WO2008053056A1 - Actuation pedal for medical applications - Google Patents

Actuation pedal for medical applications Download PDF

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Publication number
WO2008053056A1
WO2008053056A1 PCT/ES2007/000600 ES2007000600W WO2008053056A1 WO 2008053056 A1 WO2008053056 A1 WO 2008053056A1 ES 2007000600 W ES2007000600 W ES 2007000600W WO 2008053056 A1 WO2008053056 A1 WO 2008053056A1
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WO
WIPO (PCT)
Prior art keywords
pedal
tool
channel
information
monitoring system
Prior art date
Application number
PCT/ES2007/000600
Other languages
Spanish (es)
French (fr)
Inventor
Joan Savall Calvo
Original Assignee
Centro De Estudios E Investigaciones Técnicas De Guipuzcoa (Ceitg)
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 Centro De Estudios E Investigaciones Técnicas De Guipuzcoa (Ceitg) filed Critical Centro De Estudios E Investigaciones Técnicas De Guipuzcoa (Ceitg)
Publication of WO2008053056A1 publication Critical patent/WO2008053056A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/30—Controlling members actuated by foot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00973—Surgical instruments, devices or methods, e.g. tourniquets pedal-operated

Definitions

  • pedals that allow a remote control of the corresponding surgical tool.
  • One of the most common applications is the pedal applicable to the control and operation of dental instruments, such as the pedal with which the doctor controls, using the foot, the lathe tool.
  • Pedals are also used to control the operation of hand tools during ophthalmic surgery, tools for milling bones, ear surgery, etc.
  • a foot controller for microsurgery is known from the PCT WO2004 / 049955, in whose operation a computer is used to modulate the retention of the foot controller.
  • This controller also includes a force feedback motor and an optical encoder that monitors the number of revolutions of the motor shaft.
  • the pedal does not provide the user with additional tactile information that he obtains in handling the corresponding surgical instrument; so that situations such as the degree of wear of the tool, its way of working, its vibration, etc., must be appreciated by the tactile information that the surgical tool transmits directly to the hand of the person who is using it, and by others Via how is the sound emitted, but not by the pedal that, at most incorporates means to modify its degree of hardness, when the tool is in an operational or non-operational situation, as is the case of PCT WO03 / 023544.
  • a pedal is provided with at least one double interrelation channel between the pedal itself and the surgical tool.
  • the pedal is provided with a monitoring system for the surgical tool, a system that is able to obtain the information, in real time, of the state of the tool, in terms of parameters such as the speed of rotation, the power consumed; the sound that the tool produces when acting on the patient, the vibrations of the tool, etc.
  • the information received from the monitoring system is transformed into the corresponding instructions for a pedal control system.
  • control system In the case of a pedal with a degree of freedom, the control system consists of an engine with its corresponding sensor and transmission.
  • the control system which is responsible for causing a series of forces on the pedal operated by the surgeon; so that, for example, if the surgical instrument vibrates, the pedal vibrates and, in addition, the degree of vibration of the pedal can increase or decrease depending on whether the degree of vibration of said instrument increases or decreases.
  • the degree of hardness of the pedal can vary depending on how the work of the surgical instrument evolves or its condition; so that, for example, depending on the degree of hardness of the body on which the surgical instrument works, the hardness of the pedal can be increased or reduced. Also and only by way of example, when reaching a certain degree of wear that advises its replacement, the pedal is raised, causing the surgeon's foot to be lifted.
  • this pedal in the surgical work of milling the bones or in the lathes of the dentists, it is achieved that, compared to conventional pedals, in which the information of how the milling proceeds It is especially tactile, through the hand that holds the tool, and, in some cases, sound, due to the different sounds emitted by the milling cutter, depending on its degree of wear, speed, etc., with the now recommended pedal, additional tactile information is provided through feedback of a series of forces and sensations in the foot of the surgeon or user.
  • the pedal, object of the present invention leads to the integration of the sense of touch in the use of the pedal; so that it is possible to increase the sensitivity and precision of the surgeon, in the use of the corresponding surgical instrument.
  • Figures 1 and 2 show two diagrams of the behavior of a pedal (1), according to the solution now recommended and provided with a double channel of information (Cl and C2).
  • Figure 3 shows an elevation view of the pedal (1), according to a possible practical embodiment, the foot support plate (1.1) occupying different positions.
  • Figures 4 and 5 are perspective views of the pedal (1).
  • Figures 6 and 7 are perspective views of the pedal (1) with its components shown in the assembly phase.
  • Figure 8 shows a perspective and schematic view of a pedal user (1) in a sitting position.
  • Figures 9 and 10 are the front and side views corresponding to Figure 8.
  • Figure 11 is a perspective and schematic view of a pedal user (1) in the raised position.
  • Figures 12 and 13 are the front and side views corresponding to Figure 11.
