WO2023152620A1

WO2023152620A1 - Smart medical robotic motorized device and method thereof

Info

Publication number: WO2023152620A1
Application number: PCT/IB2023/051029
Authority: WO
Inventors: Iyyappan MADASAMY
Original assignee: Imrobonix Private Limited
Priority date: 2022-02-14
Filing date: 2023-02-06
Publication date: 2023-08-17

Abstract

The present invention is in the field of a smart medical robotic motorized device useful for Minimally Invasive Surgical procedure. In particular, the Invention provides a minimal invasive surgery device with multiple features controlled by servo motors, enabling advanced surgical procedures at a low cost with the ease of operative experience for the doctors.

Description

SMART MEDICAL ROBOTIC MOTORIZED DEVICE AND METHOD THEREOF

FIELD OF THE INVENTION:

BACKGROUND OF THE INVENTION:

The following background discussion includes information that may be useful in understanding the present invention. It is not an admission that any of the information provided herein is prior art or relevant to the presently claimed invention, or that any publication specifically or implicitly referenced is prior art.

Minimally invasive surgical (MIS) instruments are often preferred over traditional open surgical devices due to the reduced post-operative recovery time and minimal scarring. Minimal Invasive Surgery (MIS) is a medical procedure that is performed to enter the human body, usually by making a small incision or puncturing the skin and inserting the surgical instruments into the body. In the current scenario, this is done using both the robots and by manually controllable tools. Robotic surgery costs more than 5 lakh rupees per hour. The manually controllable tool has its own issues, as it is way too hard to control and doesn’t have multiple features in it.

The conventional work processes are quite cumbersome and complicated to operate. Although some of them are designed only for open and close features of the grippers while few others are designed to offer both X and Y movement along with open and close movement of the grippers, there is still some need for the addition of user-friendly features for the ease of operation in conventional tools.

In manual surgical MIS tool, the user is not able to control the amount of pressure that should be delivered to the gripper for closure movement, which in most of the cases are resulting in injuries. For instance, US20210093400A1 discloses a method includes generating an anatomical model corresponding to an anatomical feature of a patient, proposing a component for coupling to the anatomical feature of the patient, positioning a virtual model corresponding to the component in a proposed location relative to the anatomical model, generating a planned resection geometry based on a virtual relationship between the virtual model and the anatomical model, tracking movement of a surgical instrument relative to the anatomical feature, and simultaneously displaying the planned resection geometry, the anatomical model, and a graphic corresponding to the surgical instrument on a display based in part on the tracked movement of the surgical instrument relative to the anatomical feature.

Further, US8862268B2 discloses a method for a minimally invasive surgical system including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.

Another application, US20170119403A1 discloses a robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

Further, US9949798B2 discloses methods, systems, and devices for controlling movement of a robotic surgical system are provided. In general, a plurality of surgical instruments can be simultaneously in use during performance of a surgical procedure. One or more of the plurality of instruments can be coupled to a robotic surgical system, which can be configured to control movement of the one or more of the plurality of instruments. There is a need of a smart medical robotic motorized device useful for Minimally Invasive Surgical procedure such that practitioners with even the minimal experience, training will be able to operate advanced cum diminutive surgical procedures, thereby reducing the cost of healthcare services. Further, there is a need of a device that can be used as an alternative for the currently available methods such as fully Robotic surgery which are highly expensive and are not user friendly.

There is also needed a minimally invasive surgery device with multi - functional features which has electrically controlled motors to enable user friendly procedures at a low cost.

OBJECTIVE OF THE INVENTION:

The primary object of the present invention is to overcome the drawback associated with prior art.

Another object of the present invention is to provide a minimal invasive surgery device with multiple features controlled by servo motors.

Another object of the present invention is to provide a minimal invasive surgery device which enables advanced surgical procedures at a low cost with the ease of operative experience for the doctors.

Another object of the present invention is to provide a minimal invasive surgery device where user is able to control the amount of pressure that should be delivered to the gripper for closure movement.

Another object of the present invention is to provide a smart medical robotic motorized device useful for Minimally Invasive Surgical procedure such that practitioners with even the minimal experience, training will be able to operate advanced cum diminutive surgical procedures, thereby reducing the cost of healthcare services.

Another object of the present invention is to provide a low cost, portable and user-friendly device.

Another object of the present invention is to provide a device with X and Y movements and closing movement of the top gripper, which are controlled electrically.

Another object of the present invention is to provide a device which is enabled to control and hold the analogue ball movement electrically to stay static and positioned at any desired point of operation without having to stabilize the gripper manually. Another object of the present invention is to provide a device which is easy to operate as it is designed to function in direct alignment to the hand gestures of the surgeon where the grippers move back to the default position with the help of the pre-programmed switch.

Another object of the present invention is to provide a device where speed of the grasping can be changed using the potentiometer.

