EP4034026A1 - Robotic surgical intervention device with an articulated arm carrying an instrument - Google Patents

Robotic surgical intervention device with an articulated arm carrying an instrument

Info

Publication number
EP4034026A1
EP4034026A1 EP20785551.1A EP20785551A EP4034026A1 EP 4034026 A1 EP4034026 A1 EP 4034026A1 EP 20785551 A EP20785551 A EP 20785551A EP 4034026 A1 EP4034026 A1 EP 4034026A1
Authority
EP
European Patent Office
Prior art keywords
instructions
surgical instrument
articulated arm
movement
distal end
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.)
Pending
Application number
EP20785551.1A
Other languages
German (de)
French (fr)
Inventor
Stéphane MAZALAIGUE
Armand CZAPLINSKI
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.)
Collin
Original Assignee
Collin
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
Application filed by Collin filed Critical Collin
Publication of EP4034026A1 publication Critical patent/EP4034026A1/en
Pending 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
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45119—Telesurgery with local assistent, voice communication

Definitions

  • the present invention relates to a robotic device for surgical intervention, in particular in the otolaryngological field, but not only.
  • a robotic device comprising: an articulated arm with actuating motors; a surgical instrument carried by the articulated arm, having a proximal end for attachment to the articulated arm and a functional distal end; an articulated arm control device for movement of the functional distal end of the surgical instrument; and means for processing movement instructions provided by the control device to convert them into individual instructions for controlling each of the actuating motors of the articulated arm.
  • Such a device is described in the article by Miroir et al, entitled “RobOtol: from design to evaluation of a robot for middle ear surgery", published on the occasion of the IEEE / RSJ International Conference on Intelligent Robots and Systems held October 18-22, 2010 in Taipei (TW). It has an architecture and kinematics that are particularly well suited to otological surgeries in the middle or inner ear of patients. These interventions are sensitive to false movements, so robotic assistance is a great help.
  • a robotic surgical intervention device comprising: an articulated arm with actuating motors; a surgical instrument carried by the articulated arm, having a proximal end for attachment to the articulated arm and a functional distal end; an articulated arm control device for movement of the functional distal end of the surgical instrument; and means for processing movement instructions provided by the control device to convert them into individual instructions for controlling each of the actuating motors of the articulated arm.
  • the processing means comprises an electronic flange configured to add further processing to the movement instructions provided by the control device of blocking any movement of the functional distal end of the surgical instrument with at least one degree of freedom in translation or rotation predefined as prohibited along or around at least one axis of a local Cartesian coordinate system linked to the surgical instrument.
  • the electronic flange functions as a filter of movements which are predefined as undesired with respect to axes linked to the surgical instrument. In the aforementioned delicate situations, this prevents any deviation from the desired sensitive movements regardless of the instructions issued by the control peripheral.
  • the electronic clamp is designed in accordance with this invention for blocking any movement of the functional distal end of the surgical instrument according to the degrees of freedom in translation and rotation along and around the two axes of the local Cartesian coordinate system linked to the surgical instrument other than that on which the engagement or linear disengagement is desired.
  • the software flange to be programmed in accordance with the present invention to block any translation along the three axes of the local Cartesian coordinate system linked to the surgical instrument. More generally and depending on the precise gestures desired, it is advantageous to be able to prohibit, thanks to the present invention, certain displacements in translation or rotation along or around at least one axis of a local Cartesian coordinate system linked to the surgical instrument.
  • control peripheral is a handle on a 6D base.
  • a robotic surgical intervention device may include means for activating and deactivating the electronic bridle.
  • the electronic flange comprises a blocking of any movement apart from a degree of freedom in translation and a degree of freedom in rotation along and around a main axis of the surgical instrument forming a first axis around which the local Cartesian coordinate system is defined.
  • the main axis of the surgical instrument is that which connects a central point of its proximal fixing end to a central point of its functional distal end.
  • the main axis of the surgical instrument is that of a rectilinear distal portion of this instrument, offset with respect to the axis which connects a central point of its proximal fixing end at a central point of the functional distal end of its straight distal portion.
  • the instructions supplied by the control peripheral are expressed in a global reference linked to a fixed base of the robotic device;
  • the processing means comprise a Jacobian converter of the instructions expressed in this global reference into individual instructions controlling each of the actuating motors of the articulated arm using Jacobian parameters stored in memory;
  • the electronic flange is programmed for:
  • the electronic flange comprises a blocking of any translation of the functional distal end of the surgical instrument in its local reference mark.
  • the articulated arm has, from its base to its carrying end, three motorized prismatic links in series followed by three motorized rotary links in series, the three respective axes of rotation of the three rotary links being converging at the same central point of the functional distal end of the surgical instrument;
  • the instructions provided by the control peripheral are expressed in a global reference linked to a fixed base of the robotic device;
  • the processing means comprise a Jacobian converter of the instructions expressed in this global reference into individual instructions for controlling each of the actuating motors of the articulated arm using Jacobian parameters stored in memory;
  • the electronic flange is designed to, after application of the Jacobian converter, suppress the individual instructions for controlling the actuating motors of the three prismatic links.
  • a robotic surgical intervention device can be configured and sized for an intervention in middle or internal ear surgery of a patient, the surgical instrument itself being an instrument. intervention in the patient's middle or internal ear surgery.
  • Figure 1 shows schematically the general structure of a robotic device for surgical intervention, according to one embodiment of the invention
  • Figure 2 illustrates the successive steps of a method of surgical intervention using the robotic device of Figure 1, according to a first embodiment of the invention
  • Figure 3 illustrates the successive steps of a method of surgical intervention using the robotic device of Figure 1, according to a second embodiment of the invention.
  • a robotic device for surgical intervention comprises an articulated arm 10 with actuating motors carrying a surgical instrument 12.
  • the non-limiting example illustrated in this figure is more precisely that of a robotic device for an application in otological surgery of the middle or internal ear of a patient, the architecture and kinematics of which are optimized in accordance with the teaching of the document by Miroir et al above.
  • the articulated arm 10 thus has, from its base to its end carrying the surgical instrument 12, three motorized prismatic links in series followed by three motorized rotoidal links in series.
  • a first prismatic connection L1, actuated by a first motor M1 allows the translational movement of a first member 14 of the articulated arm 10 along the axis Z1 (for example vertical) of a first local orthogonal Cartesian coordinate system ( X1, Y1, Z1) linked to the first motor M1.
  • the first motor M1 is fixed to the robotic device so that the first local coordinate system (X1, Y1, Z1) has the same directions as a Global orthogonal Cartesian coordinate system (X0, Y0, Z0) linked to a fixed base of the robotic device.
  • the axis of displacement of the first member 14 is therefore parallel to Z0.
  • a second prismatic link L2, actuated by a second motor M2 carried by one end of the first member 14, allows the translational movement of a second member 16 of the articulated arm 10, along the axis Z2 of a second mark Local orthogonal Cartesian (X2, Y2, Z2) linked to the second motor M2.
  • the second local coordinate system (X2, Y2, Z2) is flipped at a right angle to the Y1 axis of the first local coordinate system (X1, Y1, Z1) so that its Z2 axis is parallel to the X1 axis.
  • the axis of movement of the second member 16 is therefore parallel to X0.
  • a third prismatic link L3, actuated by a third motor M3 carried by one end of the second member 16, allows the translational movement of a third member 18 of the articulated arm 10, along the Z3 axis of a third mark Local orthogonal Cartesian (X3, Y3, Z3) linked to the third motor M3.
  • the third local coordinate system (X3, Y3, Z3) is returned by a right angle with respect to the X2 axis of the second local coordinate system (X2, Y2, Z2) so that its Z3 axis is parallel to the Y2 axis. even parallel to the Y axis 1.
  • the displacement axis of the third member 18 is therefore parallel to Y0.
  • a fourth rotoidal link L4 actuated by a fourth cylindrical motor M4 and carried by one end of the third member 18, allows the rotational movement of a fourth member 20 of the articulated arm 10, around the axis Z4 of a fourth local orthogonal Cartesian coordinate system (X4, Y4, Z4) linked to the fourth motor M4.
  • X6, Y6, Z6 a sixth Local orthogonal Cartesian coordinate system
  • the three respective axes of rotation Z4, Z5 and Z6 of the three rotoidal links converge at a same central point of the functional distal end 24 of the surgical instrument 12, thus doing from this point a pivot point.
  • any instruction to actuate at least one of the motors M4, M5, M6 of the rotoid links causes a rotation of the surgical instrument 12 around its pivot point without any displacement of the latter in the total reference (X0, Y0, Z0).
  • the surgical instrument 12 has a proximal end 26 for fixing to the articulated arm 10, more precisely to a corresponding fixing end of the arm 10 linked to the motor M6.
  • This fixing is for example advantageously carried out in accordance with the locking system described in patent FR 2 998 344 B1, but this is not an obligation. Any other fastening system suitable for the intended application is also suitable.
  • the surgical instrument 12 may have a rectilinear shape so its main axis Zp, around which is defined a local Cartesian coordinate system (Xp, Yp, Zp) which is linked to it, is that which connects a central point of its end proximal 26 for attachment to the pivot point of its functional distal end 24.
  • a local Cartesian coordinate system (Xp, Yp, Zp) which is linked to it, is that which connects a central point of its end proximal 26 for attachment to the pivot point of its functional distal end 24.
  • the axis Zp merges with the axis Z6.
  • FIG. 1 it may be a surgical instrument with deviated portions such as that described in patent application FR 3,066,378 A1.
  • its main axis Zp around which the local Cartesian coordinate system (Xp, Yp, Zp) which is linked to it is always defined, is that of a rectilinear distal portion of this instrument, offset with respect to the Z6 axis. which always connects the central point of its proximal end 26 of attachment to the pivot point of its functional distal end 24.
  • the robotic surgical intervention device further comprises a control peripheral 28 of the articulated arm 10, such as a handle on a 6D base (from the English "joystick 6D") or any other equivalent device, adapted to allow a displacement of the functional distal end 24 of the surgical instrument 12 according to three degrees of freedom in translation and three degrees of freedom in rotation by actuation of the six motors M1 to M6. It may also include a screen 30, in particular for displaying the monitoring and any movement of the surgical instrument 12 during the operating phase.