  • Figures 14 and 15 are paths seen in schematic like Figures 1 and 2, but with a third channel of information (C3).
  • the object of the present invention is a drive pedal (1), for medical applications.
  • This pedal (1) can be called “haptic pedal”, meaning “haptic” to the whole set of sensations related to the touch that an individual experiences.
  • the pedal (1) is provided with at least a second tactile information channel (C2), being able to incorporate more than two information channels and complement the tactile sensations with other sensations.
  • C2 second tactile information channel
  • Figure 1 shows a first diagram of the pedal (1) object of the present invention, in the double channel version (Cl and C2).
  • the surgeon's foot (5) rests on the pedal (1) that It has a double channel of information (Cl and C2).
  • the channel (Cl) allows the corresponding control instructions of the surgical instruments (2) to be transmitted from the pedal (1), which in this case and as a possible non-limiting example of practical application is a milling cutter; so that the channel (Cl) allows the milling tool (2.1) to be controlled according to the usual means and practices in this type of pedals, by means of pneumatic, electric and / or mechanical actuators.
  • the novelty of the present invention lies in the existence of the second information channel, identified in this figure 1 as (C2).
  • This second channel (C2) receives information from a system for monitoring the behavior of the tool (2.1), obtaining in real time information about the state of the tool, in terms of parameters such as the speed of rotation, the power consumed, the sound produced by the tool (2.1) when acting on the patient, the vibrations of the tool (2.1), etc.
  • the information received from the tool monitoring system (2.1) is transformed into the corresponding instructions, for a pedal control system (1); so that a series of forces and / or movements are caused on the pedal (1) in depending on the state or way of working of the tool (2.1).
  • the pedal (1) vibrates and, in addition, the degree of vibration of the pedal (1) can be increased or reduced depending on whether it increases or decreases the degree of vibration of said instrument (2).
  • the degree of hardness of the pedal (1) can vary depending on how the work of the surgical instrument (2) evolves or the state of the tool (2.1); so that, for example, depending on the degree of hardness of the body on which the tool works (2.1), the hardness of the pedal (1) can be increased or reduced. Also and only by way of example, when reaching a certain degree of wear that advises its replacement
  • the pedal (1) can be raised, causing the surgeon's foot (5) to be lifted.
  • Figure 2 depicts, in a block diagram, the above described.
  • the block (6) corresponds, for example, with a conventional pedal sensor (1) which, depending on the degree of inclination of the pedal (1), transmits a control setpoint to the work tool via the channel (Cl) (2.1) to control tool variables (2.1), such as the speed of rotation of your motor, the operating torque, etc. represented by the block (9).
  • the block (8) representing the monitoring system of the tool (2.1) that provides data on values such as the power consumed, the vibrations, etc.
  • FIGS 3 to 5 show a possible non-limiting example of practical implementation of the pedal (1), in the case where the pedal (1) is of the type of a degree of freedom.
  • the pedal (1) consists of a plate (1.1) for the support of the foot (5) of the surgeon.
  • the plate (1.1) is related, through a pivot axis (1.2) with a base (1.3) of support on the ground.
  • a motor (1.5) which, at one end of its corresponding drive shaft is coupled to an encoder (1.6) and at the other end of said drive shaft, this is coupled to a cable transmission (1.4) , through which the motor (1.5) is related to the foot support plate (1.1) (5).
  • the cable (1.10) is wound (see figure 7), one of whose ends is attached to a fixed point and the other end is wound in a tensioner (1.9) mounted on a supportive frame (1.8) to the plate (1.1).
  • Figures 8, 9 and 10 show the use of the pedal (1) by a user sitting and operating a surgical instrument (2); while figures 11, 12 and 13 are the reciprocal figures but with the user in the raised position.
  • the pedal (1) object of the present invention can have more than two information channels (Cl and C2).
  • An embodiment with three information channels is schematically depicted in Figures 14 and 15; so that, in addition to the channels (Cl and C2) already detailed, it incorporates a third channel identified with the alpha-numerical reference (C3) that provides information on a monitoring of some kind of vital constant of the patient, such as the rhythm itself cardiac or the overcoming of some type of threshold.
  • Figure 15 shows how the third channel (C3) receives information from a monitoring system (8 ') of the patient, which provides, through sensors related to the patient, information on the heart rate, overcoming some threshold, etc., the block (8 ') representing this monitoring system that will be in each case the most convenient of the monitoring systems of this type that already exist in the market.
  • the information received from Monitoring system (8 ') is conducted, through the channel (C3), to the pedal (1).
  • the pedal (1) can have two, three or more information channels (Cl, C2, C3 Cn) without altering the essence of the invention at all. Nor will this essence be altered if the pedal (1) provides, in addition to the tactile sensations already mentioned, other complementary non-tactile sensations, although those will always be the fundamental ones.

