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WO2019137895A1 - Robotized apparatus for surgical operations - Google Patents

Robotized apparatus for surgical operations Download PDF

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Publication number
WO2019137895A1
WO2019137895A1 PCT/EP2019/050304 EP2019050304W WO2019137895A1 WO 2019137895 A1 WO2019137895 A1 WO 2019137895A1 EP 2019050304 W EP2019050304 W EP 2019050304W WO 2019137895 A1 WO2019137895 A1 WO 2019137895A1
Authority
WO
WIPO (PCT)
Prior art keywords
vid
image
viewer
robot
comb
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/EP2019/050304
Other languages
French (fr)
Inventor
Diego MANFRIN
Andrea BELLIN
Andrea ANDOLFI
Leandro Gianmaria BASSO
Francesco PORPIGLIA
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.)
Medics Srl
Original Assignee
Medics 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
Application filed by Medics Srl filed Critical Medics Srl
Priority to EP19701442.6A priority Critical patent/EP3737327A1/en
Publication of WO2019137895A1 publication Critical patent/WO2019137895A1/en
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
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/744—Mouse
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras

Definitions

  • the present invention relates to a robotized apparatus for surgical operations.
  • surgeon has a computerized command console located inside the operating theater.
  • the console is generally provided with a three-dimensional viewer, which receives images from one or more stereoscopic video cameras fixed to the robot and arranged so as to frame the operating field, as well as commands that reproduce the grip of the surgical instruments used by the robot (forceps, surgical scissors, dissectors etc.).
  • the main aim of the present invention is to improve the known robotized apparatuses for surgical operations, so as to guide the surgeon in a practical and reliable manner in identifying the outlines of the anatomical parts viewed and, as a consequence, in reaching the points to be operated on with the surgical instruments.
  • Figure 1 is a schematic view of the robotized apparatus according to the invention.
  • Figure 2 shows the scene viewed by the surgeon with the apparatus in a first operating configuration
  • Figure 3 is an image relating to the operation of the apparatus according to the invention.
  • Figure 4 shows the scene viewed by the surgeon with the apparatus in a second operating configuration.
  • a robotized apparatus for surgical operations 10 is adapted to be installed in a generic operating theater.
  • the apparatus comprises a robot 11 provided with mechanical arms 12a, 12b which are fitted with surgical instruments 14a, 14b that are adapted to operate on a generic patient P arranged on an operating table B.
  • a surgeon S controls the robot 11 remotely by way of a computerized console 16.
  • the robot 11 comes with a stereoscopic video camera 18 installed, which is supported so as to frame the operating field and is connected in order to transmit its video signal VID to a three-dimensional viewer 20 with which the computerized console 16 is provided.
  • the computerized console 16 is furthermore provided with commands 22 that can be actuated by the surgeon S, which are configured to reproduce the grip of the surgical instruments used by the robot (forceps, surgical scissors, dissectors etc.).
  • the computerized console 16 is furthermore provided with auxiliary video inputs 24 and with assignable inputs 25 for accessory control devices.
  • Figure 2 shows the video signal VID of the operating field captured by the stereoscopic video camera 18.
  • the robotized apparatus in order to guide the surgeon S in identifying the outlines of the anatomical parts viewed and, as a consequence, in reaching the points to be operated on with the surgical instruments, the robotized apparatus according to the invention further comprises:
  • a processing unit 26 which is connected in order to receive the video signal VID from the stereoscopic video camera 18, and is programmed to superimpose on such video signal VID a three-dimensional virtual image 3D IMAGE of the organ to be operated on ( Figure 3), and to transmit the resulting combined image VIDEO COMB ( Figure 4) to the three-dimensional viewer 20 through the auxiliary video inputs 24 on the computerized console 16,
  • the movements of the real organ in the three- dimensional viewer 20 can be due, e.g., to movements of the video camera caused by the surgeon S.
  • the means for manipulating 28 advantageously comprise a device for manual control, in particular a three- dimensional mouse, which is controlled by an assistant operator A who assists the surgeon by accompanying the movements of the video camera.
  • the combined image VID COMB is preferably displayed on an auxiliary screen 32 which is accessible to the assistant operator A.
  • the means for switching 30 advantageously comprise a pedal switch that can be connected to the assignable inputs 25 and which can be actuated directly by the surgeon S.
  • the three-dimensional virtual image 3D IMAGE of the organ can be reconstructed, in a way that is known per se, starting from two-dimensional images generated typically by way of computerized tomography or magnetic resonance.
  • the three-dimensional virtual image 3D IMAGE can be stored in a memory unit 34, which can be external or integrated in the processing unit 26.
  • the three- dimensional virtual image 3D IMAGE is loaded in the software and sent to the console 18 combined with the real image captured by the stereoscopic video camera 18, as illustrated in Figure 4.
  • the surgeon S views the operating field by way of the three- dimensional viewer 20 and, by acting on the pedal switch 30, switches at will between the traditional display mode, in which the pure video signal VID captured by the stereoscopic video camera 18 is shown in the viewer ( Figure 2), and an "assisted" display mode, in which the combined image VID COMB ( Figure 4) is shown in the viewer.
  • the assistant operator A monitors the combined image VID COMB on the auxiliary screen 32, and assists the surgeon S during the operation by rotating and moving the three-dimensional virtual image 3D IMAGE by way of the three-dimensional mouse 12, so that it is always superimposed on the real image of the organ to be operated on.
  • processing unit 26 is shown separate from the console 16. However, it is evident that the processing unit 26 could be integrated in the console 16.
  • the three-dimensional mouse for manipulating the three- dimensional virtual image 3D IMAGE could be substituted by other manual means for manipulating, such as joysticks, touch screens and the like, or by automated systems based on image recognition software that can autonomously follow the movements of the real image. In the latter case, in particular, the auxiliary screen 32 would no longer be essential except for monitoring purposes.
  • the pedal for switching between the traditional display mode and the assisted display mode can be substituted by other types of switches which can be integrated in the console or connected as external accessories.
  • the number of instruments and of video cameras mounted on the robot can obviously vary on the basis of requirements.