  • a control peripheral 28 of the articulated arm 10 such as a handle on a 6D base (from the English "joystick 6D") or any other equivalent device, adapted to allow a displacement of the functional distal end 24 of the surgical instrument 12 according to three degrees of freedom in translation and three degrees of freedom in rotation by actuation of the six motors M1 to M6. It may also include a screen 30, in particular for displaying the monitoring and any movement of the surgical instrument 12 during the operating phase.
  • the robotic surgical intervention device further comprises means for processing movement instructions provided by the control peripheral 28 to convert them into individual control instructions for each of the motors M1 to M6 of the articulated arm 10. These processing means take the form of an electronic circuit 32.
  • the electronic circuit 32 is connected to the articulated arm 10 in order to transmit to it the individual control instructions of the motors M1 to M6 and to the control peripheral 28 in order to receive its movement instructions. These last are generally expressed in the total reference mark (X0, Y0, Z0).
  • a central processing unit 34 such as a microprocessor designed to send to the articulated arm 10 the individual control instructions and to receive the control peripheral 28 the movement instructions
  • a memory 36 in which is recorded at least one computer program carrying out the aforementioned conversion and intended to be executed by the central unit 34.
  • Two computer programs 38 and 40, selectable according to a software switch 42 are shown in FIG. 1. They relate to two different applications of the present invention which implement two functionally different embodiments but which may be complementary. Only one of the two programs could be implemented without departing from the scope of the present invention.
  • each of the two computer programs 38, 40 includes instructions for the implementation of a software flange programmed to add additional processing to the movement instructions provided by the control peripheral 28 consisting in blocking any movement of the functional distal end 24 of the surgical instrument 12 according to at least one degree of freedom in translation or rotation predefined as prohibited along or around at least one axis of the local coordinate system (Xp, Yp, Zp).
  • the electronic circuit 32 as shown schematically in Figure 1 can for example be implemented in a computer device such as a conventional computer comprising a processor associated with one or more memories for the storage of files.
  • data and computer programs whose instructions are intended to be executed by the processor, such as the instructions of programs 38, 40 and of the software switch 42 which can itself also constitute a computer program.
  • These programs are shown as separate, but this distinction is purely functional. They could just as easily be grouped together in all possible combinations in one or more software. Their functions could also be at least partly programmed micro or micro wired in dedicated integrated circuits.
  • the computer device implementing the electronic circuit 32 could be replaced by an electronic device composed only of digital circuits (without a computer program) for carrying out the same actions.
  • the aforementioned software clamp is more generally an electronic clamp whose function can be implemented in hardware and / or software.
  • the robotic surgical intervention device is optionally but advantageously provided with means 54 for activating and deactivating this electronic bridle.
  • Any existing selection device can be envisaged, in particular a tactile or mouse-selectable button of the display screen 30, a specific device of the control peripheral 28, or even an independent selection device provided in another peripheral, for example at keyboard or using a pedal.
  • the electronic flange in fact comprises two different functional flanges which prove to be particularly practical and clever in otological surgery.
  • a first functional flange is programmed in computer program 38. It is designed to block any movement outside of a translational degree of freedom and a rotational degree of freedom along and around the main axis Zp of the surgical instrument 12 regardless of its straight or deflected shape. It corresponds to the possibility of operating in otology, simply and quickly and intuitively, a precise linear engagement or disengagement and without bad gesture of the surgical instrument 12 inside the ear of a patient.
  • a second functional flange is programmed in the computer program 40.
  • the computer program 38 comprises instructions 44 carrying out a conversion of the instructions supplied by the control peripheral 28, expressed in the global reference (X0, Y0, Z0), into local movement instructions expressed in the local coordinate system (Xp, Yp, Zp) of the surgical instrument 12.
  • the computer program 38 comprises instructions 46, intended to be executed after the instructions 44, achieving the first functional flange, that is to say a deletion of the components of these local instructions for movement along and around axes Xp and Yp so as to keep only the degrees of freedom in translation and rotation along and around the main axis Zp of the surgical instrument 12. It will be noted that it is these instructions which can be generalized to implement other functional flanges with at least one degree of freedom in translation or rotation prohibited. This results in restricted local movement instructions.
  • the computer program 38 comprises instructions 48, intended to be executed after the instructions 46, carrying out a reverse conversion of the restricted local movement instructions expressed in the local coordinate system (Xp, Yp, Zp) into restricted movement instructions expressed in the total reference (X0, Y0, Z0).
  • the computer program 38 comprises instructions 50, intended to be executed after the instructions 48, or directly without execution of the instructions 44, 46 and 48 if no electronic clamp is selected, performing a Jacobian conversion of the flanged movement instructions (or not flanged if no electronic flange is selected) expressed in the global reference (X0, Y0, Z0) in individual control instructions for each of the motors M1 to M6 for actuating the articulated arm 10 to l using Jacobian parameters stored in memory.
  • This Jacobian converter function is well known to those skilled in the art and will not be detailed.
  • the individual control instructions supplied by execution of the computer program 38 are to be transmitted by the central unit 34 to the articulated arm 10.
  • the second functional flange defined above could also be implemented by executing the computer program 38, as well as other possible functional flanges, with an adaptation of the instructions 46.
  • the program 40 takes advantage of the The particular architecture and kinematics of the articulated arm 10 of FIG. 1 to simplify its implementation. Indeed, to achieve this second functional flange and as has been seen previously, it suffices to delete the individual instructions intended for motors M1, M2 and M3 and resulting from the aforementioned Jacobian conversion.
  • the computer program 40 thus includes the aforementioned instructions 50 to directly perform the Jacobian conversion of the control instructions provided by the control peripheral 28.
  • the individual control instructions provided by executing the computer program 40 are to be transmitted by the central unit 34 to the articulated arm 10.
  • the software switch 42 allows to select the execution of the computer program 38 in its entirety, of the instructions 50 only of this computer program 38, or of the computer program 40, depending on whether one or the The other of the first and second electronic flanges is selected or not using the activation and deactivation means 54.
  • Figure 2 illustrates the successive steps of a method of surgical intervention using the robotic device of Figure 1, according to a first embodiment of the invention consisting of applying the first electronic clamp.
  • the first electronic clamp is activated and an operator initiates the movement of the functional distal end 24 of the surgical instrument 12 carried by the articulated arm 10 using the device of command 28.
  • the central unit 34 executes the instructions 44, 46, 48 and 50 of the computer program 38 to convert the instructions provided by the control peripheral 28 into individual control instructions.
  • motors M1 to M6 These restricted instructions allow only one displacement in translation or rotation along or around the axis Zp of the functional distal end 24 of the surgical instrument 12 so that, whatever the possible deviations introduced by manipulation of the control peripheral 28, only the engagement or desired linear disengagement is performed quickly and intuitively during this step.
  • step 104 the first electronic clamp is deactivated. This makes it possible, for example during a following step 106 to initiate any additional displacement of the surgical instrument 12, according to all the degrees of freedom allowed by free actuation of the motors M1 to M6, by execution only of the instructions 50 of the program. computer 38. At any time, a return to step 100 is possible.
  • Figure 3 illustrates the successive steps of a method of surgical intervention using the robotic device of Figure 1, according to a second embodiment of the invention consisting of applying the second electronic clamp.
  • the second electronic clamp is activated and an operator initiates a movement of the surgical instrument 12 carried by the articulated arm 10 using the control device 28, to release an axis visualization towards the patient's ear.
  • the central unit 34 executes the instructions 50 and 52 of the computer program 40 to convert the instructions supplied by the control peripheral 28 into individual instructions for controlling the motors M4 to M6.
  • These clamped instructions only allow rotational movements around the Z4, Z5 and Z6 axes. Since these axes converge at the pivot point of the surgical instrument 12, the latter remains stationary regardless of any deviations introduced by manipulation of the control peripheral 28, only the desired visual release being performed quickly and intuitively during this step. .
  • the second electronic clamp is deactivated. This makes it possible, for example during a following step 206 to initiate any additional displacement of the surgical instrument 12, according to all the degrees of freedom allowed by free actuation of the motors M1 to M6, by execution only of the instructions 50 of the program. computer 38 (or 40). At any time, a return to step 200 is possible.
  • the surgical intervention methods of Figures 2 and 3 can easily be generalized to the implementation of other electronic clamps than the two considered above.

Abstract

Said robotic surgical intervention device comprises an articulated arm (10) with actuating motors (M1, M2, M3, M4, M5, M6), a surgical instrument (12) carried by the articulated arm (10), a control peripheral (28) of the articulated arm (10) for moving a functional distal end (24) of the surgical instrument (12), and means (32) for processing movement commands provided by the control peripheral (28) to convert same into individual commands for controlling each of the actuating motors (M1, M2, M3, M4, M5, M6) of the articulated arm (10). The processing means (32) comprise an electronic flange (44, 46, 48, 52) designed to add a further processing operation to the movement commands provided by the control device (28), the operation consisting of blocking any movement of the functional distal end (24) of the surgical instrument (12) by at least one degree of freedom, in translation or rotation, when such a movement is predefined as prohibited along or around at least one axis of a local Cartesian coordinate system (Xp, Yp, Zp) connected to the surgical instrument (12).

Description

Description Description
Titre : Dispositif robotisé d’intervention chirurgicale à bras articulé porteur d’un instrument Title: Robotic surgical intervention device with articulated arm carrying an instrument
[0001] La présente invention concerne un dispositif robotisé d’intervention chirurgicale, notamment dans le domaine oto-rhino-laryngologique mais pas seulement. The present invention relates to a robotic device for surgical intervention, in particular in the otolaryngological field, but not only.
[0002] Elle s’applique plus particulièrement à un dispositif robotisé comportant : un bras articulé à moteurs d’actionnement ; un instrument chirurgical porté par le bras articulé, présentant une extrémité proximale de fixation au bras articulé et une extrémité distale fonctionnelle ; un périphérique de commande du bras articulé pour un déplacement de l’extrémité distale fonctionnelle de l’instrument chirurgical ; et des moyens de traitement d’instructions de déplacement fournies par le périphérique de commande pour les convertir en instructions individuelles de commande de chacun des moteurs d’actionnement du bras articulé. [0002] It applies more particularly to a robotic device comprising: an articulated arm with actuating motors; a surgical instrument carried by the articulated arm, having a proximal end for attachment to the articulated arm and a functional distal end; an articulated arm control device for movement of the functional distal end of the surgical instrument; and means for processing movement instructions provided by the control device to convert them into individual instructions for controlling each of the actuating motors of the articulated arm.