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

Abstract

The invention relates to an actuation pedal for medical applications, of the type including a channel (C1) for controlling the motor of a surgical instrument (2). The inventive pedal (1) also includes at least one second information channel (C2) which receives data from a tool (2.1) monitoring system, thereby enabling the tool status to be ascertained in real time with regard to parameters such as the rotational speed, the power consumed, the sound produced by the tool (2.1) and the degree of vibration. The information received from the tool (2.1) monitoring system is converted into instructions for a pedal (1) control device and the pedal is supplied with a series of movements and/or forces which are transmitted to the user through his/her foot.

Description

PEDAL DE ACCIONAMIENTO, PARA APLICACIONES MÉDICAS ACTION PEDAL, FOR MEDICAL APPLICATIONS
Sector de la técnicaTechnical sector
Es habitual, dentro de las prácticas médicas, el uso de pedales que permiten un control remoto de la correspondiente herramienta quirúrgica. Una de las aplicaciones más usuales es el pedal aplicable al control y accionamiento de instrumental odontológico, como por ejemplo el pedal con el que el doctor controla, mediante el pie, la herramienta del torno.It is usual, within medical practices, the use of pedals that allow a remote control of the corresponding surgical tool. One of the most common applications is the pedal applicable to the control and operation of dental instruments, such as the pedal with which the doctor controls, using the foot, the lathe tool.
También se utilizan pedales para controlar el funcionamiento de útiles de mano durante la cirugía oftálmica, herramientas para el fresado de huesos, en cirugía del oido, etc.Pedals are also used to control the operation of hand tools during ophthalmic surgery, tools for milling bones, ear surgery, etc.
Este tipo de pedales, a través de una variedad de actuadores eléctricos, neumáticos y/o mecánicos permiten controlar el correspondiente instrumento quirúrgico.These types of pedals, through a variety of electric, pneumatic and / or mechanical actuators allow the corresponding surgical instrument to be controlled.
Estado de la técnicaState of the art
A través de la Patente US 4.837.857 se conoce un pedal médico que proporciona una señal de transmisión óptica, para su uso en el control del instrumento quirúrgico.From US Patent 4,837,857 a medical pedal is known that provides an optical transmission signal, for use in the control of the surgical instrument.
También se conoce, a través del PCT WO03/023544, un pedal cuyo desplazamiento vertical establece un cambio en la resistencia en unos medios mecánicos de retención; de manera que se proporciona una realimentación sensorial al cirujano o persona que opere con el pedal, indicando un cambio en el modo funcional cuando se mueve el pedal. Es decir que el operador aprecia un cambio en la resistencia del pedal, por ejemplo, cuando por la posición de este último se establece un cambio desde una fase no operativa del instrumento de trabajo a una fase operativa o un cambio funcional dentro de la fase de trabajo.It is also known, through PCT WO03 / 023544, a pedal whose vertical displacement establishes a change in resistance in mechanical retention means; so that sensory feedback is provided to the surgeon or person operating with the pedal, indicating a change in the mode functional when the pedal is moved. That is to say, the operator appreciates a change in the resistance of the pedal, for example, when a change from a non-operative phase of the work instrument to an operational phase or a functional change within the phase of operation is established by the latter's position. job.
Por el PCT WO2004/049955 se conoce un controlador de pie para microcirugia en cuyo funcionamiento se utiliza un ordenador para modular la retención del controlador de pie. Este controlador incluye también un motor de realimentación de fuerza y un encoder óptico que monitoriza el número de revoluciones del eje del motor.A foot controller for microsurgery is known from the PCT WO2004 / 049955, in whose operation a computer is used to modulate the retention of the foot controller. This controller also includes a force feedback motor and an optical encoder that monitors the number of revolutions of the motor shaft.
En definitiva, en las diferentes realizaciones conocidas, el pedal no le proporciona al usuario una información táctil adicional a la que él obtiene en el manejo del correspondiente instrumento quirúrgico; de manera que situaciones tales como el grado de desgaste de la herramienta, su modo de trabajo, su vibración, etc., deben ser apreciadas por la información táctil que la herramienta quirúrgica transmite directamente a la mano de quien la está utilizando, y por otras vias como es el sonido que emite, pero no por el pedal que, a lo sumo incorpora medios para modificar su grado de dureza, cuando la herramienta está en una situación operativa o no operativa, como es el caso del PCT WO03/023544. Es decir, que no se conocen pedales que aporten un canal de comunicación entre el pedal y el instrumento quirúrgico, que le permita al pedal proporcionar a quien lo utiliza una información táctil sobre aspectos del estado y del modo de trabajo del instrumento quirúrgico, en tiempo real, u otros aspectos. Objeto de la invenciónIn short, in the different known embodiments, the pedal does not provide the user with additional tactile information that he obtains in handling the corresponding surgical instrument; so that situations such as the degree of wear of the tool, its way of working, its vibration, etc., must be appreciated by the tactile information that the surgical tool transmits directly to the hand of the person who is using it, and by others Via how is the sound emitted, but not by the pedal that, at most incorporates means to modify its degree of hardness, when the tool is in an operational or non-operational situation, as is the case of PCT WO03 / 023544. In other words, there are no known pedals that provide a communication channel between the pedal and the surgical instrument, which allows the pedal to provide the user with tactile information about aspects of the state and working mode of the surgical instrument, in time real, or other aspects. Object of the invention
De acuerdo con la presente invención, se propone un pedal provisto de, al menos, un doble canal de interrelación entre el pedal propiamente dicho y la herramienta quirúrgica.In accordance with the present invention, a pedal is provided with at least one double interrelation channel between the pedal itself and the surgical tool.
