EP4096552A1 - Machine et système de commande d'un dispositif robotisé - Google Patents

Machine et système de commande d'un dispositif robotisé

Info

Publication number
EP4096552A1
EP4096552A1 EP21707370.9A EP21707370A EP4096552A1 EP 4096552 A1 EP4096552 A1 EP 4096552A1 EP 21707370 A EP21707370 A EP 21707370A EP 4096552 A1 EP4096552 A1 EP 4096552A1
Authority
EP
European Patent Office
Prior art keywords
end member
control
axis
tapping
torque
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
EP21707370.9A
Other languages
German (de)
English (en)
Inventor
Loredana ZOLLO
Clemente LAURETTI
Francesca CORDELLA
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.)
Masmec SpA
Universita' Campus Bio-Medico di Roma (UCBM)
Original Assignee
Masmec SpA
Universita' Campus Bio-Medico di Roma (UCBM)
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 Masmec SpA, Universita' Campus Bio-Medico di Roma (UCBM) filed Critical Masmec SpA
Publication of EP4096552A1 publication Critical patent/EP4096552A1/fr
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
    • 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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy

Definitions

  • the present invention relates to an apparatus and to a control system associated to robotic manipulator, the latter in particular for spine surgery.
  • peduncle screws The insertion of peduncle screws has become a standard procedure in the clinical practice, especially for the stabilization of the lumbar or thoracic tract of the spine in patients with spinal instability or deformity.
  • tapping procedure consists in threading the patient’s peduncle of for a more accurate insertion of the screws, with the purpose of reducing significantly the risk of malpositioning the screw itself.
  • the literature proposes different robotic systems for tapping or drilling of the screw path.
  • Such systems can be divided into three main categories: i) teleoperated robots, typically wholly remotely guided by the surgeon through a haptic interface; ii) passive robots, which provide a guide to the surgeon during the drilling phase, the latter performed wholly manually; and iii) active robots which, based upon pre-planned trajectories, perform the drilling procedure of the peduncle autonomously under the complete control of a computer.
  • An example of teleoperated robot for spine surgery is the Cooperative Robotic Assistant (CoRA) [J. Lee, I. Hwang, K. Kim, S. Choi, W. Kyun Chung, Y. S.
  • the surgeon grasps and rotates a handpiece which is connected to a motor integral with the end member of the master-side robot.
  • the handpiece rotation angle is measured through position sensors integrated in the motor itself and it is converted, through a ball screw mechanism, into the linear motion of a high speed drill, assembled on the end member of the slave-side robot.
  • Such system has the double advantage of increasing the accuracy of the surgical operation and of reducing the surgeon’s muscle fatigue with respect to a manual spine surgery operation.
  • the surgeon does not control finely the rotation speed or the torque of the surgical instrument, to the detriment of accuracy and reliability of the whole operation.
  • this system does not allow the surgeon to perform tapping of the patient’s peduncle in assisted or automatic way. A significant physical and cognitive effort is then requested to the surgeon in order to complete such surgical procedure, running the risk of adopting incorrect postures and incurring in musculoskeletal damages.
  • This system does not allow the surgeon to perform tapping of the patient’s peduncle in assisted or automatic way.
  • An example of active robot which can perform an operation of spine surgery wholly autonomously is Spinebot [G. B. Chung, S. Kim, S. G. Lee, B.-J. Yi, W. Kim, S. Min Oh, Y. S. Kim, B. R. So, J. II Park, S. H. Oh - An image-guided robotic surgery system for spinal fusion - International Journal of Control, Automation, and Systems, 4(1): 30-41, 2006]
  • a module of such robot plans the trajectories which have to be followed, by keeping into consideration even the unvoluntary motions of the patient, thanks to the use of optoelectronic systems and markers placed on the patient and on the surgical instrument. Such trajectories then are performed by the robot thanks to a position control of PID (Proportional-Integral-Derivative) type.
  • PID Proportional-Integral-Derivative
  • This system has the advantage of not exposing the surgeon to incorrect positions and not to subject him/her to muscle fatigue during the operation, since the drilling is performed by the robot in wholly autonomously.
  • one of the main disadvantages of such robotic device is lack in supervision by the surgeon on the forces and/or torques which are exerted on the peduncle by the surgical instrument.
  • the surgeon by modulating the force applied on the surgical instrument, is capable of controlling directly not only the linear and rotational tipping speed; the torque applied by the surgical instrument is not managed directly by the surgeon but, on the contrary, is controlled by an automatic mechanism which monitors it and compares it with a threshold. When the rotation torque exceeds the prefixed threshold, the instrument rotation is interrupted.
  • the technical problem placed and solved by the present invention is then to provide a robotic apparatus and a related control method allowing to obviate the drawbacks mentioned above with reference to the known art.
  • the invention provides an apparatus based upon a surgeon-robot shared control method, and in particular a robotic manipulator configured for spine surgery, more specifically for a tapping procedure of a vertebral peduncle.
