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EP4468986A1 - Étalonnage robotisé peropératoire et dimensionnement d'outils chirurgicaux - Google Patents

Étalonnage robotisé peropératoire et dimensionnement d'outils chirurgicaux

Info

Publication number
EP4468986A1
EP4468986A1 EP22786463.4A EP22786463A EP4468986A1 EP 4468986 A1 EP4468986 A1 EP 4468986A1 EP 22786463 A EP22786463 A EP 22786463A EP 4468986 A1 EP4468986 A1 EP 4468986A1
Authority
EP
European Patent Office
Prior art keywords
robotic
tool
surgical
surgical tool
robotic arms
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.)
Pending
Application number
EP22786463.4A
Other languages
German (de)
English (en)
Inventor
Yossi Bar
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.)
Lem Surgical Ag
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 EP4468986A1 publication Critical patent/EP4468986A1/fr
Pending 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
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
    • A61B2090/3916—Bone tissue
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers

Definitions

  • the invention relates to robotically controlled and coordinated surgical procedures, and to the calibration and sizing of tools for those procedures.
  • the invention relates to robotic systems comprising multiple robotic elements, such as robotic arms, end effectors, surgical instruments, cameras, sensors, imaging/tracking devices, or other devices useful for robotic surgery.
  • the invention also relates to robotic systems wherein the placement and movement of the robotic elements are controlled and coordinated by a single control unit, and wherein all of the robotic elements are based on a single rigid chassis that is mobile and portable and, thus, are robotically coordinated at a single origin point.
  • multiple robotic elements may be attached to, and controlled by a single control unit and may be used in a coordinated fashion to deploy and/or relate to surgical instruments, trackers, cameras, and other surgical tools as part of a robotic surgery procedure.
  • multiple end effectors and robotic tools may be deployed on multiple robotic arms and controlled by a single control unit and may be used in a centrally coordinated fashion to perform a robotic surgical procedure, with the relative movements of each robotic element being coordinated by the central control unit.
  • the robotic system is capable of using many tools and end effectors, they may be supplied by many different manufacturers and may have different characteristics, creating a challenge for calibration with the robotic system.
  • random tools and end effectors supplied by multiple manufacturers may be calibrated according to their sizes, forms and special characteristic and used with a single robotic system according to the apparatus and methods provided by the present invention.
  • Robotic surgery is well known in the art, as is the application of robotic techniques to spinal surgery procedures.
  • Many robotic surgery systems such as the da Vinci robotic surgery system from Intuitive Surgical, are teleoperated.
  • Multi-arm robotic surgical systems are available in the field, for example those provided by Cambridge Medical Robotics, but these known systems are often also teleoperated and are all comprised of single arms deployed separately on separate carts or chassis with some level of coordination provided by a remotely- positioned control unit. Systems comprising multiple arms on multiple carts have significant drawbacks regarding integration into surgical workflow, along with an undesirably large footprint in the operating room.
  • control of teleoperated units by a remotely-positioned control unit does not provide the level of control required for a full range of surgical procedures, particularly in the case of spinal surgery.
  • accuracy will inevitably be superior in a system where all robotic arms are fixed to, and coordinated by, a single chassis comprising a single control unit.
  • a typical robotic surgical procedure may require the maneuvering of one or more end effectors deployed by robotic arms, the deployment of other instruments, placement of multiple passive or active markers on bone and/or on soft tissue, and one or more robotically controlled and maneuvered cameras/sensors that can be placed at varying distances and angulations from the surgical field, and one or more end effectors deployed by robotic arms.
  • This dynamic is complicated by the presence of numerous surgical tools and implants on the market made by multiple manufacturers, which are not familiar to the robotic system provider, particularly in the spinal surgery market.
  • Such a surgical robotic system which has the capability to calibrate and work with multiple unknown tools will have significant value and will enable health providers to widen their options and to provide better and more diverse treatment.
  • Such a multi-arm/multi-camera system mounted on, and controlled by, one cart, is not available in the current state of the art. There is a strong and long-felt need for such a system as it will enable the performance of a full range of spinal surgery procedures with robotically coordinated control and navigation at a level of accuracy not currently possible, while being agnostic to the brand or manufacturer of the surgical tools being used.
  • the inventive system is a centrally coordinated and synchronized robotic system for spinal surgery applications that allows for the precise sizing, positioning and calibration of robotic tools and implants.
  • the robotic system is mobile and portable.
  • the system comprises multiple robotic arms that each can hold at least one end effector, camera or navigation element for use in a spinal surgery procedure.
  • the end effectors may include drilling tools or tool positioning elements.
  • the cameras and navigation elements are for providing guidance for the movement of the robotic arms and deployment of the end effectors and tools. Multiple cameras and navigation elements may be used to provide a diversity of navigation information.
  • the robotic arms of the inventive system while mounted on a single chassis, have first joints that are spaced further apart than on multi-arm systems such as the da Vinci by Intuitive. Spaced apart robotic arms provide for greater reachability and maneuverability and for the application of greater force and leverage to various surgical tasks, among other advantages.
  • the synchronized movement of the robotic arms may be augmented by the interaction of the navigation cameras/sensors with active or passive markers that may be placed at the beginning or during the procedure.
  • the movement of the robotic arms is synchronized by a central control unit from a single base that knows where the arms are based upon prior calibration of all arms.
