US20150005784A2 - Device for Supporting and Positioning of a Surgical Instrument and/or an Endoscope for Use in Minimal-Invasive Surgery and a Surgical Robotic System - Google Patents

Device for Supporting and Positioning of a Surgical Instrument and/or an Endoscope for Use in Minimal-Invasive Surgery and a Surgical Robotic System Download PDF

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Publication number
US20150005784A2
US20150005784A2 US13/828,008 US201313828008A US2015005784A2 US 20150005784 A2 US20150005784 A2 US 20150005784A2 US 201313828008 A US201313828008 A US 201313828008A US 2015005784 A2 US2015005784 A2 US 2015005784A2
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US
United States
Prior art keywords
instrument
mounting
surgical
drive unit
surgical instrument
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.)
Abandoned
Application number
US13/828,008
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English (en)
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US20140180309A1 (en
Inventor
Marcel Seeber
Andreas Karguth
Christian Trommer
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.)
Avateramedical GmbH
Original Assignee
E-SYS MEDICAL GmbH
Avateramedical GmbH
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 E-SYS MEDICAL GmbH, Avateramedical GmbH filed Critical E-SYS MEDICAL GmbH
Assigned to E-SYS MEDICAL GMBH reassignment E-SYS MEDICAL GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SEEBER, MARCEL, TROMMER, Christian
Assigned to avateramedical GmBH reassignment avateramedical GmBH CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: KARGUTH, ANDREAS, SEEBER, MARCEL, TROMMER, Christian
Publication of US20140180309A1 publication Critical patent/US20140180309A1/en
Publication of US20150005784A2 publication Critical patent/US20150005784A2/en
Abandoned legal-status Critical Current

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Classifications

    • A61B19/2203—
    • 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
    • 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
    • A61B19/201—
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • 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
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • Robot systems known from prior art are based on robot arms with an active movement of a surgical instrument, which on one hand require a large installation space and on the other hand, due to the typical embodiments, make it difficult to avoid collisions caused by the movements of the robot arms.
  • a minimally invasive surgical procedure a minimum of two, usually three to four surgical instruments, such as gripper, scissors, needle holder, dissector), as well as a camera or an endoscope are used, which are each inserted into the patient's body via a separate trocar.
  • surgical instruments such as gripper, scissors, needle holder, dissector
  • a camera or an endoscope are used, which are each inserted into the patient's body via a separate trocar.
  • the instrument drive unit on the telescopic device is pivoted by means of an instrument pivot point so that the longitudinal axis of the telescope of the telescopic device is variable in relation to the longitudinal axis of the surgical instrument and/or the endoscope in dependence on the feeding drive.
  • the guide device comprises at least one instrument guide, through which the shaft of the surgical instrument and/or the endoscope extends.
  • the feeding drive is arranged on the telescopic device by means of a feeding drive position point, in such fashion that the rotation of the instrument drive unit around the pivot point is the result of a coupling device comprising a coupling pivot point which is firmly connected with the support element.
  • FIG. 2 a shows a further schematic view of the manipulator arm according to the invention for active positioning of a surgical instrument which is connected to a telescopic jib by means of a pivotably mounted drive unit, including a coupling element between the guide device for inserting a surgical instrument and the constructive device for achieving the second axis of rotation, which illustrates the sliding motion that creates the rotational movement about the second axis of rotation by means of a coupling joint;
  • FIG. 2 b shows a further schematic view of the manipulator arm according to the invention for active positioning of a surgical instrument which is connected to a telescopic jib by means of a pivotably mounted drive unit, including a coupling element between the guide device for inserting a surgical instrument and the constructive device for achieving the second axis of rotation, which illustrates the sliding motion that creates the rotational movement about the second axis of rotation by means of a coupling joint;
  • FIG. 6 shows a schematic view of embodiments of the manipulator arm according to the invention for active positioning of a surgical instrument, which comprise telescopic arm on the right side and telescopic arm on the left side for mutual use with a single port trocar;
  • FIG. 10 shows a schematic side view of a superordinate carrying system, on which the flexibly adjustable support structure according to the invention is arranged with four connected prepositioning devices according to the invention on each of which a manipulator arm according to the invention for active positioning of a surgical instrument is arranged;
  • the pivot point 13 in or on the abdominal wall 14 eventuates from the resulting force between torque impressed from the outside and reset or holding torque of the abdominal wall. This puts less stress on the tissue of the abdominal wall, in particular if more than one instrument 9 is used, each in its own guide device 10 , because there is no direct fixed mechanically coupled force exerted by the coupling element 12 acting on guide device 10 and thus the abdominal wall 14 .
  • a relative motion 62 a, 62 b of the two instruments leads towards each other, e.g. in order to connect tissue by means of a seam stitching in the surgical area, whereas a relative motion 61 a, 61 b of the two manipulator arms outside of the patient leads away from each other. This ensures that the manipulator arms cannot collide with each other.
  • a manipulator arm according to the invention is fitted with e.g. an endoscopic camera the image signals can be transmitted to a processing unit 51 via the appropriate data connections 49 , 45 , 50 , which processes the image data for presentation and feeds it back to a visualization unit 53 via a further data connection 53 .
  • the visualization unit 53 can display both 2D and 3D image data, for example separately but also combined in a single image or a single series of pictures.
  • the control of how image data is displayed is performed by the control unit 44 , according to the wish of the operator or surgeon respectively.
  • the control commands produced by the control unit 44 for this purpose are transmitted to processing unit 51 via data connection 51 .
US13/828,008 2012-12-20 2013-03-14 Device for Supporting and Positioning of a Surgical Instrument and/or an Endoscope for Use in Minimal-Invasive Surgery and a Surgical Robotic System Abandoned US20150005784A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012025099 2012-12-20
DE102012025099.1 2012-12-20

