WO2014154529A1 - Robot pour la chirurgie hf - Google Patents

Robot pour la chirurgie hf Download PDF

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Publication number
WO2014154529A1
WO2014154529A1 PCT/EP2014/055393 EP2014055393W WO2014154529A1 WO 2014154529 A1 WO2014154529 A1 WO 2014154529A1 EP 2014055393 W EP2014055393 W EP 2014055393W WO 2014154529 A1 WO2014154529 A1 WO 2014154529A1
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WO
WIPO (PCT)
Prior art keywords
robot
surgical instrument
interface
generator
monopolar
Prior art date
Application number
PCT/EP2014/055393
Other languages
German (de)
English (en)
Inventor
Bernd Gombert
Original Assignee
Rg Mechatronics Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rg Mechatronics Gmbh filed Critical Rg Mechatronics Gmbh
Publication of WO2014154529A1 publication Critical patent/WO2014154529A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/1206—Generators therefor
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/16—Indifferent or passive electrodes for grounding
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/00172—Connectors and adapters therefor
    • A61B2018/00178—Electrical connectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00898—Alarms or notifications created in response to an abnormal condition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00988—Means for storing information, e.g. calibration constants, or for preventing excessive use, e.g. usage, service life counter
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/1206—Generators therefor
    • A61B2018/1246—Generators therefor characterised by the output polarity
    • A61B2018/1253—Generators therefor characterised by the output polarity monopolar
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/1206—Generators therefor
    • A61B2018/1246—Generators therefor characterised by the output polarity
    • A61B2018/126—Generators therefor characterised by the output polarity bipolar
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/1206—Generators therefor
    • A61B2018/1273—Generators therefor including multiple generators in one device

