WO2022224007A1 - 9-degree wrist freedom robot for surgical instruments - Google Patents
9-degree wrist freedom robot for surgical instruments Download PDFInfo
- Publication number
- WO2022224007A1 WO2022224007A1 PCT/IB2021/053185 IB2021053185W WO2022224007A1 WO 2022224007 A1 WO2022224007 A1 WO 2022224007A1 IB 2021053185 W IB2021053185 W IB 2021053185W WO 2022224007 A1 WO2022224007 A1 WO 2022224007A1
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- WO
- WIPO (PCT)
- Prior art keywords
- robot
- clime1
- degrees
- motion
- surgical
- Prior art date
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 230000007423 decrease Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 2
- 230000036651 mood Effects 0.000 claims 1
- 238000001356 surgical procedure Methods 0.000 abstract description 5
- 210000003041 ligament Anatomy 0.000 abstract description 4
- 239000007943 implant Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000036512 infertility Effects 0.000 description 3
- 206010049565 Muscle fatigue Diseases 0.000 description 2
- 206010050031 Muscle strain Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011477 surgical intervention Methods 0.000 description 2
- 210000003815 abdominal wall Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000013150 knee replacement Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Images
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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/53—Supports for surgical instruments, e.g. articulated arms connected to the surgeon's body, e.g. by a belt
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/60—Supports for surgeons, e.g. chairs or hand supports
Definitions
- the present invention generally relates to a wearable wrist guide for manipulating a surgical instrument, and more specifically to a guide for constraining the orientation of a surgical instrument relative to a user's forearm to aid in executing a surgical plan.
- the drives for the robotic system have the task to drive and move the surgical instruments or also optical endoscopes in all their motion-related degrees of freedom which are required for the respective operation. This is effected today primarily via a guiding arm (e.g. kinetic system with parallel organs) at whose free end the surgical instrument is firmly mounted but so as to be changeable.
- a guiding arm e.g. kinetic system with parallel organs
- Said arm transfers all movements which are required for the instrument fastened to it via a corresponding interface which is mounted or can be mounted on the instrument support.
- This interface has to have a suitable design, so that the sterility of the instrument is ensured.
- the guiding arm moves the instrument e.g. in circular paths around a pivot point which is ideally congruent with an invariant point which is determined by a trocar in the abdominal wall.
- the movement of the instrument in the axial direction parallel to the trocar is effected by the guiding arm of the robotic system.
- Joint replacement surgery is a medical procedure to replace a patient's degenerated or injured joint with artificial implants.
- each system has components programmed to articulate a saw, burr, or cutter to create bone cuts to receive an implant as desired by the user.
- Hand-held surgical instruments are normally tracked in space relative to the operative bone to visually show (by way of a monitor) how and where to position or orient the instrument to execute a surgical plan.
- the user may have to re-orient the instrument such that it is in an operable workspace or along a desired cut plane.
- the user's wrist carries the burden of maintaining and guiding the general position and orientation of the surgical instrument during the procedure.
- the human wrist joint can rotate in three degrees of freedom, which can make it difficult to maintain the device in a specific orientation needed for a given surgical plan.
- robotic hand-held surgical instruments the user must counteract the forces or torques generated by the actuating mechanisms in order for the cutting tool to change position. The user may incorrectly counteract the forces and torques by moving or rotating their wrist rather than holding this instrument grasping hand steady. Therefore, the cutting tool may become misaligned or positioned outside of the operable workspace.
- robotic hand-held surgical instruments may be bulky and considerably heavy to handle with one hand thereby leading to fatigue and positional error. The user has to maintain a general position and orientation of the device within an operable workspace or along a desired plane to allow the robotic system to create the cuts accurately. The size and weight of the devices may cause the user to drift outside the operable workspace due to muscle strain and fatigue.
- a wearable brace that can help guide and maintain a hand-held surgical instrument in a position or orientation to execute a surgical plan.
- a wearable brace that constrains a user's hand or wrist to provide a stiffer object for the hand-held surgical instrument to actuate against.
- a wearable brace to alleviate muscle strain and fatigue created by the weight and size of a hand-held surgical instrument.
- This ligament is made of 9 degrees of freedom in any size and size that is considered and any movement that the doctor can do with his wrist, this ligament does for him that its operation speed is high and its movement is smooth and with the help of The program is remotely controllable. Which performs the rotation motion with any angle and changes the angle during rotation and increases and decreases the diameter and transverse motion completely
- FIG. 4 is a perspective view of is the explored surgical robot
- the said invention comprises a foundation wherein all pieces are installed,in moving arms are placed, which receive command from the apparatus software, fig5 depicts junctions wherein moving arms(2)are placed.
- fig5 depicts junctions wherein moving arms(2)are placed.
