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WO2012127480A1 - Système robotique d'instruments chirurgicaux - Google Patents

Système robotique d'instruments chirurgicaux Download PDF

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Publication number
WO2012127480A1
WO2012127480A1 PCT/IN2011/000188 IN2011000188W WO2012127480A1 WO 2012127480 A1 WO2012127480 A1 WO 2012127480A1 IN 2011000188 W IN2011000188 W IN 2011000188W WO 2012127480 A1 WO2012127480 A1 WO 2012127480A1
Authority
WO
WIPO (PCT)
Prior art keywords
arms
operative space
articulating arms
robotic surgical
articulating
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.)
Ceased
Application number
PCT/IN2011/000188
Other languages
English (en)
Inventor
Ranjit DATE
Jaydeep DATE
Mihir Desai
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to PCT/IN2011/000188 priority Critical patent/WO2012127480A1/fr
Publication of WO2012127480A1 publication Critical patent/WO2012127480A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • A61B34/37—Leader-follower 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
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A61B2090/3614—Image-producing devices, e.g. surgical cameras using optical fibre
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Definitions

  • This invention relates to robotic surgical instrument systems.
  • Laparoscopic surgery also referred to as minimally invasive surgery, is a boon that solves most of the aforementioned problems, besides being cosmetically appealing to a patient.
  • An incision is made in a patient's abdomen and the incision may be retracted using a retractor of the type described, for instance, in United States Patent Application US 2005-009071.
  • An access device is attached to the retractor.
  • the access device has a number of access ports each with an instrument seal to effect a seal around a separate instrument extended through the device.
  • Each instrument seal is separate from the other instrument seals and is spaced apart from the other instrument seals.
  • the instrument seals may be used with various instruments and/or camera / scopes.
  • One such access device is also described in United States Patent Application US2009-0036745.
  • Robot assisted laparoscopic surgeries are performed with limited physical contact between a surgeon and a patient.
  • the surgeon is remote from the patient, working a few feet from the operating table while seated at a computer console with a three-dimensional view of the operating field.
  • a main drawback associated with robotic systems known in the art is the need for a plurality of incisions in a patient's body and accordingly a plurality of access ports for insertion of surgical arms of the robotic systems.
  • a plurality of articulating arms having at least two articulation joints, the articulating arms being adapted to be inserted into an operative space in a substantially straight configuration and further adapted to controllably articulate inside the operative space, with at least three degrees of freedom of movement;
  • controlling means adapted to control the articulation of the articulating arms inside the operative space to perform a surgical procedure.
  • the access port is selected from the group consisting of gel ports, puncturable sealed ports and ports with pre-punctured openings.
  • the articulating arms are surgical arms adapted to hold tools.
  • At least one of the articulating arms is adapted to hold a vision system selected from the group consisting of a fiber optic scope, an insertable camera system and a separate insertable camera.
  • controlling means adapted to control the articulation of the articulating arms inside the operative space to perform a surgical procedure
  • the vision system being selected from the group consisting of a fiber optic scope, an insertable camera system and a separate insertable camera.
  • the controlling means comprises: • at least two external articulated mounting robots co-operating with the articulating arms, the mounting robots having six degrees of freedom and adapted to be floor mounted or ceiling mounted; and
  • a surgical console adapted to provide an interface for the surgical procedure by a surgeon.
  • controlling means is adapted to attach tools to or detach tools from the articulating arms.
  • the movement of the surgical arms is achieved by a mechanism comprising cables, pulleys and linkages.
  • a method for a robotic surgical system to access an operative space comprising the following steps:
  • the step of inserting includes a step of inserting at least two articulating arms holding tools and at least one vision system.
  • FIGURE 1 illustrates an isometric view of a robotic surgical instrument system in accordance with the present invention
  • FIGURE 2 illustrates the insertion of surgical arms of the system of FIGURE 1 through an access port
  • FIGURE 3 illustrates an isometric view of the movement of tools at the end of the surgical arms of the system of FIGURE 1;
  • FIGURE 4 illustrates an end view of the movement of tools in an operative space via an access port
  • FIGURES 5 to 10 illustrate the system in accordance with the present invention under various operative configurations
  • FIGURE 11 is a cross sectional view of a pair of surgical arm mounting robots and associated surgical arms of the system of FIGURE 1 ;
  • FIGURE 12 is an isometric view illustrating details of one surgical arm of the system of FIGURE 1;
  • FIGURE 13 is an isometric view of motor mounting, pitch- 1 base and pitch- 1 axis that form part of a surgical arm of the system of FIGURE 1 ;
  • FIGURE 14 is an exploded view of FIGURE 13;
  • FIGURE 15 is an isometric view of pitch 2 link, pitch 2 axis and yaw axis that form part of a surgical arm of the system of FIGURE 1 ;
  • FIGURE 16 is an exploded view of FIGURE 15 ;
  • FIGURE 17 is an isometric view of an arm wrist and yaw assembly that form part of a surgical arm of the system of FIGURE 1;
  • FIGURE 18 is an exploded view of Fig. 17.
  • an ergonomically designed robotic surgical instrument system suitable for use during laparoscopic surgery to facilitate access to an insufflated abdominal cavity while maintaining pneumoperitoneum.
  • the system comprises at least two external surgical arm mounting robots co-operating with an associated surgical arm that holds tools for performing a surgical procedure.
  • Each surgical arm is provided with at least two articulation joints.
  • the surgical arms are inserted into the operative space in a substantially straight configuration and manipulated by a surgical console using triangulation in the operative space.