SUMMARY OF THE INVENTION:

In an aspect of the present invention there is provided a biomedical device with 180 degrees of angle of rotation, the device comprising: a) a top gripper (1), wherein the top gripper (1) is configured to move along the Y axis and the top gripper has default open position of 70°; b) a bottom gripper (2), wherein the bottom gripper (2) stays at static position; c) a plurality of gripper connectors (Yl Y2), wherein the top gripper (1) and the bottom grippers (2) are connected to the plurality of gripper connectors (Yl, Y2) by connector pin, wherein each gripper connectors is configured to provide 45° of movement to the top gripper and the bottom gripper; d) a rod connector (X2), wherein the rod connector (X2) is connected to the gripper connector (Yl) in front and with a rod connector (XI) in the back by using connector pins, wherein the rod connector (X2) is configured to provide -45 to +45 degree to the top gripper and the bottom gripper; e) a hollow rod (6), wherein the hollow rod (6) connects a gun with the rod connector (X2) which encloses the top gripper (1) and the bottom gripper (2); f) a gripper holding switch (9), wherein the gripper holding switch (9) is configured to send signal to a microcontroller (10) and the microcontroller (10) stops a motor movement; and g) an analog joystick board (11), wherein the analog joystick board (11) is connected to the micro controller (10) is configured to hold the position of top gripper (1) and bottom gripper (1) in X, Y position and also hold last position of the top gripper (1) and the bottom gripper (2) by using a servo motor 1 and a servo motor 2; wherein when the hollow rod (6) of the biomedical device is inserted inside the human body, the gripper holding switch (9) is switched which in turns opens the top gripper (1) and bottom gripper (2) and holding an organ of the human body by the top gripper (1) and the bottom gripper (2) wherein the top gripper (1) and bottom gripper (2) having 180° movement in X- axis and Y-axis.

In an embodiment, the biomedical device comprises a piston plate assembly that consists of a piston plate head, connecting coupler and connector pin, wherein the connecting coupler connects the piston plate head with the top gripper and is configured for closing of the top gripper.

In an embodiment, the hollow rod is configured to pass a plurality of tendon rope through it and hollow rod has dimension of 9mm outer diameter, inner diameter 7mm and a length of 540mm.

In an embodiment, the biomedical device comprises a trigger slot part configured to engaged in the scotch yoke mechanism for converting the linear motion of trigger to rotary motion of a potentiometer, wherein the potentiometer is coupled with a slot pulley which in turn is coupled with the trigger slot part.

In an embodiment, the microcontroller controls the servo motors depending upon the signals received from the potentiometer, analog joystick board and gripper holding switch.

In an embodiment, when gripper holding switch is pushed by the joystick, the X, Y position of top gripper and bottom gripper return back to its default position.

In an embodiment, a servo motor (3) is configured to transfers the rotary movement for the top gripper close operation, the servo motor (3) operates depending upon the signal received from the micro controller and the micro controller receives a signal from the potentiometer which is moved mechanically by the trigger.

In an embodiment, the plurality of tendon ropes comprises a first rope for -X to +X movement (XI rod connector and X2 rod with a separate servo motor) and a second rope is for -Y to +Y axis movement (Yl, Y2 gripper connector through X2 pulley to a separate servo motor) and a third rope is for closing the top gripper (Piston head plate through Y2 gripper connector, Yl, X2 and XI rod connector to a separate servo motor). In an aspect of the present invention there is provided a method of operating of a biomedical device for minimal invasive surgery, the method comprising steps of: a) providing a top gripper (1), wherein the top gripper (1) is configured to move along the Y axis and top gripper has default open position of 70° ; b) providing a bottom gripper (2), wherein the bottom gripper stays at static position; c) connecting a plurality of gripper connectors (Y1 Y2) to the top gripper (1) and bottom grippers (2) by connector pin, wherein each gripper connectors is configured to provide 45° of movement to the top gripper and bottom gripper; d) attaching a rod connector (X2) to the gripper connector (Yl) in front and with a rod connector (XI) in the back by using connector pins, wherein the rod connector (X2) is configured to provide -45 to +45° to the top gripper (1) and bottom gripper (2); e) attaching a hollow rod (6) with a gun with and the rod connector which encloses the top gripper (1) and bottom gripper (2); f) switching a gripper holding switch (9), wherein the gripper holding switch is configured to send signal to a microcontroller and the microcontroller stops a motor movement; g) connecting an analog joystick board (11), wherein the analog joystick board (11) is connected to the micro controller is configured to hold the position of top gripper (1) and bottom gripper (2) in X, Y position and also hold last position of top gripper (1) and bottom gripper (2) by using a servo motor 1 and a servo motor 2, inserting the hollow rod (6) of the biomedical device inside the human body, switching the gripper holding switch (9) which in turns opens the top gripper and bottom gripper and holding an organ of the human body by the top gripper and the bottom gripper wherein the top gripper (1) and bottom gripper (2) having 180° movement in X-axis and Y-axis.

This together with the other aspects of the present invention along with the various features of novelty that characterized the present disclosure is pointed out with particularity in claims annexed hereto and forms a part of the present invention. For better understanding of the present disclosure, its operating advantages, and the specified objective attained by its uses, reference should be made to the accompanying descriptive matter in which there are illustrated exemplary embodiments of the present invention.

