WO2006016390A1 - Système robotisé de contrôle et d’actionnement micrométrique d’un endoscope - Google Patents

Système robotisé de contrôle et d’actionnement micrométrique d’un endoscope Download PDF

Info

Publication number
WO2006016390A1
WO2006016390A1 PCT/IT2005/000486 IT2005000486W WO2006016390A1 WO 2006016390 A1 WO2006016390 A1 WO 2006016390A1 IT 2005000486 W IT2005000486 W IT 2005000486W WO 2006016390 A1 WO2006016390 A1 WO 2006016390A1
Authority
WO
WIPO (PCT)
Prior art keywords
instrument
control
arms
degrees
actuation
Prior art date
Application number
PCT/IT2005/000486
Other languages
English (en)
Inventor
Guido A. Danieli
Giovanna Riccipetitoni
Original Assignee
Calabrian High Tech Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from ITCS20040011 external-priority patent/ITCS20040011A1/it
Priority claimed from ITCS20050010 external-priority patent/ITCS20050010A1/it
Application filed by Calabrian High Tech Srl filed Critical Calabrian High Tech Srl
Priority to EP05778903A priority Critical patent/EP1843713A1/fr
Publication of WO2006016390A1 publication Critical patent/WO2006016390A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • Least Invasive Surgery is taking more and more momentum as a perfect method to reduce invasiveness, recovery times and consequently also global costs of surgical procedures, minimizing also related risks.
  • the reduction of the surgeries invasiveness is coupled with their much higher tolerability by the organism, that produces a faster recovery, allowing sometimes even patient's dismissal from the hospital on the same day of the surgery.
  • Instruments used for such surgeries are rigid endoscopes, most commonly used the laparoscope. This is usually operated by hand by the doctor, that controls its movements, included the actuation of the operating instrument (forceps, scissors, etc.). Two or more further instruments are present, to inflate the abdomen using CO2, and a video camera.
  • Robots Since the instrument control may not be easy, especially if the movements required are very fine, Robots have been introduced, allowing a finer motion control, that is in any event always actuated by the doctor. These allow also to employ only one medical operator, rather than to use, as it occurs now, two or three operators. Substantially the system allows a kind of motion demultiplication, improving its control.
  • the endoscopic instrument is integrated not only with the Robot itself, but even with the auxiliary instruments, increasing the surgery costs, determined, not only by the Robot, but also by the cost of the specific disposable instruments.
  • the endoscopes used are of non miniaturized dimensions (>8 -10 mm.).
  • the idea of the present invention is to develop an instrument allowing the same type of actuation with extra fine motion control, using however the Ia endoscopic instruments existing, which not only should allow a good saving for the hospitals, reutilizing existing instruments, but also to utilize small size instruments (2 - 3 mm in diameter), necessary in neonatal and paediatric surgery, currently not usable in other way than free hand, while precise position control could be more useful, such in the case of neonatal laparoscopy, where body structures are, sort to say, miniaturized.
  • each arm (either operator or auxiliary) may be similar to those described in Italian patent application N° CS2002A000005, of 28/20172002, N° CS2002A000022., of 7/11/2002 and N° CS2005A000010., of 28/06/2005 which are explicitly referred to.
  • the first presents a first hinge having vertical axis, from which departs a second arm, bearing at the end a second hinge having horizontal axis, perpendicular to the arm. From such second hinge a third arm departs, at the end of which a third hinge having horizontal axis and parallel to that of the second hinge is present.
  • the fourth arm is similar to the third, bearing at the end again a fouth hinge, also parallel to the last two. From the fourth hinge departs a very short fifth arm bearing at the end a fifth hinge, whose axis should lie on a plane parallel or passing through the first hinge, followed by a sixth arm, also very short, which presents at the other estreme another hinge, whose axis is perpendicular to that of the fifth hinge, and, in extended configuration, also to that of the fourth (the axis of the sixth hinge is thus coaxial with the sixth arm).
  • Each hinge presents both an encoder to measure the angle formed between the arms, and a motor allowing relative motion between the member on which is placed -and a spring, preferably torsion, whose other extreme is e connected to the following arm.
  • a brake In parallel to the torsion spring is placed a brake allowing direct transmission of motion from the motor, bypassing the spring, transforming the system in a robot.
  • SCARA type kinematic chain mounted on a vertical counterbalanced slider to which a third hinge having vertical axis is added, followed by two more hinges having axes mutually perpendicular positioned in such a way as to complete the wrist of the kinematic chain.
  • the doctor may freely bring the instrument, characterized by a self balancing active or passive system, in proximity of the work zone, connect the robotized equipment to the endoscopic instruments, already positioned, and require the transition in Robot mode, that will block the hinges and will be ready for the surgical phase.
  • a new system bearing at least five degrees of freedom will be placed, two of which allow to rotate the surgical instrument, about the point of insertion of the instrument into the patient's skin, along two mutually perpendicular axes, also perpendicular to the instrument.
  • a third degree of freedom allows the instrument to rotate about its axis with respect to the sheet, while a fourth will control the axial displacement again with respect to the sheet.
  • the fifth degree of freedom will be dedicated to the actuation of the surgical instrument, forceps or scissor or whatever else.
  • the axial advancement and actuation systems will bear force sensors able to evaluate the resisting forces in the various manoeuvres in order to supply the surgeon an indication on possible problems. These indications could be both a variable force or an array of leds more or less enlighted in order to be clearly perceived. Naturally it is possible to use both systems for redundancy. And since usually the surgical instruments are two, all this will be present on two arms. The remaining arms will not bear this further five degrees of freedom control system, but will be controllable in any event by the surgeon through the console. He will hence have the possibility to modify the angle relative to the skin surface through a control system that will act in the same time on all different degrees of freedom in order to obtain the motion requested, being also in this case possible to include an haptic interface.
  • the console At the patient's side the console will be placed, on which all commands of the surgical and auxiliary robots will be hosted, so that the doctor will have full control of the entire surgical theatre, which is actually shared with other operators.
  • the system will be completed by a series of adaptors allowing to connect each element of the traditional endoscope with the
  • Figure 1 presents a surgical robotic arm, holding as end effector the five degrees of freedom system, that allows actuating the surgical endoscope as previously explained. It is clear that, should the endoscope have more than three degrees of freedom with respect to the sheet, these will be added to the end effector.
  • FIG. 85 presents a clearer representation of the five degrees of freedom end effector, where is schematically shown the method of control of the instrument rotation about the two axes perpendicular to the surgical instrument. As can be seen these rotations are obtained using a first hinge (1) whose axis passes through the insertion point of the instrument in the skin, and by a semi ring (2) whose radius is equal to the distance from the
  • Figure 3 shows a possible kit of robotized actuation of an existing endoscope.
  • the lower gear fixed to the instrument shaft, allows its rotation of 360 degrees about its axis.
  • the upper gear when rotated by an angle different from that of the lower gear, activates the instrument's action (opening or closing).
  • the motion control system will operate in such a way that the surgeon will have separated command systems for the