  • a robotic surgical instrument system in accordance with the present invention mainly comprises two external surgical arm mounting robots 30,31 and two surgical arms 10, 11 controlled by an external surgical console 50 which typically comprises two hand joysticks 51, 52 and foot controls 53, 54 for manipulation of the surgical arms 10, 11, tools 20, 21, position of the mounting robots 30,31 and a vision system 80.
  • the system in accordance with the present invention is a dual articulated arm configuration robot that enables entry into an operative space 2 in the abdominal cavity via an access port 1 for performing a surgical procedure.
  • the access port is adapted to facilitate unhindered access to the operative space 2.
  • the access port is typically a gel port, a puncturable sealed port or a port with pre-punctured openings.
  • the access port receives at least two surgical arms 10, 11 and a vision system 80 to be inserted into the operative space 2 via the access port 1.
  • the surgical arms 10, 11 enter the operative space 2 in a substantially straight line, and are then articulated inside the operating space 2 within the patient body, "by triangulation" achieved by the surgical console 50.
  • the process of triangulation typically involves determining a precise operative site by measuring angles to it from known points at either end of a fixed baseline, rather than measuring distances to the site directly.
  • the system in accordance with the present invention enables the advantages of "triangulation" as if operating in a biport configuration.
  • the arms operate as if the tools 20, 21 were inserted in biport configuration through "virtual" ports 25, 26 as - per established biport procedures.
  • FIGURE 4 illustrates an end view of the movement of the tools 20, 21 in the operative space 2 via the access port 1.
  • the preferred embodiment of the present invention requires a single access port 1 for insertion of the surgical arms 10 4 11. However, in accordance with an alternative embodiment, the surgical arms are inserted through two discrete access ports.
  • the two external surgical arm mounting robots 30, 31 are each provided with at least six degrees of freedom for facilitating positioning of the articulated surgical arms 10, 11 with respect to the patient and the bed setup for the surgical procedure.
  • the two surgical arms 10, 11 are each provided with at least three degrees of freedom that allow the surgical arms 10, 11 to be inserted straight, and then articulate inside the operative space 2, to enable triangulation and micromotions around the desired operating site.
  • the articulated surgical arm mounting robots 30, 31 enable the X, Y, Z positions and angle of approach to the desired operating site to be achieved in a straight configuration, when surgical arms are inserted as illustrated in FIGURE 2. These robots can be floor mounted or ceiling mounted - freeing up the space around the patient for surgeons and assistants.
  • the system in accordance with the present invention provides a sufficiently large work envelope that enables precision manipulation required for surgical procedures inside the patient's body without significant motion outside the patient's body. This frees up external space, and allows safe operative space for the surgeons / assistants around the robotic system, without keeping a side of the patient occupied by a large moving floor - mounted structure.
  • FIGURES 5 to 10 illustrate the system in accordance with the present invention under various operative configurations.
  • Tools 20, 21 at the end of the surgical arms 10, 11 are attached on or detached from the surgical arms 10, 11 either inside or outside the operative space 2.
  • tools are attached to the surgical arm before insertion of the surgical arm through the access port 1.
  • tools are attached to the surgical arm after insertion of the surgical arm through the access port 1. The tool change is performed within the operative space 2 without a requirement to extract the surgical arm fully out, through a separate assistant port (not shown).
  • the movement of the surgical arms 10, 11 is controlled using a mechanism of cables, pulleys and linkages, configured such that actuation is always achieved by the cables in tension, resulting in precision motion.
  • the system in accordance with the present invention further comprises at least one vision system.
  • the vision system is typically a fiber optic scope, an insertable camera system, or a separate insertable camera 80 through an "umbilical chord" cable inserted through the same access port 1 or optionally, another access port (not shown).
  • the camera is anchored to the abdominal wall as illustrated in FIGURES 9 and 10.
  • a magnet is used to hold the camera to the abdominal * wall.
  • two such cameras 80 or vision systems are provided.
  • FIGURES 11 to 18 Mechanical details of the construction of the robotic system in accordance with the present invention are illustrated in FIGURES 11 to 18.
  • each of the surgical arm mounting robots 30 and 31 are provided with a motor (not specifically referenced) at each of the articulation joints thereof, wherein each motor facilitates rotation of a pulley which in turn results in tension in the associated cables; the tension in the cables facilitates the movement of the surgical arms 10, 11.
  • a motor (not specifically referenced) is provided for driving a pulley 12.
  • a cable 15 passes over the pulley 12 and imparts required motion to the surgical arms 10, 11.
  • the motor (not specifically referenced) as well as the pulley 12 (shown in FIGURE 12) driven by the motor are both housed inside a motor mounting 14.
  • a pitch- 1 base Pl-B in the form of spaced apart plates 16a and 16b extends outwardly from the motor mounting 14.
  • a pitch- 1 axis Pl-A is located at a distal end of the pitch- 1 base Pl-B.
  • the motor mounting 14 comprises a plurality of plates assembled together by a plurality of fastening elements for securely holding the motor and the pulleys there-in.
  • FIGURE 15 is an isometric view of a pitch-2 link P2-L, pitch-2 axis P2-A and yaw axis Y-A that form part of a surgical arm of the system of FIGURE 1.
  • FIGURE 16 is an exploded view of FIGURE 15.
  • FIGURE 17 is an isometric view of an arm wrist and yaw assembly that form part of a surgical arm of the system of FIGURE 1.
  • roll 1, roll 2, pitch, yaw and the co-axial driving cables being referenced generally by the alphanumeric characters namely Rl, R2, P, Y, and C respectively.
  • FIGURE 18 is an exploded view of Fig. 17 and the key components are referenced generally as follows: tool 20 4 21;