Publications (2)

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US20140180309A1 US20140180309A1 (en) 2014-06-26
US20150005784A2 true US20150005784A2 (en) 2015-01-01

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US13/828,008 Abandoned US20150005784A2 (en) 2012-12-20 2013-03-14 Device for Supporting and Positioning of a Surgical Instrument and/or an Endoscope for Use in Minimal-Invasive Surgery and a Surgical Robotic System
US14/653,212 Active 2034-04-28 US9795454B2 (en) 2012-12-20 2013-12-12 Holding and positioning apparatus of a surgical instrument and/or an endoscope for minimally invasive surgery and a robotic surgical system

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US14/653,212 Active 2034-04-28 US9795454B2 (en) 2012-12-20 2013-12-12 Holding and positioning apparatus of a surgical instrument and/or an endoscope for minimally invasive surgery and a robotic surgical system

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Country Link
US (2) US20150005784A2 (fr)
EP (1) EP2934361B1 (fr)
JP (1) JP6342418B2 (fr)
CN (1) CN104869935B (fr)
BR (1) BR112015014298B1 (fr)
DE (1) DE102013004459A1 (fr)
HK (1) HK1211822A1 (fr)
RU (1) RU2644281C2 (fr)
WO (1) WO2014094716A1 (fr)

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US9795454B2 (en) 2017-10-24
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CN104869935A (zh) 2015-08-26
US20160184030A1 (en) 2016-06-30
DE102013004459A1 (de) 2014-06-26
RU2015129335A (ru) 2017-01-24
EP2934361B1 (fr) 2018-09-26
EP2934361A1 (fr) 2015-10-28
JP6342418B2 (ja) 2018-06-13
BR112015014298B1 (pt) 2021-06-22
CN104869935B (zh) 2017-11-28
WO2014094716A1 (fr) 2014-06-26
HK1211822A1 (en) 2016-06-03
US20140180309A1 (en) 2014-06-26
BR112015014298A8 (pt) 2019-10-08

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