WO1998023216A1 - Device for remote control of a tool - Google Patents
Device for remote control of a tool Download PDFInfo
- Publication number
- WO1998023216A1 WO1998023216A1 PCT/EP1997/006468 EP9706468W WO9823216A1 WO 1998023216 A1 WO1998023216 A1 WO 1998023216A1 EP 9706468 W EP9706468 W EP 9706468W WO 9823216 A1 WO9823216 A1 WO 9823216A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tool
- hexapod
- control computer
- holder
- robot
- Prior art date
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
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- 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
-
- 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
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
-
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0216—Compliance devices comprising a stewart mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
-
- 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
- A61B2034/741—Glove like input devices, e.g. "data gloves"
-
- 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
- A61B2034/742—Joysticks
Definitions
- the invention relates to a device for remotive control of a tool.
- the invention also relates to preferred uses of the device according to the invention.
- a 7-axis robot system with the designation "Minerva” is known from the prior art for the partially automatic execution of brain operations.
- the robot carries out complete stereotactic interventions under the supervision of a surgeon.
- the entire operation is monitored by a computer tomograph.
- the operation itself consists of inserting a 2 to 3 mm diameter probe into the patient's brain through a hole in the cranium.
- Areas of application include Surgery for hematomas or abscesses in the brain or the implantation of a radiation source in deeper tumors.
- a robot system is known under the name "AESOP” (Automated Endoscopic System for Optimal Positioning), which can guide the laparoscope during a minimally invasive operation.
- AESOP Automatic Endoscopic System for Optimal Positioning
- the "Artemis” system (Advanced Robot and Telemanipulator System for MIS) has also been developed for laparoscopic operations. It consists of an operating system, a work system (surgical end effectors and endoscope) and a control system called "KISMET”.
- a device for remotively controlling a tool which has: a tool holder holding the tool, a first hexapod carrying the tool holder, a control computer controlling the first hexapod, a second hexapod connected to the control computer, the second hexapod being one Chair for a user carries, as well as an input device and a display device, which are also connected to the control computer.
- the operator inputs the control commands via the input device, the control commands being fed to the first hexapod via the control computer.
- the first hexapod moves the tool into the desired position or guides the tool so that it performs the desired movements.
- These movements, which the tool executes, are also fed via the control computer to the second hexapod, which sets the chair on which the operator is sitting in motion.
- the minimal movements of the tool are transferred to the chair at the same time. In this way, the operator receives active feedback on his actions, which are returned to him via the chair, which can be accelerated in all spatial directions (comparable to an aircraft simulator).
- the operator is warned, for example, of fast movements or strong deflections or when reaching the limits of the work area or in the event of collisions.
- the operator thus receives feedback on the position and orientation of the tool, transmitted through his own sense of balance, so that further actions can be coordinated.
- An inventive use of the device mentioned at the outset is seen in the field of medical technology as a surgical device, particularly in surgery in the submillimeter range, such as neurosurgery, ophthalmology, ENT surgery, orthopedics, etc., the tool being used as an endoscope or as a other surgical cutlery is formed.
- the limits of the work area especially in stereotaxy, can easily be exceeded, so that operations are very dangerous since the smallest structures such as nerves or blood vessels can be destroyed.
- the device according to the invention also has the essential advantage that the operator receives tactile and visual impressions from the operation site and can react immediately.
- tasks with greater effort can be carried out precisely.
- Possible machining processes, such as drilling or milling bones, can be carried out exactly.
- sensitive operations are equally good Can be performed on the inner ear or on the eye.
- Another area of application of the device according to the invention in medical technology is to use the device as a stable support and guide system, e.g. for a surgical microscope.
- control computer has a scaling unit for scaling the signals input via the input device.
- the control computer has a scaling unit for scaling the signals input via the input device.
- the input device for motion control is a joystick, a space mouse, a data glove, a keyboard or the like. is. On In this way, the operator's commands can be transmitted precisely and precisely.
- Other input devices relate to the control of the tool or tools, such as lasers, HF cutting devices, scissors and the like.
- the display device is a 3-D screen, 3-D glasses or a virtual reality system or a spherical, in particular hemispherical, projection screen arranged above the operator.
- a miniature camera in particular a 3-D camera, is advantageously provided on the tool. In this way, the movements of the tool can be visualized directly, the movements also being conveyed in the form of tactile impressions by the operator via the user interface of the second hexapod.
- forces and / or moments can also be detected via sensors provided on the tool and the operator e.g. be transmitted by tactile impressions or audio-visual signals.
- the tool holder is transparent, in particular made of transparent plastic or glass.
- auxiliary persons e.g. surgical nurses, etc. can follow the intervention directly.
- the holder for the first hexapod can advantageously be designed in a ring, so that on the one hand the handling weight of the entire machining device is reduced and on the other hand there is greater freedom of movement for the tool.