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)

Abstract

L’invention concerne un nouveau système robotisé pour contrôler et actionner un endoscope avec une précision micrométrique, en particulier mais non exclusivement pour une laparoscopie néonatale. La structure de base est constituée de trois à cinq bras auto-équilibrants (pouvant être déplacés passivement) aptes, sur commande, à se bloquer dans la position du moment, passant en mode robot actif. Au moins deux des bras soutiennent le système d’actionnement de l’endoscope chirurgical, chacun pouvant faire pivoter la feuille d’instrument le long de deux axes perpendiculaires l’un à l’autre et à la feuille elle-même qui maintient immobile le point d’insertion de l’instrument dans le patient, pouvant également faire pivoter l’instrument par rapport à la feuille et contrôler l’avance axiale, l’actionnement de l’instrument (des ciseaux, des forceps, ou toute autre chose) étant contrôlé en position avec une précision micrométrique. La présence d’une interface haptique est également prévue, pour informer le docteur de la résistance opposée aux différentes actions. Les bras restants sont utilisés pour porter les autres accessoires (caméra vidéo, insufflateur, etc.) et éventuellement les déplacer sur la demande du docteur qui commande et contrôle tout depuis une console. Le but du présent équipement est d’autoriser le contrôle du mouvement avec une précision impossible à obtenir “ à main levée ”, tout en exploitant la totalité de l’instrumentation manuelle actuellement existante dans les hôpitaux.
PCT/IT2005/000486 2004-08-09 2005-08-08 Système robotisé de contrôle et d’actionnement micrométrique d’un endoscope WO2006016390A1 (fr)

Priority Applications (1)

