WO2023237922A1 - Système robotisé d'évitement de collision active et dynamique - Google Patents

Système robotisé d'évitement de collision active et dynamique Download PDF

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Publication number
WO2023237922A1
WO2023237922A1 PCT/IB2022/058988 IB2022058988W WO2023237922A1 WO 2023237922 A1 WO2023237922 A1 WO 2023237922A1 IB 2022058988 W IB2022058988 W IB 2022058988W WO 2023237922 A1 WO2023237922 A1 WO 2023237922A1
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WO
WIPO (PCT)
Prior art keywords
robotic
surgical
robotic arms
sensor
arms
Prior art date
Application number
PCT/IB2022/058988
Other languages
English (en)
Inventor
Yossi Bar
Original Assignee
Lem Surgical Ag
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 Lem Surgical Ag filed Critical Lem Surgical Ag
Publication of WO2023237922A1 publication Critical patent/WO2023237922A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39083—Robot interference, between two robot arms
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Definitions

  • the invention relates to systems and methods for avoiding collisions between elements in a robotic system. More particularly, the invention relates to systems and methods for preventing collisions between robotic arms in multi-arm surgical robotic systems.
  • the systems and methods of the inventive system relate also to avoiding collisions between robotic end effectors in surgical robotic systems and area and between robotic end effectors and other robotic arms in surgical robotic systems.
  • spinal surgical robotic systems as in other surgical applications, multiple robotic arms may be operating in close proximity to each other and in close proximity to OR staff and the patient and also other devices such as cameras and surgical equipment and the current invention relates to systems and methods for preventing such robotic arms from colliding with each other and with other items in the surgical field.
  • Collision avoidance and collision prevention methods are well known in robotic systems and in surgical robotic systems in particular. When robotic systems are used and in particular when utilized in surgical fields, it is important to prevent the robotic arm from colliding with itself, with other robotic arms/elements in the field, with the patient and with the medical staff.
  • the following invention describes a mobile multi-arm system which may deploy its robotic arms around a patient during surgery.
  • the patient’s position, formation and “surface topology” is random and unknown and also continuously changes during the surgery.
  • Surgical tools like forceps, scalpels etc. are being added and continuously change the patient’s surface and form.
  • several medical staff are standing and working. These people’s location near the patient and the robotic arms is random and continuously changes. Avoiding collision between robotic elements and between robotic elements and OR staff and the patient is essential, but is made more difficult by this constantly changing environment.
  • cobots colliding with a human or an object
  • it will sense the collision and will stop.
  • the problem is that even the best cobot will sense a collision and stop only with minimal collision force of one-to-two-kilogram force, for example.
  • a minimal collision force much smaller than one kilogram might be lethal and might cause harm to the patient and/or medical staff.
  • the collision avoidance system and methods incorporate a central controller that knows the location and morphology of the robotic arms and can control their synchronized movement relative to each other.
  • the representative embodiments also provide for one of the robotic arms being a surveillance arm that does not actively participate in the surgical procedure but instead holds one or more cameras and/or sensors and gathers information about the constantly changing surgical environment and feeds that information to the central controller that, in turn, works to avoid collisions between the active surgical arms.
  • Figure 1 shows a robotic surgical system with collision avoidance features according to an embodiment of the present invention.
  • Figure 2 shows a robotic surgical system with collision avoidance features operating to avoid collision between two robotic arms according to an embodiment of the present invention.
  • Figure 3 shows a robotic surgical system with collision avoidance features operating to avoid collision between a robotic arm and a surgeon according to an embodiment of the present invention.
  • the following novel invention describes a system and method to actively and dynamically prevent collisions in a multi-arm robotic system.
  • a surgical multi-arm robotic system with collision avoidance capabilities is shown.
  • the system may be comprised of at least two robotic arms, or optionally more, 101, 102, 103 which share the same rigid mechanical chassis and are controlled by a single controller.
  • At least one arm 101, 102 is dedicated to surgical activities and at least one arm 103 is dedicated for collision avoidance tasks and is holding at least one camera or sensor 104.
  • the current embodiment is describing at least three robotic arms, two are surgical arms 101, 102 and one surveillance arm 103.
  • the suggested system and methods will integrate the following levels of data collection and methods to prevent collisions of the robotic arms in a dynamic way.
  • the central controller will be fed upfront (prior to the surgery) with all of the robotic arms’ morphology and location in relation to each other. Thus, the controller will know upfront all the arms’ locations and will be able to move them in space without colliding with each other.
  • At least one arm 103 in Figure 1 will not participate in the active surgery and will be free 100% of the time only to monitor the surgical surroundings.
  • This “surveillance robotic arm” role and function is to hold at least one camera/sensor and to continuously guard the patient and the robotic arms from colliding with each other and to continuously gather information about the changing environment. It is imperative that this arm will not take part in the surgery and will not conduct surgical tasks, like holding surgical tools etc, because this arm must be 100% available and free to perform this critical task.
  • the “surveillance arm” can hold more than one camera/sensor in order to provide several layers of diverse data.
  • the multiple arms/sensors can provide data from different angles or data of different types.
  • This surveillance arm and camera and sensors can scan and map the surface of the patient and surroundings at the beginning of the surgery (done by other companies like Mazor robotics- Mazor X) but from the reasons explained above this preliminary scan and mapping is not enough since the surgical environment is changing all the time.
  • this camera/sensor is built into the surgical arm and performs the scan at the beginning of the surgery but naturally since this arm is busy with the surgery this scan can’t be performed again and/or continuously during the surgery.
  • this arm since this arm is completely available for this surveillance task it can continuously scan the patient and for example, update the surface map with new information, such as for example that now there is a surgical tool in the patient’s body and this area needs to be avoided.
  • This arm can carry more than one sensor and by that provide additional diverse information. For example, it can carry a navigation camera/sensor and continuously detect navigation markers that are placed on the robotic arms and the patient anatomy. This diversity of information can enhance the robustness of the data collected and can help facilitate a safer environment. Additionally, It can hold and carry sensors that can communicate with other sensors that are embedded in the other surgical robotic arms, surgical table etc. the main advantage is that this arm is free for this task from any surgical task.
  • the multi arm synchronization with regards to collision avoidance have additional critical implication.
  • the central controller can always actively and dynamically choose an optimal position to position the surveillance arm and improve the probability to detect a possible collision. For example, if the surgeon is using now for a certain task one of the arms of the system, the central controller knows that and will be able to position the surveillance camera in an optimal location wherein the sensors will have a higher likelihood to detect a collision with the patient or the surgeon. Also, in case the surgeon now moves and “surprises the robotic system” the sensors on the surveillance arm will have better chances to detect that, being positioned in an optimal location beforehand.
  • the surveillance arm is not only detecting possible collision by chance but the controller is using algorithms to actively and dynamically position it in optimal locations in space wherein it will have higher probability to detect the possible collision.
  • the challenge is even greater since the area, or in particular, the operation room can’t always be equipped with fixed cameras/sensors.
  • the mobile robotic system must provide all the collision detection capabilities by itself. Of course, if will be possible to place additional fixed sensors on the walls, celling etc. this addition will only assist the said mobile system to be even better, but these additions are not necessary if a mobile system with a capable, dynamic collision avoidance system such as that used in the present invention is deployed.
  • collision avoidance features as described above operate to avoid collision between two robotic arms 201, 202.
  • collision avoidance features as described herein operate to avoid collision between a robotic arm 301 and a surgeon 302.