- an annular holder allows an even better view of the surgical site. In this area, for example, other surgical instruments or a camera can also be arranged.
- the working area is further enlarged by the fact that the tool can also be moved in the z-axis (i.e. in the longitudinal axis of the tool). This is facilitated in particular by the arrangement of the hexapod drives according to the invention.
- the hexapod drives are preferably arranged in a ring. They extend between the tool holder and the holder for the hexapod essentially on a surface line of a cylinder or a cone. This has the essential advantage that the tool can be guided undisturbed by the tool holder, thereby creating a very large work space.
- a tool changing device is advantageously provided.
- the tool can be a quick change device, in particular a Bayonet connector to be connected to the tool holder.
- the tool can be exchanged either manually or automatically if necessary, so that operations in which several different tools are required can be carried out.
- the tool changing device can also be designed as a tool turret. A tool change in this embodiment is possible even faster.
- the small space requirement and the low weight of the device according to the invention allow it to be attached, for example, to a stereotactic frame or to a frame which is firmly connected to the body part of the patient to be treated.
- the patient's head and the device according to the invention are fixed to one another. If the patient moves during the operation, the relative position between the tool and the head is retained. This coupling of patient and device minimizes the risk of injury when the patient moves.
- the operating environment is only slightly disturbed by the compact construction of the device according to the invention. The surgeon can quickly remove the first hexapod from the surgical field. This enables the transition from fully automatic to classic operation at any time.
- first hexapod is attached to a horizontally displaceable and / or pivotable support.
- This support can, for example, be coupled to the operating table.
- the first hexapod can be moved in the room via rails These rails are preferably designed as C-brackets so that they can partially grip around the patient and hold the first hexapod at any surgical site.
- the first hexapod can be swiveled and locked together with the C-brackets and / or be moved lengthways along the operating table.
- the system can also be used in computer tomography and magnetic resonance imaging. In this way you can operate and navigate under sight.
- Another advantage of the invention is that the entire system can be steam sterilized and the first hexapod can be covered with a tubular film.
- Another area of application of the device according to the invention is seen in that it is used as a telemanipulator or as a moving robot in an unstructured, unknown or dangerous terrain is used.
- moving robots can be used in areas of nuclear power plant technology or in reprocessing plants for nuclear fuel rods.
- FIG. 1 is a schematic diagram of the invention
- FIG. 2 shows a perspective view of a first hexapod in stereotaxy
- Figure 3 shows another application example of the device according to the invention in a dorsal spinal surgery.
- FIG. 1 The basic structure of the device according to the invention is shown in FIG. 1 and the reference numeral 1 denotes a control computer.
- Control computer 1 On this Control computer 1 is connected via a data line 2 to a patient-fixed surgical robot, generally designated 3.
- a feedback operating chair denoted overall by 6, is connected to the control computer 1 via data lines 4 and 5.
- the surgical robot 3 is fastened to a holder 9 via a robot guide 7, which is formed in particular by a C-shaped rail 8.
- This bracket 9 is both slidable in the direction of arrow 10 and pivotally attached to an operating table 11.
- a patient 13 is located on this operating table 11, which in turn is attached to a ceiling mount 12.
- a stereotactic frame 15 is attached to the head 14 of the patient 13.
- the surgical robot 3 and the head 14 of the patient 13 are fixed to one another via this stereotactic frame 15. If the patient 13 moves during the operation, the relative position between the operating robot 3 and the head 14 is maintained.
- the surgical robot 3 has an annular holder 16 for a first hexapod 17.
- This hexapod 17 has a total of six hexapod drives 18, which in turn are attached to a tool holder 19, which is in particular made of transparent plastic or glass.
- a tool 20, in particular an endoscope 21, is fixed on this tool holder 19.
- This endoscope 21 is moved via the first hexapod 17 and in particular is brought through a skull opening 22 to the site to be operated on.
- the signals to Movement of the endoscope " 21 is fed from the control computer 1 to the first hexapod 17 via the data line 2.
- the control computer 1 receives the control signals from the operating chair 6, in particular from an input device 23 designed as a joystick.
- control signals coming from the input device 23 are also transmitted via the data line 5 fed to a second hexapod 24, which also has six hexapod drives 25.
- a seat 26 is attached to these hexapod drives 25, on which the operator sits while the device is being operated.
- a 3-D screen 27 is located in the operator's field of vision. which is coupled to the seat and is also fed with data from the control computer 1 via the data line 4.
- the endoscope 21 At the tip of the endoscope 21 there is a 3-D camera that takes pictures of the operating room. These signals are fed to the control computer via the data line 2 and are shown on the 3D screen 27 in the form of images. In addition, the endoscope 21 is provided with sensors that can absorb forces and moments. These signals are also fed to the control computer 1 via the data line 2 and are either forwarded optically on the 3-D screen 27, acoustically or as a tactile signal to the second hexapod 24.