  • This robotic synchronization may be augmented by navigation cameras and markers.
  • the single base can take the form of a rigid chassis that may optionally enclose the robotic arms in a retracted configuration.
  • the base is portable and can be moved in and out of the surgical field by, for example, being positioned under the surgical table and then being removed at the end or during the procedure
  • a system and method for a synchronized and coordinated robotic system that can be adapted to work with any tool or implant system.
  • a mobile robotic system with multiple robotic arms that are synchronized with each other and share the same rigid base or chassis.
  • the various robotic arms are synchronized with the bony anatomy through the use of appropriate imaging modalities (e.g., X-ray, CT, MRI etc.) and the use of markers as described herein that may be placed on the bony anatomy, on the soft tissue, or on the robotic arms or robotic tools themselves.
  • imaging modalities e.g., X-ray, CT, MRI etc.
  • markers as described herein may be placed on the bony anatomy, on the soft tissue, or on the robotic arms or robotic tools themselves.
  • the synchronized and coordinated robotic arms may then be used for the sizing and calibration of robotic tools or implants to be used in the surgical procedure according to the following details.
  • the robotic system has at least two synchronized and coordinated robotic arms that are based in a common rigid chassis that is portable and that may be positioned under the surgical table for use during the surgical procedure.
  • the movement of the robotic arms is coordinated by a central control unit that is located within the rigid chassis.
  • the central control unit is able to gather navigation information provided by one or more cameras and by optionally placed markers on the soft tissue and/or bony anatomy of a patient.
  • one robotic arm holds a navigation camera/sensor that is able to track the patient with reference to the markers or other objects in the relevant space.
  • a second robotic arm may hold a purpose-built calibration tool that has a set of dimensions that are known to the software of the robotic system.
  • This calibration tool may also be part of the second robotic arm, but more flexibility may be provided by configuring the calibration tool to be detachable from the second robotic arm. In another embodiment, this calibration tool may be hand-held, thus two robotic arms may suffice for this purpose. A third robotic arm may then hold an end effector that can be configured to be adjustable, robotically or manually, and hold a large variety of surgical tool diameters, thus allowing the robotic system to accommodate the full range of diameters of robotic tools that can be found on the surgical market.
  • the tool can be placed inside this end effector manually by a surgeon or can be automatically robotically gripped by the robotic arms themselves. Once the tool is placed in the end effector, it can be brought in contact with the calibration device that is held by the second robotic arm or hand-held by the user. Held in this configuration, the tool can also be imaged and/or scanned by the navigation camera held by the first robotic arm and/or by another imaging device that is present in the operating room The first robotic arm holding the camera/sensor can now scan the tool and take multiple images of it from various positions (which are known to the central control unit). In this regard, several attributes of the robotic tool can be known, such as its diameter, its length and its three-dimensional model.
  • the tool of known dimensions can be placed anywhere in the three-dimensional space of the surgical field that is in the view of the robotic system.
  • the tool is thus calibrated, regardless of its manufacturer or precise design, allowing for the use of a very wide range of tools with a single robotic system.
  • the surgeon can choose what is best for the patient/procedure, rather than being limited by compatibility of a particular suite of tools or implants with the particular surgical robot being used at their hospital.
  • This robotic system and calibration method allows for tool sizing and calibration for any random tool with or without the implant attached to it while being sterile during the surgery under sterile conditions without adding time or discomfort to the surgical staff.
  • the current inventive approach is differentiated from other known solutions primarily because it can calibrate and size any surgical tool, such as a screwdriver and implant to be used in spinal surgery, prior but most importantly during the surgical procedure. This accommodates the widest possible ranges of surgical procedures since it allows for the calibration and sizing to be done intraoperatively. Thus, even if the surgical approach and tool set changes during the surgery, a new tool set can be calibrated and sized and introduced seamlessly into the surgical workflow.
  • tool sets can only be sized and calibrated by way of tool manufacturers placing proprietary navigation markers on the tools that are then recognizable by the robotic system that the tool set is designed to be used with.
  • proprietary navigation markers on the tools that are then recognizable by the robotic system that the tool set is designed to be used with.
  • the current inventor have solved this problem by providing the current system for calibrating and sizing any tool set without the need for proprietary navigation markers.
  • Figure 1 shows a robotic tool calibration apparatus according to an embodiment of the present invention
  • Figure 2 shows three cut away view of various elements of a robotic tool calibration apparatus according to an embodiment of the present invention, including a tool calibration element, a tool holding element, and a robotic navigation camera.
  • a robotic surgical system is shown.
  • the robotic surgical system may be used for robotic spinal surgery.
  • the robotic surgical system comprises a single rigid chassis 101.
  • the chassis 101 is the base for three robotic arms 106, 107 and 108 that are placed relatively far apart on the chassis 101, typically approximately one meter apart, thus allowing for desirable attributes such as reachability, maneuverability and ability to apply significant force.
  • the chassis 101 of the robotic surgical system may be placed under a surgical table 102.
  • the robotic surgical system is portable and mobile and, thus, may be removably placed under the surgical table 102 before a surgical procedure and can later be moved away from the surgical field during the procedure or at its end.
  • the robotic arms 106, 107 and 108 may optionally be configured to be able to retracted into the chassis 101 of the robotic surgical system such that the system can be moved into or out of the surgical field in a compact configuration.
