WO2012013846A1 - Bras télérobotique à structure parallèle pour applications de chirurgie mini-invasive - Google Patents

Bras télérobotique à structure parallèle pour applications de chirurgie mini-invasive Download PDF

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Publication number
WO2012013846A1
WO2012013846A1 PCT/ES2011/070522 ES2011070522W WO2012013846A1 WO 2012013846 A1 WO2012013846 A1 WO 2012013846A1 ES 2011070522 W ES2011070522 W ES 2011070522W WO 2012013846 A1 WO2012013846 A1 WO 2012013846A1
Authority
WO
WIPO (PCT)
Prior art keywords
minimally invasive
invasive surgery
arm
applications
parallel configuration
Prior art date
Application number
PCT/ES2011/070522
Other languages
English (en)
Spanish (es)
Inventor
Jose Maria Sabater Navarro
Eduardo Fernandez Jover
Nicolas Garcia Aracil
Carlos Perez Vidal
Jose María AZORIN POVEDA
Original Assignee
Universidad Miguel Hernandez
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 Universidad Miguel Hernandez filed Critical Universidad Miguel Hernandez
Publication of WO2012013846A1 publication Critical patent/WO2012013846A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • 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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'

Definitions

  • the present invention consists of a telerobotic arm of at least four degrees of freedom capable of performing the movements of the surgical tools in a minimally invasive surgery operation.
  • the robotic arm is preferably formed by five actuators, four of them to execute the 4 degrees of freedom and an additional 1 to control the tool exchange.
  • Each arm has a small size, along with a dynamic capacity sufficient for performing surgical tasks.
  • the present invention relates to the field of surgical systems with robotic assistance, surgical robots and automatic systems for computer-assisted surgery.
  • the minimally invasive surgery is characterized by the use of small incisions smaller than 10 mm so that the instruments penetrate the body through these incisions.
  • the trocars are placed, which are elements that allow the access of said instruments by restricting the kinematics of operation to a spherical joint plus a degree of freedom of translation along the axis of the surgical tool.
  • Robotic devices are defined as intrinsically safe because their mechanical design is based on two requirements, avoiding collisions between their elements and avoiding singularities within the work space of the robot tool. The most common solution is the use of the "remote center of motion" (RCM), which places the center
  • REPLACEMENT SHEET (Rule 26) Rotating the robot's wrist in the trocar. In this way there is no translation of this point, preventing any failure in the control of the robot causes any damage to the patient.
  • the invention provides improvements or innovations over existing devices.
  • the present invention has a PARALLEL kinematic structure, which grants rigidity and robustness to the device, allowing sufficient forces to be performed for the performance of surgical tasks, despite the reduced size thereof. Also, the present invention incorporates an automatic tool exchanger that allows the contribution of material to the surgical area automatically without the need of a surgeon in the room and saving a large amount of time on the currently used when you want to introduce a dressing inside the abdominal cavity.
  • the invention TELEROBOTIC ARM of parallel configuration for applications of minimally invasive surgery preferably, of four degrees of freedom, capable of performing the movements of the surgical tools in a minimally invasive surgery operation preferably consists of three elements, namely , a passive positioning arm (36) that mainly has a serial configuration in which each joint (37) is passive and is sensed to know the final position of the element (21) and can be locked so that the joints remain fixed during the operation, and which is anchored on the couch of the operating room and allows to position its end (21) on the patient; a tool exchanger consisting mainly of a motorized linear guide (25) placed at the end of the positioning arm (36), preferably at an angle of 60 ° with the last link in the arm (36), on which a carriage slides.
  • a passive positioning arm (36) that mainly has a serial configuration in which each joint (37) is passive and is sensed to know the final position of the element (21) and can be locked so that the joints remain fixed during the operation, and which is anchored on the couch of the operating room
  • the carriage It carries a magnetic actuator without rod (5) for the exchange of tools, the carriage is positioned exactly along the linear guide, allowing the alignment of the magnetic actuators (4) and (5), in order to control the car, the linear guide is sensed with limit switches (1 1) and (12); and, finally, a mechanism of parallel kinematic configuration, constituted, in turn, by three linear actuators with rod (1), (2) and (3) that make up a parallel platform.
  • the lower base (20) of this platform is a spherical joint formed by three elements (21), (22) and (23) whose center of rotation (10) coincides with the entrance hole of the surgical operation, increasing the safety of this type of operations.
  • the upper base (24) of this platform is subject to the three linear actuators (1), (2) and (3) which, moving on their stems (32), (33) and (34), produces the rotation of this platform. higher.
  • the invention has an electronic interface (28) located at the intersection between the stem and the axis of the surgical tool that allows the electronic connection of the memory wires so necessary for the control of the necessary degrees of freedom in the end of the surgical tool (26).
  • Figure 8 shows a clamp-type surgical tool whose degree of freedom is the movement of opening / closing clamp. This movement is controlled by the nitinol wires and springs (27) located on the tool's own axis and electrically connected to the interface (28).
  • the invention allows several arms to be used without having collision problems between them, since the passive part (the passive positioning arm) is static, and the movement of the moving part is restricted to the work space displayed in Figure 5.
  • the teleoperation scheme of this arm allows its integration into a bilateral teleoperation system, since it is possible to obtain the data of forces made by the robotic arm on the surgical tool thanks to the direct reading of the actuator intensity (1) , (2), (3) and (4).
  • Figure 1 General view of the telerobotic arm for minimally invasive surgery applications.
  • Figure 3. General view of a system consisting of two tele robotic arms
  • Figure 7 Isometric view and elevation of the tool exchanger system.
  • FIG. 1 Detail view of the electronic interface for the control of the end of the surgical tool.
  • PARALLEL CONFIGURATION TELEROBOTIC ARM is one in which the passive positioning arm is preferably formed by 3 or more extruded aluminum links.
  • the joints (37) are mounted on joints that could be of the modified cardan type (hook), so that a wide range of motion is obtained and the possibility of blocking (braking) said passive joints.
  • the linear guide (25) is placed in the housing provided for this purpose in a piece (21), so that the desired angle for positioning the guide is achieved.
  • the guide is preferably a 150 mm light-duty single-track guide, to which a DC motor (6) is coupled for the control of the linear carriage, this linear carriage is positioned exactly along the linear guide (25) and allows the alignment and approach of the actuator shafts (4) and (5).
  • a linear motor is placed on this car.
  • the actuator (4) is without any rod inside, and therefore there is initially no tool in the parallel mechanism.
  • the parallel device moves to place its main axis parallel to the axis of the linear guide, position (16).
  • the guide carriage is placed in the proper position to allow the movement of the rod (35) to insert this rod into the actuator (4).
  • the actuator (5) stops acting, so that when the carriage of the linear guide (25) moves up, the rod (35) leaves the actuator (5) and is controlled by the actuator (4).
  • the lower base of the parallel device is constructed with three pieces preferably made of Nylon or another type of low friction plastic, to achieve a spherical joint.
  • the cardan joints used are standard, while the actuators (1), (2) and (3) are preferably 80mm linear motors with a useful stroke and a minimum capacity of 2 Newtons.
  • the upper base is preferably constructed in methacrylate, and locates another actuator (4) of similar characteristics to the actuators (1), (2) and (3).
  • the stems (32 to 35) are the stems of the LM 1247 actuators, and the electronic interface and the surgical tool for minimally invasive surgery are added to the stem (35).
  • the wire muscles used to act the end of the surgical tool are desirably shaped memory alloy wires (27), these wires are placed inside the tube of the surgical tool and work with schemes of antagonistic muscles to act the end of the tool