- parts of joints(6) that is placed as pin(8)in it
- pin8 is placed next to joint (7)
- pin(9) is device in vibrating in this robot.
- Pin(10)in a c Is placed in base of this robot. These pins are fastened to pin(11) .pin (13)causes the slippering movements of joints.
- part(3) is the place of devising medical instruments necessary for moving of the robot.
- Arm joint(4) which is also devised in different parts of the robot is the main moving parts of the robot According to which comprises parts of joint(6), that is placed as pin(8)in it, pin(8) is placed next to joint(7) ,pin (9) is devised in slippering mode in this robot. Pin(10) in a hammer shape placed in the base of the said robot. These pins are fastened to pin(11).pin(13)causes the slippering movements of joints.
- FIG. 4 shows the parts of the apparutus such as pins, screws, joints and other places so completely. In this apparutus, rotation movements, rates, distance and accuracy are controlled by pre-determined program
- the said invention is so practical in surgical operations and anywhere else 90 degrees rotation is needed.
Abstract
A wrist ligament is 9 degrees of freedom and is used for surgery on the body. it increases both its diameter and its angle of movement while moving back and forth in a transverse direction with any angle it considers. It acts as an accurate guide in operations.Formula (I) & (II)
Description
The present invention generally relates to a wearable wrist guide for manipulating a surgical instrument, and more specifically to a guide for constraining the orientation of a surgical instrument relative to a user's forearm to aid in executing a surgical plan.
In modern surgery, an increasing number of surgical interventions are carried out preferably in the form of minimally invasive operations by means of or with the aid of surgery robots which are able to move surgical instruments to their destination in a precise manner and so as to be largely free of any vibrations and initiate corresponding movements of the surgical instrument at this place. As sterility is of top priority in a surgical intervention, the robot/instrument system is subdivided so to speak in a non-sterile and a sterile zone/portion, which are separated from each other by a sterility barrier in the form of a plastic foil, for example. In such arrangement, the major part of the robotic system and the drives are situated in the non-sterile zone, whereas at least the surgical instrument as well as its mounting are arranged in the sterile zone. For moving and actuating the surgical instrument, power transmission trains such as gear units, cable pulls/chain hoists or pressure lines usually extend from the respective drives in the non-sterile zone through the barrier to the surgical instrument and/or its mounting in the sterile zone; for this purpose, suitable ports are provided in the barrier.
[0003] In particular in the minimally invasive surgery, the drives for the robotic system have the task to drive and move the surgical instruments or also optical endoscopes in all their motion-related degrees of freedom which are required for the respective operation. This is effected today primarily via a guiding arm (e.g. kinetic system with parallel organs) at whose free end the surgical instrument is firmly mounted but so as to be changeable. Said arm transfers all movements which are required for the instrument fastened to it via a corresponding interface which is mounted or can be mounted on the instrument support. This interface has to have a suitable design, so that the sterility of the instrument is ensured.
[0004] Further, the guiding arm moves the instrument e.g. in circular paths around a pivot point which is ideally congruent with an invariant point which is determined by a trocar in the abdominal wall. As a standard, also the movement of the instrument in the axial direction parallel to the trocar is effected by the guiding arm of the robotic system.
[0003] Joint replacement surgery is a medical procedure to replace a patient's degenerated or injured joint with artificial implants. With the advancements in new tools and techniques, the joint replacement procedures have become quite successful in terms of patient satisfaction and implant survival rates. Generally, research has shown that the success of the joint replacement procedure is highly dependent on the final position of the implant. To ensure accurate placement of the implant for an individual patient, robotic and computer-assisted technology have become invaluable tools.
[0004] As the mechanical, electrical and computer components of typical robotic systems decrease in size, a new era of robotic hand-held surgical instruments are being developed. With what used to require large robotic systems to create accurate bone cuts can now be accomplished with hand-held systems. For example, the NavioPFS™ Robotic Resurfacing System (Blue Belt Technologies) is a tracked hand-held device that aids a user in performing unicondylar knee replacement. Generally, each system has components programmed to articulate a saw, burr, or cutter to create bone cuts to receive an implant as desired by the user.
[0005] Hand-held surgical instruments are normally tracked in space relative to the operative bone to visually show (by way of a monitor) how and where to position or orient the instrument to execute a surgical plan. To create the bone cuts, the user may have to re-orient the instrument such that it is in an operable workspace or along a desired cut plane. For the most part, the user's wrist carries the burden of maintaining and guiding the general position and orientation of the surgical instrument during the procedure. However, the human wrist joint can rotate in three degrees of freedom, which can make it difficult to maintain the device in a specific orientation needed for a given surgical plan.