DETAILED DESCRIPTION OF DRAWINGS:

To further clarify advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof, which is illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of their scope. The invention will be described and explained with additional specificity and detail with the accompanying drawings in which:

Figure 1: illustrates an embodiment of minimal invasive surgery device, provided by the present invention

Figure 2: illustrates an embodiment of minimal invasive surgery device, provided by the present invention

Figure 3: illustrates Grippers and connectors

Figure 4: illustrates Piston plate assembly

Figure 5: illustrates an embodiment of minimal invasive surgery device, provided by the present invention

Figure 6: illustrates the rod and the components such as the X2 rod connector, Y1 gripper connector, Y2 gripper connector and grippers are connected to the rod with the help of the XI rod connector

Figure 7: illustrates an embodiment of minimal invasive surgery device, provided by the present invention

Figure 8: illustrates an embodiment of minimal invasive surgery device, provided by the present invention

Figure 9: illustrates a hollow rod of 9mm outer diameter and a length of 500mm used for connecting the gun with the XI rod connector (which enclose the gripper part), guides the tendon ropes through it. Figure 10: illustrates Trigger slot part, gripper holding switch, micro controller is an electronic component that controls the servo motors depending upon the signals received from the potentiometer, Analog joystick board and gripper holding switch

Figure 11: illustrates another embodiment of minimal invasive surgery device, provided by the present invention

Figure 12: illustrates another embodiment of minimal invasive surgery device, provided by the present invention

Figure 13: illustrates another embodiment of minimal invasive surgery device, provided by the present invention

Figure 14: illustrates joystick and servo motors (1,2 and 3) which is an electronic component that is engaged in transferring the rotary movement for the top gripper close operation

Figure 15: illustrates Tendons which are durable ropes with more friction

Figure 16: illustrates another embodiment of minimal invasive surgery device, provided by the present invention

Figure 17: illustrates another embodiment of minimal invasive surgery device, provided by the present invention

Figure 18: illustrates another embodiment of minimal invasive surgery device, provided by the present invention

Figure 19: illustrates another embodiment of minimal invasive surgery device, provided by the present invention

Figure 20: illustrates another embodiment of minimal invasive surgery device, provided by the present invention

Figure 21: illustrates another embodiment of minimal invasive surgery device with interchangeable gripper and joystick controller, provided by the present invention

Figure 22: illustrates the top view with switches, display and bottom view of minimal invasive surgery device, provided by the present invention

Figure 23: illustrates the joystick switch and OLED display of minimal invasive surgery device, provided by the present invention

Figure 24: illustrates the 2 X 2 switch and battery management system of minimal invasive surgery device, provided by the present invention Figure 25: illustrates the perspective view of minimal invasive surgery device, provided by the present invention

DETAILED DESCRIPTION:

For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one skilled in the art to which the invention relates.

It will be understood by those skilled in the art that the foregoing general description and the following detailed description are exemplary and explanatory of the invention and are not intended to be restrictive thereof.

The Invention provides a minimal invasive surgery device with multiple features controlled by servo motors, enabling advanced surgical procedures at a low cost with the ease of operative experience for the doctors.

The device facilitates user to control the amount of pressure that should be delivered to the gripper for closure movement. The device is a smart medical robotic motorized device useful for Minimally Invasive Surgical procedure such that practitioners with even the minimal experience, training will be able to operate advanced cum diminutive surgical procedures, thereby reducing the cost of healthcare services.

In an embodiment, the biomedical device facilitates 180 degrees of angle of rotation. The device comprises following components: a) a top gripper (1), wherein the top gripper (1) is configured to move along the Y axis and the top gripper has default open position of 70°; b) a bottom gripper (2), wherein the bottom gripper (2) stays at static position; c) a plurality of gripper connectors (Y1 Y2), wherein the top gripper (1) and the bottom grippers (2) are connected to the plurality of gripper connectors (Yl, Y2) by connector pin, wherein each gripper connectors is configured to provide 45° of movement to the top gripper and the bottom gripper; d) a rod connector (X2), wherein the rod connector (X2) is connected to the gripper connector (Yl) in front and with a rod connector (XI) in the back by using connector pins, wherein the rod connector (X2) is configured to provide -45 to +45 degree to the top gripper and the bottom gripper; e) a hollow rod (6), wherein the hollow rod (6) connects a gun with the rod connector (X2) which encloses the top gripper (1) and the bottom gripper (2); f) a gripper holding switch (9), wherein the gripper holding switch (9) is configured to send signal to a microcontroller (10) and the microcontroller (10) stops a motor movement; and g) an analog joystick board (11), wherein the analog joystick board (11) is connected to the micro controller (10) is configured to hold the position of top gripper (1) and bottom gripper (1) in X, Y position and also hold last position of the top gripper (1) and the bottom gripper (2) by using a servo motor 1 and a servo motor 2; wherein when the hollow rod (6) of the biomedical device is inserted inside the human body, the gripper holding switch (9) is switched which in turns opens the top gripper (1) and bottom gripper (2) and holding an organ of the human body by the top gripper (1) and the bottom gripper (2) wherein the top gripper (1) and bottom gripper (2) having 180° movement in X- axis and Y-axis.

