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WO2014127967A1 - Dispositif support d'instrument chirurgical et sas de transfert à fonction de déclenchement d'urgence - Google Patents

Dispositif support d'instrument chirurgical et sas de transfert à fonction de déclenchement d'urgence Download PDF

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Publication number
WO2014127967A1
WO2014127967A1 PCT/EP2014/051769 EP2014051769W WO2014127967A1 WO 2014127967 A1 WO2014127967 A1 WO 2014127967A1 EP 2014051769 W EP2014051769 W EP 2014051769W WO 2014127967 A1 WO2014127967 A1 WO 2014127967A1
Authority
WO
WIPO (PCT)
Prior art keywords
holder
spindle
surgical instrument
holding
lock
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/EP2014/051769
Other languages
German (de)
English (en)
Inventor
Bernd Gombert
Patrick Rothfuss
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.)
ABB Gomtec GmbH
Original Assignee
RG Mechatronics GmbH
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 RG Mechatronics GmbH filed Critical RG Mechatronics GmbH
Publication of WO2014127967A1 publication Critical patent/WO2014127967A1/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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms

Definitions

  • Robot arm are adjusted in the axial direction. During a movement of the
  • DE 696 35 050 T2 discloses a device for holding a surgical instrument and a sluice, comprising a first holder for holding the surgical instrument and a second holder for holding the sluice.
  • the known holding device further comprises a drive unit for driving the first holder and a release device for interrupting a transmission of force and / or torque from a drive to the first holder.
  • Another device for holding a surgical instrument and a lock results from DE 196 09 034 A1.
  • It is therefore the object of the present invention to provide a device for holding a surgical instrument and a lock comprising a first holder for holding the surgical instrument and a second holder for holding the lock and further comprising a drive unit, by means of which the second Holder or the lock relative to the first holder, in
  • a device for holding a surgical instrument and a sluice which comprises a first holder for holding the surgical instrument and a second holder for holding the sluice.
  • the holding device according to the invention further comprises a drive unit for driving the second holder in the longitudinal direction of the surgical instrument and a release device for interrupting the transmission of force and / or torque via the drive path between the drive of the drive unit and the second holder.
  • this construction has the advantage that a movement of the robot head in the longitudinal direction of the surgical instrument can be compensated by a corresponding counter-movement of the sluice, so that the sluice can be kept still relative to the body of the patient.
  • it has the advantage that even in the event of a fault, the lock can still be moved relative to the surgical instrument by manually displacing the second holder in the longitudinal direction.
  • a "lock” is understood in particular to mean any device designed to provide access for one or more surgical instruments to the body of a patient
  • sluices may include, for example, trocar sleeves or any other sleeve-like elements
  • the terms “lock”, “trocar sleeve” and “port” may be used interchangeably.
  • a “robot” is understood to mean, in particular, a device with one or more articulated arms, which are movable by means of one or more actuators, such as electric motors
  • the degree of freedom of the robot is determined by the number of its joints.
  • the surgical instrument is attached by means of the holding device to a robot and can preferably be moved only by a corresponding control of the robot in the longitudinal direction.
  • the first holder for holding the surgical instrument is thus preferably immobile relative to the robot.
  • the drive unit for the second holder comprises a nut-spindle drive.
  • the spindle is preferably rotatably mounted and is adjusted by a rotating drive of the nut in the axial direction, so that the spindle connected to the second holder is moved together with the lock relative to the surgical instrument in the longitudinal direction.
  • the nut is fixed in the axial direction.
  • the spindle is preferably rotatable. Thus, a rotating movement of the nut can not be translated into an axial movement of the spindle.
  • the drive path of the drive unit of the second holder is thus interrupted and it is possible to adjust the second holder together with the lock manually in the longitudinal direction of the surgical instrument.
  • the force acting in the longitudinal direction of the spindle is then converted into a rotational movement of the spindle, which causes the spindle to move in the axial direction.
  • the drive unit may also have a belt drive, which is powered by an electric motor z. B. is driven via a drive pulley.
  • the release device may in this case comprise, for example, a mechanism by means of which a tensioning wheel for
  • Tensioning the belt can be adjusted. By releasing the mechanism, the tensioning wheel moves away from the belt and reduces the belt tension. As a result, then also slips through the drive pulley. Now it is possible to adjust the second holder together with the lock manually in the longitudinal direction of the surgical instrument.
