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WO2015049619A1 - Système chirurgical télé-robotique - Google Patents

Système chirurgical télé-robotique Download PDF

Info

Publication number
WO2015049619A1
WO2015049619A1 PCT/IB2014/064767 IB2014064767W WO2015049619A1 WO 2015049619 A1 WO2015049619 A1 WO 2015049619A1 IB 2014064767 W IB2014064767 W IB 2014064767W WO 2015049619 A1 WO2015049619 A1 WO 2015049619A1
Authority
WO
WIPO (PCT)
Prior art keywords
holder
surgical instrument
holding device
surgical system
manipulating
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/IB2014/064767
Other languages
English (en)
Inventor
Sudhir Prem SRIVASTAVA
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
Publication of WO2015049619A1 publication Critical patent/WO2015049619A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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

Definitions

  • the present invention generally relates to tele-robotic medical or surgical devices enabling minimally invasive surgery (MIS), and more particularly, to techniques of maneuvering surgical instrument over the operative area of the patient with enhanced dexterity using a modular instrument holding device.
  • MIS minimally invasive surgery
  • a robotic surgical system for use in performing medical, particularly surgical procedures with medical instruments, particularly surgical instruments.
  • the robotic surgical system comprises a manipulator assembly having a base and a manipulating end; a modular holding device releasably engaged with the manipulating end, and configured to removably mount thereupon the surgical instrument.
  • the modular holding device further comprises a first holder positioned towards proximal end of the holding device for supporting the surgical instrument; and a second holder positioned towards distal end of the holding device for supporting a port that provides a channel for the surgical instrument to pass there through, characterized in that the first holder further comprises a drive unit for adjusting the first holder relative to the second holder in a longitudinal direction.
  • This first drive unit preferably comprises a motor- transmission unit with an electric motor and a mechanical transmission.
  • Figure 1 illustrates a schematic view of the tele -robotic surgical system in accordance with an embodiment of the present disclosure.
  • FIG. 2 and Figure 3 represents surgical instrument holding device showing different positional relationship with surgical instrument, in accordance with alternate embodiments of the present disclosure.
  • Figure 4 represents sectional view of the holding device, in accordance with an embodiment of the present disclosure.
  • embodiments of the present disclosure are directed to a modular robotic medical or surgical system for performing a tele -robotic minimally invasive surgery (MIS).
  • MIS minimally invasive surgery
  • One general embodiment of the present invention comprises a robotic arm having sufficient degrees of freedom for performing tele -robotic surgery.
  • robot arm and “manipulating assembly” are being used interchangeably in the present disclosure.
  • a “lock” is especially understood in the context of this document, any device that is designed to provide access for one or more surgical instruments into a patient's body. According to the present disclosure, the terms “lock”, “trocar” and “port”, therefore, can be used interchangeably.
  • robot in particular a device with one or more articulated robotic arms is understood in the context of this document, which are moved by means of one or more actuators such as electric motors. The degrees of freedom of the robot are determined by the number of its joints.
  • the manipulating assembly 10 comprises a base 3 that is firmly and fixedly supported over a strong surface, for example the operating table, multiple links 7 connected via multiple joints 5, said joints housing a motor, a gearbox, a positioning sensor and a control circuitry to control/manipulate various links 7 of the manipulating assemblylO conveniently during the surgery, and a manipulating end 9. While the present disclosure is in connection with a particular embodiment of the robotic arm, those skilled in the art will appreciate that is also applicable to other robotic arms capable of performing minimally invasive medical techniques.
  • the robotic arm 10 mounts thereupon a holding device 20 at its manipulating end 9, as described in detail below, which further supports thereupon, different categories of surgical tools 50.
  • the holding device 20 is detachably secured to the functional end of the robotic arm 10, referred to as, for the purposes of illustration of this invention, as the manipulating end that is adapted to releasably mount thereupon various kinds of tools 50 that are necessary to perform a particular medical procedure.
  • the present invention enables the robotic surgical system 100 having sufficient degrees of freedom to provide a desired movement within an internal surgical site that enhances surgeon's dexterity and obviates generally existing limitations of the traditionally prevailing surgical methods.
  • Fig. 1 shows the holding device 20 attached to the manipulating end 9 of the robotic armlOO by means of a fastener or a coupling element 15 that allows the holding device 20 to rotate freely in space with respect to the arm.
  • the holding device 20 is arranged movable in a longitudinal direction and/or direction of rotation of end effector of robotic arm (11).
  • the fastening means can be a part of screw connection, for example, quick connect like snap fit, clamping, screw, a screw hole or a threaded hole, etc.
  • the fastening means 15 can be any quick connect means such as a pin and grove connection with the movably arranged pin or a known eccentric connection with a pin and eccentric nut a detent connection or a well-known quick- release connection like a tensioning lever.