Landscapes

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

Abstract

A robotized apparatus for surgical operations, which comprises a robot (10) and at least one video camera (18) arranged so as to frame the operating field in which the robot (10) operates; a computerized console (16) is provided with a viewer (20) which receives a video signal (VID) from the video camera (18), and is provided with commands (22) for remotely controlling the robot (10). A processing unit (26) receives the video signal (VID), superimposes thereon a three-dimensional virtual image (3D_IMAGE) of an organ to be operated on, and transmits the resulting combined image (VIDEO_COMB) to the viewer (20). By way of means for manipulating (28), the three-dimensional virtual image (3D_IMAGE) is moved and oriented in relation to the movements of the real organ in the viewer (20). By way of means for switching (30), the video signal (VID) or the combined image (VID_COMB) is selectively displayed on the vie (20).

Description

ROBOTIZED APPARATUS FOR SURGICAL OPERATIONS
The present invention relates to a robotized apparatus for surgical operations.
As is known, nowadays many surgical procedures, especially in some areas like urology, are carried out by way of a robot controlled remotely by a surgeon.
To this end, the surgeon has a computerized command console located inside the operating theater.
The console is generally provided with a three-dimensional viewer, which receives images from one or more stereoscopic video cameras fixed to the robot and arranged so as to frame the operating field, as well as commands that reproduce the grip of the surgical instruments used by the robot (forceps, surgical scissors, dissectors etc.).
Although the use of stereoscopic video cameras and three- dimensional viewers improves the visual perspective of the surgeon and enhances in him/her the sensation of operating directly on the patient, in order to increase the precision of some very complex surgical maneuvers it would be useful for the surgeon to have an additional visual aid.
In the past, systems have been proposed for integrating the image of the video camera with computer-generated three-dimensional reproductions of the organ being operated on, but they have been found not fully satisfactory in terms of practicality of use and, as a consequence, to date they have found little application.
Therefore, the main aim of the present invention is to improve the known robotized apparatuses for surgical operations, so as to guide the surgeon in a practical and reliable manner in identifying the outlines of the anatomical parts viewed and, as a consequence, in reaching the points to be operated on with the surgical instruments.
The above aim and other objects, which will become clearer from the description that follows, are achieved by a robotized apparatus for surgical operations having the characteristics recited in the appended claim 1, while the appended dependent claims define other characteristics of the invention which are advantageous, although secondary.
Now the invention will be described in greater detail, with reference to a preferred but not exclusive embodiment thereof, which is illustrated for the purposes of non-limiting example in the accompanying drawings, wherein:
Figure 1 is a schematic view of the robotized apparatus according to the invention;
Figure 2 shows the scene viewed by the surgeon with the apparatus in a first operating configuration;
Figure 3 is an image relating to the operation of the apparatus according to the invention;
Figure 4 shows the scene viewed by the surgeon with the apparatus in a second operating configuration.
With reference initially to Figure 1, a robotized apparatus for surgical operations 10 is adapted to be installed in a generic operating theater.
The apparatus comprises a robot 11 provided with mechanical arms 12a, 12b which are fitted with surgical instruments 14a, 14b that are adapted to operate on a generic patient P arranged on an operating table B.
A surgeon S controls the robot 11 remotely by way of a computerized console 16.
To this end, the robot 11 comes with a stereoscopic video camera 18 installed, which is supported so as to frame the operating field and is connected in order to transmit its video signal VID to a three-dimensional viewer 20 with which the computerized console 16 is provided.
The computerized console 16 is furthermore provided with commands 22 that can be actuated by the surgeon S, which are configured to reproduce the grip of the surgical instruments used by the robot (forceps, surgical scissors, dissectors etc.). In a way that is known per se, the computerized console 16 is furthermore provided with auxiliary video inputs 24 and with assignable inputs 25 for accessory control devices.
Figure 2 shows the video signal VID of the operating field captured by the stereoscopic video camera 18.
According to the invention, in order to guide the surgeon S in identifying the outlines of the anatomical parts viewed and, as a consequence, in reaching the points to be operated on with the surgical instruments, the robotized apparatus according to the invention further comprises:
- a processing unit 26, which is connected in order to receive the video signal VID from the stereoscopic video camera 18, and is programmed to superimpose on such video signal VID a three-dimensional virtual image 3D IMAGE of the organ to be operated on (Figure 3), and to transmit the resulting combined image VIDEO COMB (Figure 4) to the three-dimensional viewer 20 through the auxiliary video inputs 24 on the computerized console 16,
- means for manipulating 28 which can be activated in order to move and orientate the three-dimensional virtual image 3D IMAGE in relation to the movements of the real organ in the three-dimensional viewer 20,
- means for switching 30 which can be actuated to selectively display the video signal VID or the combined image VID COMB on the three- dimensional viewer 20.
As is known, the movements of the real organ in the three- dimensional viewer 20 can be due, e.g., to movements of the video camera caused by the surgeon S.
In the embodiment described herein, the means for manipulating 28 advantageously comprise a device for manual control, in particular a three- dimensional mouse, which is controlled by an assistant operator A who assists the surgeon by accompanying the movements of the video camera. To this end, the combined image VID COMB is preferably displayed on an auxiliary screen 32 which is accessible to the assistant operator A.
In this embodiment, the means for switching 30 advantageously comprise a pedal switch that can be connected to the assignable inputs 25 and which can be actuated directly by the surgeon S.
The three-dimensional virtual image 3D IMAGE of the organ can be reconstructed, in a way that is known per se, starting from two-dimensional images generated typically by way of computerized tomography or magnetic resonance.
The programming of the software to superimpose the images is part of the normal knowledge of the person skilled in the art and lies outside the aims and objectives of the present invention; therefore, it will not be described here.
Generally, the three-dimensional virtual image 3D IMAGE can be stored in a memory unit 34, which can be external or integrated in the processing unit 26.
In the operation, at the moment of the operation, the three- dimensional virtual image 3D IMAGE is loaded in the software and sent to the console 18 combined with the real image captured by the stereoscopic video camera 18, as illustrated in Figure 4.
The surgeon S views the operating field by way of the three- dimensional viewer 20 and, by acting on the pedal switch 30, switches at will between the traditional display mode, in which the pure video signal VID captured by the stereoscopic video camera 18 is shown in the viewer (Figure 2), and an "assisted" display mode, in which the combined image VID COMB (Figure 4) is shown in the viewer.
The assistant operator A monitors the combined image VID COMB on the auxiliary screen 32, and assists the surgeon S during the operation by rotating and moving the three-dimensional virtual image 3D IMAGE by way of the three-dimensional mouse 12, so that it is always superimposed on the real image of the organ to be operated on.
A preferred embodiment of the invention has been described, but obviously the person skilled in the art may make various modifications and variations within the scope of protection of the claims.
For example, in the embodiment described herein the processing unit 26 is shown separate from the console 16. However, it is evident that the processing unit 26 could be integrated in the console 16.
Furthermore, the three-dimensional mouse for manipulating the three- dimensional virtual image 3D IMAGE could be substituted by other manual means for manipulating, such as joysticks, touch screens and the like, or by automated systems based on image recognition software that can autonomously follow the movements of the real image. In the latter case, in particular, the auxiliary screen 32 would no longer be essential except for monitoring purposes.
In the same way, the pedal for switching between the traditional display mode and the assisted display mode can be substituted by other types of switches which can be integrated in the console or connected as external accessories.
The number of instruments and of video cameras mounted on the robot can obviously vary on the basis of requirements.
Furthermore, although the use of stereoscopic video cameras and of three-dimensional viewers is preferable, obviously the invention can likewise be applied to systems equipped with conventional video cameras and two-dimensional viewers.
The disclosures in Italian Utility Model Application No. 202018000000673 from which this application claims priority are incorporated herein by reference.
Where technical features mentioned in any claim are followed by reference signs, those reference signs have been included for the sole purpose of increasing the intelligibility of the claims and accordingly, such reference signs do not have any limiting effect on the interpretation of each element identified by way of example by such reference signs.