- FIG. 2 shows a perspective view of the surgical robot 3 and the patient 13. It can be clearly seen how the endoscope 21 penetrates the first hexapod 17 and is surrounded by the hexapod drives 18 arranged essentially in a ring. In addition, the transparent tool holder 19 can be seen in which the tool 20 is held in particular in a quick-change device.
- the hexapod drives 18 are supported on the ring-shaped holder 16, which in turn is fixed on the rail-shaped robot guide 7.
- the guide 7 is in turn attached to the bracket 9 which is slidably and pivotally supported on the operating table 11. It can be seen in FIG. 3 that the position of the first hexapod 17 can be changed by displacing the rail-shaped robot guide 7.
- the holder 9 has a sliding bearing 28 for the rails 8. Finally, the pivot bearing 29 of the bracket 9 can be seen.
- the sliding bearing 28 and the swivel bearing 29 allow the surgical robot 3 to be removed immediately, so that, if necessary, the automatic operation can be continued by a classic operation. It is also clear from FIGS. 2 and 3 that the entire surgical robot 3 with robot guide 7 can be covered with a tubular film.
- two hexapods are therefore provided, the tool being attached to one hexapod and a seat for the operator being arranged on the other hexapod.
- the operator controls the tool via an input device, the movements of the tool being fed back as feedback to the second hexapod, and the operator is thereby given sensory impressions of the movement of the tool.
Abstract
A device for remote control of a tool comprises two hexapods, wherein the tool is fixed on one hexapod while a seat for the user has been placed on the other hexapod. The user controls the tool via an input device, whereby the movements of the tool are fed back to the second hexapod and sensations regarding movements of the tool are thus transmitted to the user.
Description
Titel: Vorrichtung zur remotiven Steuerung eines WerkzeugsTitle: Device for remotive control of a tool
B e s c h r e i bun gDescription
Die Erfindung betrifft eine Vorrichtung zur remotiven Steuerung eines Werkzeugs. Die Erfindung betrifft außerdem bevorzugte Verwendungen der erfindungsgemäßen Vorrichtung.The invention relates to a device for remotive control of a tool. The invention also relates to preferred uses of the device according to the invention.
Aus dem Stand der Technik ist zur teilautomatischen Durchführung von Gehirnoperationen ein 7-achsiges Robotersystem mit der Bezeichnung "Minerva" bekannt. Unter der Aufsicht eines Chirgurgen führt der Roboter komplette stereotaktische Eingriffe durch. Überwacht wird der Ablauf der gesamten Operation durch einen Computertomograph. Die Operation selbst besteht aus dem Einführen einer Sonde mit 2 bis 3 mm Durchmesser in das Gehirn des Patienten durch ein Loch in der Schädeldecke. Einsatzgebiete sind u.a. auch die
Operation von Hämatomen oder Abszessen im Gehirn oder die Implantation einer Strahlungsquelle in tiefer liegende Tumore.A 7-axis robot system with the designation "Minerva" is known from the prior art for the partially automatic execution of brain operations. The robot carries out complete stereotactic interventions under the supervision of a surgeon. The entire operation is monitored by a computer tomograph. The operation itself consists of inserting a 2 to 3 mm diameter probe into the patient's brain through a hole in the cranium. Areas of application include Surgery for hematomas or abscesses in the brain or the implantation of a radiation source in deeper tumors.
Beim vollständigen Ersatz eines Hüftgelenks durch ein Implantat, wird der Hüftknochen vom Chirurgen so ausgehöhlt, dass das Implantat eine möglichst gute Passung erhält. Um diese Aufgabe präziser als bei manueller Bearbeitung durchzuführen, wurde ein Robotersystem mit der Bezeichnung "Robodoc" entwickelt, das den Hüftgelenksknochen passgenau ausfräst. Die Bewegungsführung erfolgt über einen Computertomograph, der die Relativlage zwischen Roboter und Knochen anpeilt.When a hip joint is completely replaced by an implant, the surgeon hollows out the hip bone in such a way that the implant gets the best possible fit. In order to perform this task more precisely than with manual processing, a robot system called "Robodoc" was developed, which milled out the hip joint bone with a perfect fit. The movement is guided by a computer tomograph, which targets the relative position between the robot and the bone.
Unter der Bezeichnung "AESOP" (Automated Endoscopic System for Optimal Positioning) ist ein Robotersystem bekannt geworden, das während einer minimal-invasiven Operation das Laparoskop führen kann.A robot system is known under the name "AESOP" (Automated Endoscopic System for Optimal Positioning), which can guide the laparoscope during a minimally invasive operation.