De estos dos canales, uno de ellos es la via convencional para el control de la herramienta quirúrgica y por ello podrá ser de cualquiera de las formas ya conocidas, mediante actuadores neumáticos, eléctricos y/o mecánicos. Es en la existencia del segundo canal en donde reside la esencia de la presente invención. En efecto este segundo canal se destina a provocar una serie de fuerzas sobre el pedal en función del estado o de la forma de trabajo de la herramienta.Of these two channels, one of them is the conventional way for the control of the surgical tool and therefore it can be of any of the known ways, by means of pneumatic, electric and / or mechanical actuators. It is in the existence of the second channel where the essence of the present invention resides. In effect, this second channel is intended to cause a series of forces on the pedal depending on the state or the way the tool works.
Para ello, se provee al pedal de un sistema de monitorización de la herramienta quirúrgica, sistema este que es capaz de obtener la información, en tiempo real, del estado de la herramienta, en cuanto a parámetros tales como la velocidad de giro, la potencia consumida; el sonido que produce la herramienta al actuar sobre el paciente, las vibraciones de la herramienta, etc.For this, the pedal is provided with a monitoring system for the surgical tool, a system that is able to obtain the information, in real time, of the state of the tool, in terms of parameters such as the speed of rotation, the power consumed; the sound that the tool produces when acting on the patient, the vibrations of the tool, etc.
La información recibida del sistema de monitorización, se transforma en las correspondientes instrucciones, para un sistema de control del pedal.The information received from the monitoring system is transformed into the corresponding instructions for a pedal control system.
En el caso de tratarse de un pedal de un grado de libertad, el sistema de control se compone de un motor con su correspondiente sensor y transmisión.In the case of a pedal with a degree of freedom, the control system consists of an engine with its corresponding sensor and transmission.
De acuerdo con las instrucciones recibidas en el sistema de control desde el sistema de monitorización, aquel se encarga de provocar una serie de fuerzas sobre el pedal accionado por el cirujano; de manera que, por ejemplo, si el instrumento quirúrgico vibra, el pedal vibra y, además, el grado de vibración del pedal puede ir aumentando o reduciendo en función de que vaya aumentando o reduciéndose el grado de vibración de dicho instrumento. Asimismo puede variar el grado de dureza del pedal en función de cómo vaya evolucionando el trabajo del instrumento quirúrgico o su estado; de manera que, por ejemplo, en función del grado de dureza del cuerpo sobre el que trabaje el instrumento quirúrgico, puede ir aumentando o reduciéndose la dureza del pedal. También y sólo a modo de ejemplo, al alcanzar un cierto grado de desgaste que aconseje su sustitución, el pedal se eleva, produciendo el levantamiento del pie del cirujano.According to the instructions received in the control system from the monitoring system, which is responsible for causing a series of forces on the pedal operated by the surgeon; so that, for example, if the surgical instrument vibrates, the pedal vibrates and, in addition, the degree of vibration of the pedal can increase or decrease depending on whether the degree of vibration of said instrument increases or decreases. Likewise, the degree of hardness of the pedal can vary depending on how the work of the surgical instrument evolves or its condition; so that, for example, depending on the degree of hardness of the body on which the surgical instrument works, the hardness of the pedal can be increased or reduced. Also and only by way of example, when reaching a certain degree of wear that advises its replacement, the pedal is raised, causing the surgeon's foot to be lifted.
En definitiva, en función de los valores obtenidos por el sistema de monitorización se realimentan en el pedal una serie de movimientos que se traducen en el pie del usuario en sensaciones tales como más dureza, diferentes tipos de vibración, levantamientos del pie, etc. Estas sensaciones que se transmiten al cirujano a través de su pie, le proporcionan una entrada de información táctil adicional a la que él obtiene convencionalmente en el manejo de la herramienta quirúrgica con la mano.In short, depending on the values obtained by the monitoring system, a series of movements are fed back into the pedal that translate into the user's foot in sensations such as more hardness, different types of vibration, foot lifts, etc. These sensations that are transmitted to the surgeon through his foot, provide him with an additional tactile information input that he conventionally obtains in the operation of the surgical tool by hand.
De esta forma, y aplicando, por ejemplo, este pedal en los trabajos quirúrgicos de fresado de los huesos o en los tornos de los dentistas, se consigue que, frente a los pedales convencionales, en los que la información de cómo va procediendo el fresado es sobretodo táctil, a través de la mano que sujeta la herramienta, y, en algunos casos, sonora, por los diferentes sonidos que emite la fresa, en función de su grado de desgaste, velocidad, etc., con el pedal ahora preconizado se proporciona una información táctil adicional a través de la realimentación de una serie de fuerzas y sensaciones en el pie del cirujano o usuario.In this way, and applying, for example, this pedal in the surgical work of milling the bones or in the lathes of the dentists, it is achieved that, compared to conventional pedals, in which the information of how the milling proceeds It is especially tactile, through the hand that holds the tool, and, in some cases, sound, due to the different sounds emitted by the milling cutter, depending on its degree of wear, speed, etc., with the now recommended pedal, additional tactile information is provided through feedback of a series of forces and sensations in the foot of the surgeon or user.
De esta forma el pedal, objeto de la presente invención conduce a la integración del sentido del tacto en el uso del pedal; de manera que se consigue aumentar la sensibilidad y la precisión del cirujano, en el uso del correspondiente instrumento quirúrgico.In this way the pedal, object of the present invention leads to the integration of the sense of touch in the use of the pedal; so that it is possible to increase the sensitivity and precision of the surgeon, in the use of the corresponding surgical instrument.