  • the method allows the surgeon to perform tapping semi-autonomously by allowing him/her to control the torque and the force applied according to the tapping axis and by constraining automatically, instead, at least the spatial orientation of such axis.
  • the surgeon can control the end member (“end effector") of the robotic manipulator, thereto a tapping tool is connected, along an axis of motion identified in pre-surgery phase and corresponding to the above-mentioned tapping axis.
  • the surgeon manages continuously the forces and torques applied to the patient’s spine according to the tapping axis, whereas the position and orientation of the end member of the manipulator are constrained along the directions orthogonal to said axis, wherein in fact a high positioning accuracy is requested. Therefore, the robotic manipulator is wholly passive along the tapping axis and, in embodiment variants, it can be moved along such axis by the surgeon who exerts controlled forces and/or torques.
  • surgeon interacts with the manipulator by means of an approach of so-called “ hands-on " type, that is by manoeuvering directly a portion of the manipulator or a remote unit in communication with the manipulator itself.
  • control method provides that, during the peduncle tapping, the torque exerted by the robotic arm around the tapping axis is directly proportional to the force exerted by the surgeon along the same axis.
  • a control variant instead can provide that, during the peduncle tapping, the force exerted by the robotic arm along the tapping axis is directly proportional to the torque exerted by the surgeon around the same axis.
  • the invention then guarantees to the surgeon to keep a direct and continuous control of the interaction force and/or torque applied on the vertebral peduncle along the tapping axis, without losing accuracy in position along the other directions.
  • the invention further allows to reduce significantly the surgeon’s physical and cognitive effort and the relative fatigue and reduces the risk of incorrect postures and musculoskeletal damages. Both operator ergonomics and safety for the patient then result to be maximized.
  • the same approach proposed herein in the context of an apparatus and a method for spine surgery can be used even in different medical fields, for example orthopaedic surgery.
  • the proposed apparatus and method are suitable for not medical applications, such as industrial robotics, for example for the assembly of components, and all fields in which it is possible to facilitate the execution of operations which currently require a high cognitive and physical effort by the operators, in addition to high accuracy.
  • the proposed apparatus can be used to perform indifferently procedures of drilling, threading and screwing/unscrewing bolts, nuts or screws.
  • the invention can be easily integrated in all manipulators with at least 4 levels of freedom and it can be used even for teleoperation of industrial manipulators operating in environments hostile or dangerous for man, for example radioactive, underwater environments or, more generally, environments having a chemical, physical or biological risk for man.
  • FIG. 1 shows a block diagram exemplifying the general structure and control architecture of a robotic apparatus according to a preferred embodiment of the present invention, which provides a control of the torque exerted by a relative surgical instrument, or end member, around the tapping axis;
  • FIG. 2 shows another block diagram exemplifying the general structure and control architecture of a robotic apparatus according to a preferred embodiment of the present invention, which provides a control of the rotation speed of the surgical instrument around the tapping axis;
  • FIG. 3 shows another block diagram exemplifying the general structure and control architecture of a robotic apparatus according to a preferred embodiment of the present invention, which provides a control of the force which the surgical instrument applies along the tapping axis;
  • FIG. 4 shows another block diagram exemplifying the general structure and control architecture of a robotic apparatus according to a preferred embodiment of the present invention, which provides a control of the linear speed of the surgical instrument along the tapping axis;
  • FIG. 6 shows a flowchart of an embodiment of a control scheme for the apparatus of Figure 1 or 2;
  • FIG. 9 shows a representation exemplifying a surgeon-robot configuration of the apparatus of Figure 1 or 2, with control action in force on an axis z of a reference triad of the surgical instrument corresponding to a tapping axis;
  • a simplified embodiment variant can provide that the tapping axis A has constrained, fixed and predetermined position.
  • the force and/or the torque measured by the sensors or transducers 21 and/or 22 are weighed, one or both, through a scale factor determined empirically and then provided as input, as independent values or values associated through a mathematical operation or equation, for example of differential type, to a force control module of the control unit 101.
  • the wished position and the measured position of the end member 11 are provided as input, as independent values or values associated through a mathematical operation or equation for example of differential type, to a position control module of the control unit.
  • the (for example current) control signal for each actuator of the robot is determined as consequence from the force and/or torque exerted by the operator in the maneuvering area 14. Equally, the position and orientation of the end member 11 are imposed according to the planes orthogonal to the axis A.
  • Figures 2 and 4 show a scheme analogous to the one of Figures 1 and 3, wherein the measured torque and force are replaced, respectively, by an angular speed and a linear speed, measured through sensors or transducers 24 and then the control unit 101 includes a speed control module.