Ebenfalls für laparoskopische Operationen ist das System "Artemis" (Advanced Robot and Telemanipulator System for MIS) entwickelt worden. Es besteht aus einem Bediensystem, einem Arbeitssystem (chirurgische Endeffektoren und Endoskop) und einem Steuerungssystem mit der Bezeichnung "KISMET" .The "Artemis" system (Advanced Robot and Telemanipulator System for MIS) has also been developed for laparoscopic operations. It consists of an operating system, a work system (surgical end effectors and endoscope) and a control system called "KISMET".
Diese Vorrichtungen weisen allesamt den Nachteil auf, dass die Bedienperson, insbesondere ein Chirurg, keine direkten
Sinneseindrücke vom Werkzeug erfährt. Eine exakte Handhabung des Werkzeugs ist daher nicht möglich.All of these devices have the disadvantage that the operator, in particular a surgeon, does not have any direct Sensory impressions experienced by the tool. Precise handling of the tool is therefore not possible.
Diese Aufgabe wird erfindungsgemäß mit einer Vorrichtung zur remotiven Steuerung eines Werkzeugs gelöst, welche aufweist: einen das Werkzeug aufnehmenden Werkzeughalter, einen den Werkzeughalter tragenden ersten Hexapod, einen den ersten Hexapod ansteuernden Steuerungsrechner, einen mit dem Steuerungsrechner verbundenen zweiten Hexapod, wobei der zweite Hexapod einen Stuhl für einen Benutzer trägt, sowie ein Eingabegerät und eine Anzeigeeinrichtung, die ebenfalls mit dem Steuerungsrechner verbunden sind.This object is achieved according to the invention with a device for remotively controlling a tool, which has: a tool holder holding the tool, a first hexapod carrying the tool holder, a control computer controlling the first hexapod, a second hexapod connected to the control computer, the second hexapod being one Chair for a user carries, as well as an input device and a display device, which are also connected to the control computer.
Die Bedienperson gibt bei der erfindungsgemäßen Vorrichtung über das Eingabegerät die Steuerbefehle ein, wobei die Steuerbefehle über den Steuerungsrechner dem ersten Hexapod zugeleitet werden. Der erste Hexapod bewegt das Werkzeug in die gewünschte Position bzw. führt das Werkzeug so, dass dieses die gewünschten Bewegungen ausführt. Diese Bewegungen, welche das Werkzeug ausführt, werden über den Steuerungsrechner auch dem zweiten Hexapod zugeführt, der den Stuhl, auf dem die Bedienperson sitzt, in Bewegung versetzt. Die minimalen Bewegungen des Werkzeugs werden zeitgleich auf den Stuhl übertragen. Auf diese Weise erhält die Bedienperson ein aktives Feedback seiner Aktionen, die ihn über den in allen Raumrichtungen beschleunigbaren Stuhl (vergleichbar mit einem Flugzeugsimulator) zurückgegeben werden. Auf diese Weise
wird die Bedienperson z.B. bei schnellen Bewegungen oder starken Auslenkungen oder beim Erreichen der Grenzen des Arbeitsraumes oder bei Kollisionen gewarnt. Die Bedienperson erhält also über die Bewegung des Stuhls eine durch den eigenen Gleichgewichtssinn übertragene Rückmeldung über die Lage und Orientierung des Werkzeugs, so dass weitere Aktionen koordiniert werden können.In the device according to the invention, the operator inputs the control commands via the input device, the control commands being fed to the first hexapod via the control computer. The first hexapod moves the tool into the desired position or guides the tool so that it performs the desired movements. These movements, which the tool executes, are also fed via the control computer to the second hexapod, which sets the chair on which the operator is sitting in motion. The minimal movements of the tool are transferred to the chair at the same time. In this way, the operator receives active feedback on his actions, which are returned to him via the chair, which can be accelerated in all spatial directions (comparable to an aircraft simulator). In this way the operator is warned, for example, of fast movements or strong deflections or when reaching the limits of the work area or in the event of collisions. The operator thus receives feedback on the position and orientation of the tool, transmitted through his own sense of balance, so that further actions can be coordinated.
Eine erfindungsgemäße Verwendung der eingangs genannten Vorrichtung wird im Bereich der Medizintechnik als Operationsvorrichtung gesehen, insbesondere in der Chirurgie im Submillimeter-Bereich, wie der Neurochirurgie, der Ophthalmologie, der HNO-Chirurgie , der Orthopädie usw., wobei das Werkzeug als Endoskop oder als ein anderes chirurgisches Besteck ausgebildet ist. Insbesondere in einem Miniatur- Arbeitsraum im Submillimeter-Bereich können die Grenzen des Arbeitsbereiches, insbesondere bei der Stereotaxie leicht überschritten werden, so dass Operationen sehr gefährlich sind, da kleinste Strukturen wie Nerven oder Blutgefäße zerstört werden können.An inventive use of the device mentioned at the outset is seen in the field of medical technology as a surgical device, particularly in surgery in the submillimeter range, such as neurosurgery, ophthalmology, ENT surgery, orthopedics, etc., the tool being used as an endoscope or as a other surgical cutlery is formed. Especially in a miniature work area in the submillimeter range, the limits of the work area, especially in stereotaxy, can easily be exceeded, so that operations are very dangerous since the smallest structures such as nerves or blood vessels can be destroyed.