Es más, se ha previsto aumentar este doble canal de información con nuevos canales de información, como por ejemplo la monitorización de algún tipo de constante vital del paciente, etc.Moreover, it is planned to increase this double channel of information with new channels of information, such as the monitoring of some type of patient's vital constant, etc.
Descripción de las figurasDescription of the figures
Las figuras 1 y 2 muestran sendos esquemas del comportamiento de un pedal (1), de acuerdo con la solución ahora preconizada y provisto de un doble canal de información (Cl y C2) .Figures 1 and 2 show two diagrams of the behavior of a pedal (1), according to the solution now recommended and provided with a double channel of information (Cl and C2).
La figura 3 muestra una vista en alzado del pedal (1), según una posible realización práctica, ocupando la placa de apoyo del pie (1.1) diferentes posiciones.Figure 3 shows an elevation view of the pedal (1), according to a possible practical embodiment, the foot support plate (1.1) occupying different positions.
Las figuras 4 y 5 son sendas vistas en perspectiva del pedal (1) .Figures 4 and 5 are perspective views of the pedal (1).
Las figuras 6 y 7 son sendas vistas en perspectiva del pedal (1) con sus componentes representados en fase de montaje. La figura 8 muestra una vista en perspectiva y esquemática de un usuario del pedal (1) en posición sentado.Figures 6 and 7 are perspective views of the pedal (1) with its components shown in the assembly phase. Figure 8 shows a perspective and schematic view of a pedal user (1) in a sitting position.
Las figuras 9 y 10 son las vistas frontal y lateral correspondientes a la figura 8.Figures 9 and 10 are the front and side views corresponding to Figure 8.
La figura 11 es una vista en perspectiva y esquemática de un usuario del pedal (1) en posición de levantado.Figure 11 is a perspective and schematic view of a pedal user (1) in the raised position.
Las figuras 12 y 13 son las vistas frontal y lateral correspondientes a la figura 11.Figures 12 and 13 are the front and side views corresponding to Figure 11.
Las figuras 14 y 15 son sendas vistas en esquema como las figuras 1 y 2, pero con un tercer canal de información (C3).Figures 14 and 15 are paths seen in schematic like Figures 1 and 2, but with a third channel of information (C3).
Descripción de-tallada de la invenciónDetailed description of the invention
El objeto de la presente invención es un pedal de accionamiento (1), para aplicaciones médicas. Este pedal (1) puede denominarse "pedal háptico", entendiendo por "háptico" a todo el conjunto de sensaciones relacionadas con el tacto que experimenta un individuo. De acuerdo con la presente invención, el pedal (1) está provisto de, al menos, un segundo canal de información táctil (C2), pudiendo incorporar más de dos canales de información y complementar las sensaciones táctiles con otras sensaciones.The object of the present invention is a drive pedal (1), for medical applications. This pedal (1) can be called "haptic pedal", meaning "haptic" to the whole set of sensations related to the touch that an individual experiences. In accordance with the present invention, the pedal (1) is provided with at least a second tactile information channel (C2), being able to incorporate more than two information channels and complement the tactile sensations with other sensations.
En la figura 1 se representa un primer esquema del pedal (1) objeto de la presente invención, en la versión de doble canal (Cl y C2). Según este esquema, el pie (5) del cirujano apoya sobre el pedal (1) que dispone de un doble canal de información (Cl y C2) . El canal (Cl) permite transmitir desde el pedal (1) las correspondientes consignas de control del instrumental quirúrgico (2) que en este caso y como un posible ejemplo no limitativo de aplicación práctica es una fresa; de manera que el canal (Cl) permite controlar la herramienta de fresado (2.1) según los medios y prácticas habituales en este tipo de pedales, mediante actuadores neumáticos, eléctricos y/o mecánicos.Figure 1 shows a first diagram of the pedal (1) object of the present invention, in the double channel version (Cl and C2). According to this scheme, the surgeon's foot (5) rests on the pedal (1) that It has a double channel of information (Cl and C2). The channel (Cl) allows the corresponding control instructions of the surgical instruments (2) to be transmitted from the pedal (1), which in this case and as a possible non-limiting example of practical application is a milling cutter; so that the channel (Cl) allows the milling tool (2.1) to be controlled according to the usual means and practices in this type of pedals, by means of pneumatic, electric and / or mechanical actuators.
La novedad de la presente invención radica en la existencia del segundo canal de información, identificado en esta figura 1 como (C2). Este segundo canal (C2), recibe información desde un sistema de monitorización del comportamiento de la herramienta (2.1), obteniendo en tiempo real información sobre el estado de la herramienta, en cuanto a parámetros tales como la velocidad de giro, la potencia consumida, el sonido que produce la herramienta (2.1) al actuar sobre el paciente, las vibraciones de la herramienta (2.1), etc.The novelty of the present invention lies in the existence of the second information channel, identified in this figure 1 as (C2). This second channel (C2) receives information from a system for monitoring the behavior of the tool (2.1), obtaining in real time information about the state of the tool, in terms of parameters such as the speed of rotation, the power consumed, the sound produced by the tool (2.1) when acting on the patient, the vibrations of the tool (2.1), etc.
En la figura 1 no se ha representado el sistema de monitorización de la herramienta (2.1) por tratarse de un sistema de monitorización convencional; de manera que el pedal (1) quedará comunicado a través del canalIn Figure 1 the tool monitoring system (2.1) has not been represented as it is a conventional monitoring system; so that the pedal (1) will be communicated through the channel
(C2) con dicho sistema de monitorización que será cualquiera de los existentes en cada momento en el mercado.(C2) with said monitoring system that will be any of those existing at any time in the market.
La información recibida del sistema de monitorización de la herramienta (2.1) se transforma en las correspondientes instrucciones, para un sistema de control del pedal (1); de manera que se provocan sobre el pedal (1) una serie de fuerzas y/o movimientos en función del estado o de la forma de trabajo de la herramienta (2.1).The information received from the tool monitoring system (2.1) is transformed into the corresponding instructions, for a pedal control system (1); so that a series of forces and / or movements are caused on the pedal (1) in depending on the state or way of working of the tool (2.1).