Definitions

  • the invention relates to a robot with at least one movable
  • Surgical procedures on the human body are increasingly being performed today in minimally invasive procedures with the assistance of surgery robots.
  • a special application of robotic surgery is the so-called HF surgery, which is also referred to as diathermy or electrocautery.
  • HF surgery a high-frequency current is generated by means of an HF generator, by means of which the patient is treated.
  • different modulated currents are used.
  • the most important types of intervention include electrotomy, i. cutting with one
  • the surgery robot is in each case provided with the appropriate surgical instrument, such as a surgical instrument. an electric scalpel, equipped.
  • FIG. 1 shows a prior art robotic system 1 with a surgery robot 2 equipped with a surgical instrument 27 for HF surgery.
  • the surgery robot 2 has a plurality of arm members 21, 22 which can be rotated and pivoted via joints 5.
  • the arm members 21, 22 are connected to a fixed base 6.
  • the robot system 1 illustrated in FIG. 1 further comprises an operating table 3, on which a patient 19 lies and which is treated by means of the surgery robot 2, an HF generator 4 for generating an HF current for the surgical instrument 27 as well an input device 9, with which all the robot system 1 belonging elements, in particular the robot 2, the operating table 3 and the RF generator 4, can be controlled.
  • the individual elements 2, 3, 4 are each for this purpose connected via a cable 10, 1 1 and 12 with the input device 9.
  • the control signals generated by the input device 9 for the robot 2 are processed by an associated control unit 13 and in corresponding
  • Control commands for the individual actuators of the joints 5 implemented.
  • the operating table 3 and the HF generator 4 each comprise a separate control unit (not shown) which is located in the respective element 3, 4 or elsewhere, such as e.g. in the input device 9, can be integrated.
  • the robot system 1 shown in FIG. 1 is a
  • the surgical instrument 27 has an RF terminal 15 to which it is connected via a cable 16 to the RF generator 4.
  • the neutral electrode 17 is also connected via a cable 18 to the RF generator 4.
  • no additional neutral electrode 17 is needed.
  • the operating table 3 and the RF generator 4 would each be connected to ground, so that the HF current can flow over the body of the patient 19 and the operating table 3 to ground.
  • the surgical instrument 27 In the robot system 1 of Fig. 1, the surgical instrument 27 must be re-infected after each instrument change the RF generator. This is relatively expensive. In addition, the cable can interfere with the operation and involves a certain risk of tripping.
  • a surgical instrument (robotic tool 10) with a movable shaft and with a mechanical interface for releasably securing a surgical instrument is also known from US 2013/0 041 292 A1.
  • a robot having a plurality of movable arm elements which are arranged movably via at least one joint, and further comprising a mechanical interface for attaching a surgical instrument and also an electrical RF interface, via which an RF current to a surgical instrument can be transmitted. It is therefore no longer necessary to connect the instrument via a separate cable to an RF generator.
  • the surgical instrument can basically be any instrument, such as a surgical instrument.
  • a surgical instrument can basically be any instrument, such as a surgical instrument.
  • a surgical instrument according to the invention preferably also includes an electrical interface corresponding to the RF interface of the robot.
  • the RF interface of the robot is preferably arranged so that the surgical instrument, when it is attached to the robot, is simultaneously also electrically contacted with the RF connector.
  • the mechanical attachment and the electrical contact so done simultaneously in one operation.
  • the HF interface is preferably arranged in the region of the mechanical interface for the surgical instrument.
  • the robotic system is suitable for both monopolar and bipolar applications.
  • the RF interface for the surgical instrument includes at least two ports for transmitting RF currents.
  • the robot can thus also with surgical instruments for bipolar applications, such as the
  • Electrofulguration in which the phase and the neutral conductor both pass through the instrument and both electrodes are formed on the instrument.
  • RF interface with multiple RF ports is also suitable for a monopolar surgical instrument. In this case, one of the ports simply stays inactive.
  • the electrical or HF connections preferably comprise at least one socket. That is, the provided on the robot RF connectors are designed as a "female" connector, making the RF interface is universally applicable to a variety of surgical instruments, since it does not interfere with the attachment of an instrument is the instrument for HF surgery then with one or two "male" plugs for monopolar or bipolar
  • the robot according to the invention preferably comprises at least one further connection for the transmission of an additional quantity, e.g. a force, a moment, an electrical quantity, a physical quantity, e.g. Pressure or a coolant, and / or for transmission of data.
  • an additional quantity e.g. a force, a moment, an electrical quantity, a physical quantity, e.g. Pressure or a coolant.
  • the mechanical interface, the RF interface and the further interface are preferably arranged such that a surgical instrument can be connected simultaneously to all interfaces in one operation.
  • the robot comprises an HF generator.
  • the HF generator can in principle in each component of the robot, such as. B. an arm element, joint or the base to be integrated. He can also on several components, such. B. several arm elements distributed. In the latter case, different arm elements can each accommodate individual components of the RF generator.
  • the integration of the HF generator into the robot has the advantage that all connection cables of the HF generator can be guided on or within the robot arm, so that they are no longer an obstacle during an operation.
  • the connecting cables for the RF generator are preferably guided within the individual arm elements of the robot.
  • the robot comprises means for automatically detecting the type of surgical instrument attached to the robot, the means being able in particular to detect whether a monopolar, bipolar, or other surgical instrument is present, or whether no surgical instrument is connected to the robot.
  • the means for automatically detecting the type of instrument may, in principle, be any suitable known sensor such as e.g. an RFID sensor.
  • the attached to the robot instrument could z. B. also be detected by electronic query or by image capture.
  • the automatic instrument detection basically offers the possibility to control the RF generator depending on the type of surgical instrument and / or the presence or absence of a surgical instrument.
  • a typical surgical instrument intended for attachment to a robot preferably comprises a fastening device with a mechanical and optionally also an electrical interface, a shaft and an end effector.
  • the attachment means is typically located at a first end of the shaft, and the end effector is disposed at the other (distal) end of the shaft.
  • the type of attached surgical instrument is determined and the RF generator is driven to operate in either a monopolar or a bipolar mode of operation (if a monopolar or bipolar instrument has been detected). Is an instrument not intended for HF surgery or not
  • the RF generator is preferably disabled or remains inactive. To carry out this method is preferably a