Die erfindungsgemäße Vorrichtung weist außerdem den wesentlichen Vorteil auf, dass die Bedienperson taktile und visuelle Eindrücke von der Operationsstelle erhält und unmittelbar reagieren kann.
Daneben können, bedingt" durch die große Steifigkeit und der damit verbundenen Genauigkeit der Hexapode, Aufgaben mit höherem Kraftaufwand präzise durchgeführt werden. Mögliche Bearbeitungsvorgänge, wie das Bohren oder Fräsen von Knochen, sind exakt durchführbar, neben Operationen an der Wirbelsäule sind gleichermaßen gut feinfühlige Operationen am Innenohr oder am Auge ausführbar.The device according to the invention also has the essential advantage that the operator receives tactile and visual impressions from the operation site and can react immediately. In addition, owing to the great rigidity and the associated accuracy of the hexapod, tasks with greater effort can be carried out precisely. Possible machining processes, such as drilling or milling bones, can be carried out exactly. In addition to operations on the spine, sensitive operations are equally good Can be performed on the inner ear or on the eye.
Ein weiteres Anwendungsgebiet der erfindungsgemäßen Vorrichtung in der Medizintechnik besteht darin, die Vorrichtung als stabilen Träger und Führungssystem z.B. für ein Operationsmikroskop einzusetzen.Another area of application of the device according to the invention in medical technology is to use the device as a stable support and guide system, e.g. for a surgical microscope.
Bei einer bevorzugten Ausführungsform ist vorgesehen, dass der Steuerungsrechner eine Skaliereinheit zur Skalierung der über das Eingabegerät eingegebenen Signale aufweist. Auf diese Weise können kleinste, feindosierte Bewegungen im Submillimeter-Bereich ausgeführt werden, wobei der Tremor der Bedienperson vollständig ausgefiltert wird. Durch die Bewegungsübersetzung sind mikroskopische Bewegungen ausführbar, wobei auch die visuellen Signale entsprechend skaliert werden, so dass die Bewegung des Werkzeugs exakt verfolgt werden kann.In a preferred embodiment, it is provided that the control computer has a scaling unit for scaling the signals input via the input device. In this way, the smallest, finely metered movements in the submillimeter range can be carried out, the tremor of the operator being completely filtered out. The motion translation enables microscopic movements to be carried out, with the visual signals also being scaled accordingly, so that the movement of the tool can be followed exactly.
Bei Ausführungsbeispielen ist vorgesehen, dass das Eingabegerät zur BewegungsSteuerung ein Joystick, eine Spacemaus, ein Datenhandschuh, eine Tastatur o.dgl. ist. Auf
diese Weise können die Befehle der Bedienperson präzise und exakt übermittelt werden. Weitere Eingabegeräte betreffen die Steuerung des Werkzeugs bzw. der Werkzeuge wie beispielsweise Laser, HF-Schneidegeräte, Scheren u.dgl.In exemplary embodiments, it is provided that the input device for motion control is a joystick, a space mouse, a data glove, a keyboard or the like. is. On In this way, the operator's commands can be transmitted precisely and precisely. Other input devices relate to the control of the tool or tools, such as lasers, HF cutting devices, scissors and the like.
Bei Ausführungsformen ist die Anzeigeeinrichtung ein 3-D- Bildschirm, eine 3-D-Brille oder ein Virtual Reality-System oder eine über der Bedienperson angeordnete sphärische, insbesondere halbkugelförmige Projektionsleinwand. Zur Übermittlung der visuellen Eindrücke ist vorteilhaft am Werkzeug eine Miniaturkamera, insbesondere eine 3-D-Kamera vorgesehen. Auf diese Weise können direkt die Bewegungen des Werkzeugs visuell nachvollzogen werden, wobei über das Bedieninterface des zweiten Hexapods die Bewegungen auch in Form von taktilen Eindrücken der Bedienperson vermittelt werden.In embodiments, the display device is a 3-D screen, 3-D glasses or a virtual reality system or a spherical, in particular hemispherical, projection screen arranged above the operator. To transmit the visual impressions, a miniature camera, in particular a 3-D camera, is advantageously provided on the tool. In this way, the movements of the tool can be visualized directly, the movements also being conveyed in the form of tactile impressions by the operator via the user interface of the second hexapod.
Außer der Lage des Werkzeugs können über am Werkzeug vorgesehene Sensoren auch Kräfte und/oder Momente erfasst und der Bedienperson z.B. durch taktile Eindrücke oder Audio- Visuelle-Signale übermittelt werden.In addition to the position of the tool, forces and / or moments can also be detected via sensors provided on the tool and the operator e.g. be transmitted by tactile impressions or audio-visual signals.