  • Release device a rotation lock, which cooperates with the spindle and blocked in normal operation, a rotational movement of the spindle.
  • the rotation lock is preferably arranged displaceably in the longitudinal direction of the spindle.
  • the spindle comprises a first section with a first profile and a longitudinal direction
  • the rotation lock is preferably on the first section, and in the dissolved state on the second section.
  • the profiles of spindle and rotation lock are preferably designed so that the spindle is secured against rotation during normal operation and can rotate in the dissolved state about its longitudinal axis.
  • the first profile may be a square profile and the second profile may be a round profile with a smaller cross section than the edge profile.
  • the release device may comprise, for example, a probe which is preloaded by means of a spring and which cooperates with the rotation lock. By pressing the button, the rotation lock z. B. in the longitudinal direction of the spindle from the first section with the first profile to the second section with the second profile to be moved.
  • the drive unit for the second holder is preferably formed as a motor-gear unit comprising a motor such as an electric motor and a transmission.
  • the entire engine-transmission unit is preferably in the
  • the motor could be outside the fixture, e.g. be provided on the robot.
  • the holding device according to the invention is preferably designed as a structural unit which can be mounted via fastening means on a robot and in particular a robot head.
  • the attachment means may be used, for example, as a screw, detent, tension, clamp, or any other known device for releasably connecting two parts, such as e.g. a quick-release connection with movable pins, be formed.
  • the fastening means are preferably operated without tools.
  • the first holder for holding the surgical instrument is preferably fixed to the robot in the longitudinal direction of the surgical instrument.
  • the first holder can therefore not in the longitudinal direction of the surgical instrument, relative to
  • Robots are moved. An axial movement of the surgical instrument is therefore possible only by appropriate control of the robot.
  • the first holder is preferably designed such that the surgical
  • the Instrument can be releasably attached to the holding device.
  • the second holder for the lock preferably comprises a cantilevered arm, which is arranged to be movable relative to the first holder. On this arm are preferably holding means, such. As a terminal provided, to which the lock is attached. In this embodiment, the entire
  • the cantilevered arm including the retaining means and the lock of the first Drive device driven in the longitudinal direction of the surgical instrument.
  • the cantilevered arm is preferably mounted displaceably in the longitudinal direction in the region of the first holder.
  • the arm is preferably designed so that it does not protrude beyond the holding means for holding the lock at the distal end of the holding device. As a result, the sheath can be inserted deeper into the patient.
  • Fig. 1 is a known from the prior art holding device for a
  • Fig. 2 is a perspective view of a holding device for holding
  • FIG. 2 shows a longitudinal section through the holding device of Fig. 2.
  • FIG. 5 shows the release device of FIG. 4 in a released state
  • Fig. 6 viewed the spindle of the holding device in the longitudinal direction; 7 shows a robot with a holding device attached thereto according to one of FIGS. 2 to 5;
  • the holding device 1 comprises a first holder 5 for a surgical
  • the holder 5 for the surgical instrument 3 is located in FIG. 2 at a proximal end (in the image on the right) of the holding device 1.
  • the holder 5 comprises a receptacle into which the surgical instrument 3 can be inserted.
  • the holder 5 or the instrument 3 is protected by a housing with a lid to the outside.
  • the surgical instrument 3 is fixed longitudinally with respect to the robot head 28 '(see Fig. 7), but may optionally be rotated about its longitudinal axis 6, e.g. B. the shaft 30 of the surgical instrument 3, which passes through the trocar sleeve 2, is rotationally moved.
  • the holding device 1 shown here comprises at least one drive unit 1 1 (see FIG. 3), through which the trocar sleeve 2 can compensate for an axial movement 10 of the robot head 28 '. In the best case, therefore, the trocar sleeve 2 can be kept still relative to the patient.
  • the holder 9 comprises for this purpose a cantilevered arm 8, which extends approximately over a distance corresponding to the adjustment of the holder 9 in the longitudinal direction.
  • the holder 9 or the trocar sleeve 2 can thus partially or completely compensate for an axial movement 10 of the robot head 28 '.
  • the trocar sleeve 2 is then fixed in the best case in the longitudinal direction 6, so that between the trocar sleeve 2 and the
  • the arm 8 is here designed such that it does not protrude beyond the actual holding means for holding the lock 2 at the distal end of the holding device 1. As a result, the sheath 2 can be inserted deeper into the patient.