Landscapes

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

Abstract

L'invention concerne des systèmes et des procédés pour éviter des collisions entre des éléments dans un système robotisé. Dans des modes de réalisation particuliers, l'invention concerne des systèmes et des procédés pour empêcher des collisions entre des bras robotisés dans des systèmes robotisés chirurgicaux à bras multiples. L'invention concerne également des stratégies pour éviter des collisions entre des effecteurs d'extrémité robotisés dans des systèmes robotisés chirurgicaux et entre des effecteurs d'extrémité robotisés et d'autres bras robotisés dans des systèmes robotisés chirurgicaux. Dans des systèmes robotisé chirurgicaux rachidiens, comme dans d'autres applications chirurgicales, de multiples bras robotisés peuvent fonctionner à proximité étroite les uns des autres et à proximité immédiate du personnel de salle d'opération et du patient ainsi que d'autres dispositifs tels que des caméras et la présente invention concerne des systèmes et des procédés pour empêcher de tels bras robotisés d'entrer en collision les uns avec les autres et avec d'autres éléments dans le champ chirurgical.
PCT/IB2022/058988 2022-06-06 2022-09-22 Système robotisé d'évitement de collision active et dynamique WO2023237922A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202263349146P 2022-06-06 2022-06-06
US63/349,146 2022-06-06

Publications (1)

Publication Number Publication Date
WO2023237922A1 true WO2023237922A1 (fr) 2023-12-14

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117796913A (zh) * 2024-03-01 2024-04-02 科弛医疗科技(北京)有限公司 手术机器人

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140163736A1 (en) * 2012-12-10 2014-06-12 Intuitive Surgical Operations, Inc. Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
WO2022069993A1 (fr) * 2020-09-30 2022-04-07 Auris Health, Inc. Évitement de collision dans la robotique chirurgicale sur la base d'informations sans contact
US20220160445A1 (en) * 2019-03-20 2022-05-26 Covidien Lp Robotic surgical collision detection systems

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140163736A1 (en) * 2012-12-10 2014-06-12 Intuitive Surgical Operations, Inc. Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
US20220160445A1 (en) * 2019-03-20 2022-05-26 Covidien Lp Robotic surgical collision detection systems
WO2022069993A1 (fr) * 2020-09-30 2022-04-07 Auris Health, Inc. Évitement de collision dans la robotique chirurgicale sur la base d'informations sans contact

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117796913A (zh) * 2024-03-01 2024-04-02 科弛医疗科技(北京)有限公司 手术机器人

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