Um die Arbeitsstelle auch direkt visuell zugänglich zu machen, ist der Werkzeughalter durchsichtig ausgebildet, insbesondere aus durchsichtigem Kunststoff oder Glas hergestellt. Auf diese Weise können Hilfspersonen, z.B. OP-Schwestern usw. den Eingriff direkt mitverfolgen.
Vorteilhaft kann der Halter für den ersten Hexapod ringförmig ausgebildet sein, so dass zum einen das Handhabungsgewicht der gesamten Bearbeitungsvorrichtung verringert wird, zum anderen für das Werkzeug eine größere Bewegungsfreiheit besteht. Außerdem erlaubt ein ringförmiger Halter eine noch bessere Einsicht der Operationsstelle. In diesem Bereich können z.B. auch weitere Operationsinstrumente oder eine Kamera angeordnet sein.In order to make the workplace directly visually accessible, the tool holder is transparent, in particular made of transparent plastic or glass. In this way, auxiliary persons, e.g. surgical nurses, etc. can follow the intervention directly. The holder for the first hexapod can advantageously be designed in a ring, so that on the one hand the handling weight of the entire machining device is reduced and on the other hand there is greater freedom of movement for the tool. In addition, an annular holder allows an even better view of the surgical site. In this area, for example, other surgical instruments or a camera can also be arranged.
Eine weitere Vergrößerung des Arbeitsfeldes wird dadurch geschaffen, dass das Werkzeug zusätzlich in z-Achse (d.h. in Werkzeuglängsachse) verfahrbar ist. Dies wird insbesondere durch die erfindungsgemäße Anordnung der Hexapodantriebe erleichert.The working area is further enlarged by the fact that the tool can also be moved in the z-axis (i.e. in the longitudinal axis of the tool). This is facilitated in particular by the arrangement of the hexapod drives according to the invention.
Vorzugsweise sind die Hexapodantriebe ringförmig angeordnet. Sie erstrecken sich dabei zwischen dem Werkzeughalter und dem Halter für den Hexapod im Wesentlichen auf einer Mantellinie eines Zylinders oder eines Kegels. Dies hat den wesentlichen Vorteil, dass das Werkzeug vom Werkzeughalter ungestört geführt werden kann und dadurch ein sehr großer Arbeitsraum geschaffen wird.The hexapod drives are preferably arranged in a ring. They extend between the tool holder and the holder for the hexapod essentially on a surface line of a cylinder or a cone. This has the essential advantage that the tool can be guided undisturbed by the tool holder, thereby creating a very large work space.
Um das Einsatzgebiet der erfindungsgemäßen Vorrichtung zu erhöhen ist vorteilhaft eine Werkzeugwechseleinrichtung vorgesehen. Dabei kann das Werkzeug über eine SchnellwechselVorrichtung, insbesondere über einen
Bajonettanschluß mit dem Werkzeughalter verbunden sein. Auf diese Weise kann bei Bedarf das Werkzeug entweder manuell oder automatisch ausgewechselt werden, so dass Operationen, bei denen mehrere unterschiedliche Werkzeuge benötigt werden, durchgeführt werden können. Bei einem anderen Ausführungsbeispiel, welches mit in den Schutzumfang der Erfindung fällt, kann die Werkzeugwechseleinrichtung auch als Werkzeugrevolver ausgestaltet sein. Ein Werkzeugwechsel bei dieser Ausführungsform ist noch schneller möglich.In order to increase the field of application of the device according to the invention, a tool changing device is advantageously provided. The tool can be a quick change device, in particular a Bayonet connector to be connected to the tool holder. In this way, the tool can be exchanged either manually or automatically if necessary, so that operations in which several different tools are required can be carried out. In another embodiment, which also falls within the scope of the invention, the tool changing device can also be designed as a tool turret. A tool change in this embodiment is possible even faster.
Der geringe Platzbedarf und das geringe Gewicht der erfindunggemäßen Vorrichtung erlauben dessen Anbringung z.B. an einen stereotaktischen Rahmen bzw. an einen Rahmen, der mit dem zu behandelnden Körperteil des Patienten fest verbunden ist. Auf diese Weise sind z.B. der Kopf des Patienten und die erfindungsgemäße Vorrichtung zueinander fixiert. Bewegt sich der Patient während der Operation, bleibt die Relativlage zwischen Werkzeug und Kopf erhalten. Diese Kopplung von Patient und Vorrichtung minimiert das Risiko von Verletzungen bei Bewegungen des Patienten. Durch den kompakten Aufbau der erfindungsgemäßen Vorrichtung wird das Operationsumfeld nur geringfügig gestört. Der erste Hexapod kann auf Wunsch des Chirurgen schnell vom Operationsfeld entfernt werden. Dadurch ist der Übergang von der vollautomatischen zur klassischen Operation jederzeit möglich.