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

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
ITCS2004A00011 2004-08-09
ITCS20040011 ITCS20040011A1 (it) 2004-08-09 2004-08-09 RoboScope Sistema Robotizzato di controllo e movimentazione micrometrica di un endoscopio, particolarmente adatto per laparoscopia neonatale
ITCS20050010 ITCS20050010A1 (it) 2005-06-28 2005-06-28 Apparecchiatura di misura a bracci interconnessi in grado di trasformarsi in robot di posizionamento
ITCS2005A00010 2005-06-28

Publications (1)

Publication Number Publication Date
WO2006016390A1 true WO2006016390A1 (fr) 2006-02-16

Family

ID=35355602

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT2005/000486 WO2006016390A1 (fr) 2004-08-09 2005-08-08 Système robotisé de contrôle et d’actionnement micrométrique d’un endoscope

Country Status (2)

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

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006007858A1 (de) * 2006-02-17 2007-08-30 Knapp, Jürgen Michael Operations-Assistenz-System
WO2008012386A1 (fr) * 2006-07-28 2008-01-31 Universidad De Málaga Système robotique d'aide à la chirurgie minimement invasive capable de positionner un instrument chirurgical en réponse aux ordres d'un chirurgien sans fixation à la table d'opération ni calibrage préalable du point d'insertion
EP2147630A3 (fr) * 2008-07-24 2010-03-17 Olympus Medical Systems Corporation Système chirurgical endoscopique
CN102462533A (zh) * 2010-11-11 2012-05-23 北京理工大学 用于夹持微创血管介入手术推进机构的机械臂
EP2931134A4 (fr) * 2012-12-11 2017-01-11 Biobot Surgical Pte. Ltd. Appareil et méthode pour biopsie et thérapie
JP2018527144A (ja) * 2015-08-27 2018-09-20 フォーカル ヘルスケア インコーポレイテッド ステッパとスタビライザとの間の可動式接続器
CN109091237A (zh) * 2017-06-21 2018-12-28 山东威高手术机器人有限公司 微创手术器械辅助系统
CN109431608A (zh) * 2018-11-15 2019-03-08 山东大学齐鲁医院 一种嵌套式辅助微创外科单孔手术机器人
CN111409079A (zh) * 2020-05-19 2020-07-14 路邦科技授权有限公司 一种工业级机械臂的多联及互联控制系统
US10835320B2 (en) 2012-11-14 2020-11-17 Intuitive Surgical Operations, Inc. Systems and methods for a dual-control surgical instrument

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5572999A (en) * 1992-05-27 1996-11-12 International Business Machines Corporation Robotic system for positioning a surgical instrument relative to a patient's body
WO1996039944A1 (fr) * 1995-06-07 1996-12-19 Sri International Manipulateur chirurgical pour un systeme de telerobotique
US5808665A (en) * 1992-01-21 1998-09-15 Sri International Endoscopic surgical instrument and method for use
US5820623A (en) * 1995-06-20 1998-10-13 Ng; Wan Sing Articulated arm for medical procedures
US20020032451A1 (en) * 1998-12-08 2002-03-14 Intuitive Surgical, Inc. Mechanical actuator interface system for robotic surgical tools
WO2003099152A1 (fr) * 2002-05-28 2003-12-04 Calabrian High Tech S.R.L. Robot navigateur pour interventions chirurgicales

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5808665A (en) * 1992-01-21 1998-09-15 Sri International Endoscopic surgical instrument and method for use
US5572999A (en) * 1992-05-27 1996-11-12 International Business Machines Corporation Robotic system for positioning a surgical instrument relative to a patient's body
WO1996039944A1 (fr) * 1995-06-07 1996-12-19 Sri International Manipulateur chirurgical pour un systeme de telerobotique
US5820623A (en) * 1995-06-20 1998-10-13 Ng; Wan Sing Articulated arm for medical procedures
US20020032451A1 (en) * 1998-12-08 2002-03-14 Intuitive Surgical, Inc. Mechanical actuator interface system for robotic surgical tools
WO2003099152A1 (fr) * 2002-05-28 2003-12-04 Calabrian High Tech S.R.L. Robot navigateur pour interventions chirurgicales

