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EP1528896A1 - Robot navigateur pour interventions chirurgicales - Google Patents

Robot navigateur pour interventions chirurgicales

Info

Publication number
EP1528896A1
EP1528896A1 EP03730474A EP03730474A EP1528896A1 EP 1528896 A1 EP1528896 A1 EP 1528896A1 EP 03730474 A EP03730474 A EP 03730474A EP 03730474 A EP03730474 A EP 03730474A EP 1528896 A1 EP1528896 A1 EP 1528896A1
Authority
EP
European Patent Office
Prior art keywords
dof
goniometer
fixed
robot
navigator
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP03730474A
Other languages
German (de)
English (en)
Inventor
Danieli A. Guido
Fragomeni Gionata
Gatti Gianluca
Mundo Domenica
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Calabrian High TECH Srl
Original Assignee
Calabrian High TECH Srl
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
Priority claimed from ITCS20020005 external-priority patent/ITCS20020005A1/it
Application filed by Calabrian High TECH Srl filed Critical Calabrian High TECH Srl
Publication of EP1528896A1 publication Critical patent/EP1528896A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism

Definitions

  • the preferred embodiment is made by a couple of kinematical chains, one bearing six DOF, the other seven.
  • the first of the two presents, on the base, a first hinge aving vertical axis and whose position is monitored by an encoder, on which is mounted, through a second rigid link having horizontal axis, whose position is monitored by a further encoder, From this a third link originates, at the end of which a third hinge with encoder also with axis parallel to the second one is placed, followed by a fourth link bearing at the end still another hinge with encoder, again with axis parallel to the last two hinges To this hinge is also connected, through a fifth very short link, another hinge with encoder, whose axis should lay on a plane parallel or passing through the axis of the first encoder, followed by a last hinge with encoder, supported a sixth link, still very short, whose axis is perpendicular to the fiflh hinge, and, in extended position, also to the fourth.
  • the second kinematical chain is similar to the first, presenting, fixed to the sixth encoder a further degree of translational freedom usually locked, and that may be unlocked in robot mode.
  • each hinge there must be a device able to transmit the torque needed to exactly balance the weight of the links suspended to it, torque that must be modified as a function of the position assumed by the system.
  • This device may be made of a motor-pulley group that controls the tension of a cable connecting the two arms joined by the hinge, acting on a spring, fixed on the other end to one of the arms, in proximity of which a strain gauge may be placed.
  • a motor-pulley group that controls the tension of a cable connecting the two arms joined by the hinge, acting on a spring, fixed on the other end to one of the arms, in proximity of which a strain gauge may be placed.
  • the cable alone would be sufficient to balance the tension, while the spring is used to allow moving the system in almost absence of loads about the equilibrium position.
  • Such group motor- pulley cable and spring may be placed in correspondence to each hinge to make the entire mechanism self balanced. Note that the system is designed to work only on the side on which all links are present. Should anything be measured on the other side, it is enough to
  • Table I shows a six DOF bearing a self balancing system such as the one here described.
  • the system will have to present, in correspondence to each measuring hinge, also a second motor that, through a worm screw and mating gear, controls the rotation of front teeth that may, translating, block the hinge
  • a first idea might be to use two self balancing devices coupled on the base, and calibrated to supply the relative position between its extremes. Advantage of this method the certitude that both patient and operator hare coupled with equally self balancing device terminals. Two the disadvantages: a bigger size and a reduced precision, since the final kinematical
  • 100 chain becomes composed by twelve (+ one) DOF, whose precision is a function of the degrees of freedom. And this is illustrated in table 4.
  • the hinges assume the required position, leaving the doctor only one degree of freedom to advance the instrument (the seventh degree of freedom of the second kinematical chain, unlocked only when al others are locked), and perform the required operation without urgency, being also able to order the system to modify the cutting plane by one or two millimetres, if this should be necessary, knowing that the system will take that into account