[0003] Un tel dispositif est décrit dans l’article de Miroir et al, intitulé « RobOtol : from design to évaluation of a robot for middle ear surgery », publié à l’occasion de la conférence IEEE/RSJ International Conférence on Intelligent Robots and Systems qui s’est tenue du 18 au 22 octobre 2010 à Taipei (TW). Il présente une architecture et une cinématique particulièrement bien adaptées aux interventions chirurgicales otologiques de l’oreille moyenne ou interne de patients. Ces interventions sont sensibles aux faux mouvements de sorte que l’assistance robotisée est une aide précieuse. [0003] Such a device is described in the article by Miroir et al, entitled "RobOtol: from design to evaluation of a robot for middle ear surgery", published on the occasion of the IEEE / RSJ International Conference on Intelligent Robots and Systems held October 18-22, 2010 in Taipei (TW). It has an architecture and kinematics that are particularly well suited to otological surgeries in the middle or inner ear of patients. These interventions are sensitive to false movements, so robotic assistance is a great help.
[0004] Néanmoins, même avec cette aide, le praticien peut réaliser un mauvais geste lorsqu’il manipule le périphérique de commande compte tenu du volume confiné dans lequel il doit généralement opérer. Si dans la plupart des cas, la précision du geste chirurgical est telle qu’un léger écart est sans conséquence et aisément rattrapable, il existe des situations particulières dans lesquelles la tolérance est nulle ou quasi nulle. C’est le cas par exemple pour opérer un engagement ou désengagement linéaire d’un instrument chirurgical otologique à l’intérieur de l’oreille d’un patient, ou pour dégager un axe de visualisation, par exemple l’axe optique d’un microscope, sans pour autant déplacer l’extrémité distale fonctionnelle de l’instrument. [0004] However, even with this help, the practitioner can make a bad move when handling the control device given the confined volume in which he must generally operate. If in most cases, the precision of the surgical procedure is such that a slight deviation is inconsequential and easily recoverable, there are particular situations in which the tolerance is zero or almost zero. This is the case for example to operate a linear engagement or disengagement of an otological surgical instrument inside the ear of a patient, or to release a viewing axis, for example the optical axis of a microscope, without however moving the functional distal end of the instrument.
[0005] Plus généralement, dans tout type d’intervention chirurgicale assistée d’un dispositif robotisé porteur d’un instrument chirurgical et manipulé à l’aide d’un périphérique de commande, les situations dans lesquelles la moindre imprécision peut avoir de lourdes conséquences sont multiples. [0005] More generally, in any type of surgical intervention assisted by a robotic device carrying a surgical instrument and manipulated using a control peripheral, the situations in which the slightest imprecision can have serious consequences are many.
[0006] Il peut ainsi être souhaité de prévoir un dispositif robotisé qui permette de s’affranchir d’au moins une partie des problèmes et contraintes précités. [0006] It may thus be desired to provide a robotic device which makes it possible to overcome at least some of the aforementioned problems and constraints.
[0007] Il est donc proposé un dispositif robotisé d’intervention chirurgicale comportant : un bras articulé à moteurs d’actionnement ; un instrument chirurgical porté par le bras articulé, présentant une extrémité proximale de fixation au bras articulé et une extrémité distale fonctionnelle ; un périphérique de commande du bras articulé pour un déplacement de l’extrémité distale fonctionnelle de l’instrument chirurgical ; et des moyens de traitement d’instructions de déplacement fournies par le périphérique de commande pour les convertir en instructions individuelles de commande de chacun des moteurs d’actionnement du bras articulé. dans lequel les moyens de traitement comportent une bride électronique conçue pour ajouter un traitement supplémentaire des instructions de déplacement fournies par le périphérique de commande consistant à bloquer tout déplacement de l’extrémité distale fonctionnelle de l’instrument chirurgical selon au moins un degré de liberté en translation ou rotation prédéfini comme interdit le long ou autour d’au moins un axe d’un repère cartésien local lié à l’instrument chirurgical. [0007] A robotic surgical intervention device is therefore proposed comprising: an articulated arm with actuating motors; a surgical instrument carried by the articulated arm, having a proximal end for attachment to the articulated arm and a functional distal end; an articulated arm control device for movement of the functional distal end of the surgical instrument; and means for processing movement instructions provided by the control device to convert them into individual instructions for controlling each of the actuating motors of the articulated arm. wherein the processing means comprises an electronic flange configured to add further processing to the movement instructions provided by the control device of blocking any movement of the functional distal end of the surgical instrument with at least one degree of freedom in translation or rotation predefined as prohibited along or around at least one axis of a local Cartesian coordinate system linked to the surgical instrument.
[0008] Ainsi, la bride électronique fonctionne comme un filtre de déplacements prédéfinis comme non souhaités par rapport à des axes liés à l’instrument chirurgical. Dans les situations délicates précitées, cela prévient de tout écart par rapport aux déplacements sensibles souhaités quelles que soient les instructions émises par le périphérique de commande. Par exemple, pour opérer en otologie un engagement ou désengagement linéaire précis d’un instrument chirurgical à l’intérieur de l’oreille d’un patient, il suffit que la bride électronique soit conçue conformément à la présente invention pour bloquer tout déplacement de l’extrémité distale fonctionnelle de l’instrument chirurgical selon les degrés de liberté en translation et rotation le long et autour des deux axes du repère cartésien local lié à l’instrument chirurgical autres que celui sur lequel l’engagement ou le désengagement linéaire est souhaité. De même, pour dégager sans dommages un axe de visualisation, il suffit que la bride logicielle soit programmée conformément à la présente invention pour bloquer toute translation selon les trois axes du repère cartésien local lié à l’instrument chirurgical. De façon plus générale et en fonction des gestes précis souhaités, il est avantageux de pouvoir interdire, grâce à la présente invention, certains déplacements en translation ou rotation le long ou autour d’au moins un axe d’un repère cartésien local lié à l’instrument chirurgical. [0008] Thus, the electronic flange functions as a filter of movements which are predefined as undesired with respect to axes linked to the surgical instrument. In the aforementioned delicate situations, this prevents any deviation from the desired sensitive movements regardless of the instructions issued by the control peripheral. For example, in order to perform in otology an accurate linear engagement or disengagement of a surgical instrument within the ear of a patient, it is sufficient that the electronic clamp is designed in accordance with this invention for blocking any movement of the functional distal end of the surgical instrument according to the degrees of freedom in translation and rotation along and around the two axes of the local Cartesian coordinate system linked to the surgical instrument other than that on which the engagement or linear disengagement is desired. Likewise, to release a viewing axis without damage, it suffices for the software flange to be programmed in accordance with the present invention to block any translation along the three axes of the local Cartesian coordinate system linked to the surgical instrument. More generally and depending on the precise gestures desired, it is advantageous to be able to prohibit, thanks to the present invention, certain displacements in translation or rotation along or around at least one axis of a local Cartesian coordinate system linked to the surgical instrument.
[0009] De façon optionnelle, le périphérique de commande est un manche sur socle 6D. [0009] Optionally, the control peripheral is a handle on a 6D base.
[0010] De façon optionnelle également, un dispositif robotisé d’intervention chirurgicale selon l’invention peut comporter des moyens d’activation et désactivation de la bride électronique. [0010] Also optionally, a robotic surgical intervention device according to the invention may include means for activating and deactivating the electronic bridle.
[0011] De façon optionnelle également, la bride électronique comporte un blocage de tout déplacement en dehors d’un degré de liberté en translation et d’un degré de liberté en rotation le long et autour d’un axe principal de l’instrument chirurgical formant un premier axe autour duquel est défini le repère cartésien local. [0011] Also optionally, the electronic flange comprises a blocking of any movement apart from a degree of freedom in translation and a degree of freedom in rotation along and around a main axis of the surgical instrument forming a first axis around which the local Cartesian coordinate system is defined.
[0012] De façon optionnelle également, l’axe principal de l’instrument chirurgical est celui qui relie un point central de son extrémité proximale de fixation à un point central de son extrémité distale fonctionnelle. [0012] Also optionally, the main axis of the surgical instrument is that which connects a central point of its proximal fixing end to a central point of its functional distal end.
[0013] De façon optionnelle également et en variante, l’axe principal de l’instrument chirurgical est celui d’une portion distale rectiligne de cet instrument, désaxée par rapport à l’axe qui relie un point central de son extrémité proximale de fixation à un point central de l’extrémité distale fonctionnelle de sa portion distale rectiligne. [0013] Also optionally and in a variant, the main axis of the surgical instrument is that of a rectilinear distal portion of this instrument, offset with respect to the axis which connects a central point of its proximal fixing end at a central point of the functional distal end of its straight distal portion.
[0014] De façon optionnelle également : les instructions fournies par le périphérique de commande sont exprimées dans un repère global lié à une base fixe du dispositif robotisé ; les moyens de traitement comportent un convertisseur jacobien des instructions exprimées dans ce repère global en instructions individuelles de commande de chacun des moteurs d’actionnement du bras articulé à l’aide de paramètres jacobiens stockés en mémoire ; et la bride électronique est programmée pour : [0014] Also optionally: the instructions supplied by the control peripheral are expressed in a global reference linked to a fixed base of the robotic device; the processing means comprise a Jacobian converter of the instructions expressed in this global reference into individual instructions controlling each of the actuating motors of the articulated arm using Jacobian parameters stored in memory; and the electronic flange is programmed for:
• convertir les instructions fournies par le périphérique de commande en instructions locales de déplacement exprimées dans le repère cartésien local de l’instrument chirurgical, • convert the instructions provided by the control device into local movement instructions expressed in the local Cartesian coordinate system of the surgical instrument,
• supprimer toute composante de ces instructions locales de déplacement relative audit au moins un degré de liberté en translation ou rotation interdit, pour fournir des instructions locales de déplacement bridées, • remove any component of these local displacement instructions relating to said at least one degree of freedom in translation or rotation prohibited, to provide local displacement instructions restricted,
• convertir les instructions locales de déplacement bridées en instructions de déplacement bridées exprimées dans le repère global, et • convert the local restricted movement instructions into restricted movement instructions expressed in the global coordinate system, and
• fournir les instructions de déplacement bridées exprimées dans le repère global au convertisseur jacobien. • provide the flanged displacement instructions expressed in the total reference to the Jacobian converter.