  • the operator finely controls the rotation speed of the surgical instrument 11 around the tapping axis A by simply modulating the force which he/she exerts along the tapping axis A.
  • the apparatus 100 is configured so that the linear and angular position of the end member 11 with respect to a plane orthogonal thereto, and in particular the one of an axis thereof corresponding to the tapping axis A, is determined, that is imposed, by the control unit 101.
  • the operator action instead determines one or more of the following quantities associated to the action of the end member 11 according to the axis A: applied force, applied torque, angular and linear speed and angular and linear position.
  • the position and orientation of - and preferably the stresses applied by - the end member 11 in the directions orthogonal to the tapping axis A are constrained by the command of the control unit 101 and then they cannot be modified by the operator who acts on the maneuvering portion 14 of the instrument.
  • the control action in position, speed, torque and/or force according to the tapping axis is passive or exerted depending upon the operator inputs.
  • the torque control action is configured so that the torque exerted by the end member 11 around the tapping axis A is directly proportional to the force exerted by the surgeon along the same axis, the latter advantageously measured through the sensors or transducers 21.
  • the force control action is configured so that the force exerted by the end member 11 around the tapping axis A is directly proportional to the torque exerted by the surgeon on a maneuvering portion (for example rotating handpiece mechanically coupled with the tapper), the latter advantageously measured through the sensors or transducers 21.
  • a maneuvering portion for example rotating handpiece mechanically coupled with the tapper
  • the advantage of being able to apply a torque on a maneuvering portion, apart from a force along the tapping axis, allows to modulate the sensitivity therewith the surgeon controls the insertion of the tapper inside the peduncle by simply variating the diameter of the rotating handpiece. The more the diameter of the rotating handpiece is, the greater is the sensitivity therewith the surgeon controls the insertion of the tapper in the peduncle.
  • the fact of controlling the insertion of the tapper inside the peduncle with the right sensitivity allows the surgeon to reach in a finer and more precise way the tapping end point (established by pre-planned trajectories which are shown to the surgeon on a monitor together with the position of the surgical instrument measured by the optoelectronic system). This decreases the probability that the underneath tissues could be damaged by the tapper and further increases the operation safety.
  • the control strategy implemented in the apparatus 100 in particular to determine the torques at the joints which have to be delivered by the robot actuators, can be derived by an inverse dynamics control expressed by the following equation wherein t e is the control toraue enterina the actuators , is an estimate of the inertia matrix of the robot, is an estimate of the matrix describing the centrifugal and Coriolis effects is an estimate of the viscous friction torque, is an estimate of the static friction torque and is an estimate of the gravity contribution. It is important to specify that the control strategy implemented in the apparatus 100 can be derived by any conventional control of centralized type, for example a control with gravity compensation. However, an inverse dynamics control guarantees higher performances in terms of surgeon-robot interaction.
  • the conventional control law is formulated as follows: wherein is the right pseudo-inverse matrix of the geometric or analytical Jacobian (this choice depends upon the representation that is used to define the orientation) and are, respectively, the error in speed and position expressed in the basic reference triad
  • the reference laying of the end member 11 of the manipulator 1 can be pre-planned through a system of surgical navigation which, depending upon the position of the peduncle to be threaded, detects the optimum direction of the tapping axis A. Thanks, for example, to the use of the optoelectronic system 30 with markers suitably positioned on a vertebra of the patient and on the end member 11 , the optimum direction of the tapping axis A can be detected, in real time, with respect to the position of the peduncle to be threaded.
  • K p and K B are the matrices of the gains of the position control and are 6 x 6 semi-defined positive diagonal matrices wherein are null so that the control action in position has no effect along and around the axis z (tapping axis). From here, the surgeon is capable of moving the end member of the robot along such axis, by means of the above-mentioned approach of “hands-on” type.
  • Figure 5 shows a block diagram of the control action in force/torque acting on the tapping axis.
  • C F is the matrix of the gains 6 X 6 of the force control defined as
  • a variant of the control action in torque, proposed in Figure 9, is the control action in angular speed shown in Figure 10 and described by the following equation wherein ⁇ ez is the angular speed of the surgical instrument (the tapper) around the tapping axis and are the gains of the control in speed.
  • Such gains are suitably selected with the purpose of allowing the surgeon to control finely the rotation speed of the surgical instrument around the tapping axis by simply modulating the force, F ez , which he/she exerts on the patient along the tapping axis.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