Landscapes

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

Abstract

L'invention concerne un système de navigation qui comprend un système de mesure goniométrique d'une position relative entre ses extrémités, et dont l'une des extrémités est fixée au sol et l'autre suspendue au moyen d'un système de ressorts dont la tension peut être régulée par des moteurs et mesurée. Ledit système permet aux bras dont il est constitué de prendre une configuration quelconque par équilibrage des masses suspendues et par transfert du poids vers le sol. En outre, ce système peut réaliser, par l'intermédiaire d'une denture frontale, un couplage rigide des divers bras, lesquels sont activés et motorisés au lieu d'être commandés manuellement. A titre d'exemple non limitatif, on peut réaliser cela par mise en place d'un ressort de torsion entre les deux bras, dont la tension est ajustée par un moteur, au moyen d'une vis sans fin et d'une roue conjuguée. Sur ces mêmes bras, on met en place une denture frontale mâle latérale et une bague pourvue d'une denture frontale femelle permettant un coulissement axial de sorte à raccorder les deux parties, si nécessaire, d'où un blocage de l'articulation et un entraînement par le même moteur.
EP03730474A 2002-05-28 2003-05-27 Robot navigateur pour interventions chirurgicales Withdrawn EP1528896A1 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
ITCS20020005 ITCS20020005A1 (it) 2002-05-28 2002-05-28 Goniometro autobilanciante a sei o dodici gradi di liberta
ITCS20020005 2002-05-28
ITCS20020022 2002-11-07
ITCS20020022 2002-11-07
PCT/IT2003/000322 WO2003099152A1 (fr) 2002-05-28 2003-05-27 Robot navigateur pour interventions chirurgicales

Publications (1)

Publication Number Publication Date
EP1528896A1 true EP1528896A1 (fr) 2005-05-11

Family

ID=29585868

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03730474A Withdrawn EP1528896A1 (fr) 2002-05-28 2003-05-27 Robot navigateur pour interventions chirurgicales

Country Status (3)

Country Link
EP (1) EP1528896A1 (fr)
AU (1) AU2003241154A1 (fr)
WO (1) WO2003099152A1 (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1843713A1 (fr) * 2004-08-09 2007-10-17 Calabrian High Tech S.r.l. Systeme robotise de controle et d'actionnement micrometrique d'un endoscope
ATE424977T1 (de) * 2004-08-09 2009-03-15 Calabrian High Tech S R L Als positionierroboter ausführbare messvorrichtung aus einer offenen kinematischen kette
US7837674B2 (en) 2005-01-24 2010-11-23 Intuitive Surgical Operations, Inc. Compact counter balance for robotic surgical systems
US7763015B2 (en) 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
JP2011530373A (ja) * 2008-08-14 2011-12-22 エム．エス．ティ．メディカル サージャリ テクノロジーズ エルティディ． 自由度（ｄｏｆ）ｎの腹腔鏡操作可能なシステム
DE102009060495A1 (de) * 2009-12-23 2011-06-30 Karl Storz GmbH & Co. KG, 78532 Haltevorrichtung für medizinische Instrumente
DE102011054910B4 (de) * 2011-10-28 2013-10-10 Ovesco Endoscopy Ag Magnetischer Endeffektor und Einrichtung zur Führung und Positionierung desselben
CN106473795B (zh) * 2016-09-21 2019-02-26 徐昌虎 一种手术中取物机器人
CN106473809B (zh) * 2016-10-24 2023-11-14 北京华巍中兴电气有限公司 一种三自由度并联式无铰链手术机器人
EP4031223A4 (fr) 2019-09-16 2024-03-20 Vanderbilt University Cathéters multi-articulés avec procédés et systèmes de sécurité permettant un déploiement intravasculaire collaboratif guidé par l'image

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
DE4202922A1 (de) * 1992-02-01 1993-08-05 Zeiss Carl Fa Motorisches stativ
DE4334069A1 (de) * 1993-06-21 1995-04-13 Zeiss Carl Fa Ausbalancierbares Stativ
EP1109497B1 (fr) * 1998-08-04 2009-05-06 Intuitive Surgical, Inc. Eléments articules servant à positionner un manipulateur, dans une chirurgie robotise

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO03099152A1 *

Also Published As

Publication number Publication date
AU2003241154A1 (en) 2003-12-12
WO2003099152A1 (fr) 2003-12-04

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