[0015] De façon optionnelle également, la bride électronique comporte un blocage de toute translation de l’extrémité distale fonctionnelle de l’instrument chirurgical dans son repère local. [0015] Also optionally, the electronic flange comprises a blocking of any translation of the functional distal end of the surgical instrument in its local reference mark.
[0016] De façon optionnelle également : - le bras articulé présente, depuis sa base jusqu’à son extrémité porteuse, trois liaisons prismatiques motorisées en série suivies de trois liaisons rotoïdes motorisées en série, les trois axes de rotation respectifs des trois liaisons rotoïdes étant convergents en un même point central de l’extrémité distale fonctionnelle de l’instrument chirurgical ; - les instructions fournies par le périphérique de commande sont exprimées dans un repère global lié à une base fixe du dispositif robotisé ; les moyens de traitement comportent un convertisseur jacobien des instructions exprimées dans ce repère global en instructions individuelles de commande de chacun des moteurs d’actionnement du bras articulé à l’aide de paramètres jacobiens stockés en mémoire ; et la bride électronique est conçue pour, après application du convertisseur jacobien, supprimer les instructions individuelles de commande des moteurs d’actionnement des trois liaisons prismatiques. [0016] Also optionally: - the articulated arm has, from its base to its carrying end, three motorized prismatic links in series followed by three motorized rotary links in series, the three respective axes of rotation of the three rotary links being converging at the same central point of the functional distal end of the surgical instrument; the instructions provided by the control peripheral are expressed in a global reference linked to a fixed base of the robotic device; the processing means comprise a Jacobian converter of the instructions expressed in this global reference into individual instructions for controlling each of the actuating motors of the articulated arm using Jacobian parameters stored in memory; and the electronic flange is designed to, after application of the Jacobian converter, suppress the individual instructions for controlling the actuating motors of the three prismatic links.
[0017] De façon optionnelle également, un dispositif robotisé d’intervention chirurgicale selon l’invention peut être configuré et dimensionné pour une intervention en chirurgie d’oreille moyenne ou interne d’un patient, l’instrument chirurgical étant lui- même un instrument d’intervention en chirurgie d’oreille moyenne ou interne du patient. [0017] Also optionally, a robotic surgical intervention device according to the invention can be configured and sized for an intervention in middle or internal ear surgery of a patient, the surgical instrument itself being an instrument. intervention in the patient's middle or internal ear surgery.
[0018] L’invention sera mieux comprise à l’aide de la description qui va suivre, donnée uniquement à titre d’exemple et faite en se référant aux dessins annexés dans lesquels : The invention will be better understood with the aid of the description which follows, given solely by way of example and made with reference to the accompanying drawings in which:
[0019] [Fig.1 ] la figure 1 représente schématiquement la structure générale d’un dispositif robotisé d’intervention chirurgicale, selon un mode de réalisation de l’invention, [0019] [Fig.1] Figure 1 shows schematically the general structure of a robotic device for surgical intervention, according to one embodiment of the invention,
[0020] [Fig.2] la figure 2 illustre les étapes successives d’un procédé d’intervention chirurgicale à l’aide du dispositif robotisé de la figure 1, selon un premier mode de réalisation de l’invention, et [0020] [Fig.2] Figure 2 illustrates the successive steps of a method of surgical intervention using the robotic device of Figure 1, according to a first embodiment of the invention, and
[0021] [Fig.3] la figure 3 illustre les étapes successives d’un procédé d’intervention chirurgicale à l’aide du dispositif robotisé de la figure 1, selon un deuxième mode de réalisation de l’invention. [0021] [Fig.3] Figure 3 illustrates the successive steps of a method of surgical intervention using the robotic device of Figure 1, according to a second embodiment of the invention.
[0022] En référence à la figure 1 , un dispositif robotisé d’intervention chirurgicale selon un mode de réalisation de l’invention comporte un bras articulé 10 à moteurs d’actionnement porteur d’un instrument chirurgical 12. L’exemple non limitatif illustré sur cette figure est plus précisément celui d’un dispositif robotisé pour une application en chirurgie otologique d’oreille moyenne ou interne d’un patient dont l’architecture et la cinématique sont optimisées conformément à l’enseignement du document de Miroir et al précité. Le bras articulé 10 présente ainsi, depuis sa base jusqu’à son extrémité porteuse de l’instrument chirurgical 12, trois liaisons prismatiques motorisées en série suivies de trois liaisons rotoïdes motorisées en série. Referring to Figure 1, a robotic device for surgical intervention according to one embodiment of the invention comprises an articulated arm 10 with actuating motors carrying a surgical instrument 12. The non-limiting example illustrated in this figure is more precisely that of a robotic device for an application in otological surgery of the middle or internal ear of a patient, the architecture and kinematics of which are optimized in accordance with the teaching of the document by Miroir et al above. The articulated arm 10 thus has, from its base to its end carrying the surgical instrument 12, three motorized prismatic links in series followed by three motorized rotoidal links in series.
[0023] Une première liaison prismatique L1 , actionnée par un premier moteur M1 , permet le déplacement en translation d’un premier membre 14 du bras articulé 10 selon l’axe Z1 (par exemple vertical) d’un premier repère cartésien orthogonal local (X1, Y1, Z1) lié au premier moteur M1. Le premier moteur M1 est fixé au dispositif robotisé de sorte que le premier repère local (X1, Y1, Z1 ) présente les mêmes directions qu’un repère cartésien orthogonal global (X0, Y0, Z0) lié à une base fixe du dispositif robotisé. L’axe de déplacement du premier membre 14 est donc parallèle à Z0. A first prismatic connection L1, actuated by a first motor M1, allows the translational movement of a first member 14 of the articulated arm 10 along the axis Z1 (for example vertical) of a first local orthogonal Cartesian coordinate system ( X1, Y1, Z1) linked to the first motor M1. The first motor M1 is fixed to the robotic device so that the first local coordinate system (X1, Y1, Z1) has the same directions as a Global orthogonal Cartesian coordinate system (X0, Y0, Z0) linked to a fixed base of the robotic device. The axis of displacement of the first member 14 is therefore parallel to Z0.
[0024] Une deuxième liaison prismatique L2, actionnée par un deuxième moteur M2 porté par une extrémité du premier membre 14, permet le déplacement en translation d’un deuxième membre 16 du bras articulé 10, selon l’axe Z2 d’un deuxième repère cartésien orthogonal local (X2, Y2, Z2) lié au deuxième moteur M2. Le deuxième repère local (X2, Y2, Z2) est retourné d’un angle droit par rapport à l’axe Y1 du premier repère local (X1 , Y1 , Z1) de sorte que son axe Z2 est parallèle à l’axe X1. L’axe de déplacement du deuxième membre 16 est donc parallèle à X0. A second prismatic link L2, actuated by a second motor M2 carried by one end of the first member 14, allows the translational movement of a second member 16 of the articulated arm 10, along the axis Z2 of a second mark Local orthogonal Cartesian (X2, Y2, Z2) linked to the second motor M2. The second local coordinate system (X2, Y2, Z2) is flipped at a right angle to the Y1 axis of the first local coordinate system (X1, Y1, Z1) so that its Z2 axis is parallel to the X1 axis. The axis of movement of the second member 16 is therefore parallel to X0.
[0025] Une troisième liaison prismatique L3, actionnée par un troisième moteur M3 porté par une extrémité du deuxième membre 16, permet le déplacement en translation d’un troisième membre 18 du bras articulé 10, selon l’axe Z3 d’un troisième repère cartésien orthogonal local (X3, Y3, Z3) lié au troisième moteur M3. Le troisième repère local (X3, Y3, Z3) est retourné d’un angle droit par rapport à l’axe X2 du deuxième repère local (X2, Y2, Z2) de sorte que son axe Z3 est parallèle à l’axe Y2 lui-même parallèle à l’axe Y 1. L’axe de déplacement du troisième membre 18 est donc parallèle à Y0. A third prismatic link L3, actuated by a third motor M3 carried by one end of the second member 16, allows the translational movement of a third member 18 of the articulated arm 10, along the Z3 axis of a third mark Local orthogonal Cartesian (X3, Y3, Z3) linked to the third motor M3. The third local coordinate system (X3, Y3, Z3) is returned by a right angle with respect to the X2 axis of the second local coordinate system (X2, Y2, Z2) so that its Z3 axis is parallel to the Y2 axis. even parallel to the Y axis 1. The displacement axis of the third member 18 is therefore parallel to Y0.
[0026] Une quatrième liaison rotoïde L4, actionnée par un quatrième moteur M4 cylindrique et porté par une extrémité du troisième membre 18, permet le déplacement en rotation d’un quatrième membre 20 du bras articulé 10, autour de l’axe Z4 d’un quatrième repère cartésien orthogonal local (X4, Y4, Z4) lié au quatrième moteur M4. A fourth rotoidal link L4, actuated by a fourth cylindrical motor M4 and carried by one end of the third member 18, allows the rotational movement of a fourth member 20 of the articulated arm 10, around the axis Z4 of a fourth local orthogonal Cartesian coordinate system (X4, Y4, Z4) linked to the fourth motor M4.
[0027] Une cinquième liaison rotoïde L5, actionnée par un cinquième moteur M5 cylindrique et porté par une extrémité du quatrième membre 20, permet le déplacement en rotation d’un cinquième membre 22 du bras articulé 10, autour de l’axe Z5 d’un cinquième repère cartésien orthogonal local (X5, Y5, Z5) lié au cinquième moteur M5. A fifth rotoidal link L5, actuated by a fifth cylindrical motor M5 and carried by one end of the fourth member 20, allows the rotational movement of a fifth member 22 of the articulated arm 10, around the axis Z5 of a fifth local orthogonal Cartesian coordinate system (X5, Y5, Z5) linked to the fifth motor M5.