In an embodiment, the biomedical device comprises a trigger slot part configured to be engaged in the scotch yoke mechanism for converting the linear motion of trigger to rotary motion of a potentiometer, wherein the potentiometer is coupled with a slot pulley which in turn is coupled with the trigger slot part.

In an embodiment, the plurality of tendon ropes comprises a first rope for -X to +X movement (XI rod connector and X2 rod with a separate servo motor) and a second rope is for -Y to +Y axis movement (Yl, Y2 gripper connector through X2 pulley to a separate servo motor) and a third rope is for closing the top gripper (Piston head plate through Y2 gripper connector, Yl, X2 and XI rod connector to a separate servo motor).

The present invention device provides the maximum freedom of movement for the end effector is up to -90 to +90 (a total of 180) degree on each plane. The gripper (end effector) of the device is designed with 5 degrees of freedom such that it can rotate around for about 180 degrees on each plane. The gripper is made up of six links with five joints. Each of the joints enables the links to rotate from -45 degrees to +45 degrees. Link 3 and 4 connected with a servo motor using tendons will move in X-axis. Links 6 and 7 will move in the Y-axis. Thus, device will have 3, 4, 6, 7, 8 degrees of freedom.

In an embodiment, the device comprises Scotch yoke mechanism, which is an advantageous feature. The Scotch yoke mechanism is used to convert the linear motion of trigger to the rotary motion of the potentiometer. The trigger slot is connected to the potentiometer. The linear motion applied by the external operator on the trigger slot is converted to the rotary motion required for the function of the potentiometer. The potentiometer then sends electrical signals to the motors.

In an embodiment, the device comprises multifunctional nature of the device. The multifunctional attribute of device comes with a unique feature of both the bipolar and monopolar surgeries incorporated into one tool. The device is designed to ensure both bipolar and monopolar procedures using electrosurgical techniques.

In an embodiment, the device comprises Gripper piston plate assembly. The rotary motion of the motor is converted into linear motion of the piston plate head which in turn gives a rotary motion to the top gripper. The movement applied on the gripper is directed to function the piston plate. The piston plate is positioned and designed in such a way that the linear motion received by it is converted to give rotary motion to the top gripper.

In an embodiment, the Grippers are controlled by electrically powered motors and analogue joysticks. Thumb control for the joystick for movement of end effector for ease of operation. Further, the device comprises servomotors and an analogue joystick. The customised analogue joystick controller. Essentially the joystick is used to send signals to the controller. On receiving these signals, the controller in turn will send electrical signals to the motor for its functional operations.

In an embodiment, the device comprises analogue joystick ball movement to move the gripper. Analogue ball movement is adopted to move the grippers to its default position using a preprogrammed switch. This unique analogue ball movement installed in device will enable it to hold on to the position instantaneously and momentarily as per the hand gestures of the operator making the device highly user friendly.

In an embodiment, for the ease of the user to handle and hold the position momentarily, the device is enabled to control and hold the analogue ball movement electrically to stay static and positioned at any desired point of operation without having to stabilize the gripper manually. If the user wants the default position of the gripper, they can simply enable it by just clicking the analogue ball so that the gripper moves back to its original default position.

In an embodiment, the use of potentiometer changes the speed of the motor that makes device of the present invention highly reliable, easy to operate. In an embodiment, the speed of the grasping can be changed both across different range and along different degrees, with the help of the potentiometer. The motor which is connected to the potentiometer controls the desired moment of the gripper which makes the device more user friendly.

In an embodiment, potentiometer range is from 0 to 1023 and motor rotation range is from 0 to 180 degree.

In an embodiment, fig.3 shows a gripper of the present invention that helps in grasping the tissue organs while doing any laparoscopic surgery. The top gripper behaves as a movable part with 70deg default open position. While working it will act like a single action jaw which means only one jaw will be moving while the other will remain fixed. Further, bottom gripper is a static one that will not move under any condition.

Further, both the grippers are connected to the Y2 gripper connectors by using connector pinl. And helps to achieve top and bottom movement of grippers to about 45deg. This component relates to grippers in front and a Y1 gripper connector in the back by using connector pins. Further, another 45deg movement for the top and bottom motion of grippers is achieved by this component. This component is connected with a Y2 gripper connector in front and an X2 rod connector to the back by using connector pins.

In an embodiment, piston plate assembly as shown in fig 4, is a mechanical part that consists of a piston plate head, connecting coupler and connector pin. The connecting coupler connects the piston plate head with the top gripper. This component is used for the closing of the top gripper. The rope connection is from a separate servo motor to this piston plate assembly.

Further, another 45deg movement for the left and right motion of grippers is achieved by this component. This component as shown in fig 6 relates to a Y1 gripper connector in front and an XI rod connector in the back by using connector pins. Further, the rod and the components such as the X2 rod connector, Y1 gripper connector, Y2 gripper connector and grippers are connected to the rod with the help of the XI rod connector. A hollow rod that connects the gun with the rod connector which encloses the gripper part, guides the tendon ropes through it.