De esta forma y por ejemplo, si el instrumento quirúrgico (2) vibra, el pedal (1) vibra y, además, el grado de vibración del pedal (1) puede ir aumentando o reduciendo en función de que vaya aumentando o reduciéndose el grado de vibración de dicho instrumento (2). Asimismo puede variar el grado de dureza del pedal (1) en función de cómo vaya evolucionando el trabajo del instrumento quirúrgico (2) o del estado de la herramienta (2.1); de manera que, por ejemplo, en función del grado de dureza del cuerpo sobre el que trabaje la herramienta (2.1), puede ir aumentando o reduciéndose la dureza del pedal (1) . También y sólo a modo de ejemplo, al alcanzar un cierto grado de desgaste que aconseje su sustitución de la herramientaIn this way and for example, if the surgical instrument (2) vibrates, the pedal (1) vibrates and, in addition, the degree of vibration of the pedal (1) can be increased or reduced depending on whether it increases or decreases the degree of vibration of said instrument (2). Likewise, the degree of hardness of the pedal (1) can vary depending on how the work of the surgical instrument (2) evolves or the state of the tool (2.1); so that, for example, depending on the degree of hardness of the body on which the tool works (2.1), the hardness of the pedal (1) can be increased or reduced. Also and only by way of example, when reaching a certain degree of wear that advises its replacement
(2.1), el pedal (1) se puede elevar, produciendo el levantamiento del pie (5) del cirujano.(2.1), the pedal (1) can be raised, causing the surgeon's foot (5) to be lifted.
En definitiva, en función de los valores obtenidos por el sistema de monitorización se realimentan en el pedal (1) una serie de movimientos y/o esfuerzos que se traducen en el pie (5) del usuario en sensaciones tales como más dureza, diferentes tipos de vibración, levantamiento del pie, etc. Estas sensaciones que se transmiten al cirujano a través de su pie (5), le proporcionan una entrada de información táctil adicional a la que él obtiene convencionalmente en el manejo del instrumento quirúrgico (2) con la mano.In short, depending on the values obtained by the monitoring system, a series of movements and / or efforts are translated into the pedal (1) that translate into the user's foot (5) in sensations such as more hardness, different types of vibration, foot lift, etc. These sensations that are transmitted to the surgeon through his foot (5), provide him with an additional tactile information input that he conventionally obtains in the operation of the surgical instrument (2) by hand.
En la figura 1 se representa con la flecha señalada por la referencia numérica (3) la información táctil que recibe el cerebro del cirujano proveniente de la mano que maneja el instrumento quirúrgico (2); mientras que la flecha señalada con la referencia numérica (4) representa la información táctil que recibe el cerebro del cirujano proveniente de su pieIn figure 1 the tactile information received by the surgeon's brain from the hand that manages the surgical instrument (2) is represented by the arrow indicated by the numerical reference (3); while the arrow indicated with the numerical reference (4) represents the tactile information received by the surgeon's brain from his foot
(5), a través del canal de información (C2) del pedal (1).(5), through the information channel (C2) of the pedal (1).
En la figura 2 se representa, en un esquema de bloques, lo anteriormente descrito. Asi el bloque (6) se corresponde por ejemplo con un sensor convencional del pedal (1) que permite, en función del grado de inclinación del pedal (1) , transmitir por el canal (Cl) una consigna de control hacia la herramienta de trabajo (2.1) para controlar variables de la herramienta (2.1), tales como la velocidad de giro de su motor, el par de funcionamiento, etc. representadas por el bloque (9).Figure 2 depicts, in a block diagram, the above described. Thus the block (6) corresponds, for example, with a conventional pedal sensor (1) which, depending on the degree of inclination of the pedal (1), transmits a control setpoint to the work tool via the channel (Cl) (2.1) to control tool variables (2.1), such as the speed of rotation of your motor, the operating torque, etc. represented by the block (9).
A través del segundo canal de información (C2) monitorizamos el comportamiento de la herramientaThrough the second information channel (C2) we monitor the behavior of the tool
(2.1), a través de los correspondientes sensores de esta última, representando el bloque (8) el sistema de monitorización de la herramienta (2.1) que nos proporciona datos sobre valores tales como la potencia consumida, las vibraciones, etc.(2.1), through the corresponding sensors of the latter, the block (8) representing the monitoring system of the tool (2.1) that provides data on values such as the power consumed, the vibrations, etc.
Estos valores se traducen en el pedal (1) en sensaciones táctiles tales como pulsaciones, fuerza oposición, etc., tal y como lo representa el bloque (7); de forma que se obtiene con este pedal activo de control (1) un control bidireccional representado esquemáticamente por el bloque (10) en dicha figura 2.These values are translated in the pedal (1) into tactile sensations such as pulsations, opposing force, etc., as represented by the block (7); so that with this active control pedal (1) a bidirectional control schematically represented by the block (10) in said figure 2 is obtained.
Las figuras 3 a 5 muestran un posible ejemplo no limitativo de realización práctica del pedal (1), para el caso en el que el pedal (1) sea del tipo de un grado de libertad. El pedal (1) se compone de una placa (1.1) para el apoyo del pie (5) del cirujano. La placa (1.1) se relaciona, a través de un eje de pivotamiento (1.2) con una base (1.3) de apoyo sobre el suelo.Figures 3 to 5 show a possible non-limiting example of practical implementation of the pedal (1), in the case where the pedal (1) is of the type of a degree of freedom. The pedal (1) consists of a plate (1.1) for the support of the foot (5) of the surgeon. The plate (1.1) is related, through a pivot axis (1.2) with a base (1.3) of support on the ground.