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (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

La présente invention concerne un système robotique d'instruments chirurgicaux destiné à réaliser une procédure chirurgicale, le système étant un robot configuré avec deux bras articulés qui permet d'accéder à un espace opératoire via un orifice d'accès. Les bras chirurgicaux sont sensiblement rectilignes pendant leur insertion dans l'espace opératoire, puis sont articulés lorsqu'ils se trouvent à l'intérieur dudit espace opératoire. L'articulation des bras chirurgicaux par une console chirurgicale est réalisée en utilisant la « triangulation ».
PCT/IN2011/000188 2011-03-21 2011-03-21 Système robotique d'instruments chirurgicaux Ceased WO2012127480A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/IN2011/000188 WO2012127480A1 (fr) 2011-03-21 2011-03-21 Système robotique d'instruments chirurgicaux

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IN2011/000188 WO2012127480A1 (fr) 2011-03-21 2011-03-21 Système robotique d'instruments chirurgicaux

Publications (1)

Publication Number Publication Date
WO2012127480A1 true WO2012127480A1 (fr) 2012-09-27

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IN2011/000188 Ceased WO2012127480A1 (fr) 2011-03-21 2011-03-21 Système robotique d'instruments chirurgicaux

Country Status (1)

Country Link
WO (1) WO2012127480A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105213030A (zh) * 2014-07-02 2016-01-06 韩商未来股份有限公司 手术机器人系统以及其具有的主动导向单元
CN109646114A (zh) * 2019-01-30 2019-04-19 温州医科大学附属第二医院（温州医科大学附属育英儿童医院） 一种单人脚控腹腔镜持镜机械臂
EP4483832A1 (fr) * 2023-06-29 2025-01-01 Zentact Robotics Système chirurgical pour chirurgies de l'oreille, du nez et de la gorge

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
US20090326552A1 (en) * 2008-06-27 2009-12-31 Intuitive Surgical, Inc. Medical robotic system having entry guide controller with instrument tip velocity limiting

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
US20090326552A1 (en) * 2008-06-27 2009-12-31 Intuitive Surgical, Inc. Medical robotic system having entry guide controller with instrument tip velocity limiting

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105213030A (zh) * 2014-07-02 2016-01-06 韩商未来股份有限公司 手术机器人系统以及其具有的主动导向单元
CN109646114A (zh) * 2019-01-30 2019-04-19 温州医科大学附属第二医院（温州医科大学附属育英儿童医院） 一种单人脚控腹腔镜持镜机械臂
EP4483832A1 (fr) * 2023-06-29 2025-01-01 Zentact Robotics Système chirurgical pour chirurgies de l'oreille, du nez et de la gorge
WO2025003521A1 (fr) * 2023-06-29 2025-01-02 Zentact Robotics Système chirurgical pour chirurgies d'oreille, de nez, de gorge

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