In an embodiment, a hollow rod as shown in fig 9 has dimension of 9mm outer diameter and a length of 500mm is used for connecting the gun with the XI rod connector (which enclose the gripper part), guides the tendon ropes through it. In an embodiment, hollow rod as shown in fig. 10 is engaged in the scotch yoke mechanism for converting the linear motion of trigger to rotary motion of potentiometer. The potentiometer is coupled with the slot pulley which in turn is coupled with the trigger slot part. Further, the potentiometer is an electronic component that sends the signal to the micro controller which in turn sends a signal to the motor, using this we can control the servo motor-3.

In an embodiment, the gripper holding switch as shown in fig. 10 is also an electronic component. When it is pressed, sends a signal to the micro controller and this micro controller stops the motor movement electrically. Thus, it helps in holding the top gripper in its last position, during this switch ON condition the trigger won’t work unless otherwise the switch is released. Further, the micro controller controls the servo motors depending upon the signals received from the potentiometer, Analog joystick board and gripper holding switch.

In an embodiment, the joystick as shown in fig. 14 connected to the micro controller which helps the grippers X, Y position and hold that last position by using servo motor 1 and 2. whenever use the joystick’s push switch, the X, Y position return back to its default position. The servo motor -1 helps the movement of the gripper’s X-position depending upon the signal received from the micro controller which in turn receives signals from the Analog joystick board. Further, servo motor -2 helps the movement of the gripper’s Y-position depending upon the signal received from the micro controller which in turn receives signals from the Analog joystick board. The servo motor -3 is engaged in transferring the rotary movement for the top gripper close operation. This servomotor operates depending upon the signal received from the micro controller. The micro controller receives a signal from a potentiometer which is moved mechanically by the trigger.

In an embodiment, the tendons as shown in fig. 15 are durable ropes with more friction. In the device of the present invention tendon ropes of diameter 0.39mm are used. There are three ropes in the device. One rope is for left and right movement (XI rod connector and X2 with a separate servo motor) Other rope is for top and bottom movement (Yl, Y2 gripper connector through X2 pulley to a separate servo motor) Another rope is for closing the top gripper (Piston head plate through Y2 gripper connector, Yl, X2 and XI rod connector to a separate servo motor). In an embodiment, the biomedical device of the present invention has the following components:

I. Top gripper:

A gripper (fig 21) is a component that helps in grasping the tissue organs while doing any laparoscopic surgery. The top gripper behaves as a movable part with 70 deg default open position..

II. Bottom gripper:

This gripper (fig 21) is a static one that will not move under any condition. It is fixed and cannot be disturbed at any cost.

III. ¥ - Gripper connector:

The entire gripper in the system is connected to the Y gripper connectors by using connector pinl. This component (fig 21) helps to achieve top and bottom movement of grippers to about 45 degrees. This component is connected with grippers in front and the other gripper connector in the back by using connector pins.

Another 45deg movement for the top and bottom motion of grippers is achieved by this component. This component (fig 21) is connected with the other gripper connector in front and an X rod connector to the back by using connector pins.

IV. Piston plate assembly:

Piston plate assembly is a mechanical part that consists of a piston plate head, connecting coupler and connector pin. The connecting coupler connects the piston plate head with the top gripper. This component is used for the closing of the top gripper. The rope connection is from a separate servo motor to this piston plate assembly.

V. X - Rod connector:

The rod and the components such as the X rod connector, Y gripper connector and grippers are connected to the rod with the help of the X rod connector.

A hollow rod that connects the gun with the rod connector which encloses the gripper part, guides the tendon ropes through it.

Another 45 degrees movement for the left and right motion of grippers is achieved by this component. This component is connected with a Y gripper connector in front and an X rod connector in the back by using connector pins.

VI. Rod: A hollow rod of 9mm outer diameter and a length of 500mm is used for connecting the gun with the X rod connector (which enclose the gripper part), guides the tendon ropes through it.

VII. Trigger slot part:

This is a component engaged in the Rack and Pinion mechanism for converting the linear motion of trigger to rotary motion of potentiometer. The potentiometer is coupled with the slot pulley which in turn is coupled with the trigger slot part.

VIII. Potentiometer:

The potentiometer is an electronic component that sends the signal to the microcontroller which in turn sends a signal to the motor, using this user can control the servo motor-3.

IX. Gripper holding switch:

The gripper holding switch is also an electronic component. When it is pressed, it sends a signal to the microcontroller and this micro controller stops the motor movement electrically. Thus, it helps in holding the top gripper in its last position, during this switch ON condition the trigger won’t work unless otherwise the switch is released.

X. Micro controller:

The microcontroller is an electronic component that controls the servo motors depending upon the signals received from the potentiometer, Analog joystick board and gripper holding switch. It is self - designed according to the needs of the design. Since it is designed for the designs it is adaptable and effective in process as it performs the required task for the system.

XI. Analog Joystick board:

The joystick (fig 21) is an electronic device that is also connected to the microcontroller which helps the grippers X, Y position and hold that last position by using servo motors 1 and 2. Whenever I use the joystick’s push switch, the X, Y position returns back to its default position. The Analog joystick press switch is used for gripper lock.