  • Other clamping mechanisms as known from the prior art in various designs, can also be employed.
  • the holding device 20 comprises a first holder 25 for supporting the surgical instrument 50 and a second holder 30 for holding the cannula holder or a trocar sleeve 60 that allows the surgical instrument 50 to rotate and move axially through its central bore before entering into the surgical site.
  • the first holder 25 is positioned towards the proximal end of the holding device 20 and includes housing 26 that interfaces with the surgical instrument 50.
  • the surgical instrument 50 is held with respect to the holding device 20 in a generally longitudinal direction 14, and may be rotatable relative to the proximal housing about its axis, providing the end effector at its distal end with an added degree of freedom within the patient's body.
  • the surgical instrument 50 may include a variety of articulated end effectors, such as jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, and clip appliers, or non-articulated instrument, such as cutting blades, probes, irrigators, catheters or suction orifices.
  • the second holder 30 is positioned at the distal end of the holding device 20 to releasably hold the trocar or the cannula 60 through which the surgical instrument protrudes to reach the body interior, as shown in Figure 2.
  • the surgical instrument is inserted, it is held in a fixed configuration in a longitudinal direction with respect to the holding device.
  • the surgical tool 50 slides over the holding device 20 along the insertion axis relative to the robotic arm, while the remote center of spherical rotation 12 remains fixed at a desired location relative to the base of the robotic arm 10.
  • the surgical instrument in accordance with a preferred embodiment, is allowed to rotate along with the associated end effector about its longitudinal axis.
  • the holding device 20 includes a cantilevered arm 22 that extends approximately over a distance in a longitudinal direction.
  • the first holder 25 of the holding device movably mounts on the cantilevered arm 22 and is guided along the fixed longitudinal guides 24 of the cantilever arm 22 in the longitudinal direction, by means of a drive unit 27, discussed in greater detail below.
  • the fixed guides 24 extends in the longitudinal direction of the holding device 20, preferably at least over a distance corresponding to the desired movement of the surgical instrument between the proximal and distal ends of the holding device 20.
  • the guides 24 may either be integrally formed within the holding device 20 or remains mechanically coupled to it.
  • Figure 3 shows the holding device carrying the surgical instrument, in one of the intermediate positions along the guides 24.
  • the surgical instrument 50 Once the surgical instrument 50 is engaged with the holding device 20, it travels along the fixed guides 24 by means of a drive unit 27 housed within the first holder 25.
  • the drive unit 27 further interacts with the manipulating end 9 of the manipulating assembly to transfer motion from the manipulating end to the first holder.
  • the manipulator assembly 10, then, along with the fastener 15 travels in a desired, generally longitudinal direction, to enable the first holder 25 carrying the surgical instrument 50 traverse a linear path into the surgical site.
  • the movement of the manipulator assembly 10 and the fastener 15 complements the desired movement of the surgical instrument 50.
  • the holding device 20 comprises a driving unit 27 preferably disposed within the housing 26, and in particular designed as a motor - transmission unit integrated at least partly in the first holder; driving unit comprising an electric motor 27(a), a gear unit (2b) and a guide nut 27 (c) to drive the spindle 28 forward and backward, substantially parallel to the longitudinal axis of the surgical instrument.
  • the spindle 28 in one exemplary embodiment, is fixed arranged between the proximal and distal end of the holding device 20, and more particularly, relatively in between the fixed guides 24.
  • the guide nut 27(c) remains disposed over the fixedly held spindle 28 and travels in a linear fashion along an entire axial length of the spindle 28 to carry the first holder along.
  • the spindle rod in one exemplary embodiment, may be formed partly as a push rod that remains mechanically connected to the holding device 20.
  • the spindle 28 and the push rod may be constructed as separate parts.
  • a rack and pinion or belt drive or a hydraulic or pneumatic drive means can be selected instead of a spindle drive.
  • the driving unit 27 enables the second holder 30 to be adjustable relative to the first holder 25 in the longitudinal direction of the surgical instrument 50.
  • the drive unit 27 may be provided with one or more sensors, such as, the position, motion, acceleration, force and / or moment sensors.
  • sensors such as, the position, motion, acceleration, force and / or moment sensors.
  • the position of the surgical instrument with respect to the holding device can be determined anytime.
  • the sensor information can be monitored and necessary precautionary step scan be taken whenever a critical value is reported, as a safety feature.
  • the second holder 30 for the trocar preferably includes a clamping device.
  • the clamping device can, for instance comprises two opposite clamping jaws adapted to clamp the surgical instrument therebetween.
  • the holding device 20 preferably is operable to function as an electrical/mechanical interface capable of transmitting forces, torques, electrical variables and/or data to the surgical instrument.
  • a release device is positioned at the rear end of the robotic arm is shown.
  • the release device comprises a push button that remains disposed within the arm, while it projects outward from the arm in its unactuated state.
  • the push button can be pressed manually and made to move in a generally longitudinal direction.

