm bearing at the end a fifth hinge, whose axis should lie on a plane parallel or passing through the first hinge, followed by a sixth arm, also very short, which presents at the other estreme another hinge, whose axis is perpendicular to that of the fifth hinge, and, in extended configuration, also to that of the fourth (the axis of the sixth hinge is thus coaxial with the sixth arm).
- Each hinge presents both an encoder to measure the angle formed between the arms, and a motor allowing relative motion between the member on which is placed -and a spring, preferably torsion, whose other extreme is e connected to the following arm.
- a brake In parallel to the torsion spring is placed a brake allowing direct transmission of motion from the motor, bypassing the spring, transforming the system in a robot.
- SCARA type kinematic chain mounted on a vertical counterbalanced slider to which a third hinge having vertical axis is added, followed by two more hinges having axes mutually perpendicular positioned in such a way as to complete the wrist of the kinematic chain.
- the doctor may freely bring the instrument, characterized by a self balancing active or passive system, in proximity of the work zone, connect the robotized equipment to the endoscopic instruments, already positioned, and require the transition in Robot mode, that will block the hinges and will be ready for the surgical phase.
- a new system bearing at least five degrees of freedom will be placed, two of which allow to rotate the surgical instrument, about the point of insertion of the instrument into the patient's skin, along two mutually perpendicular axes, also perpendicular to the instrument.
- a third degree of freedom allows the instrument to rotate about its axis with respect to the sheet, while a fourth will control the axial displacement again with respect to the sheet.
- the fifth degree of freedom will be dedicated to the actuation of the surgical instrument, forceps or scissor or whatever else.
- the axial advancement and actuation systems will bear force sensors able to evaluate the resisting forces in the various manoeuvres in order to supply the surgeon an indication on possible problems. These indications could be both a variable force or an array of leds more or less enlighted in order to be clearly perceived. Naturally it is possible to use both systems for redundancy. And since usually the surgical instruments are two, all this will be present on two arms. The remaining arms will not bear this further five degrees of freedom control system, but will be controllable in any event by the surgeon through the console. He will hence have the possibility to modify the angle relative to the skin surface through a control system that will act in the same time on all different degrees of freedom in order to obtain the motion requested, being also in this case possible to include an haptic interface.
- the console At the patient's side the console will be placed, on which all commands of the surgical and auxiliary robots will be hosted, so that the doctor will have full control of the entire surgical theatre, which is actually shared with other operators.
- the system will be completed by a series of adaptors allowing to connect each element of the traditional endoscope with the
- Figure 1 presents a surgical robotic arm, holding as end effector the five degrees of freedom system, that allows actuating the surgical endoscope as previously explained. It is clear that, should the endoscope have more than three degrees of freedom with respect to the sheet, these will be added to the end effector.
- FIG. 85 presents a clearer representation of the five degrees of freedom end effector, where is schematically shown the method of control of the instrument rotation about the two axes perpendicular to the surgical instrument. As can be seen these rotations are obtained using a first hinge (1) whose axis passes through the insertion point of the instrument in the skin, and by a semi ring (2) whose radius is equal to the distance from the
- Figure 3 shows a possible kit of robotized actuation of an existing endoscope.
- the lower gear fixed to the instrument shaft, allows its rotation of 360 degrees about its axis.
- the upper gear when rotated by an angle different from that of the lower gear, activates the instrument's action (opening or closing).
- the motion control system will operate in such a way that the surgeon will have separated command systems for the
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITCS20040011 ITCS20040011A1 (it) | 2004-08-09 | 2004-08-09 | RoboScope Sistema Robotizzato di controllo e movimentazione micrometrica di un endoscopio, particolarmente adatto per laparoscopia neonatale |
ITCS20050010 ITCS20050010A1 (it) | 2005-06-28 | 2005-06-28 | Apparecchiatura di misura a bracci interconnessi in grado di trasformarsi in robot di posizionamento |
PCT/IT2005/000486 WO2006016390A1 (en) | 2004-08-09 | 2005-08-08 | Robotized system for the control and micrometric actuation of an endoscope |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1843713A1 true EP1843713A1 (de) | 2007-10-17 |
Family
ID=35355602
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05778903A Withdrawn EP1843713A1 (de) | 2004-08-09 | 2005-08-08 | Robotersystem zur steuerung und mikrometrischen betätigung eines endoskops |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP1843713A1 (de) |
WO (1) | WO2006016390A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017031600A1 (en) * | 2015-08-27 | 2017-03-02 | Focal Healthcare Inc. | Moveable interface between a stepper and a stabilizer |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006007858A1 (de) * | 2006-02-17 | 2007-08-30 | Knapp, Jürgen Michael | Operations-Assistenz-System |
ES2298051B2 (es) * | 2006-07-28 | 2009-03-16 | Universidad De Malaga | Sistema robotico de asistencia a la cirugia minimamente invasiva capaz de posicionar un instrumento quirurgico en respueta a las ordenes de un cirujano sin fijacion a la mesa de operaciones ni calibracion previa del punto de insercion. |
JP5384869B2 (ja) * | 2008-07-24 | 2014-01-08 | オリンパスメディカルシステムズ株式会社 | 内視鏡処置システム |
CN102462533B (zh) * | 2010-11-11 | 2014-03-12 | 北京理工大学 | 用于夹持微创血管介入手术推进机构的机械臂 |
EP2919674B1 (de) | 2012-11-14 | 2023-06-14 | Intuitive Surgical Operations, Inc. | Systeme für ein chirurgisches instrument mit doppelsteuerung |
SG2012091609A (en) * | 2012-12-11 | 2014-07-30 | Biobot Surgical Pte Ltd | An apparatus and method for biopsy and therapy |
CN109091238B (zh) * | 2017-06-21 | 2020-07-07 | 山东威高手术机器人有限公司 | 分体式微创手术器械辅助系统 |
CN109431608A (zh) * | 2018-11-15 | 2019-03-08 | 山东大学齐鲁医院 | 一种嵌套式辅助微创外科单孔手术机器人 |
CN111409079B (zh) * | 2020-05-19 | 2023-08-01 | 路邦科技授权有限公司 | 一种工业级机械臂的多联及互联控制系统 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5417210A (en) * | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
DE69332914T2 (de) * | 1992-01-21 | 2004-02-26 | Sri International, Menlo Park | Chirurgisches System |
CA2715090C (en) * | 1995-06-07 | 2012-10-30 | Sri International | Surgical manipulator for a telerobotic system |
US5820623A (en) * | 1995-06-20 | 1998-10-13 | Ng; Wan Sing | Articulated arm for medical procedures |
US6331181B1 (en) * | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
WO2003099152A1 (en) * | 2002-05-28 | 2003-12-04 | Calabrian High Tech S.R.L. | Navigator-robot for surgical procedures |
-
2005
- 2005-08-08 WO PCT/IT2005/000486 patent/WO2006016390A1/en active Application Filing
- 2005-08-08 EP EP05778903A patent/EP1843713A1/de not_active Withdrawn
Non-Patent Citations (1)
Title |
---|
See references of WO2006016390A1 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017031600A1 (en) * | 2015-08-27 | 2017-03-02 | Focal Healthcare Inc. | Moveable interface between a stepper and a stabilizer |
US10588712B2 (en) | 2015-08-27 | 2020-03-17 | Focal Healthcare Inc. | Moveable interface between a stepper and a stabilizer |
Also Published As
Publication number | Publication date |
---|---|
WO2006016390A1 (en) | 2006-02-16 |
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Legal Events
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Effective date: 20070509 |
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DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20130301 |