  • a patient 103 is positioned on the surgical table 102.
  • An element of the patient’s spinal bony anatomy of interest in this case a vertebra 104, is shown.
  • a marker 105 may optionally be placed on the vertebra 104 or on another portion of the patient’s bony anatomy or soft tissue.
  • robotic arm 106 may hold a navigation camera 112.
  • Robotic arm 108 may hold a positioning element or end effector 109.
  • the end effector 109 may optionally be configured to be attached to the robotic arm 108, but a detachable fitting of the end effector 109 is preferred.
  • Robotic arm 107 may hold an end effector 110 that is optimally a device with an adjustable diameter, either robotically electro-mechanically or manually, e g , by the user pushing/rotating a button.
  • a surgical tool 111 may then be placed in the end effector device 110 so that the tip of the tool 111 is positioned against the positioning element end effector 109.
  • the end effector 110 may be interchangeable with iterations of variable diameter to hold tools 111 of different diameters.
  • the end effector 110 may be a sleeve with a mechanism that can provide variable diameters depending on the tool 111 being used.
  • the desired configuration is for the tool 111 to be placed in the end effector 110 with a snug fit and for the tool 111 to progress through the end effector 110 until it reaches a stopping point known by the robotic system.
  • a component of the position of the tool 111 in three-dimensional space is known to the robotic system.
  • the tip of the tool 111 can be positioned by the robotic arm 107, or manually by the surgeon, so as to make contact with the positioning element end effector 109.
  • Adding a navigation marker to tool 111 will enable recognizing it by the navigation camera 112 even when it is hand-held by the user and not only robotically held.
  • Contact between the tip of the tool 111 and the end effector 109 can also be achieved by the robotic arm 108 moving the end effector 109 into contact with the tip of the tool 111.
  • synchronization is made possible by the robotic arms 107 and 108 being centrally controlled by the central control unit found in the single rigid chassis 101.
  • the tip of the tool 111 is positioned to touch the end effector 109, several attributes of the tool 111 can be measured. Since the end effector 110 has been chosen or adjusted to accommodate the diameter of the tool 111, the diameter of the tool is known. Since the tool 111 has been positioned in the end effector until it reaches a stopping point known to the robotic system, and since the position of the end effector 109 that is held by the robotic arm 108 or by the surgeon is known to the robotic system, and since the robotic arm 107 also has a position that is known to the robotic system, the length of the portion of the tool that will extend into the surgical field can be deduced. Furthermore, the navigation camera 112 can take single or multiple images of the tool 111, thus providing its three-dimensional model.
  • the robotic system can provide the position and progress of the tool 111 throughout the surgical procedure.
  • the robotic system can provide information about the progress of a drilling tool or the progress of a screwdriver advancing a screw into the patient’s bony anatomy.
  • the camera 112 is able to continuously take images of the surgical field and, knowing the diameter, length and three-dimensional model of the tool 111, the robotic system can determine its position and progress at all times.
  • the various embodiments of the inventive system can determine the three key attributes of the tool set (length, diameter and 3D model) without the need for any navigation markers being placed on the tool set itself.
  • This is only possible through the coordinated action of the robotic system’s three robotic arms that share a common base. Since the position and trajectory of each of the arms is known and coordinated by the central control unit, the key attributes of the tool set can be determined precisely and efficiently. This accommodates an unlimited universe of tool sets and more seamlessly accommodates a change in tool set during the surgical procedure. Similarly, this allows for the use of a generic robotic system according to an embodiment of the present invention with all available tool sets on the market.
  • Figure 2 provides a close-up view of several components of the tool sizing and calibration capabilities of the present invention.
  • robotic arm 106 holds a camera/sensor 212 that can be used to image the surgical field and determine the position and progress of a surgical tool 211.
  • the surgical tool 211 has a certain diameter D and length L.
  • the surgical tool is held by an end effector 210 that has an adjustable diameter that is adjusted to conform with the diameter d of the tool 211.
  • the end effector is held by robotic arm 107.
  • Robotic arm 108 holds an end effector 209 that can be positioned to contact the tip of the tool 211 or alternatively equipped with navigation markers and hand-held by the user.
  • robotic arm 107 is shown with end effector 210 that has an adjustable diameter d that conforms to the diameter of the surgical tool 211.
  • All of the embodiments shown in Figures 1 and 2 can be used in inventive methods of calibrating surgical tools or implants for carrying out spinal surgical procedures.
  • the robotic system shown in Figure 1 has three robotic arms 106, 107 and 108 that can be used to position a navigation camera 112, an end effector 109 and an end effector 110.
  • a generic tool 111 may be chosen for its suitability for the particular surgical procedure.
  • the tool 111 of known diameter d can be deployed into the end effector 110, the diameter of the end effector 110 can be adjusted to match the diameter d of the tool and the tool 111 will then stop its progress through end effector 110 at a stopping point known to the robotic system.
  • Robotic arm 108 can then position end effector 109 at the tip of the tool 111, thus establishing the position of the tool 111 in three-dimensional space due to the fact that the position and movement of the robotic arms 106, 107 and 108 are known and controlled by the robotic system.
  • Known position and sizing information can then be used to calculate the diameter, length and three-dimensional model of the tool 111 and the camera 112 can then be used to track the progress and position of the tool 111 during the surgical procedure.
  • inventive system and method thus allows for the calibration and use of a wide variety of tools with a single robotic system, which in turn allows the surgeon to choose the best tool for the procedure, regardless of the manufacturer of the tool and regardless of whether commercial or regulatory arrangements are in place between the manufacturer of the surgical robot and the tool manufacturer.