[0028] Enfin, une sixième liaison rotoïde L6, actionnée par un sixième moteur M6 cylindrique et porté par une extrémité du cinquième membre 22, permet le déplacement en rotation de l’instrument chirurgical 12, autour de l’axe Z6 d’un sixième repère cartésien orthogonal local (X6, Y6, Z6) lié au sixième moteur M6. Finally, a sixth rotoidal link L6, actuated by a sixth cylindrical motor M6 and carried by one end of the fifth member 22, allows the rotational movement of the surgical instrument 12, around the axis Z6 of a sixth Local orthogonal Cartesian coordinate system (X6, Y6, Z6) linked to the sixth motor M6.
[0029] Selon la configuration particulièrement intéressante de la figure 1 , les trois axes de rotation respectifs Z4, Z5 et Z6 des trois liaisons rotoïdes convergent en un même point central de l’extrémité distale fonctionnelle 24 de l’instrument chirurgical 12, faisant ainsi de ce point un point pivot. Cela signifie qu’en l’absence de tout actionnement des moteurs M1 , M2, M3 des liaisons prismatiques, toute instruction d’actionnement d’au moins l’un des moteurs M4, M5, M6 des liaisons rotoïdes provoque une rotation de l’instrument chirurgical 12 autour de son point pivot sans aucun déplacement de ce dernier dans le repère global (X0, Y0, Z0). According to the particularly interesting configuration of Figure 1, the three respective axes of rotation Z4, Z5 and Z6 of the three rotoidal links converge at a same central point of the functional distal end 24 of the surgical instrument 12, thus doing from this point a pivot point. This means that in the absence of any actuation of the motors M1, M2, M3 of the prismatic links, any instruction to actuate at least one of the motors M4, M5, M6 of the rotoid links causes a rotation of the surgical instrument 12 around its pivot point without any displacement of the latter in the total reference (X0, Y0, Z0).
[0030] L’instrument chirurgical 12 présente une extrémité proximale 26 de fixation au bras articulé 10, plus précisément à une extrémité de fixation correspondante du bras 10 liée au moteur M6. Cette fixation est par exemple avantageusement réalisée conformément au système de verrouillage décrit dans le brevet FR 2 998 344 B1 , mais ce n’est pas une obligation. Tout autre système de fixation adapté à l’application visée convient également. The surgical instrument 12 has a proximal end 26 for fixing to the articulated arm 10, more precisely to a corresponding fixing end of the arm 10 linked to the motor M6. This fixing is for example advantageously carried out in accordance with the locking system described in patent FR 2 998 344 B1, but this is not an obligation. Any other fastening system suitable for the intended application is also suitable.
[0031] L’instrument chirurgical 12 peut présenter une forme rectiligne de sorte son axe principal Zp, autour duquel est défini un repère cartésien local (Xp, Yp, Zp) qui lui est lié, est celui qui relie un point central de son extrémité proximale 26 de fixation au point pivot de son extrémité distale fonctionnelle 24. Dans ce cas, non illustré sur la figure 1 , l’axe Zp se confond avec l’axe Z6. The surgical instrument 12 may have a rectilinear shape so its main axis Zp, around which is defined a local Cartesian coordinate system (Xp, Yp, Zp) which is linked to it, is that which connects a central point of its end proximal 26 for attachment to the pivot point of its functional distal end 24. In this case, not illustrated in FIG. 1, the axis Zp merges with the axis Z6.
[0032] En variante et comme illustré sur la figure 1 , il peut s’agir d’un instrument chirurgical à portions déviées tel que celui décrit dans la demande de brevet FR 3 066 378 A1. Dans ce cas, son axe principal Zp, autour duquel est toujours défini le repère cartésien local (Xp, Yp, Zp) qui lui est lié, est celui d’une portion distale rectiligne de cet instrument, désaxée par rapport à l’axe Z6 qui relie toujours le point central de son extrémité proximale 26 de fixation au point pivot de son extrémité distale fonctionnelle 24. [0032] As a variant and as illustrated in FIG. 1, it may be a surgical instrument with deviated portions such as that described in patent application FR 3,066,378 A1. In this case, its main axis Zp, around which the local Cartesian coordinate system (Xp, Yp, Zp) which is linked to it is always defined, is that of a rectilinear distal portion of this instrument, offset with respect to the Z6 axis. which always connects the central point of its proximal end 26 of attachment to the pivot point of its functional distal end 24.
[0033] Le dispositif robotisé d’intervention chirurgicale comporte en outre un périphérique de commande 28 du bras articulé 10, tel qu’un manche sur socle 6D (de l’anglais « joystick 6D ») ou tout autre dispositif équivalent, adapté pour permettre un déplacement de l’extrémité distale fonctionnelle 24 de l’instrument chirurgical 12 selon trois degrés de liberté en translation et trois degrés de liberté en rotation par actionnement des six moteurs M1 à M6. Il peut en outre comporter un écran 30, notamment pour l’affichage le suivi et de tout déplacement de l’instrument chirurgical 12 en phase opératoire. The robotic surgical intervention device further comprises a control peripheral 28 of the articulated arm 10, such as a handle on a 6D base (from the English "joystick 6D") or any other equivalent device, adapted to allow a displacement of the functional distal end 24 of the surgical instrument 12 according to three degrees of freedom in translation and three degrees of freedom in rotation by actuation of the six motors M1 to M6. It may also include a screen 30, in particular for displaying the monitoring and any movement of the surgical instrument 12 during the operating phase.
[0034] Le dispositif robotisé d’intervention chirurgicale comporte en outre des moyens de traitement d’instructions de déplacement fournies par le périphérique de commande 28 pour les convertir en instructions individuelles de commande de chacun des moteurs M1 à M6 du bras articulé 10. Ces moyens de traitement prennent la forme d’un circuit électronique 32. The robotic surgical intervention device further comprises means for processing movement instructions provided by the control peripheral 28 to convert them into individual control instructions for each of the motors M1 to M6 of the articulated arm 10. These processing means take the form of an electronic circuit 32.
[0035] Le circuit électronique 32 est connecté au bras articulé 10 afin de lui transmettre les instructions individuelles de commande des moteurs M1 à M6 et au périphérique de commande 28 afin de recevoir ses instructions de déplacement. Ces dernières sont généralement exprimées dans le repère global (X0, Y0, Z0). The electronic circuit 32 is connected to the articulated arm 10 in order to transmit to it the individual control instructions of the motors M1 to M6 and to the control peripheral 28 in order to receive its movement instructions. These last are generally expressed in the total reference mark (X0, Y0, Z0).
[0036] Il présente une unité centrale de traitement 34, telle qu’un microprocesseur conçu pour émettre vers le bras articulé 10 les instructions individuelles de commande et pour recevoir du périphérique de commande 28 les instructions de déplacement, et une mémoire 36 dans laquelle est enregistré au moins un programme d’ordinateur réalisant la conversion précitée et destiné à être exécuté par l’unité centrale 34. Deux programmes d’ordinateur 38 et 40, sélectionnables selon un commutateur logiciel 42 sont représentés sur la figure 1. Ils sont relatifs à deux applications différentes de la présente invention qui mettent en œuvre deux réalisations fonctionnellement différentes mais pouvant être complémentaires. Un seul des deux programmes pourrait être implémenté sans sortir du cadre de la présente invention. It has a central processing unit 34, such as a microprocessor designed to send to the articulated arm 10 the individual control instructions and to receive the control peripheral 28 the movement instructions, and a memory 36 in which is recorded at least one computer program carrying out the aforementioned conversion and intended to be executed by the central unit 34. Two computer programs 38 and 40, selectable according to a software switch 42 are shown in FIG. 1. They relate to two different applications of the present invention which implement two functionally different embodiments but which may be complementary. Only one of the two programs could be implemented without departing from the scope of the present invention.
[0037] Conformément à un mode de réalisation possible de la présente invention, chacun des deux programmes d’ordinateur 38, 40 comporte des instructions pour la mise en œuvre d’une bride logicielle programmée pour ajouter un traitement supplémentaire des instructions de déplacement fournies par le périphérique de commande 28 consistant à bloquer tout déplacement de l’extrémité distale fonctionnelle 24 de l’instrument chirurgical 12 selon au moins un degré de liberté en translation ou rotation prédéfini comme interdit le long ou autour d’au moins un axe du repère local (Xp, Yp, Zp). According to a possible embodiment of the present invention, each of the two computer programs 38, 40 includes instructions for the implementation of a software flange programmed to add additional processing to the movement instructions provided by the control peripheral 28 consisting in blocking any movement of the functional distal end 24 of the surgical instrument 12 according to at least one degree of freedom in translation or rotation predefined as prohibited along or around at least one axis of the local coordinate system (Xp, Yp, Zp).
[0038] On notera que le circuit électronique 32 tel que représenté schématiquement sur la figure 1 peut par exemple être mis en œuvre dans un dispositif informatique tel qu’un ordinateur classique comportant un processeur associé à une ou plusieurs mémoires pour le stockage de fichiers de données et de programmes d’ordinateurs dont les instructions sont destinées à être exécutées par le processeur, telles que les instructions des programmes 38, 40 et du commutateur logiciel 42 qui peut lui aussi constituer un programme d’ordinateur. Ces programmes sont représentés comme distincts, mais cette distinction est purement fonctionnelle. Ils pourraient tout aussi bien être regroupés selon toutes les combinaisons possibles en un ou plusieurs logiciels. Leurs fonctions pourraient aussi être au moins en partie micro programmées ou micro câblées dans des circuits intégrés dédiés. Ainsi, en variante, le dispositif informatique mettant en œuvre le circuit électronique 32 pourrait être remplacé par un dispositif électronique composé uniquement de circuits numériques (sans programme d’ordinateur) pour la réalisation des mêmes actions. En particulier, la bride logicielle précitée est plus généralement une bride électronique dont la fonction peut être implémentée matériellement et/ou logiciellement. Note that the electronic circuit 32 as shown schematically in Figure 1 can for example be implemented in a computer device such as a conventional computer comprising a processor associated with one or more memories for the storage of files. data and computer programs whose instructions are intended to be executed by the processor, such as the instructions of programs 38, 40 and of the software switch 42 which can itself also constitute a computer program. These programs are shown as separate, but this distinction is purely functional. They could just as easily be grouped together in all possible combinations in one or more software. Their functions could also be at least partly programmed micro or micro wired in dedicated integrated circuits. Thus, as a variant, the computer device implementing the electronic circuit 32 could be replaced by an electronic device composed only of digital circuits (without a computer program) for carrying out the same actions. In particular, the aforementioned software clamp is more generally an electronic clamp whose function can be implemented in hardware and / or software.