En la parte delantera se sitúa un motor (1.5) que, por un extremo de su correspondiente eje motriz queda acoplado a un encoder (1.6) y por el otro extremo de dicho eje motriz, este va acoplado a una transmisión por cable (1.4), a través de la cual el motor (1.5) va relacionado con la placa (1.1) de apoyo del pie (5) .In the front part there is a motor (1.5) which, at one end of its corresponding drive shaft is coupled to an encoder (1.6) and at the other end of said drive shaft, this is coupled to a cable transmission (1.4) , through which the motor (1.5) is related to the foot support plate (1.1) (5).
En las vistas explosionadas de las figuras 6 y 7, se aprecia como el eje motriz (1.5.1) del motor (1.5) va acoplado, por un extremo, al encoder (1.6) y, por el otro extremo, a una polea motriz (1.7) que forma parte del sistema de transmisión por cable (1.4) .In the exploded views of Figures 6 and 7, it can be seen how the drive shaft (1.5.1) of the motor (1.5) is coupled, at one end, to the encoder (1.6) and, at the other end, to a driving pulley (1.7) that is part of the cable transmission system (1.4).
En la polea motriz (1.7) va enrollado el cable (1.10) (ver figura 7), uno de cuyos extremos se une a un punto fijo y el otro extremo va enrollado en un tensor (1.9) montado en un armazón (1.8) solidario a la placa (1.1) .In the drive pulley (1.7) the cable (1.10) is wound (see figure 7), one of whose ends is attached to a fixed point and the other end is wound in a tensioner (1.9) mounted on a supportive frame (1.8) to the plate (1.1).
El encoder (1.6), a través del giro del eje motrizThe encoder (1.6), through the rotation of the drive shaft
(1.5.1), mide la posición angular del pedal (1). A su vez, a través de una tarjeta de control y de un amplificador se controla el motor (1.5), quien, mediante la transmisión por cable (1.4) queda relacionado con el armazón (1.8). En las figuras adjuntas no se ha representado a la tarjeta de control y al amplificador de control del motor (1.5), al tratarse de unos elementos absolutamente convencionales . De esta forma, la información que se recibe a través de la monitorización en la herramienta (2.1) se transforma en las correspondientes instrucciones para el motor (1.5), el cual, comunicará, a través de la transmisión por cable (1.4), una serie de fuerzas sobre el armazón (1.8) y, por consiguiente, sobre la placa(1.5.1), measures the angular position of the pedal (1). In turn, the motor (1.5) is controlled by means of a control card and an amplifier, who, by means of the cable transmission (1.4), is related to the frame (1.8). In the attached figures, the control card and the motor control amplifier (1.5) have not been represented, as they are absolutely conventional elements. In this way, the information received through monitoring in the tool (2.1) is transformed into the corresponding instructions for the motor (1.5), which will communicate, through the cable transmission (1.4), a series of forces on the frame (1.8) and, consequently, on the plate
(1.1) de apoyo del pie (5), constituyéndose asi un pedal activo de control (1).(1.1) supporting the foot (5), thus constituting an active control pedal (1).
Las figuras 8, 9 y 10 muestran la utilización del pedal (1) por un usuario que permanece sentado y que maneja un instrumento quirúrgico (2); mientras que las figuras 11, 12 y 13 son las figuras reciprocas pero con el usuario en posición levantada.Figures 8, 9 and 10 show the use of the pedal (1) by a user sitting and operating a surgical instrument (2); while figures 11, 12 and 13 are the reciprocal figures but with the user in the raised position.
El pedal (1) objeto de la presente invención puede tener más de dos canales de información (Cl y C2) . En las figuras 14 y 15 se representa esquemáticamente una realización con tres canales de información; de manera que, además de los canales (Cl y C2) ya detallados incorpora un tercer canal identificado con la referencia alfa-numérica (C3) que proporciona información sobre una monitorización de algún tipo de constante vital del paciente, como pueden ser el propio ritmo cardiaco o la superación de algún tipo de umbral.The pedal (1) object of the present invention can have more than two information channels (Cl and C2). An embodiment with three information channels is schematically depicted in Figures 14 and 15; so that, in addition to the channels (Cl and C2) already detailed, it incorporates a third channel identified with the alpha-numerical reference (C3) that provides information on a monitoring of some kind of vital constant of the patient, such as the rhythm itself cardiac or the overcoming of some type of threshold.
En la figura 15 se aprecia como el tercer canal (C3) recibe información de un sistema de monitorización (8') del paciente, que proporciona, a través de unos sensores relacionados con el paciente, una información sobre el ritmo cardiaco, superación de algún umbral, etc., representando el bloque (8') este sistema de monitorización que será en cada caso el más conveniente de los sistemas de monitorización de este tipo que ya existen en el mercado. La información recibida del sistema de monitorización (8' ) es conducida, a través del canal (C3) , hacia el pedal (1) .Figure 15 shows how the third channel (C3) receives information from a monitoring system (8 ') of the patient, which provides, through sensors related to the patient, information on the heart rate, overcoming some threshold, etc., the block (8 ') representing this monitoring system that will be in each case the most convenient of the monitoring systems of this type that already exist in the market. The information received from Monitoring system (8 ') is conducted, through the channel (C3), to the pedal (1).
Es de señalar que tal y como ya se ha indicado, el pedal (1) puede disponer de dos, tres o más canales de informaciones (Cl, C2, C3 Cn) sin que ello altere en nada la esencia de la invención. Tampoco dicha esencia se verla alterada si el pedal (1) proporciona, además de las sensaciones táctiles ya comentadas, otro tipo de sensaciones no táctiles complementarias, si bien siempre serán aquellas las fundamentales.It should be noted that, as already indicated, the pedal (1) can have two, three or more information channels (Cl, C2, C3 Cn) without altering the essence of the invention at all. Nor will this essence be altered if the pedal (1) provides, in addition to the tactile sensations already mentioned, other complementary non-tactile sensations, although those will always be the fundamental ones.
Por último y aunque el diseño de este pedal se ha llevado a cabo para su aplicación fundamental dentro del campo médico, son posibles otras aplicaciones en diferentes campos, tales como el tallado, la escultura, etc. Finally, and although the design of this pedal has been carried out for its fundamental application within the medical field, other applications are possible in different fields, such as carving, sculpture, etc.

