WO2008053056A1 - Pédale d'actionnement pour applications médicales - Google Patents

Pédale d'actionnement pour applications médicales 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
Authority
WO
WIPO (PCT)
Prior art keywords
pedal
tool
channel
information
monitoring system
Prior art date
Application number
PCT/ES2007/000600
Other languages
English (en)
Spanish (es)
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/fr

Links

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.

Landscapes

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

Abstract

L'invention concerne une pédale d'actionnement pour applications médicales, du type de celles qui incorporent un canal (C1) pour la commande du moteur d'un instrument chirurgical (2). La pédale (1) faisant l'objet de l'invention incorpore, en plus dudit canal, un second canal d'information (C2) recevant des données d'un système de surveillance de l'outil (2.1), ce qui permet de connaître en temps réel l'état de l'outil (2.1) par rapport à des paramètres tels que la vitesse de rotation, la puissance consommée, le son produit par l'outil (2.1) et son niveau de vibration. L'information reçue du système de surveillance de l'outil (2.1) se transforme en instructions pour un dispositif de commande de la pédale (1), réactivant dans celui-ci une série de mouvements et/ou de forces transmis à l'utilisateur par l'intermédiaire du pied.
PCT/ES2007/000600 2006-10-31 2007-10-24 Pédale d'actionnement pour applications médicales WO2008053056A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES200602765A ES2302450B1 (es) 2006-10-31 2006-10-31 Pedal de accionamiento, para aplicaciones medicas.
ESP200602765 2006-10-31

Publications (1)

Publication Number Publication Date
WO2008053056A1 true WO2008053056A1 (fr) 2008-05-08

Family

ID=39343854

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2007/000600 WO2008053056A1 (fr) 2006-10-31 2007-10-24 Pédale d'actionnement pour applications médicales

Country Status (2)

Country Link
ES (1) ES2302450B1 (fr)
WO (1) WO2008053056A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112702966A (zh) * 2018-09-17 2021-04-23 柯惠Lp公司 用于机器人手术系统的脚踏板分配
US11660148B2 (en) 2020-01-13 2023-05-30 Stryker Corporation System and method for monitoring offset during navigation-assisted surgery

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996013845A1 (fr) * 1994-10-28 1996-05-09 Chiron Vision Corporation Interrupteur electronique au pied pour chirurgie ophtalmique
WO1998008442A1 (fr) * 1996-08-29 1998-03-05 Storz Instrument Company Unite de commande au pied pour systeme microchirurgical
WO2003023544A2 (fr) * 2001-09-07 2003-03-20 Phacor, Inc. Controleur a pedale de commutation destine a un instrument chirurgical
WO2003025693A1 (fr) * 2001-09-19 2003-03-27 Advanced Medical Optics, Inc. Repose-pied chirurgical intelligent a faible bruit et a retroaction de vibration a faible resistance
DE10241995A1 (de) * 2002-09-11 2004-03-18 Zf Friedrichshafen Ag Verfahren und Vorrichtung zur Rückmeldung eines Signals an den Fahrer eines Kraftfahrzeuges
WO2004049955A1 (fr) * 2002-12-03 2004-06-17 Alcon, Inc. Pedale de commande amelioree destinee a un systeme microchirurgical

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996013845A1 (fr) * 1994-10-28 1996-05-09 Chiron Vision Corporation Interrupteur electronique au pied pour chirurgie ophtalmique
WO1998008442A1 (fr) * 1996-08-29 1998-03-05 Storz Instrument Company Unite de commande au pied pour systeme microchirurgical
WO2003023544A2 (fr) * 2001-09-07 2003-03-20 Phacor, Inc. Controleur a pedale de commutation destine a un instrument chirurgical
WO2003025693A1 (fr) * 2001-09-19 2003-03-27 Advanced Medical Optics, Inc. Repose-pied chirurgical intelligent a faible bruit et a retroaction de vibration a faible resistance
DE10241995A1 (de) * 2002-09-11 2004-03-18 Zf Friedrichshafen Ag Verfahren und Vorrichtung zur Rückmeldung eines Signals an den Fahrer eines Kraftfahrzeuges
WO2004049955A1 (fr) * 2002-12-03 2004-06-17 Alcon, Inc. Pedale de commande amelioree destinee a un systeme microchirurgical

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112702966A (zh) * 2018-09-17 2021-04-23 柯惠Lp公司 用于机器人手术系统的脚踏板分配
CN112702966B (zh) * 2018-09-17 2024-03-15 柯惠Lp公司 用于机器人手术系统的脚踏板分配
US11660148B2 (en) 2020-01-13 2023-05-30 Stryker Corporation System and method for monitoring offset during navigation-assisted surgery

Also Published As

Publication number Publication date
ES2302450A1 (es) 2008-07-01
ES2302450B1 (es) 2009-07-24

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