[0006] Additionally, with robotic hand-held surgical instruments, the user must counteract the forces or torques generated by the actuating mechanisms in order for the cutting tool to change position. The user may incorrectly counteract the forces and torques by moving or rotating their wrist rather than holding this instrument grasping hand steady. Therefore, the cutting tool may become misaligned or positioned outside of the operable workspace.
[0007] Further, robotic hand-held surgical instruments may be bulky and considerably heavy to handle with one hand thereby leading to fatigue and positional error. The user has to maintain a general position and orientation of the device within an operable workspace or along a desired plane to allow the robotic system to create the cuts accurately. The size and weight of the devices may cause the user to drift outside the operable workspace due to muscle strain and fatigue. Operating times and accuracy may suffer as a result.
[0008] Thus, there is a need in the art for a wearable brace that can help guide and maintain a hand-held surgical instrument in a position or orientation to execute a surgical plan. There is a further need for a wearable brace that constrains a user's hand or wrist to provide a stiffer object for the hand-held surgical instrument to actuate against. There is an even further need in the art for a wearable brace to alleviate muscle strain and fatigue created by the weight and size of a hand-held surgical instrument.
[0003] In particular in the minimally invasive surgery, the drives for the robotic system have the task to drive and move the surgical instruments or also optical endoscopes in all their motion-related degrees of freedom which are required for the respective operation. This is effected today primarily via a guiding arm (e.g. kinetic system with parallel organs) at whose free end the surgical instrument is firmly mounted but so as to be changeable. Said arm transfers all movements which are required for the instrument fastened to it via a corresponding interface which is mounted or can be mounted on the instrument support. This interface has to have a suitable design, so that the sterility of the instrument is ensured.
[0004] Further, the guiding arm moves the instrument e.g. in circular paths around a pivot point which is ideally congruent with an invariant point which is determined by a trocar in the abdominal wall. As a standard, also the movement of the instrument in the axial direction parallel to the trocar is effected by the guiding arm of the robotic system.
[0003] Joint replacement surgery is a medical procedure to replace a patient's degenerated or injured joint with artificial implants. With the advancements in new tools and techniques, the joint replacement procedures have become quite successful in terms of patient satisfaction and implant survival rates. Generally, research has shown that the success of the joint replacement procedure is highly dependent on the final position of the implant. To ensure accurate placement of the implant for an individual patient, robotic and computer-assisted technology have become invaluable tools.
[0004] As the mechanical, electrical and computer components of typical robotic systems decrease in size, a new era of robotic hand-held surgical instruments are being developed. With what used to require large robotic systems to create accurate bone cuts can now be accomplished with hand-held systems. For example, the NavioPFS™ Robotic Resurfacing System (Blue Belt Technologies) is a tracked hand-held device that aids a user in performing unicondylar knee replacement. Generally, each system has components programmed to articulate a saw, burr, or cutter to create bone cuts to receive an implant as desired by the user.
[0005] Hand-held surgical instruments are normally tracked in space relative to the operative bone to visually show (by way of a monitor) how and where to position or orient the instrument to execute a surgical plan. To create the bone cuts, the user may have to re-orient the instrument such that it is in an operable workspace or along a desired cut plane. For the most part, the user's wrist carries the burden of maintaining and guiding the general position and orientation of the surgical instrument during the procedure. However, the human wrist joint can rotate in three degrees of freedom, which can make it difficult to maintain the device in a specific orientation needed for a given surgical plan.
[0006] Additionally, with robotic hand-held surgical instruments, the user must counteract the forces or torques generated by the actuating mechanisms in order for the cutting tool to change position. The user may incorrectly counteract the forces and torques by moving or rotating their wrist rather than holding this instrument grasping hand steady. Therefore, the cutting tool may become misaligned or positioned outside of the operable workspace.
[0007] Further, robotic hand-held surgical instruments may be bulky and considerably heavy to handle with one hand thereby leading to fatigue and positional error. The user has to maintain a general position and orientation of the device within an operable workspace or along a desired plane to allow the robotic system to create the cuts accurately. The size and weight of the devices may cause the user to drift outside the operable workspace due to muscle strain and fatigue. Operating times and accuracy may suffer as a result.
[0008] Thus, there is a need in the art for a wearable brace that can help guide and maintain a hand-held surgical instrument in a position or orientation to execute a surgical plan. There is a further need for a wearable brace that constrains a user's hand or wrist to provide a stiffer object for the hand-held surgical instrument to actuate against. There is an even further need in the art for a wearable brace to alleviate muscle strain and fatigue created by the weight and size of a hand-held surgical instrument.
This ligament is made of 9 degrees of freedom in any size and size that is considered and any movement that the doctor can do with his wrist, this ligament does for him that its operation speed is high and its movement is smooth and with the help of The program is remotely controllable. Which performs the rotation motion with any angle and changes the angle during rotation and increases and decreases the diameter and transverse motion completely
The main problem which is faced most of the time in surgical operations is that the accuracy of surgeons may decrease during the operation and be unable to perform the operation perfectly which may lead to following disorders which accompany the patient till the end of his life.