[0039] En complément de la bride électronique implémentée dans le circuit électronique 32, le dispositif robotisé d’intervention chirurgicale est optionnellement mais avantageusement muni de moyens 54 d’activation et désactivation de cette bride électronique. Tout dispositif de sélection existant est envisageable, notamment un bouton tactile ou sélectionnable par souris de l’écran d’affichage 30, un dispositif spécifique du périphérique de commande 28, ou même un dispositif de sélection indépendant prévu dans un autre périphérique, par exemple au clavier ou à l’aide d’une pédale. In addition to the electronic bridle implemented in the electronic circuit 32, the robotic surgical intervention device is optionally but advantageously provided with means 54 for activating and deactivating this electronic bridle. Any existing selection device can be envisaged, in particular a tactile or mouse-selectable button of the display screen 30, a specific device of the control peripheral 28, or even an independent selection device provided in another peripheral, for example at keyboard or using a pedal.
[0040] Dans l’exemple de la figure 1 , comme évoqué précédemment, la bride électronique comporte en fait deux brides fonctionnelles différentes qui s’avèrent particulièrement pratiques et astucieuses en chirurgie otologique. Une première bride fonctionnelle est programmée dans le programme d’ordinateur 38. Elle est conçue pour bloquer tout déplacement en dehors d’un degré de liberté en translation et d’un degré de liberté en rotation le long et autour de l’axe principal Zp de l’instrument chirurgical 12 quelle que soit sa forme droite ou déviée. Elle correspond à la possibilité d’opérer en otologie, simplement et rapidement de façon intuitive, un engagement ou désengagement linéaire précis et sans mauvais geste de l’instrument chirurgical 12 à l’intérieur de l’oreille d’un patient. Une deuxième bride fonctionnelle est programmée dans le programme d’ordinateur 40. Elle est conçue pour bloquer toute translation selon les trois axes Xp, Yp et Zp du repère local lié à l’instrument chirurgical 12. Elle correspond à la possibilité d’opérer en otologie, simplement et rapidement de façon intuitive, pour dégager sans dommages un axe de visualisation de l’extrémité distale fonctionnelle 24 de l’instrument chirurgical 12 vers l’oreille du patient, par exemple un axe optique de microscope dont l’usage est notamment prévu dans le dispositif robotisé du document Miroir et al précité. D’autres brides fonctionnelles peuvent plus généralement être envisagées en fonction des gestes précis souhaités et notamment programmées dans le programme d’ordinateur 38. Elles consistent toutes à interdire certains déplacements en translation ou rotation le long ou autour d’au moins un axe du repère local (Xp, Yp, Zp) lié à l’instrument chirurgical 12. Toutes ces brides électroniques possibles sont avantageusement activées lors d’interventions délicates dans des volumes confinés en forme de cône tels que ceux de l’oreille moyenne ou interne d’un patient. In the example of Figure 1, as mentioned above, the electronic flange in fact comprises two different functional flanges which prove to be particularly practical and clever in otological surgery. A first functional flange is programmed in computer program 38. It is designed to block any movement outside of a translational degree of freedom and a rotational degree of freedom along and around the main axis Zp of the surgical instrument 12 regardless of its straight or deflected shape. It corresponds to the possibility of operating in otology, simply and quickly and intuitively, a precise linear engagement or disengagement and without bad gesture of the surgical instrument 12 inside the ear of a patient. A second functional flange is programmed in the computer program 40. It is designed to block any translation along the three axes Xp, Yp and Zp of the local coordinate system linked to the surgical instrument 12. It corresponds to the possibility of operating in otology, simply and quickly in an intuitive way, to release without damage a visualization axis from the functional distal end 24 of the surgical instrument 12 towards the patient's ear, for example an optical axis of a microscope, the use of which is in particular provided in the robotic device of the above-mentioned Miroir et al document. Other functional clamps can more generally be envisaged as a function of the precise movements desired and in particular programmed in the computer program 38. They all consist in preventing certain displacements in translation or rotation along or around at least one axis of the reference frame. local (Xp, Yp, Zp) linked to the surgical instrument 12. All these flanges Possible electronics are advantageously activated during delicate interventions in confined cone-shaped volumes such as those of the middle or inner ear of a patient.
[0041] Plus précisément, le programme d’ordinateur 38 comporte des instructions 44 réalisant une conversion des instructions fournies par le périphérique de commande 28, exprimées dans le repère global (X0, Y0, Z0), en instructions locales de déplacement exprimées dans le repère local (Xp, Yp, Zp) de l’instrument chirurgical 12. Une simple connaissance de la disposition de l’instrument chirurgical 12 dans l’espace permet de reconstituer aisément la matrice de passage réalisant cette conversion. More specifically, the computer program 38 comprises instructions 44 carrying out a conversion of the instructions supplied by the control peripheral 28, expressed in the global reference (X0, Y0, Z0), into local movement instructions expressed in the local coordinate system (Xp, Yp, Zp) of the surgical instrument 12. A simple knowledge of the arrangement of the surgical instrument 12 in space makes it possible to easily reconstitute the passage matrix carrying out this conversion.
[0042] Le programme d’ordinateur 38 comporte des instructions 46, destinées à être exécutées après les instructions 44, réalisant la première bride fonctionnelle, c’est-à- dire une suppression des composantes de ces instructions locales de déplacement le long et autour des axes Xp et Yp pour ne conserver que les degrés de liberté en translation et rotation le long et autour de l’axe principal Zp de l’instrument chirurgical 12. On notera que ce sont ces instructions qui peuvent être généralisées pour implémenter d’autres brides fonctionnelles à au moins un degré de liberté en translation ou rotation interdit. Il en résulte des instructions locales de déplacement bridées. The computer program 38 comprises instructions 46, intended to be executed after the instructions 44, achieving the first functional flange, that is to say a deletion of the components of these local instructions for movement along and around axes Xp and Yp so as to keep only the degrees of freedom in translation and rotation along and around the main axis Zp of the surgical instrument 12. It will be noted that it is these instructions which can be generalized to implement other functional flanges with at least one degree of freedom in translation or rotation prohibited. This results in restricted local movement instructions.
[0043] Le programme d’ordinateur 38 comporte des instructions 48, destinées à être exécutées après les instructions 46, réalisant une conversion inverse des instructions locales de déplacement bridées exprimées dans le repère local (Xp, Yp, Zp) en instructions de déplacement bridées exprimées dans le repère global (X0, Y0, Z0). The computer program 38 comprises instructions 48, intended to be executed after the instructions 46, carrying out a reverse conversion of the restricted local movement instructions expressed in the local coordinate system (Xp, Yp, Zp) into restricted movement instructions expressed in the total reference (X0, Y0, Z0).
[0044] Enfin, le programme d’ordinateur 38 comporte des instructions 50, destinées à être exécutées après les instructions 48, ou directement sans exécution des instructions 44, 46 et 48 si aucune bride électronique n’est sélectionnée, réalisant une conversion jacobienne des instructions de déplacement bridées (ou non bridées si aucune bride électronique n’est sélectionnée) exprimées dans le repère global (X0, Y0, Z0) en instructions individuelles de commande de chacun des moteurs M1 à M6 d’actionnement du bras articulé 10 à l’aide de paramètres jacobiens stockés en mémoire. Cette fonction de convertisseur jacobien est bien connue de l’homme du métier et ne sera pas détaillée. Les instructions individuelles de commande fournies par exécution du programme d’ordinateur 38 sont à transmettre par l’unité centrale 34 au bras articulé 10. [0045] La deuxième bride fonctionnelle définie précédemment pourrait elle aussi être mise en œuvre par exécution du programme d’ordinateur 38, de même que d’autres brides fonctionnelles possibles, moyennant une adaptation des instructions 46. Mais le programme 40 tire profit de l’architecture et de la cinématique particulières du bras articulé 10 de la figure 1 pour simplifier son implémentation. En effet, pour réaliser cette deuxième bride fonctionnelle et comme cela a été vu précédemment, il suffit de supprimer les instructions individuelles destinées aux moteurs M1, M2 et M3 et issues de la conversion jacobienne précitée. Finally, the computer program 38 comprises instructions 50, intended to be executed after the instructions 48, or directly without execution of the instructions 44, 46 and 48 if no electronic clamp is selected, performing a Jacobian conversion of the flanged movement instructions (or not flanged if no electronic flange is selected) expressed in the global reference (X0, Y0, Z0) in individual control instructions for each of the motors M1 to M6 for actuating the articulated arm 10 to l using Jacobian parameters stored in memory. This Jacobian converter function is well known to those skilled in the art and will not be detailed. The individual control instructions supplied by execution of the computer program 38 are to be transmitted by the central unit 34 to the articulated arm 10. The second functional flange defined above could also be implemented by executing the computer program 38, as well as other possible functional flanges, with an adaptation of the instructions 46. But the program 40 takes advantage of the The particular architecture and kinematics of the articulated arm 10 of FIG. 1 to simplify its implementation. Indeed, to achieve this second functional flange and as has been seen previously, it suffices to delete the individual instructions intended for motors M1, M2 and M3 and resulting from the aforementioned Jacobian conversion.
[0046] Le programme d’ordinateur 40 comporte ainsi les instructions 50 précitées pour réaliser directement la conversion jacobienne des instructions de commande fournies par le périphérique de commande 28. The computer program 40 thus includes the aforementioned instructions 50 to directly perform the Jacobian conversion of the control instructions provided by the control peripheral 28.