Claims

REIVINDICACIONES
1.- Pedal de accionamiento para aplicaciones médicas, del tipo de pedales que incorporan un canal (Cl) para el control del motor de un instrumento quirúrgico (2), caracterizado en que el pedal (1) además de este canal (Cl) incorpora, al menos, un segundo canal de información (C2) que recibe datos de un sistema de monitorización (8) de la herramienta (2.1), lo que permite conocer, en tiempo real, el estado de la herramienta (2.1) en cuanto a parámetros tales como la velocidad de giro, la potencia consumida, el sonido producido por la herramienta (2.1) y su grado de vibración; y porque la información recibida del sistema de monitorización (8) se transforma en unas instrucciones, para un dispositivo de control del pedal1.- Drive pedal for medical applications, of the type of pedals that incorporate a channel (Cl) for motor control of a surgical instrument (2), characterized in that the pedal (1) in addition to this channel (Cl) incorporates At least a second information channel (C2) that receives data from a monitoring system (8) of the tool (2.1), which allows to know, in real time, the status of the tool (2.1) in terms of parameters such as the speed of rotation, the power consumed, the sound produced by the tool (2.1) and its degree of vibration; and because the information received from the monitoring system (8) is transformed into instructions, for a pedal control device
(1), realimentando en este último una serie de movimientos y/o fuerzas que se transmiten al usuario a través del pie, proporcionándole asi a dicho usuario una entrada de información táctil, adicional a la que obtendría convencionalmente en el manejo del instrumento quirúrgico (2) con la mano.(1), feedback in the latter a series of movements and / or forces that are transmitted to the user through the foot, thus providing said user with tactile information input, in addition to that which would be obtained conventionally in the handling of the surgical instrument ( 2) by hand.
2. - Pedal de accionamiento para aplicaciones médicas, en todo de acuerdo con la anterior reivindicación, caracterizado en que el pedal (1) puede incorporar otros canales de comunicación, además del canal (C2), para que el pedal (1) reciba una información complementaria, como puede ser el caso de un tercer canal (C3) que transmite al pedal (1) la información recibida desde un sistema de monitorización2. - Drive pedal for medical applications, in all according to the preceding claim, characterized in that the pedal (1) can incorporate other communication channels, in addition to the channel (C2), so that the pedal (1) receives a complementary information, such as the case of a third channel (C3) that transmits to the pedal (1) the information received from a monitoring system
(8') de algún tipo de constante vital del paciente.(8 ') of some kind of patient's vital constant.
3.- Pedal de accionamiento para aplicaciones médicas, en todo de acuerdo con la primera reivindicación, caracterizado en que, cuando el pedal3.- Drive pedal for medical applications, all in accordance with the first claim, characterized in that, when the pedal
(1) es del tipo de los de un grado de libertad, dicho pedal (1), según una posible realización práctica del mismo, incorpora un motor (1.5) acoplado por un extremo de su eje motriz (1.5.1) a un encoder (1.6), que mide la posición angular de la placa (1.1) del pedal (1) sobre la que apoya el pie; mientras que por su otro extremo va acoplado a una transmisión por cable (1.4), a través de la cual el motor (1.5) queda relacionado con dicha placa (1.1) de apoyo del pie. (1) is of the type of a degree of freedom, said pedal (1), according to a possible practical embodiment thereof, incorporates a motor (1.5) coupled by one end of its drive shaft (1.5.1) to an encoder (1.6), which measures the angular position of the plate (1.1) of the pedal (1) on which the foot rests; while at its other end it is coupled to a cable transmission (1.4), through which the motor (1.5) is related to said foot support plate (1.1).
PCT/ES2007/000600 2006-10-31 2007-10-24 Actuation pedal for medical applications WO2008053056A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ESP200602765 2006-10-31
ES200602765A ES2302450B1 (en) 2006-10-31 2006-10-31 OPERATING PEDAL, FOR MEDICAL APPLICATIONS.

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CN112702966A (en) * 2018-09-17 2021-04-23 柯惠Lp公司 Foot pedal assignment for robotic surgical systems
US11660148B2 (en) 2020-01-13 2023-05-30 Stryker Corporation System and method for monitoring offset during navigation-assisted surgery

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WO1996013845A1 (en) * 1994-10-28 1996-05-09 Chiron Vision Corporation Electronic footswitch for ophthalmic surgery
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CN112702966A (en) * 2018-09-17 2021-04-23 柯惠Lp公司 Foot pedal assignment for robotic surgical systems
CN112702966B (en) * 2018-09-17 2024-03-15 柯惠Lp公司 Foot pedal assignment for robotic surgical system
US11660148B2 (en) 2020-01-13 2023-05-30 Stryker Corporation System and method for monitoring offset during navigation-assisted surgery

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ES2302450B1 (en) 2009-07-24

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