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

La présente invention concerne un système chirurgical robotique comportant le bras robotique, un dispositif de maintien d'instrument chirurgical modulaire qui assure la fixation amovible d'un instrument chirurgical sur ledit bras robotique, pour effectuer des actes médicaux. Le dispositif de maintien est disposé à coulissement sur un support d'instrument médical configuré pour être entraîné par un mécanisme d'entraînement qui coordonne les mouvements entre le bras robotique et l'instrument chirurgical pour permettre à l'instrument d'atteindre le site de l'opération.
PCT/IB2014/064767 2013-10-01 2014-09-23 Système chirurgical télé-robotique Ceased WO2015049619A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IN2906DE2013 2013-10-01
IN2906/DEL/2013 2013-10-01

Publications (1)

Publication Number Publication Date
WO2015049619A1 true WO2015049619A1 (fr) 2015-04-09

Family

ID=51830563

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2014/064767 Ceased WO2015049619A1 (fr) 2013-10-01 2014-09-23 Système chirurgical télé-robotique

Country Status (1)

Country Link
WO (1) WO2015049619A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017151458A1 (fr) * 2016-03-04 2017-09-08 Covidien Lp Ensembles chirurgicaux robotiques
CN109171968A (zh) * 2018-09-30 2019-01-11 泗洪县正心医疗技术有限公司 一种手术机器人串联通道管
CN113069195A (zh) * 2021-03-31 2021-07-06 河北医科大学第三医院 一种经皮椎弓根的病变椎体内植骨器械
WO2023130868A1 (fr) * 2022-01-06 2023-07-13 敏捷医疗科技(苏州)有限公司 Mécanisme de serrage, boîte d'instrument et ensemble plaque d'isolation stérile
CN118750176A (zh) * 2024-06-19 2024-10-11 北京理工大学 一种用于内镜手术器械及其驱动的快换装置
CN119732749A (zh) * 2024-12-13 2025-04-01 哈尔滨工业大学 一种应用于连续体柔性器械的集成式倍程滑台

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000007503A1 (fr) * 1998-08-04 2000-02-17 Intuitive Surgical, Inc. Elements articules servant a positionner un manipulateur, dans une chirurgie robotise
US20040024385A1 (en) * 1999-11-12 2004-02-05 Microdexterity Systems, Inc. Manipulator
WO2012088471A1 (fr) * 2010-12-22 2012-06-28 Veebot, Llc Systèmes et procédés d'introduction autonome d'une aiguille intraveineuse
WO2014127967A1 (fr) * 2013-02-19 2014-08-28 Rg Mechatronics Gmbh Dispositif support d'instrument chirurgical et sas de transfert à fonction de déclenchement d'urgence
WO2014127966A1 (fr) * 2013-02-19 2014-08-28 Rg Mechatronics Gmbh Dispositif de maintien pour un instrument chirurgical et un port et procédé et dispositif de commande pour faire fonctionner un robot comportant un tel dispositif de maintien

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000007503A1 (fr) * 1998-08-04 2000-02-17 Intuitive Surgical, Inc. Elements articules servant a positionner un manipulateur, dans une chirurgie robotise
US20040024385A1 (en) * 1999-11-12 2004-02-05 Microdexterity Systems, Inc. Manipulator
WO2012088471A1 (fr) * 2010-12-22 2012-06-28 Veebot, Llc Systèmes et procédés d'introduction autonome d'une aiguille intraveineuse
WO2014127967A1 (fr) * 2013-02-19 2014-08-28 Rg Mechatronics Gmbh Dispositif support d'instrument chirurgical et sas de transfert à fonction de déclenchement d'urgence
WO2014127966A1 (fr) * 2013-02-19 2014-08-28 Rg Mechatronics Gmbh Dispositif de maintien pour un instrument chirurgical et un port et procédé et dispositif de commande pour faire fonctionner un robot comportant un tel dispositif de maintien

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017151458A1 (fr) * 2016-03-04 2017-09-08 Covidien Lp Ensembles chirurgicaux robotiques
JP2019512288A (ja) * 2016-03-04 2019-05-16 コヴィディエン リミテッド パートナーシップ ロボット外科手術アセンブリ
US11759273B2 (en) 2016-03-04 2023-09-19 Covidien Lp Robotic surgical assemblies
US12178530B2 (en) 2016-03-04 2024-12-31 Covidien Lp Robotic surgical assemblies
CN109171968A (zh) * 2018-09-30 2019-01-11 泗洪县正心医疗技术有限公司 一种手术机器人串联通道管
CN113069195A (zh) * 2021-03-31 2021-07-06 河北医科大学第三医院 一种经皮椎弓根的病变椎体内植骨器械
WO2023130868A1 (fr) * 2022-01-06 2023-07-13 敏捷医疗科技(苏州)有限公司 Mécanisme de serrage, boîte d'instrument et ensemble plaque d'isolation stérile
CN118750176A (zh) * 2024-06-19 2024-10-11 北京理工大学 一种用于内镜手术器械及其驱动的快换装置
CN119732749A (zh) * 2024-12-13 2025-04-01 哈尔滨工业大学 一种应用于连续体柔性器械的集成式倍程滑台

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