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 des systèmes et des méthodes d'étalonnage et de dimensionnement d'outils pour des outils chirurgicaux coordonnés et commandés par robot. Les systèmes et méthodes de l'invention s'appliquent aux systèmes robotisés comprenant plusieurs éléments robotisés, tels que des bras robotisés, des effecteurs, des instruments chirurgicaux, des caméras, des dispositifs d'imagerie, des dispositifs de suivi ou d'autres dispositifs utiles pour la chirurgie robotisée. Dans un contexte de chirurgie rachidienne robotisée, plusieurs effecteurs et outils robotisés peuvent être déployés sur plusieurs bras robotisés et commandés par une seule unité de commande, et peuvent être utilisés de manière coordonnée pour réaliser une procédure chirurgicale robotisée, les mouvements relatifs de chaque élément robotisé étant coordonnés par l'unité de commande centrale. Bien que le système robotisé soit en mesure d'utiliser de nombreux outils et effecteurs, ceux-ci peuvent être fournis par de nombreux fabricants différents et avoir des caractéristiques différentes, d'où la nécessité d'étalonner les outils.
EP22786463.4A 2022-01-25 2022-09-22 Étalonnage robotisé peropératoire et dimensionnement d'outils chirurgicaux Pending EP4468986A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202263303008P 2022-01-25 2022-01-25
PCT/IB2022/058978 WO2023144602A1 (fr) 2022-01-25 2022-09-22 Étalonnage robotisé peropératoire et dimensionnement d'outils chirurgicaux