  • the RF generator comprises separate inputs for the return of the returning HF current in monopolar and bipolar applications.
  • the RF current can therefore, depending on whether a monopolar or a bipolar instrument is connected to the interface, flow back either via a first or via a second input in the RF generator.
  • an automatic RF generator comprises separate inputs for the return of the returning HF current in monopolar and bipolar applications.
  • the RF current can therefore, depending on whether a monopolar or a bipolar instrument is connected to the interface, flow back either via a first or via a second input in the RF generator.
  • a control unit can switch the various inputs of the RF generator accordingly.
  • the surgical robot according to the invention preferably comprises a
  • Input device on which a user controls to control the
  • Robot can enter for operating the surgical instrument and / or for controlling an optionally integrated RF generator.
  • a common data line is provided, via which both the generated by the input device
  • Control commands for the individual actuators of the robot and the control signals for the RF generator and / or the surgical instrument are transmitted. In the minimum case, only a single control line is thus provided.
  • the robot arm has a modular design, ie the individual arm elements preferably each have the same interfaces at their ends and can thus be exchanged quickly and easily.
  • Each arm element and / or joint of the robot preferably has at least two interfaces (one per side) for making electrical contact with adjacent components of the robot.
  • an arm element comprises an interface with a connection for a control line, a connection for an electrical return conductor and optionally also a connection for transmitting further control signals, eg. B. for the actuators of the robot.
  • the interfaces of one arm element only comprise two ports.
  • a hinge which is fastened to such an arm element preferably comprises a corresponding interface.
  • the robot has a connection provided on the robot arm or the base, to which such a neutral electrode can be connected.
  • the neutral electrode is designed to be directly - i. without intervening cable connection - can be connected to the robot.
  • the robot and the neutral electrode are physically located so close together that a terminal located at the neutral electrode is directly connected to a corresponding terminal on the ground
  • Robot arm can be connected.
  • Automatic instrument recognition can also be used to monitor the configuration of the robot system.
  • a controller may be provided which determines whether a monopolar or bipolar surgical instrument is connected to the robot. If the control unit determines that a bipolar surgical instrument and a neutral electrode are connected to the robot or that a monopolar surgical instrument but no neutral electrode is connected, e.g. a warning and / or error message will be generated.
  • the warning message can be, for example, an acoustic, optical or haptic signal, which should make the user aware that there is a systematic error.
  • the error signal may block further use of the RF generator.
  • Fig. 1 is a known from the prior art robot system, which for the
  • Fig. 2 is a equipped for HF surgery robot system with an im
  • Robot integrated RF generator 3 shows various views of arm elements and joints of the robot of FIG. 2, wherein the interfaces of the individual elements can be seen;
  • Fig. 4 is provided on the robot of Fig. 2 interface for a
  • FIG. 5 shows a robotic system equipped for a monopolar RF application according to a specific embodiment of the invention.
  • FIG. 2 shows an exemplary embodiment of a robot system 1 suitable for monopolar and / or bipolar HF surgery with a robot 2 whose
  • Robot head 46 here, for example, with a monopolar surgical HF instrument 27 is equipped.
  • the robot system 1 further comprises an operating table 3, on which a patient 19 is located, an HF generator 4 for generating an HF current for the surgical instrument 27 and an input device 9, with which all elements belonging to the robot system 1, in particular the Robot 2, the operating table 3 and the RF generator 4, can be controlled.
  • the input device 9 can thus also be used to activate or deactivate the HF generator 4.
  • the robot 2 comprises a plurality of arm members 21, 22, which are connected to each other via joints 5 and further has a base 6, the z. B. can be firmly anchored to the ground or attached to another object.
  • Robot head 46 is also a hinge 5 is provided or as a hinge fifth
  • the robot 2 here has so many degrees of freedom that the surgical instrument 27 can be moved freely in space, ie a translational
  • Movement in all three spatial axes and pivotal movements can be performed around all three spatial axes of a Cartesian coordinate system.
  • For manual control of the robot 2 is also a
  • Input device 9 is provided.
  • the HF current required by the surgical instrument 27 is here transmitted to the surgical instrument 27 via an interface 26 provided on the robot head 46.
  • Such an interface 26 is shown by way of example in FIG.
  • the interface 26 is for releasable attachment of a surgical instrument 27 and, in this embodiment, also includes a plurality of terminals for transmitting a force, torque, electrical quantity, and / or physical quantity, such as, e.g. Pressure or coolant, and / or to transfer data to the surgical instrument 27 or in the reverse direction.
  • the interface 26 includes an RF interface with two RF ports 43, 44 for transmitting an RF current to the surgical
  • Instrument 27 In the case of a bipolar surgical instrument 27, one of the terminals, e.g. 43, for transmitting a high-frequency current to the surgical instrument 27, and the other terminal, e.g. 44, for transmitting the return current to the robot 2.
  • the other terminal e.g. 44
  • the return current In the case of a monopolar surgical instrument 27 (as shown here in Fig. 2) only one of the two ports 43, 44 is needed.
  • the HF current can be conducted via the connection 43 to the surgical instrument 27; the other port 44 remains inactive.
  • the terminals 43, 44 are in the illustrated embodiment as
  • FIG. 4 A reversed arrangement of plugs and sockets is also possible, however, the construction shown in Fig. 4 has the advantage that the interface 26 is universally applicable to both bipolar, monopolar and other surgical instruments 27 can be used, since the RF ports 43, 44 no have protruding parts that hinder the attachment of an instrument 27.
  • the robot 2 can automatically detect whether a monopolar or bipolar HF instrument 27 is connected to the interface 26. If neither of the two contacts is closed, it can be recognized that no HF instrument 27 is coupled to the interface 26. That the terminals 43, 44 serve not only as means for power transmission but also for automatic detection of the instrument type.
  • the robot 2 comprises an HF generator 4, 4b, which in the exemplary embodiment shown is distributed in a plurality of arm elements 21, 22. As shown in Fig. 2, a first component 4 of the RF generator in the arm member 22, and a second component 4 b in the arm member 21 is arranged.
  • the HF generator 4, 4b could also be integrated in a single arm element 21, 22 or a joint 5 as a whole, if there is sufficient space.
  • the HF generator 4, 4b, located in the joints 5 actuators (not shown) and optionally also the surgical instrument 27 are controlled here via a common control line 29, which between the
  • Input device 9 and the robot 2 is arranged. The of the