Landscapes

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

Abstract

La présente invention concerne un bras télérobotique présentant au moins quatre degrés de liberté, capable de réaliser les mouvements des outils chirurgicaux dans une opération de chirurgie mini-invasive. Ce bras robotique comprend de préférence cinq actionneurs, dont quatre pour exécuter les 4 degrés de liberté et un supplémentaire pour commander le changement d'outil. Chaque bras présente une taille réduite ainsi qu'une capacité dynamique suffisante pour la réalisation des tâches chirurgicales.
PCT/ES2011/070522 2010-07-30 2011-07-15 Bras télérobotique à structure parallèle pour applications de chirurgie mini-invasive WO2012013846A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201001008A ES2390436B1 (es) 2010-07-30 2010-07-30 Brazo telerrobotico de configuracion paralela para aplicaciones de cirugia minima invasiva
ESP201001008 2010-07-30

Publications (1)

Publication Number Publication Date
WO2012013846A1 true WO2012013846A1 (fr) 2012-02-02

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2011/070522 WO2012013846A1 (fr) 2010-07-30 2011-07-15 Bras télérobotique à structure parallèle pour applications de chirurgie mini-invasive

Country Status (2)

Country Link
ES (1) ES2390436B1 (fr)
WO (1) WO2012013846A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108742851A (zh) * 2018-07-02 2018-11-06 哈尔滨理工大学 一种高精度微创三轴内窥镜的结构设计

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021147267A1 (fr) * 2020-01-23 2021-07-29 诺创智能医疗科技(杭州)有限公司 Bras robotique chirurgical et robot chirurgical

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020045905A1 (en) * 1998-12-08 2002-04-18 Gerbi Craig Richard Tool guide and method for introducing an end effector to a surgical site in minimally invasive surgery
US20050183532A1 (en) * 2004-02-25 2005-08-25 University Of Manitoba Hand controller and wrist device
US20070233052A1 (en) * 1998-02-24 2007-10-04 Hansen Medical, Inc. Interchangeable surgical instrument
WO2008070685A2 (fr) * 2006-12-05 2008-06-12 Allegiance Corporation Dispositifs de maintien/positionnement d'instruments
EP2133036A1 (fr) * 2007-03-30 2009-12-16 Osaka University Dispositif manipulateur médical et actionneur approprié pour celui-ci

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070233052A1 (en) * 1998-02-24 2007-10-04 Hansen Medical, Inc. Interchangeable surgical instrument
US20020045905A1 (en) * 1998-12-08 2002-04-18 Gerbi Craig Richard Tool guide and method for introducing an end effector to a surgical site in minimally invasive surgery
US20050183532A1 (en) * 2004-02-25 2005-08-25 University Of Manitoba Hand controller and wrist device
WO2008070685A2 (fr) * 2006-12-05 2008-06-12 Allegiance Corporation Dispositifs de maintien/positionnement d'instruments
EP2133036A1 (fr) * 2007-03-30 2009-12-16 Osaka University Dispositif manipulateur médical et actionneur approprié pour celui-ci

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SABATER, J. M. ET AL.: "A new spherical wrist for minimally invasive robotic surgery. ROBOTICS (ISR)", 2010 41ST INTERNATIONAL SYMPOSIUM ON AND 2010 6TH GERMAN CONFERENCE ON ROBOTICS (ROBOTIK), 7 June 2010 (2010-06-07) - 9 June 2010 (2010-06-09), pages 1 - 6 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108742851A (zh) * 2018-07-02 2018-11-06 哈尔滨理工大学 一种高精度微创三轴内窥镜的结构设计

Also Published As

Publication number Publication date
ES2390436B1 (es) 2013-09-30
ES2390436A1 (es) 2012-11-13

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