Claims

1. A robotized apparatus for surgical operations, which comprises:
- a robot (10) equipped to carry out surgical operations,
- at least one video camera (18) arranged so as to frame the operating field in which said robot (10) operates,
- a computerized console (16), provided with a viewer (20) connected in order to receive a video signal (VID) from said video camera (18), and provided with commands (22) for remotely controlling said robot (10),
characterized in that it comprises
- a processing unit (26), which is connected in order to receive said video signal (VID) and is programmed to superimpose on said video signal (VID) a three-dimensional virtual image (3D IMAGE) of an organ to be operated on, and to transmit the resulting combined image (VIDEO COMB) to said viewer (20),
- means for manipulating (28) which can be activated in order to move and orientate said three-dimensional virtual image (3D IMAGE) in relation to the movements of the real organ in the viewer (20),
- means for switching (30) which can be actuated to selectively display said video signal (VID) or said combined image (VID COMB) on said viewer (20).
2. The robotized apparatus according to claim 1, characterized in that said means for manipulating (28) comprise a device for manual control which can be commanded by an assistant operator (A).
3. The robotized apparatus according to claim 2, characterized in that said device for manual control (28) comprises a three-dimensional mouse.
4. The robotized apparatus according to one of claims 1-3, characterized in that it comprises an auxiliary screen (32) connected to said processing unit (26) for displaying said combined image (VID COMB).
5. The robotized apparatus according to one of claims 1-4, characterized in that said computerized console (16) is provided with assignable inputs (25) for accessory control devices, to which said means for switching (30) can be connected.
6. The robotized apparatus according to one of claims 1-5, characterized in that said means for switching (30) comprise a pedal switch.
7. The robotized apparatus according to one of claims 1-6, characterized in that said at least one video camera (18) is stereoscopic and said viewer (20) is three-dimensional.
8. The robotized apparatus according to one of claims 1-7, characterized in that said computerized console (16) is provided with auxiliary video inputs (24), to which said combined image (VID COMB) is transmitted.
PCT/EP2019/050304 2018-01-11 2019-01-08 Robotized apparatus for surgical operations Ceased WO2019137895A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP19701442.6A EP3737327A1 (en) 2018-01-11 2019-01-08 Robotized apparatus for surgical operations

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT202018000000673 2018-01-11
IT201800000673U IT201800000673U1 (en) 2018-01-11 2018-01-11 ROBOTIC APPARATUS FOR SURGICAL OPERATIONS

Publications (1)

Publication Number Publication Date
WO2019137895A1 true WO2019137895A1 (en) 2019-07-18

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PCT/EP2019/050304 Ceased WO2019137895A1 (en) 2018-01-11 2019-01-08 Robotized apparatus for surgical operations

Country Status (3)

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EP (1) EP3737327A1 (en)
IT (1) IT201800000673U1 (en)
WO (1) WO2019137895A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015110934A1 (en) * 2014-01-24 2015-07-30 Koninklijke Philips N.V. Continuous image integration for robotic surgery
EP3107286A1 (en) * 2005-12-30 2016-12-21 Intuitive Surgical Operations, Inc. Medical robotic system providing three-dimensional telestration
US20170128145A1 (en) * 2005-06-06 2017-05-11 Intuitive Surgical Operations, Inc. Laparoscopic Ultrasound Robotic Surgical System

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8398541B2 (en) * 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
US11523874B2 (en) * 2014-02-04 2022-12-13 Koninklijke Philips N.V. Visualization of depth and position of blood vessels and robot guided visualization of blood vessel cross section

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170128145A1 (en) * 2005-06-06 2017-05-11 Intuitive Surgical Operations, Inc. Laparoscopic Ultrasound Robotic Surgical System
EP3107286A1 (en) * 2005-12-30 2016-12-21 Intuitive Surgical Operations, Inc. Medical robotic system providing three-dimensional telestration
WO2015110934A1 (en) * 2014-01-24 2015-07-30 Koninklijke Philips N.V. Continuous image integration for robotic surgery

Also Published As

Publication number Publication date
EP3737327A1 (en) 2020-11-18
IT201800000673U1 (en) 2019-07-11

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