[0047] Il comporte en outre des instructions 52, destinées à être exécutées après les instructions 50, réalisant la deuxième bride fonctionnelle, c’est-à-dire une suppression des instructions individuelles de commande des moteurs M1 , M2 et M3 d’actionnement respectif des trois liaisons prismatiques L1 , L2 et L3. Les instructions individuelles de commande fournies par exécution du programme d’ordinateur 40 sont à transmettre par l’unité centrale 34 au bras articulé 10. It further comprises instructions 52, intended to be executed after the instructions 50, achieving the second functional flange, that is to say a deletion of the individual instructions for controlling the actuating motors M1, M2 and M3 respective of the three prismatic connections L1, L2 and L3. The individual control instructions provided by executing the computer program 40 are to be transmitted by the central unit 34 to the articulated arm 10.
[0048] Le commutateur logiciel 42 permet de sélectionner l’exécution du programme d’ordinateur 38 dans son intégralité, des instructions 50 uniquement de ce programme d’ordinateur 38, ou du programme d’ordinateur 40, selon que l’une ou l’autre des première et deuxième brides électroniques est sélectionnée ou pas à l’aide des moyens d’activation et désactivation 54. The software switch 42 allows to select the execution of the computer program 38 in its entirety, of the instructions 50 only of this computer program 38, or of the computer program 40, depending on whether one or the The other of the first and second electronic flanges is selected or not using the activation and deactivation means 54.
[0049] La figure 2 illustre les étapes successives d’un procédé d’intervention chirurgicale à l’aide du dispositif robotisé de la figure 1 , selon un premier mode de réalisation de l’invention consistant à appliquer la première bride électronique. [0049] Figure 2 illustrates the successive steps of a method of surgical intervention using the robotic device of Figure 1, according to a first embodiment of the invention consisting of applying the first electronic clamp.
[0050] Au cours d’une première étape 100, la première bride électronique est activée et un opérateur engage le déplacement de l’extrémité distale fonctionnelle 24 de l’instrument chirurgical 12 porté par le bras articulé 10 à l’aide du périphérique de commande 28. During a first step 100, the first electronic clamp is activated and an operator initiates the movement of the functional distal end 24 of the surgical instrument 12 carried by the articulated arm 10 using the device of command 28.
[0051] Au cours d’une étape suivante 102, l’unité centrale 34 exécute les instructions 44, 46, 48 et 50 du programme d’ordinateur 38 pour convertir les instructions fournies par le périphérique de commande 28 en instructions individuelles bridées de commande des moteurs M1 à M6. Ces instructions bridées ne permettent qu’un déplacement en translation ou rotation le long ou autour de l’axe Zp de l’extrémité distale fonctionnelle 24 de l’instrument chirurgical 12 de sorte que, quels que soient les éventuels écarts introduits par manipulation du périphérique de commande 28, seul l’engagement ou désengagement linéaire souhaité est exécuté de façon rapide et intuitive pendant cette étape. During a next step 102, the central unit 34 executes the instructions 44, 46, 48 and 50 of the computer program 38 to convert the instructions provided by the control peripheral 28 into individual control instructions. motors M1 to M6. These restricted instructions allow only one displacement in translation or rotation along or around the axis Zp of the functional distal end 24 of the surgical instrument 12 so that, whatever the possible deviations introduced by manipulation of the control peripheral 28, only the engagement or desired linear disengagement is performed quickly and intuitively during this step.
[0052] Au cours d’une étape suivante 104, la première bride électronique est désactivée. Cela permet, par exemple au cours d’une étape suivante 106 d’engager tout déplacement supplémentaire de l’instrument chirurgical 12, selon tous les degrés de libertés permis par actionnement libre des moteurs M1 à M6, par exécution uniquement des instructions 50 du programme d’ordinateur 38. À tout moment, un retour à l’étape 100 est possible. [0052] During a next step 104, the first electronic clamp is deactivated. This makes it possible, for example during a following step 106 to initiate any additional displacement of the surgical instrument 12, according to all the degrees of freedom allowed by free actuation of the motors M1 to M6, by execution only of the instructions 50 of the program. computer 38. At any time, a return to step 100 is possible.
[0053] La figure 3 illustre les étapes successives d’un procédé d’intervention chirurgicale à l’aide du dispositif robotisé de la figure 1, selon un deuxième mode de réalisation de l’invention consistant à appliquer la deuxième bride électronique. [0053] Figure 3 illustrates the successive steps of a method of surgical intervention using the robotic device of Figure 1, according to a second embodiment of the invention consisting of applying the second electronic clamp.
[0054] Au cours d’une première étape 200, la deuxième bride électronique est activée et un opérateur engage un déplacement de l’instrument chirurgical 12 porté par le bras articulé 10 à l’aide du périphérique de commande 28, pour dégager un axe de visualisation vers l’oreille du patient. During a first step 200, the second electronic clamp is activated and an operator initiates a movement of the surgical instrument 12 carried by the articulated arm 10 using the control device 28, to release an axis visualization towards the patient's ear.
[0055] Au cours d’une étape suivante 202, l’unité centrale 34 exécute les instructions 50 et 52 du programme d’ordinateur 40 pour convertir les instructions fournies par le périphérique de commande 28 en instructions individuelles bridées de commande des moteurs M4 à M6. Ces instructions bridées ne permettent que des déplacements en rotation autour des axes Z4, Z5 et Z6. Etant donné que ces axes convergent au point pivot de l’instrument chirurgical 12, ce dernier reste immobile quels que soient les éventuels écarts introduits par manipulation du périphérique de commande 28, seul le dégagement visuel souhaité étant exécuté de façon rapide et intuitive pendant cette étape. During a following step 202, the central unit 34 executes the instructions 50 and 52 of the computer program 40 to convert the instructions supplied by the control peripheral 28 into individual instructions for controlling the motors M4 to M6. These clamped instructions only allow rotational movements around the Z4, Z5 and Z6 axes. Since these axes converge at the pivot point of the surgical instrument 12, the latter remains stationary regardless of any deviations introduced by manipulation of the control peripheral 28, only the desired visual release being performed quickly and intuitively during this step. .
[0056] Au cours d’une étape suivante 204, la deuxième bride électronique est désactivée. Cela permet, par exemple au cours d’une étape suivante 206 d’engager tout déplacement supplémentaire de l’instrument chirurgical 12, selon tous les degrés de libertés permis par actionnement libre des moteurs M1 à M6, par exécution uniquement des instructions 50 du programme d’ordinateur 38 (ou 40). À tout moment, un retour à l’étape 200 est possible. [0057] Les procédés d’intervention chirurgicale des figures 2 et 3 sont aisément généralisables à la mise en œuvre d’autres brides électroniques que les deux envisagées ci-dessus. During a next step 204, the second electronic clamp is deactivated. This makes it possible, for example during a following step 206 to initiate any additional displacement of the surgical instrument 12, according to all the degrees of freedom allowed by free actuation of the motors M1 to M6, by execution only of the instructions 50 of the program. computer 38 (or 40). At any time, a return to step 200 is possible. The surgical intervention methods of Figures 2 and 3 can easily be generalized to the implementation of other electronic clamps than the two considered above.
[0058] Il apparaît clairement qu’un dispositif robotisé tel que celui décrit précédemment permet une intervention chirurgicale sécurisée dans certaines situations de déplacements bridés empêchant tout faux mouvement ou écart par rapport à des translations ou rotations prédéterminées souhaitées. [0058] It is clear that a robotic device such as that described above allows safe surgery in certain situations of restricted movement preventing any false movement or deviation from the desired predetermined translations or rotations.
[0059] On notera par ailleurs que l’invention n’est pas limitée aux modes de réalisation décrits précédemment. [0060] Elle est avantageusement appliquée à l’architecture et à la cinématique du bras articulé 10 de la figure 1, mais elle est généralisable à d’autres architectures et cinématiques par adaptation des conversions correspondantes (i.e. changements de repères et conversion jacobienne). It will also be noted that the invention is not limited to the embodiments described above. [0060] It is advantageously applied to the architecture and to the kinematics of the articulated arm 10 of FIG. 1, but it can be generalized to other architectures and kinematics by adaptation of the corresponding conversions (i.e. changes of reference marks and Jacobian conversion).
[0061] Il apparaîtra plus généralement à l'homme de l'art que diverses modifications peuvent être apportées aux modes de réalisation décrits ci-dessus, à la lumière de l'enseignement qui vient de lui être divulgué. Dans la présentation détaillée de l’invention qui est faite précédemment, les termes utilisés ne doivent pas être interprétés comme limitant l’invention aux modes de réalisation exposés dans la présente description, mais doivent être interprétés pour y inclure tous les équivalents dont la prévision est à la portée de l'homme de l'art en appliquant ses connaissances générales à la mise en œuvre de l'enseignement qui vient de lui être divulgué. It will appear more generally to those skilled in the art that various modifications can be made to the embodiments described above, in the light of the teaching which has just been disclosed to him. In the detailed presentation of the invention which is given above, the terms used should not be interpreted as limiting the invention to the embodiments set forth in the present description, but should be interpreted to include therein all the equivalents for which the provision is made. within the reach of those skilled in the art by applying their general knowledge to the implementation of the teaching which has just been disclosed to them.