L'invention concerne un procédé de commande pour un robot manipulateur coopérant avec un chirurgien, en particulier pour une application en chirurgie de la colonne vertébrale, en particulier dans une opération de tapotage des pédoncules vertébraux. Le but général de l'invention est de garantir au chirurgien une commande continue de la force/du couple appliqué(e) sur les pédoncules vertébraux tandis que le bras robotisé contraint la position et l'orientation de l'instrument chirurgical le long de l'axe de mouvement identifié dans la phase préopératoire. Le procédé permet au chirurgien de commander directement et en continu les forces/couples d'interaction le long de l'axe de tapotage, tandis que le bras robotisé contraint la position et l'orientation de l'instrument chirurgical dans les directions orthogonales à l'axe de tapotage identifié dans la phase préopératoire.
EP21707370.9A 2020-01-31 2021-02-01 Machine et système de commande d'un dispositif robotisé Pending EP4096552A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102020000001900A IT202000001900A1 (it) 2020-01-31 2020-01-31 Apparato e metodo di controllo di un manipolatore robotico
PCT/IB2021/050767 WO2021152556A1 (fr) 2020-01-31 2021-02-01 Machine et système de commande d'un dispositif robotisé

Publications (1)

Publication Number Publication Date
EP4096552A1 true EP4096552A1 (fr) 2022-12-07

Family

ID=70480470

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21707370.9A Pending EP4096552A1 (fr) 2020-01-31 2021-02-01 Machine et système de commande d'un dispositif robotisé

Country Status (3)

Country Link
EP (1) EP4096552A1 (fr)
IT (1) IT202000001900A1 (fr)
WO (1) WO2021152556A1 (fr)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11039893B2 (en) * 2016-10-21 2021-06-22 Globus Medical, Inc. Robotic surgical systems
US11033341B2 (en) * 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods

Also Published As

Publication number Publication date
IT202000001900A1 (it) 2021-07-31
WO2021152556A1 (fr) 2021-08-05

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