Publications (1)

Publication Number Publication Date
EP4468986A1 true EP4468986A1 (fr) 2024-12-04

Family

ID=83689125

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22786463.4A Pending EP4468986A1 (fr) 2022-01-25 2022-09-22 Étalonnage robotisé peropératoire et dimensionnement d'outils chirurgicaux

Country Status (2)

Country Link
EP (1) EP4468986A1 (fr)
WO (1) WO2023144602A1 (fr)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12114946B2 (en) 2022-05-16 2024-10-15 Lem Surgical Ag Tool gripper with integrated concentric shutter and methods for its use
EP4658199A1 (fr) 2023-01-31 2025-12-10 Lem Surgical Ag Méthodes et systèmes de suivi de multiples marqueurs optiques dans une procédure chirurgicale robotique
WO2024160896A1 (fr) 2023-01-31 2024-08-08 Lem Surgical Ag Ensembles marqueurs d'origine unique et leurs procédés d'utilisation
WO2025008416A1 (fr) 2023-07-04 2025-01-09 Lem Surgical Ag Porte-outils chirurgicaux robotiques et leurs procédés d'utilisation
WO2025036864A1 (fr) 2023-08-15 2025-02-20 Lem Surgical Ag Procédés et appareil de stabilisation de bras robotisés chirurgicaux
CN117301044B (zh) * 2023-08-31 2024-07-19 北京纳通医用机器人科技有限公司 末端工具的运动控制方法、装置、设备及存储介质
WO2025108905A1 (fr) 2023-11-22 2025-05-30 Lem Surgical Ag Outil de préhension à obturateur concentrique intégré et ses méthodes d'utilisation
WO2025125379A1 (fr) 2023-12-13 2025-06-19 Lem Surgical Ag Système et procédé robotisés d'évitement actif et dynamique de collision
WO2025195902A1 (fr) 2024-03-20 2025-09-25 Lem Surgical Ag Procédés et appareil de validation et de modélisation d'outils chirurgicaux robotiques
WO2025195791A1 (fr) 2024-03-21 2025-09-25 Lem Surgical Ag Systèmes et procédés de manipulation robotisée d'outils chirurgicaux allongés
WO2025209993A1 (fr) 2024-04-05 2025-10-09 Lem Surgical Ag Visualisation chirurgicale coordonnée de manière robotisée
WO2025257316A1 (fr) 2024-06-13 2025-12-18 Lem Surgical Ag Alignement d'outil chirurgical robotique

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US10335116B2 (en) * 2014-04-17 2019-07-02 The Johns Hopkins University Robot assisted ultrasound system
US10695142B2 (en) * 2015-02-19 2020-06-30 Covidien Lp Repositioning method of input device for robotic surgical system
EP3781065B1 (fr) * 2018-04-19 2025-02-12 Mobius Imaging, LLC Procédés et systèmes pour commander un robot chirurgical
KR102759030B1 (ko) * 2019-04-12 2025-01-24 마코 서지컬 코포레이션 수술 기구를 위한 절단 가이드를 조종하기 위한 로봇 시스템 및 방법
CN113331948B (zh) * 2021-05-28 2022-12-09 浙江德尚韵兴医疗科技有限公司 一种介入手术机器人系统、标定装置及标定方法

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