XII. Medical Grade Servo Motor 1:

Medical grade servo motor 1 is an electronic component that helps the movement of the gripper’s X-position depending upon the signal received from the microcontroller which in turn receives signals from the Analog joystick board. It rotates from -90 degrees to +90 degrees in X directions.

XIII. Medical Grade Servo Motor 2: Servo motor -2 is an electronic component that helps the movement of the gripper’s Y- position depending upon the signal received from the microcontroller which in turn receives signals from the Analog joystick board. It rotates from -90 degrees to +90 degrees in Y direction.

XIV. Medical Grade Servo Motor 3:

Servo motor -3 is an electronic component that is engaged in transferring the rotary movement for the top gripper close operation. This servo motor operates depending upon the signal received from the microcontroller. The micro controller receives a signal from a potentiometer which is moved mechanically by the trigger. In this motor the gripper is opened up to 70 degrees and helps to close the jaws when not in use.

XV. Medical Grade Servo Motor 4:

This motor helps to rotate both in Clockwise and Anticlockwise direction. It rotates in 360 degrees in certain directions. Hence it helps to rotate the gripper when needed and maintains the position under controlled conditions.

XVI.Tendons SS Wire ropes:

Tendons are durable ropes with more friction. The device of the present invention uses tendon ropes of 0.46mm diameter. The device is using three ropes. One rope is for left and right movement (X rod connector and X with a separate servo motor) Other rope is for top and bottom movement (Y gripper connector through X pulley to a separate servo motor) Another rope is for closing the top gripper (Piston head plate through Y gripper connector, Y and X rod connector to a separate servo motor). SS stands for Stainless Steel with grade 316.

XVII. Position Locking:

This unique feature helps to lock the position when it is fixed at certain conditions . After the locking of the position the gripper is unable to move so it stands fixed throughout the surgery hence doesn't cause any movement change during the process. After the release of the position change, the gripper is movable and can be relocked when needed.

XVIII. OLED display:

OLED display (fig 23) helps to monitor the movements of the parts and also monitors the battery level in the system. Hence provides an overview of the system and helps the surgeons to use the tool efficiently and effectively. XIX. Interchangeable grippers:

Interchangeable Grippers (fig 21) is one of the efficient features which is absent in the existing system. It helps to change the grippers according to the needs of the surgeons. The needle and grippers of different sizes and angles can be interchanged in the requirement of the specific surgery.

XX. Battery Management System:

Battery Management system (fig 24) is also attached with the tool , this helps to use the tool without any external power supply. It has 8 hours battery backup and hence helps to use the tool effectively.

XXI. 2 X 2 Switch:

There are totally 4 Switches (fig 24). The first switch is used for power on and off. The second and third switch is used to rotate the 360 degree clockwise and anticlockwise. The Fourth switch is used for switch rotation lock.

The Invention is further described with the help of non- limiting examples:

Example 1:

The detailed working of the semi-automated minimally invasive surgical device is described below:

• The gripper used in device is installed with a one way motion of jaw such that the other one is kept static.

• Here the top gripper is a movable one, which is by default held at 70 degree from the bottom gripper with the help of gripper springs that is mounted on the Y2 gripper connector.

• The main electronic components that are used in device are Micro controller, Analog joystick board, Potentiometer and Push-button switch.

• The analogue ball movement is sensed by the Analog joystick board and the signals received are sent to the micro controller board which is the processing unit of the devcie. These processed signals are further used to actuate the motors. • The movable components such as the XI and X2 are connected to a separate MG90S servo motor with the help of a tendon rope. Thus, the left and right movement of grippers are controlled and achieved.

• The up and down movement of grippers are controlled and achieved by connecting the Y 1 and Y2 gripper connector with another servo motor with the help of tendon rope.

• For the ease of the user to handle and hold the position momentarily, the device is enabled to control and hold the analogue ball movement electrically to stay static and positioned at any desired point of operation without having to stabilize the gripper manually every time.

• If the user wants the default position of the gripper, they can simply enable it by just clicking the analogue ball so that the gripper moves back to its original default position.

• The top gripper is connected to a piston head plate by a connecting coupler. This piston head plate is mounted on the Y2 gripper connector by the tension of non-linear springs mounted on the Y2 gripper connector. The tendon rope is connected between the piston head plate and a separate servo motor.

• A potentiometer is used to detect the actual rotation in such a way that the user can control the top gripper movement. This potentiometer is coupled with a slot pulley which enables circular moment anchored with the help of a peg.

• The trigger slot part and slot pulley are the two components required for the scotch yoke mechanism. With the help of this mechanism, the linear motion of the trigger slot is converted to the rotary motion of the potentiometer. On working of the potentiometer, it sends electric signals to the microcontroller which in turn actuates the motor. Thus, we can achieve the closing position of the top gripper.

• A push-button switch is used to hold the gripper at any degree. Once we release the switch, the gripper moves back to its default position.

• Battery management system plays an important role in the working process.lt has 8 hours of battery back-up feature,

• Position locking helps to lock the tool in a particular position which prevents unwanted movement.