  • Fig. 3 shows a sectional view of the holding device of Fig. 2, in which the drive unit 1 1 can be seen more accurately.
  • the drive unit 1 1 comprises in the illustrated embodiment, a motor-gear unit with a
  • Electric motor 12 which drives a spindle 14 via a gear 14 whose
  • gear 13 and spindle 14 are formed as a mother-spindle unit.
  • the spindle rod 14 is mounted at its two ends axially fixed in the arm 8 of the holder 9 and is rotated by a
  • the holding device 1 comprises a release device 16 for interrupting a force and / or torque transfer between the drive 12 and the second holder 9.
  • An embodiment of such a release device 16 is shown by way of example in FIGS. 4 and 5 ,
  • Fig. 4 shows an enlarged detail view of the rear end of the arm 8 with a release device 16.
  • the release device 16 comprises in the illustrated embodiment, a push-button 17 which is arranged in the arm 8 and in unactuated state protrudes outwardly beyond the arm 8.
  • the push button 17 is movable in the longitudinal direction 6 and can be brought by manual pressing in the position shown in Fig. 5.
  • the push button 17 cooperates with a rotation lock 19, which is displaced in an axial direction 6 of the spindle 14 when the push button 17 is actuated.
  • the rotation lock 19 is rotatably mounted in the arm 8 and has a
  • the anti-rotation device 19 moves from a first portion 18 of the spindle 14, which has a edge profile, towards an adjacent second portion 21, which has a round profile.
  • the rotation lock 19 is located on the first section 18 of the spindle rod 14.
  • the edge profile of the first section 18 is arranged in a form-fitting manner in the recess of the rotation lock 19, whereby the spindle 14 is fixed in the direction of rotation. That the torque of the spindle 14 can thus be fully supported on the rotation lock 19.
  • the axially fixed in the arm 8 spindle 14 is taken. If the nut 13 is blocked, the axial force resulting from the translational movement of the arm 8 on the spindle 14 causes the spindle 14 to rotate in accordance with the spindle thread pitch. Ie. the spindle 14 performs with respect to the nut 13 a screwing movement.
  • the nut-spindle unit 13, 14 is preferably designed not self-locking.
  • at least one bearing 22, such as a rolling bearing, in the arm 8 of the holder 9 is provided.
  • the anti-rotation device 19 is biased outwardly by means of a spring 23, which is supported on the arm 8. If the button 17 is released again - or a possible locking canceled - the button 17 jumps outward again into the locked position of Fig. 4th
  • FIG. 6 shows the spindle rod 14 viewed in the longitudinal direction 6, wherein the various profiles of the spindle rod 14 are clearly visible.
  • the edge profile of the first portion 18 has a square cross-section and the circular profile of the second portion 21 has a circular cross-section whose radius is smaller than the smallest distance from the longitudinal axis 6 of the spindle 14 to an outer edge of the first profile.
  • FIGS. 7, 8 and 9 each show a robot 25 with a plurality of arm elements 29, which are connected to one another via joints 28.
  • Robot head 28 ' is also designed as a hinge.
  • the robot head 28 ' is that described in the preceding figures
  • the robot 25 further includes a base 26 in which a controller 27 may be integrated.
  • a controller 27 may be integrated.
  • Control 27 could also be provided at any other location.
  • the robot 25 shown in FIGS. 7 to 9 has a total of six
  • Degrees of freedom - namely two per joint 28 or 28 '- and is thus able to move the holding device 1 and the surgical instrument 3 firmly connected thereto freely in space.
  • the sheath 2 is in the body of the patient, e.g. at a distance X from a reference point (see Fig. 7).
  • the lock 2 usually retains the distance X during the operation.
  • the lock 2 usually performs only pivotal movements about the puncture point.
  • Instrument 3 is removed from its holder 5, as shown in Fig. 8.
  • the instrument 3 can for this purpose z. B. manually released from the holder 5 and pulled out of the body of the patient. After that, the release mechanism becomes 16 is actuated by pressing the button 17. Thereby, the drive path of the drive unit 1 1 is interrupted, as described above, and the arm 8 and the second holder 9 can be manually adjusted in the longitudinal direction 6.
  • the lock 2 can thus together with the entire second holder 9 z. B. are moved to a position as shown in Fig. 9.
  • Fig. 9 shows the robot 25 in a state in which the second holder 9 is in a retracted position.
  • the lock 2 has been removed from the patient's body and is now at a greater distance (above distance X) to the patient's body.
  • the push button 17 is released (and possibly unlocked) after manual actuation of the second holder 9, the spring 23 presses the anti-rotation device 19 back into the locked state.
  • the holder 9 is then secured against further, possibly unintentional axial adjustment.
  • the lock 2 can now be removed from the receptacle 9.
  • the entire holding device 1 can be removed from the robot head 28 '.
  • the second holder 9 and the lock 2 form a solid structural unit. In this case, the lock 2 and the arm 8 can then be inextricably linked.