Eine Vergrößerung des "Arbeitsraums des Roboters wird dadurch geschaffen, dass der erste Hexapod an einem horizontal verschiebbar und/oder verschwenkbar gelagerten Träger befestigt ist. Dieser Träger kann z.B. mit dem OP-Tisch gekoppelt sein. Außerdem kann der erste Hexapod über Schienen im Raum verfahrbar und/oder verschwenkbar sein. Diese Schienen sind vorzugsweise als C-Bügel ausgeführt, so dass sie den Patienten teilweise umgreifen und den ersten Hexapod an jeder Operationsstelle halten können. Zusätzlich kann der erste Hexapod zusammen mit dem C-Bügel geschwenkt und arretiert werden und/oder entlang des OP-Tisches in Längsrichtung verfahren werden.The small space requirement and the low weight of the device according to the invention allow it to be attached, for example, to a stereotactic frame or to a frame which is firmly connected to the body part of the patient to be treated. In this way, for example, the patient's head and the device according to the invention are fixed to one another. If the patient moves during the operation, the relative position between the tool and the head is retained. This coupling of patient and device minimizes the risk of injury when the patient moves. The operating environment is only slightly disturbed by the compact construction of the device according to the invention. The surgeon can quickly remove the first hexapod from the surgical field. This enables the transition from fully automatic to classic operation at any time. An enlargement of the " working space of the robot is created in that the first hexapod is attached to a horizontally displaceable and / or pivotable support. This support can, for example, be coupled to the operating table. In addition, the first hexapod can be moved in the room via rails These rails are preferably designed as C-brackets so that they can partially grip around the patient and hold the first hexapod at any surgical site. In addition, the first hexapod can be swiveled and locked together with the C-brackets and / or be moved lengthways along the operating table.
Dadurch, dass die Hexapode wasserhydraulisch antreibbar sind und dass nichtmetallische Werkstoffe, wie beispielsweise Faserverbundwerkstoffe verwendet werden, kann das System auch in der Computertomographie und der Kernspintomographie eingesetzt werden. Auf diese Weise kann unter Sicht operiert und navigiert werden.The fact that the hexapode can be driven by water hydraulics and that non-metallic materials, such as fiber composite materials, are used, the system can also be used in computer tomography and magnetic resonance imaging. In this way you can operate and navigate under sight.
Ein weiterer Vorteil der Erfindung besteht darin, dass das Gesamtsystem dampfsterilisierbar ist und der erste Hexapod mit einer Schlauchfolie überzogen werden kann.Another advantage of the invention is that the entire system can be steam sterilized and the first hexapod can be covered with a tubular film.
Ein weiteres Einsatzgebiet der erfindungsgemäßen Vorrichtung wird darin gesehen, dass diese als Telemanipulator oder als sich bewegender Roboter in unstrukturiertem, unbekanntem oder
gefährlichem Gelände verwendet wird. So können z.B. sich bewegende Roboter in Bereichen der Kernkraftwerkstechnik oder von Wiederaufbereitungsanlagen für Kernbrennstäbe eingesetzt werden.Another area of application of the device according to the invention is seen in that it is used as a telemanipulator or as a moving robot in an unstructured, unknown or dangerous terrain is used. For example, moving robots can be used in areas of nuclear power plant technology or in reprocessing plants for nuclear fuel rods.
Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus den Unteransprüchen sowie der nachfolgenden Beschreibung, in der unter Bezugnahme auf die Zeichnung ein besonders bevorzugtes Ausführungsbeispiel im Einzelnen dargestellt ist. Dabei können die in der Zeichnung dargestellten und in den Ansprüchen und in der Beschreibung erwähnten Merkmale jeweils einzeln für sich oder in beliebiger Kombination erfindungswesentlich sein. Dabei zeigen:Further advantages, features and details of the invention emerge from the subclaims and the following description, in which a particularly preferred exemplary embodiment is shown in detail with reference to the drawing. The features shown in the drawing and mentioned in the claims and in the description can each be essential to the invention individually or in any combination. Show:
Figur 1 eine Prinzipdarstellung der erfindungsgemäßenFigure 1 is a schematic diagram of the invention
Vorrichtung bei der Anwendung in der Medizintechnik;Device for use in medical technology;
Figur 2 eine perspektivische Ansicht eines ersten Hexapods bei der Stereotaxie; undFIG. 2 shows a perspective view of a first hexapod in stereotaxy; and
Figur 3 ein weiteres Anwendungsbeispiel der erfindungsgemäßen Vorrichtung bei einer dorsalen Wirbelsäulenoperation.Figure 3 shows another application example of the device according to the invention in a dorsal spinal surgery.