• Interchangeable grippers are helpful to change the needle and gripper according to the surgery performed.lt also helps to open and close the jaw of the device.

• OLED display used to monitor the BMS facility and also monitors the movement of the tool. In an embodiment, the grippers are controlled by electrically powered motors and analogue joysticks. Thumb control is used for the joystick movement of end effector. This specific characteristic feature makes device individualistic in nature. Further, the device comprises analogue joystick ball movement to move the gripper. Analogue ball movement is adopted to move the grippers to its default position using a pre-programmed switch. This unique analogue ball movement installed in device will enable it to hold on to the position instantaneously and movement as per the hand gestures of the operator making the device highly user friendly.

In an embodiment, the deceive is highly multifunctional, as it has both bipolar and monopolar procedures using electrosurgical techniques. The multifunctional attribute of device comes with a unique feature of both the bipolar and monopolar surgeries incorporated into one tool.

In an embodiment, the joystick acts as an interface is enabled using the thumb finger of the surgeon. The trigger slot which is connected to the potentiometer is actuated with the help of the thumb finger of the surgeon, making the device extremely easy to operate. The device is essentially well coordinated with the gestures/movement of the thumb without any time gap and delay.

In an embodiment, biomedical device will be enabled along with led light to reduce the number of punctures during surgery. Further, biomedical device will also be enabled with led camera that would suffice all the multiple punctures by the device together in terms of one single penetration. This technology will also help to reduce the blood loss during surgery.

In an embodiment, the biomedical device will also comprise of Wi-Fi enabled camera in order to execute the surgery with ease. This technology is in the process to execute the surgery with less number of punctures into the body. This again would help reduce the loss of unwanted blood during surgery.

In an embodiment, the biomedical device will perform an IOT based surgery. As this would enable the surgeon to carry out the surgery even in his/her physical absence at the operation theatre. Thus, a new learner as well as an inexperienced surgeon would also be in the position to handle the surgery as per the advice of the surgeon from far. Further, biomedical device would be brought in along with robotic hand. The Robotic Arm is fixed with the device which facilitates the Physical presence of the surgeon. Further, the device will be built in with battery source, thereby extending the product to be operative even in the absence of direct current.

Claims

We Claim:

1. A biomedical device with 180 degrees of angle of rotation, the device comprising: a) a top gripper (1) comprising default open position of 70°, configured to move along the Y axis ; b) a bottom gripper (2), configured to be positioned at a static position; c) plurality of gripper connectors (Y1,Y2), wherein the top gripper (1) and the bottom gripper (2) are connected to the plurality of gripper connectors (Yl, Y2) by a connector pin, wherein each gripper connector is configured to provide 45° of movement to the top gripper and the bottom gripper; d) a rod connector (X2), wherein the rod connector (X2) is connected to the gripper connector (Yl) in front and with a rod connector (XI) in the back by using connector pins, wherein the rod connector (X2) is configured to provide -45 to +45 degree to the top gripper and the bottom gripper; e) a hollow rod (6) with dimension comprising 9mm outer diameter, inner diameter 7mm and a length of 540mm, wherein the hollow rod (6) connects a gun with the rod connector (X2) which encloses the top gripper (1) and the bottom gripper (2), said hollow rod is configured to pass a plurality of tendon rope through it; f) a gripper holding switch (9), wherein the gripper holding switch (9) is configured to send signal to a microcontroller (10) wherein the microcontroller controls the servo motors depending upon the signals received from the potentiometer, analog joystick board and gripper holding switch; g) an analog joystick board (11), wherein the analog joystick board (11) is connected to the micro controller (10) which is configured to hold the position of top gripper (1) and bottom gripper (1) in X, Y position and also hold last position of the top gripper (1) and the bottom gripper (2) by using a servo motor 1 and a servo motor 2; wherein the gripper holding switch (9) upon being switched ON opens the top gripper (1) and bottom gripper (2) thus holding the desired position/part, by the top gripper (1) and the bottom gripper (2) wherein the top gripper (1) and bottom gripper (2) have 180° movement in X-axis and Y-axis. The biomedical device as claimed in claim 1, wherein the biomedical device comprises a piston plate assembly (4) that consists of a piston plate head, connecting coupler and connector pin, wherein the connecting coupler connects the piston plate head with the top gripper and is configured for closing of the top gripper. The biomedical device as claimed in claim 1, wherein the biomedical device comprises a trigger slot part configured to be engaged in the scotch yoke mechanism for converting the linear motion of trigger to rotary motion of a potentiometer, wherein the potentiometer is coupled with a slot pulley which in turn is coupled with the trigger slot part. The biomedical device as claimed in claim 1, wherein when gripper holding switch is pushed by the joystick, the X, Y position of top gripper and bottom gripper return back to its default position. The biomedical device as claimed in claim 1, wherein a servo motor (3) is configured to transfers the rotary movement for the top gripper close operation, the servo motor (3) operates depending upon the signal received from the micro controller and the micro controller receives a signal from the potentiometer which is moved mechanically by the trigger. The biomedical device as claimed in claim 1, wherein the plurality of tendon ropes comprises a first rope for -X to +X movement by XI rod connector and X2 rod with a separate servo motor and a second rope is for -Y to +Y axis movement by Yl, Y2 gripper connector through X2 pulley to a separate servo motor and a third rope is for closing the top gripper where the Piston head plate is connected through Y2 gripper connector, Yl, X2 and XI rod connector to a separate servo motor. The biomedical device as claimed in claim 1 , wherein the device provides the maximum degrees of freedom comprising 3, 4, 6, 7, 8 degrees of freedom, where: a) the end effector moves in the range of -90 to +90 (a total of 180) degree on each plane; b) the gripper (end effector) of the device is designed with 5 degrees of freedom such that it can rotate around for about 180 degrees on each plane; c) the gripper made of six links with five joints where each of the joints enables the links to rotate from -45 degrees to +45 degrees; d) Link 3 and 4 connected with a servo motor using tendons will move in X-axis; e) Links 6 and 7 will move in the Y-axis. The biomedical device as claimed in claim 1, wherein the device can be positioned at any desired point of operation without having to stabilize the gripper manually every time by the following steps: i) achieving the default position of the gripper, by clicking an analogue ball so that the gripper moves back to its original default position; ii) connecting the top gripper to a piston head plate by a connecting coupler where the piston head plate is mounted on the Y2 gripper connector by the tension of nonlinear springs mounted on the Y2 gripper connector, such that the tendon rope is connected between the piston head plate and a separate servo motor; iii) Detecting the actual rotation of grippers by the potentiometer in such a way that the user can control the top gripper movement, as the potentiometer is coupled with a slot pulley which enables circular moment anchored with the help of a peg, and activating the scotch yoke mechanism by the trigger slot part and slot pulley where the linear motion of the trigger slot is converted to the rotary motion of the potentiometer while the working of the potentiometer, sends electric signals to the microcontroller which in turn actuates the motor and achieves the closing position of the top gripper. A method of operating a biomedical device for minimal invasive surgery as claimed in claim 1, the method comprising steps of: a) providing a top gripper (1), wherein the top gripper (1) is configured to move along the Y axis and top gripper has default open position of 70° ; b) providing a bottom gripper (2), wherein the bottom gripper stays at static position; c) connecting a plurality of gripper connectors (Y1 Y2) to the top gripper (1) and bottom grippers (2) by connector pin, wherein each gripper connectors is configured to provide 45° of movement to the top gripper and bottom gripper; d) attaching a rod connector (X2) to the gripper connector (Yl) in front and with a rod connector (XI) in the back by using connector pins, wherein the rod connector (X2) is configured to provide -45 to +45° to the top gripper (1) and bottom gripper (2); e) attaching a hollow rod (6) with a gun with and the rod connector which encloses the top gripper (1) and bottom gripper (2); f) switching a gripper holding switch (9), wherein the gripper holding switch is configured to send signal to a microcontroller and the microcontroller stops a motor movement; g) connecting an analog joystick board (11), wherein the analog joystick board (11) is connected to the micro controller is configured to hold the position of top gripper (1) and bottom gripper (2) in X, Y position and also hold last position of top gripper (1) and bottom gripper (2) by using a servo motor 1 and a servo motor 2, inserting the hollow rod (6) of the biomedical device inside the human body, switching the gripper holding switch (9) which in turns opens the top gripper and bottom gripper and holding an organ of the human body by the top gripper and the bottom gripper wherein the top gripper (1) and bottom gripper (2) having 180° movement in X-axis and Y-axis.

10. The method of operation of the biomedical device as claimed in claim 9, comprises the steps of: a) Installing the gripper with a one way motion of jaw such that the other one is kept static, wherein the top gripper is a movable one, which is by default held at 70 degree from the static bottom gripper with the help of gripper springs that is mounted on the Y2 gripper connector; b) Sensing and receiving the analogue ball movement by the Analog joystick board wherein the received signals are sent to the micro controller board for further processing and actuating the motors; c) Connecting the movable components comprising XI and X2 to the servo motor by a tendon rope for controlling the left and right movement of grippers; d) Controlling the up and down movement of grippers by connecting Y1 and Y2 gripper connector with another servo motor with the help of tendon rope; wherein the device is enabled to control and hold the analogue ball movement electrically to stay static and positioned at any desired point of operation without having to stabilize the gripper manually every time by the following steps: iv) achieving the default position of the gripper, by clicking the analogue ball so that the gripper moves back to its original default position; v) connecting the top gripper to a piston head plate by a connecting coupler where the piston head plate is mounted on the Y2 gripper connector by the tension of nonlinear springs mounted on the Y2 gripper connector, such that the tendon rope is connected between the piston head plate and a separate servo motor; vi) Detecting the actual rotation of grippers by the potentiometer in such a way that the user can control the top gripper movement, as the potentiometer is coupled with a slot pulley which enables circular moment anchored with the help of a peg, and activating the scotch yoke mechanism by the trigger slot part and slot pulley where the linear motion of the trigger slot is converted to the rotary motion of the potentiometer while the working of the potentiometer, sends electric signals to the microcontroller which in turn actuates the motor and achieves the closing position of the top gripper.