  • Input device 9 generated control commands are processed by a controller 13 and then also via a single control line 23 to the various controlled elements, namely the RF generator 4, 4b, the actuators of the robot 2 and / or the surgical instrument 27 passed.
  • a controller 13 controls the various controlled elements, namely the RF generator 4, 4b, the actuators of the robot 2 and / or the surgical instrument 27 passed.
  • more than one control line 23 could be provided.
  • the control line (s) 23 run
  • the robot 2 also has a return conductor 25 leading to the HF generator 4, 4b, via which the return current of a neutral electrode 17 can flow back to the HF generator 4, 4b in a monopolar application of the robot system 1.
  • the HF current generated by the HF generator 4, 4b thus flows via a line 24 to the interface 26 and from there into the surgical instrument 27, through whose shaft to the end effector 8
  • the RF current then flows through the body of the patient 19 through to a neutral electrode 17 which is connected via a cable 18 to the robot 2, and finally via the return conductor 25 back to the RF generator 4, 4b.
  • the circuit is at a monopolar
  • the HF current generated by the HF generator 4, 4b flows via the conductor 24 to the interface 26 and from there into the bipolar instrument 27 to the end effector 8. From the end effector 8, the current then flows back through the instrument 27 to the interface 26 and through the line 24 back to the RF generator 4, 4b.
  • the line 24 may be a multi-wire line in this case.
  • the robot system 1 preferably comprises means (not shown) for
  • the surgical instrument 27 can be used for this purpose e.g. be equipped with an RFID chip.
  • any other technology known in the art could be used, e.g. an optical
  • Bar code recognition or image processing software that can identify each instrument 27.
  • the control unit 13 may place the RF generator in either a monopolar or a bipolar mode of operation.
  • the RF generator 4, 4b can also be switched inactive.
  • the RF generator 4, 4b is preferably constructed such that both monopolar and bipolar HF surgery procedures can be performed.
  • the respective method can be used, for example, on the input device 9 to be selected.
  • the operating mode of the HF generator could also be adjusted automatically, as described above.
  • the HF generator 4, 4b here comprises two inputs for the return of the HF current, namely a first input (in Fig. 2 left of the RF generator 4, 4b) for the return of the current in a monopolar application via the line 25th and a second input (in Fig. 2 to the right of the RF generator 4, 4b) for returning the current in a bipolar application via the line 24.
  • the RF generator 4, 4b between the two Switch inputs. That In the case of a monopolar instrument, the HF current can be returned via the line 25 and in the case of a bipolar instrument via the line 24 to the HF generator 4, 4b.
  • the robot system 1 has automatic instrument detection, it is possible to automatically switch back and forth between the various inputs.
  • the robot 2 shown in Fig. 2 is preferably modular, whereby individual arm members 21, 22 or joints 5 can be easily and quickly replaced.
  • Fig. 2 the replacement of an arm member 22 by an identical arm member 22 'by the arrows 28 is exemplified.
  • each hinge 5 and each arm member 21, 22 comprises two electrical interfaces 29A, 29B and 30A, 30B, each having a plurality of terminals.
  • the hinge 5 comprises a three-terminal interface 29B 31B, 32B and 33B which can be electrically contacted with corresponding terminals 34A, 35A and 36A of the interface 30A of the arm member 21.
  • Connections for example 31 B, can be designed as a plug, and the other of the connections, for example 34 A, as a socket.
  • the arm member 21 has on its right side in the image (index B) another interface 30 B, which is constructed identically to the interface 29 B of the joint fifth
  • the terminals 31B, 34A, and 34B serve to connect the control line 23.
  • the terminals 33B, 36A, and 36B serve to connect the return conductor 25 and / or the line 24.
  • each of the interfaces 29B, 30A, and 30B another one
  • Terminals 32B, 35A and 35B through which further signals, e.g. for controlling the surgical instrument 27, can be transmitted.
  • the individual components 5, 21, 22 can also comprise more or fewer connections.
  • the individual arm members 21, 22 of the robot 2 and / or joints 5 of the robot 2 each comprise at least two interfaces 29B, 30A, 30B for electrical contacting with adjacent components of the robot 2.
  • Each interface 29B, 30A, 30B preferably comprises a first terminal 31 B, 34 A, 34 B for transmitting a control signal for driving the integrated in the robot 2 RF generator 4, 4 b and / or at least one actuator of the robot 2 and / or the surgical instrument 27, and a second terminal 33B, 36A, 36B for returning the return current from a neutral electrode 17 to the RF generator 4, 4b and / or for supplying the HF current from the RF generator 4, 4b to the interface 26 and to the HF instrument 27, respectively.
  • control line 23 and the return conductor 25 are looped through the base 6, at least one joint 5 and an arm element 21, 22.
  • the control line 23 connects the terminals 34A and 34B
  • the return conductor 25 (or the line 24) connects the two terminals 36A and 36B.
  • another electrical conductor 37 is looped through the arm member 21 connecting the two associated terminals 35A and 35B.
  • All interfaces 29B, 30A and 30B are preferably of uniform design, so that the components 5, 21 and 22 can be combined as desired.
  • Fig. 5 shows a specific embodiment of a robot system 1, which is also equipped for a monopolar surgical application.
  • the robot system 1 similar to that in Fig. 2 comprises a multi-unit robot 2, to whose Robot head 46 a monopolar surgical instrument 27 is attached, and an operating table 3, on which a patient to be treated 19 is located.
  • the robot 2 is here fastened directly to the operating table 3 and contacted via a connection 45 directly with a neutral electrode 17b.
  • the neutral electrode 17b is designed such that the
  • the neutral electrode 17b may be up to the
  • Robot 2 and neutral electrode 17b each include a male member for this purpose.
  • both devices form a fixed unit by the coupling of the robot 2 to the operating table 3, it is possible according to the invention for the HF generator 4, 4b or components of the HF generator 4, 4b to be displaced into the operating table 3 and to get integrated. That The operating table 3 can then be used as a component analogous to the elements 5, 6, 21 and 22.
  • the operating table 3 and the base 6 can have an interface shown in FIG. 3 in order to transmit the necessary currents, signals and / or physical quantities.
  • the controller 13 is preferably designed so that it fails in the configuration of the robot system 1 and in particular in the electrical
  • Interconnection can be recognized as a monopolar or bipolar system.
  • the control unit 13 determines whether a neutral electrode 17, 17b is connected to the terminal 45 or not. This can be z. B. done in a known manner by electronic query.
  • the controller 13 determines whether the connected instrument 27 is a monopolar or bipolar RF instrument.
  • the instrument type can be z. B. may have been previously entered by the user, or the robot system 1 may include automatic instrument recognition, which provides appropriate information to the controller 13. If it has been determined that a neutral electrode 17, 17b is connected to the robot 2, but at the interface 26, a bipolar Instrument 27 is attached, the control unit 13, a warning and / or
  • Robot system 1 such as the RF generator 4, 4b, is deactivated.