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 dispositif (1) servant à maintenir un instrument chirurgical (3), ainsi qu'un sas de transfert (2), comprenant un premier support (5) destiné à supporter l'instrument chirurgical (3) et un second support (9) destiné à supporter le sas de transfert (2). Le dispositif support (1) selon l'invention comprend en outre un ensemble d'entraînement servant à entraîner le second support (9) dans le sens de la longueur (10) de l'instrument chirurgical (3), ainsi qu'un mécanisme déclencheur servant à interrompre la transmission d'une force ou d'un couple au second support (9) par un organe entraîneur de l'ensemble d'entraînement.
PCT/EP2014/051769 2013-02-19 2014-01-30 Dispositif support d'instrument chirurgical et sas de transfert à fonction de déclenchement d'urgence Ceased WO2014127967A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013002831.0 2013-02-19
DE102013002831.0A DE102013002831B4 (de) 2013-02-19 2013-02-19 Haltevorrichtung für ein chirurgisches Instrument und eine Schleuse mit einer Notlösefunktion

Publications (1)

Publication Number Publication Date
WO2014127967A1 true WO2014127967A1 (fr) 2014-08-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/051769 Ceased WO2014127967A1 (fr) 2013-02-19 2014-01-30 Dispositif support d'instrument chirurgical et sas de transfert à fonction de déclenchement d'urgence

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Country Link
DE (1) DE102013002831B4 (fr)
WO (1) WO2014127967A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015049619A1 (fr) * 2013-10-01 2015-04-09 Srivastava Sudhir Prem Système chirurgical télé-robotique

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9974619B2 (en) 2015-02-11 2018-05-22 Engineering Services Inc. Surgical robot

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19609034A1 (de) 1995-03-10 1996-09-12 Karlsruhe Forschzent Vorrichtung zur Führung chirurgischer Instrumente für die endoskopische Chirurgie
US6451027B1 (en) * 1998-12-16 2002-09-17 Intuitive Surgical, Inc. Devices and methods for moving an image capture device in telesurgical systems
DE69635050T2 (de) 1995-06-07 2006-05-24 Sri International, Menlo Park Chirurgischer manipulator für ein ferngesteuertes robotersystem
WO2009004616A2 (fr) * 2007-07-02 2009-01-08 M.S.T. Medical Surgery Technologies Ltd Système de positionnement d'un endoscope et autres instruments chirurgicaux
US20110130718A1 (en) * 2009-05-25 2011-06-02 Kidd Brian L Remote Manipulator Device
US7955322B2 (en) 2005-12-20 2011-06-07 Intuitive Surgical Operations, Inc. Wireless communication in a robotic surgical system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19609034A1 (de) 1995-03-10 1996-09-12 Karlsruhe Forschzent Vorrichtung zur Führung chirurgischer Instrumente für die endoskopische Chirurgie
DE69635050T2 (de) 1995-06-07 2006-05-24 Sri International, Menlo Park Chirurgischer manipulator für ein ferngesteuertes robotersystem
US6451027B1 (en) * 1998-12-16 2002-09-17 Intuitive Surgical, Inc. Devices and methods for moving an image capture device in telesurgical systems
US7955322B2 (en) 2005-12-20 2011-06-07 Intuitive Surgical Operations, Inc. Wireless communication in a robotic surgical system
WO2009004616A2 (fr) * 2007-07-02 2009-01-08 M.S.T. Medical Surgery Technologies Ltd Système de positionnement d'un endoscope et autres instruments chirurgicaux
US20110130718A1 (en) * 2009-05-25 2011-06-02 Kidd Brian L Remote Manipulator Device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015049619A1 (fr) * 2013-10-01 2015-04-09 Srivastava Sudhir Prem Système chirurgical télé-robotique

Also Published As

Publication number Publication date
DE102013002831B4 (de) 2017-02-02
DE102013002831A1 (de) 2014-08-21

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