EP1843713A1 - Systeme robotise de controle et d'actionnement micrometrique d'un endoscope - Google Patents

Systeme robotise de controle et d'actionnement micrometrique d'un endoscope

Info

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Withdrawn
Application number
EP05778903A
Other languages
German (de)
English (en)
Inventor
Guido A. Dipartimento di Meccanica DANIELI
Giovanna Riccipetitoni
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Calabrian High TECH Srl
Original Assignee
Calabrian High TECH Srl
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from ITCS20040011 external-priority patent/ITCS20040011A1/it
Priority claimed from ITCS20050010 external-priority patent/ITCS20050010A1/it
Application filed by Calabrian High TECH Srl filed Critical Calabrian High TECH Srl
Publication of EP1843713A1 publication Critical patent/EP1843713A1/fr
Withdrawn legal-status Critical Current

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)

Abstract

L’invention concerne un nouveau système robotisé pour contrôler et actionner un endoscope avec une précision micrométrique, en particulier mais non exclusivement pour une laparoscopie néonatale. La structure de base est constituée de trois à cinq bras auto-équilibrants (pouvant être déplacés passivement) aptes, sur commande, à se bloquer dans la position du moment, passant en mode robot actif. Au moins deux des bras soutiennent le système d’actionnement de l’endoscope chirurgical, chacun pouvant faire pivoter la feuille d’instrument le long de deux axes perpendiculaires l’un à l’autre et à la feuille elle-même qui maintient immobile le point d’insertion de l’instrument dans le patient, pouvant également faire pivoter l’instrument par rapport à la feuille et contrôler l’avance axiale, l’actionnement de l’instrument (des ciseaux, des forceps, ou toute autre chose) étant contrôlé en position avec une précision micrométrique. La présence d’une interface haptique est également prévue, pour informer le docteur de la résistance opposée aux différentes actions. Les bras restants sont utilisés pour porter les autres accessoires (caméra vidéo, insufflateur, etc.) et éventuellement les déplacer sur la demande du docteur qui commande et contrôle tout depuis une console. Le but du présent équipement est d’autoriser le contrôle du mouvement avec une précision impossible à obtenir “ à main levée ”, tout en exploitant la totalité de l’instrumentation manuelle actuellement existante dans les hôpitaux.
EP05778903A 2004-08-09 2005-08-08 Systeme robotise de controle et d'actionnement micrometrique d'un endoscope Withdrawn EP1843713A1 (fr)

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 (fr) 2004-08-09 2005-08-08 Système robotisé de contrôle et d’actionnement micrométrique d’un endoscope

Publications (1)

Publication Number Publication Date
EP1843713A1 true EP1843713A1 (fr) 2007-10-17

Family

ID=35355602

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05778903A Withdrawn EP1843713A1 (fr) 2004-08-09 2005-08-08 Systeme robotise de controle et d'actionnement micrometrique d'un endoscope

Country Status (2)

Country Link
EP (1) EP1843713A1 (fr)
WO (1) WO2006016390A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017031600A1 (fr) * 2015-08-27 2017-03-02 Focal Healthcare Inc. Interface mobile entre un moteur pas-à-pas et un stabilisateur

Families Citing this family (9)

* Cited by examiner, † Cited by third party
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
CN113397655A (zh) 2012-11-14 2021-09-17 直观外科手术操作公司 用于双控制手术器械的系统和方法
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

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US5417210A (en) * 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
WO1993013916A1 (fr) * 1992-01-21 1993-07-22 Sri International Procede de systeme de telemanipulateur a telepresence
ATE301423T1 (de) * 1995-06-07 2005-08-15 Stanford Res Inst Int Chirurgischer manipulator für ein ferngesteuertes robotersystem
JPH10505286A (ja) * 1995-06-20 1998-05-26 シン ング、ワン 医療処置のための関節アーム
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
EP1528896A1 (fr) * 2002-05-28 2005-05-11 Calabrian High Tech S.r.l. Robot navigateur pour interventions chirurgicales

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2006016390A1 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017031600A1 (fr) * 2015-08-27 2017-03-02 Focal Healthcare Inc. Interface mobile entre un moteur pas-à-pas et un stabilisateur
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 (fr) 2006-02-16

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