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

Abstract

L'invention concerne un robot (2) pourvu de plusieurs éléments de bras (21, 22) mobiles et d'une interface mécanique (26) pour fixer de manière détachable un instrument chirurgical (27). Selon l'invention, le robot (2) comprend également une interface HF pour transmettre un courant HF à l'instrument chirurgical (27). Une telle interface universelle (26) présente l'avantage que l'instrument chirurgical (27) ne doit pas être raccordé au générateur HF (4) par l'intermédiaire d'un câble additionnel.
PCT/EP2014/055393 2013-03-25 2014-03-18 Robot pour la chirurgie hf WO2014154529A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013002832.9A DE102013002832A1 (de) 2013-03-25 2013-03-25 Roboter für die HF-Chirurgie
DE102013002832.9 2013-03-25

Publications (1)

Publication Number Publication Date
WO2014154529A1 true WO2014154529A1 (fr) 2014-10-02

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PCT/EP2014/055393 WO2014154529A1 (fr) 2013-03-25 2014-03-18 Robot pour la chirurgie hf

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DE (1) DE102013002832A1 (fr)
WO (1) WO2014154529A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020060793A1 (fr) 2018-09-17 2020-03-26 Covidien Lp Affectation de pédale pour des systèmes chirurgicaux robotiques
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