Claims

Revendications Claims
[1] Dispositif robotisé d’intervention chirurgicale comportant : un bras articulé (10) à moteurs d’actionnement (M1, M2, M3, M4, M5, M6) ; un instrument chirurgical (12) porté par le bras articulé (10), présentant une extrémité proximale (26) de fixation au bras articulé (10) et une extrémité distale fonctionnelle (24) ; un périphérique de commande (28) du bras articulé (10) pour un déplacement de l’extrémité distale fonctionnelle (24) de l’instrument chirurgical (12) ; et des moyens (32) de traitement d’instructions de déplacement fournies par le périphérique de commande (28) pour les convertir en instructions individuelles de commande de chacun des moteurs d’actionnement (M1, M2, M3, M4, M5, M6) du bras articulé (10) ; caractérisé en ce que les moyens de traitement (32) comportent une bride électronique (44, 46, 48, 52) conçue pour ajouter un traitement supplémentaire des instructions de déplacement fournies par le périphérique de commande (28) consistant à bloquer tout déplacement de l’extrémité distale fonctionnelle (24) de l’instrument chirurgical (12) selon au moins un degré de liberté en translation ou rotation prédéfini comme interdit le long ou autour d’au moins un axe d’un repère cartésien local (Xp, Yp, Zp) lié à l’instrument chirurgical (12). [1] Robotic surgical intervention device comprising: an articulated arm (10) with actuating motors (M1, M2, M3, M4, M5, M6); a surgical instrument (12) carried by the articulated arm (10), having a proximal end (26) for attachment to the articulated arm (10) and a functional distal end (24); a control device (28) of the articulated arm (10) for movement of the functional distal end (24) of the surgical instrument (12); and means (32) for processing movement instructions supplied by the control peripheral (28) in order to convert them into individual instructions for controlling each of the actuating motors (M1, M2, M3, M4, M5, M6) of the articulated arm (10); characterized in that the processing means (32) comprises an electronic clamp (44, 46, 48, 52) adapted to add further processing to the movement instructions provided by the control device (28) consisting in blocking any movement of the 'functional distal end (24) of the surgical instrument (12) according to at least one degree of freedom in translation or rotation predefined as prohibited along or around at least one axis of a local Cartesian coordinate system (Xp, Yp, Zp) linked to the surgical instrument (12).
[2] Dispositif robotisé d’intervention chirurgicale selon la revendication 1 , dans lequel le périphérique de commande (28) est un manche sur socle 6D. [2] A robotic surgical intervention device according to claim 1, wherein the control peripheral (28) is a handle on a 6D base.
[3] Dispositif robotisé d’intervention chirurgicale selon la revendication 1 ou 2, comportant des moyens (54) d’activation et désactivation de la bride électronique (44, 46, 48, 52). [3] A robotic surgical intervention device according to claim 1 or 2, comprising means (54) for activating and deactivating the electronic clamp (44, 46, 48, 52).
[4] Dispositif robotisé d’intervention chirurgicale selon l’une quelconque des revendications 1 à 3, dans lequel la bride électronique (44, 46, 48, 52) comporte un blocage de tout déplacement en dehors d’un degré de liberté en translation et d’un degré de liberté en rotation le long et autour d’un axe principal (Zp) de l’instrument chirurgical (12) formant un premier axe autour duquel est défini le repère cartésien local (Xp, Yp, Zp). [5] Dispositif robotisé d’intervention chirurgicale selon la revendication 4, dans lequel l’axe principal (Zp) de l’instrument chirurgical (12) est celui qui relie un point central de son extrémité proximale de fixation (26) à un point central de son extrémité distale fonctionnelle (24). [6] Dispositif robotisé d’intervention chirurgicale selon la revendication 4, dans lequel l’axe principal (Zp) de l’instrument chirurgical (12) est celui d’une portion distale rectiligne de cet instrument, désaxée par rapport à l’axe (Z6) qui relie un point central de son extrémité proximale de fixation (26) à un point central de l’extrémité distale fonctionnelle (24) de sa portion distale rectiligne. [7] Dispositif robotisé d’intervention chirurgicale selon l’une quelconque des revendications 1 à 6, dans lequel : les instructions fournies par le périphérique de commande (28) sont exprimées dans un repère global (X0, Y0, Z0) lié à une base fixe du dispositif robotisé ; les moyens de traitement (32) comportent un convertisseur jacobien (50) des instructions exprimées dans ce repère global (X0, Y0, Z0) en instructions individuelles de commande de chacun des moteurs d’actionnement (M1, M2, M3, M4, M5, M6) du bras articulé (10) à l’aide de paramètres jacobiens stockés en mémoire (36) ; et la bride électronique (44, 46, 48) est programmée pour : convertir (44) les instructions fournies par le périphérique de commande[4] A robotic surgical intervention device according to any one of claims 1 to 3, wherein the electronic flange (44, 46, 48, 52) comprises a blocking of any movement outside a degree of freedom in translation and a degree of freedom in rotation along and around a main axis (Zp) of the surgical instrument (12) forming a first axis around which the local Cartesian coordinate system (Xp, Yp, Zp) is defined. [5] A robotic surgical intervention device according to claim 4, wherein the main axis (Zp) of the surgical instrument (12) is that which connects a central point of its proximal fixing end (26) to a point center of its functional distal end (24). [6] A robotic surgical intervention device according to claim 4, wherein the main axis (Zp) of the surgical instrument (12) is that of a rectilinear distal portion of this instrument, offset with respect to the axis (Z6) which connects a central point of its proximal fixation end (26) to a central point of the functional distal end (24) of its rectilinear distal portion. [7] A robotic surgical intervention device according to any one of claims 1 to 6, in which: the instructions supplied by the control peripheral (28) are expressed in a global reference (X0, Y0, Z0) linked to a fixed base of the robotic device; the processing means (32) comprise a Jacobian converter (50) of the instructions expressed in this global reference (X0, Y0, Z0) into individual instructions for controlling each of the actuating motors (M1, M2, M3, M4, M5 , M6) of the articulated arm (10) using Jacobian parameters stored in memory (36); and the electronic flange (44, 46, 48) is programmed to: convert (44) the instructions provided by the control device
(28) en instructions locales de déplacement exprimées dans le repère cartésien local (Xp, Yp, Zp) de l’instrument chirurgical (12), supprimer (46) toute composante de ces instructions locales de déplacement relative audit au moins un degré de liberté en translation ou rotation interdit, pour fournir des instructions locales de déplacement bridées, (28) in local displacement instructions expressed in the local Cartesian coordinate system (Xp, Yp, Zp) of the surgical instrument (12), delete (46) any component of these local displacement instructions relating to said at least one degree of freedom in translation or rotation prohibited, to provide local movement instructions with restrictions,
• convertir (48) les instructions locales de déplacement bridées en instructions de déplacement bridées exprimées dans le repère global (X0, Y0, Z0), et fournir (48) les instructions de déplacement bridées exprimées dans le repère global (X0, Y0, Z0) au convertisseur jacobien (50). [8] Dispositif robotisé d’intervention chirurgicale selon l’une quelconque des revendications 1 à 3, dans lequel la bride électronique (44, 46, 48, 52) comporte un blocage de toute translation de l’extrémité distale fonctionnelle de l’instrument chirurgical dans son repère local (Xp, Yp, Zp). [9] Dispositif robotisé d’intervention chirurgicale selon la revendication 8, dans lequel : le bras articulé (10) présente, depuis sa base jusqu’à son extrémité porteuse, trois liaisons prismatiques motorisées (L1, L2, L3) en série suivies de trois liaisons rotoïdes motorisées (L4, L5, L6) en série, les trois axes de rotation respectifs (Z4, Z5, Z6) des trois liaisons rotoïdes (L4, L5, L6) étant convergents en un même point central de l’extrémité distale fonctionnelle (24) de l’instrument chirurgical (12) ; les instructions fournies par le périphérique de commande (28) sont exprimées dans un repère global (X0, Y0, Z0) lié à une base fixe du dispositif robotisé ; les moyens de traitement (32) comportent un convertisseur jacobien (50) des instructions exprimées dans ce repère global (X0, Y0, Z0) en instructions individuelles de commande de chacun des moteurs d’actionnement (M1, M2, M3, M4, M5, M6) du bras articulé (10) à l’aide de paramètres jacobiens stockés en mémoire (36) ; et la bride électronique (52) est conçue pour, après application du convertisseur jacobien (50), supprimer les instructions individuelles de commande des moteurs d’actionnement (M1, M2, M3) des trois liaisons prismatiques (L1, L2, L3). [10] Dispositif robotisé d’intervention chirurgicale selon l’une quelconque des revendications 1 à 9, configuré et dimensionné pour une intervention en chirurgie d’oreille moyenne ou interne d’un patient, l’instrument chirurgical (12) étant lui-même un instrument d’intervention en chirurgie d’oreille moyenne ou interne du patient. • convert (48) the clamped local movement instructions into clamped movement instructions expressed in the global coordinate system (X0, Y0, Z0), and provide (48) the clamped movement instructions expressed in the global coordinate system (X0, Y0, Z0 ) to the Jacobian converter (50). [8] A robotic surgical intervention device according to any one of claims 1 to 3, wherein the electronic flange (44, 46, 48, 52) comprises a locking of any translation of the functional distal end of the instrument. surgical in its local landmark (Xp, Yp, Zp). [9] A robotic surgical intervention device according to claim 8, wherein: the articulated arm (10) has, from its base to its carrying end, three motorized prismatic links (L1, L2, L3) in series followed by three motorized rotary links (L4, L5, L6) in series, the three respective axes of rotation (Z4, Z5, Z6) of the three rotary links (L4, L5, L6) converging at the same central point of the distal end functional (24) of the surgical instrument (12); the instructions provided by the control peripheral (28) are expressed in a global reference (X0, Y0, Z0) linked to a fixed base of the robotic device; the processing means (32) comprise a Jacobian converter (50) of the instructions expressed in this global reference (X0, Y0, Z0) into individual instructions for controlling each of the actuating motors (M1, M2, M3, M4, M5 , M6) of the articulated arm (10) using Jacobian parameters stored in memory (36); and the electronic flange (52) is adapted to, after application of the Jacobian converter (50), suppress the individual instructions for controlling the actuating motors (M1, M2, M3) of the three prismatic links (L1, L2, L3). [10] A robotic surgical intervention device according to any one of claims 1 to 9, configured and sized for intervention in middle or inner ear surgery of a patient, the surgical instrument (12) itself being an instrument for intervention in the patient's middle or internal ear surgery.
EP20785551.1A 2019-09-24 2020-09-21 Robotic surgical intervention device with an articulated arm carrying an instrument Pending EP4034026A1 (en)

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FR1910553A FR3100970B1 (en) 2019-09-24 2019-09-24 Robotic surgical intervention device with articulated arm carrying an instrument
PCT/FR2020/051636 WO2021058899A1 (en) 2019-09-24 2020-09-21 Robotic surgical intervention device with an articulated arm carrying an instrument

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FR3100970A1 (en) 2021-03-26
US20220331031A1 (en) 2022-10-20
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