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006007858A1 (de) * 2006-02-17 2007-08-30 Knapp, Jürgen Michael Operations-Assistenz-System
WO2008012386A1 (fr) * 2006-07-28 2008-01-31 Universidad De Málaga Système robotique d'aide à la chirurgie minimement invasive capable de positionner un instrument chirurgical en réponse aux ordres d'un chirurgien sans fixation à la table d'opération ni calibrage préalable du point d'insertion
JP2009544383A (ja) * 2006-07-28 2009-12-17 ユニベルシダッド デ マラガ 手術台への取り付けや挿入点の事前較正を伴うことなく、外科医からの指示に応じて手術器具を位置決めできる非侵襲性外科手術を支援するロボットシステム
EP2147630A3 (fr) * 2008-07-24 2010-03-17 Olympus Medical Systems Corporation Système chirurgical endoscopique
CN102462533A (zh) * 2010-11-11 2012-05-23 北京理工大学 用于夹持微创血管介入手术推进机构的机械臂
US10835320B2 (en) 2012-11-14 2020-11-17 Intuitive Surgical Operations, Inc. Systems and methods for a dual-control surgical instrument
US11883109B2 (en) 2012-11-14 2024-01-30 Intuitive Surgical Operations, Inc. Systems and methods for a dual control surgical instrument
EP2919674B1 (fr) * 2012-11-14 2023-06-14 Intuitive Surgical Operations, Inc. Systèmes pour un instrument chirurgical à double commande
EP2931134A4 (fr) * 2012-12-11 2017-01-11 Biobot Surgical Pte. Ltd. Appareil et méthode pour biopsie et thérapie
JP2018527144A (ja) * 2015-08-27 2018-09-20 フォーカル ヘルスケア インコーポレイテッド ステッパとスタビライザとの間の可動式接続器
US10588712B2 (en) 2015-08-27 2020-03-17 Focal Healthcare Inc. Moveable interface between a stepper and a stabilizer
CN109091237B (zh) * 2017-06-21 2020-08-04 山东威高手术机器人有限公司 微创手术器械辅助系统
CN109091237A (zh) * 2017-06-21 2018-12-28 山东威高手术机器人有限公司 微创手术器械辅助系统
CN109431608A (zh) * 2018-11-15 2019-03-08 山东大学齐鲁医院 一种嵌套式辅助微创外科单孔手术机器人
CN111409079A (zh) * 2020-05-19 2020-07-14 路邦科技授权有限公司 一种工业级机械臂的多联及互联控制系统

Also Published As

Publication number Publication date
EP1843713A1 (fr) 2007-10-17

Similar Documents

Publication Publication Date Title
US20230082915A1 (en) Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
JP6896047B2 (ja) 手術器具の近位制御のためのシステム及び方法
US10335176B2 (en) Rotary input for lever actuation
WO2006016390A1 (fr) Système robotisé de contrôle et d’actionnement micrométrique d’un endoscope
Seibold et al. Prototype of instrument for minimally invasive surgery with 6-axis force sensing capability
EP3556314B1 (fr) Manipulateur robotique ayant deux degrés de liberté et robot chirurgical
US11576735B2 (en) Controllable steerable instrument
CA2498922C (fr) Instruments chirurgicaux articules permettant de realiser des interventions chirurgicales tres peu invasives avec une dexterite et une sensibilite accrues
CN111888012B (zh) 手术器械平台
US8231610B2 (en) Robotic surgical system for laparoscopic surgery
EP2429441B1 (fr) Positionneur avec centre de rotation a distance
CN109788994B (zh) 计算机辅助的远程操作手术系统和方法
CN111084661A (zh) 手术辅助装置及其控制方法、以及记录介质
JP2018538036A (ja) 再構成可能なエンドエフェクタのアーキテクチャ
KR20150097238A (ko) 수술 로봇용 마스터 장치 및 그 제어 방법
US20220395339A1 (en) A hybrid, direct-control and robotic-assisted surgical system
CN113180836B (zh) 输入装置、主操作设备及手术机器人
CN116098713A (zh) 主手手腕、主操作设备及手术机器人
JP6820636B1 (ja) 術具
WO2011108018A1 (fr) Instrument pour la commande et le déplacement d'instruments laparoscopiques ainsi que pour la conduite de biopsies de précision sous guidage échographique ou fluoroscopique
WO2023048591A1 (fr) Robot manipulateur chirurgical
EA043724B1 (ru) Хирургический робот-манипулятор

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU LV MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2005778903

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 2005778903

Country of ref document: EP