The solution which is so welcomed in recent years is using smart robots as guides in surgeries to assist doctors.
9 degrees of motion at the same time rotation, increase in diameter, transverse motion, longitudinal respect and change of rotation angle
Control the movements with the help of software
Smooth movements of this ligament with high operating speed
Control the movements with the help of software
Smooth movements of this ligament with high operating speed
FIG. 4 is a perspective view of is the explored surgical robot
According to
, the said invention comprises a foundation wherein all pieces are installed,in
moving arms are placed, which receive command from the apparatus software, fig5 depicts junctions wherein moving arms(2)are placed. According to
which comprises parts of joints(6), that is placed as pin(8)in it, pin8 is placed next to joint
(7) ,pin(9)is device in vibrating in this robot. Pin(10)in a c Is placed in base of this robot. these pins are fastened to pin(11) .pin (13)causes the slippering movements of joints. According to , part(3) is the place of devising medical instruments necessary for moving of the robot. Arm joint(4) which is also devised in different parts of the robot is the main moving parts of the robot
According to which comprises parts of joint(6), that is placed as pin(8)in it, pin(8) is placed next to joint(7) ,pin (9) is devised in slippering mode in this robot. Pin(10) in a hammer shape placed in the base of the said robot. These pins are fastened to pin(11).pin(13)causes the slippering movements of joints. FIG. 4 shows the parts of the apparutus such as pins, screws, joints and other places so completely.
In this apparutus, rotation movements, rates, distance and accuracy are controlled by pre-determined program
(7) ,pin(9)is device in vibrating in this robot. Pin(10)in a c Is placed in base of this robot. these pins are fastened to pin(11) .pin (13)causes the slippering movements of joints. According to
According to
In this apparutus, rotation movements, rates, distance and accuracy are controlled by pre-determined program
The said invention is so practical in surgical operations and anywhere else 90 degrees rotation is needed.
Claims (1)
- The mentioned invention is applicable in surgeons and any other situtons 10 degrees freedom is needed The mechanism of this fast robot is performable by remote controled program. The robot is able to simulatounesly move with 10 degrees in 3 directions in rotational mood in axis direction. The diameter of the said robot also can decrease or increase and rotate in diameter direction.
This invention is comprised of:
Wrist junctions which move in different directions.
Moving transferring arms from the junction moving system
The programmed system of apparatus which contains coding motions and is defined according to its motions.
The place junction where is the place of closing the medical equipments, it needs to be rotated.
Clime2_According to clime1,10 degrees rotation, diameter increase, width motion, length motion,change of rotation angle is performed.
Clime3_According to clime1, control of movements is done remotely by related software which is changeable in coding rate, accuracy, angle and motion directions.
Clime4_According to clime1, junctions of the said robot are vibrating and move gently.
Clime4_According to clime1, position of the instruments and the apparatus bases in the said invention is changable
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/IB2021/053185 WO2022224007A1 (en) | 2021-04-18 | 2021-04-18 | 9-degree wrist freedom robot for surgical instruments |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/IB2021/053185 WO2022224007A1 (en) | 2021-04-18 | 2021-04-18 | 9-degree wrist freedom robot for surgical instruments |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2022224007A1 true WO2022224007A1 (en) | 2022-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/IB2021/053185 WO2022224007A1 (en) | 2021-04-18 | 2021-04-18 | 9-degree wrist freedom robot for surgical instruments |
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| Country | Link |
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| WO (1) | WO2022224007A1 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140020072A (en) * | 2012-08-07 | 2014-02-18 | 한국과학기술원 | Surgical robot hand with decoupled wrist structure |
| CN110169825A (en) * | 2019-05-22 | 2019-08-27 | 哈尔滨工业大学 | A kind of nine-degree of freedom series connection main manipulator suitable for micro-wound operation robot |
| TW202114601A (en) * | 2019-10-11 | 2021-04-16 | 美商克魯畢司米克公司 | Seven degree of freedom positioning device for robotic surgery |
-
2021
- 2021-04-18 WO PCT/IB2021/053185 patent/WO2022224007A1/en unknown
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140020072A (en) * | 2012-08-07 | 2014-02-18 | 한국과학기술원 | Surgical robot hand with decoupled wrist structure |
| CN110169825A (en) * | 2019-05-22 | 2019-08-27 | 哈尔滨工业大学 | A kind of nine-degree of freedom series connection main manipulator suitable for micro-wound operation robot |
| TW202114601A (en) * | 2019-10-11 | 2021-04-16 | 美商克魯畢司米克公司 | Seven degree of freedom positioning device for robotic surgery |
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