In der Figur 1 ist der prinzipielle Aufbau der erfindungsgemäßen Vorrichtung dargestellt und mit dem Bezugszeichen 1 ein Steuerungsrechner bezeichnet. An diesen
Steuerungsrechner 1 ist über eine Datenleitung 2 ein insgesamt mit 3 bezeichneter patientenfixer Operationsroboter angeschlossen. Außerdem ist über Datenleitungen 4 und 5 ein insgesamt mit 6 bezeichneter Feedback-Operationsstuhl an den Steuerungsrechner 1 angeschlossen. Der Operationsroboter 3 ist über eine Roboterführung 7, die insbesondere von einer C- förmigen Schiene 8 gebildet wird, an einer Halterung 9 befestigt. Diese Halterung 9 ist sowohl in Richtung des Pfeils 10 verschiebbar als auch verschwenkbar an einem OP-Tisch 11 festgelegt. Auf diesem OP-Tisch 11, der seinerseits an einer Deckenhalterung 12 befestigt ist, befindet sich ein Patient 13. Am Kopf 14 des Patienten 13 ist ein stereotaktischer Rahmen 15 befestigt. Über diesen stereotaktischen Rahmen 15 sind der Operationsroboter 3 und der Kopf 14 des Patienten 13 zueinander fixiert. Bewegt sich der Patient 13 während der Operation, bleibt die Relativlage zwischen dem Operationsroboter 3 und dem Kopf 14 erhalten.The basic structure of the device according to the invention is shown in FIG. 1 and the reference numeral 1 denotes a control computer. On this Control computer 1 is connected via a data line 2 to a patient-fixed surgical robot, generally designated 3. In addition, a feedback operating chair, denoted overall by 6, is connected to the control computer 1 via data lines 4 and 5. The surgical robot 3 is fastened to a holder 9 via a robot guide 7, which is formed in particular by a C-shaped rail 8. This bracket 9 is both slidable in the direction of arrow 10 and pivotally attached to an operating table 11. A patient 13 is located on this operating table 11, which in turn is attached to a ceiling mount 12. A stereotactic frame 15 is attached to the head 14 of the patient 13. The surgical robot 3 and the head 14 of the patient 13 are fixed to one another via this stereotactic frame 15. If the patient 13 moves during the operation, the relative position between the operating robot 3 and the head 14 is maintained.
Der Operationsroboter 3 weist einen ringförmigen Halter 16 für einen ersten Hexapod 17 auf. Dieser Hexapod 17 besitzt insgesamt sechs Hexapodantriebe 18, die ihrerseits an einem Werkzeughalter 19, der insbesondere aus durchsichtigem Kunststoff oder Glas hergestellt ist, festgelegt sind. An diesem Werkzeughalter 19 ist ein Werkzeug 20, insbesondere ein Endoskop 21 festgelegt. Über den ersten Hexapod 17 wird dieses Endoskop 21 bewegt und insbesondere durch eine Schädelöffnung 22 an die zu operierende Stelle herangeführt. Die Signale zum
Bewegen des Endoskops "21 werden vom Steuerungsrechner 1 dem ersten Hexapod 17 über die Datenleitung 2 zugeführt. Der Steuerungsrechner 1 erhält die Steuersignale vom Operationsstuhl 6 , insbesondere von einem als Joystick ausgebildeten Eingabegerät 23. Diese vom Eingabegerät 23 ausgehenden Steuersignale werden außerdem über die Datenleitung 5 einem zweiten Hexapod 24 zugeleitet, der ebenfalls sechs Hexapodantriebe 25 aufweist. An diesen Hexapodantrieben 25 ist ein Sitz 26 befestigt, auf dem die Bedienperson während der Bedienung der Vorrichtung Platz nimmt. Außerdem befindet sich im Blickfeld der Bedienperson ein 3-D-Bildschirm 27, der mit dem Sitz gekopplet ist und ebenfalls über die Datenleitung 4 mit Daten vom Steuerungsrechner 1 gespeist wird.The surgical robot 3 has an annular holder 16 for a first hexapod 17. This hexapod 17 has a total of six hexapod drives 18, which in turn are attached to a tool holder 19, which is in particular made of transparent plastic or glass. A tool 20, in particular an endoscope 21, is fixed on this tool holder 19. This endoscope 21 is moved via the first hexapod 17 and in particular is brought through a skull opening 22 to the site to be operated on. The signals to Movement of the endoscope " 21 is fed from the control computer 1 to the first hexapod 17 via the data line 2. The control computer 1 receives the control signals from the operating chair 6, in particular from an input device 23 designed as a joystick. These control signals coming from the input device 23 are also transmitted via the data line 5 fed to a second hexapod 24, which also has six hexapod drives 25. A seat 26 is attached to these hexapod drives 25, on which the operator sits while the device is being operated. In addition, a 3-D screen 27 is located in the operator's field of vision. which is coupled to the seat and is also fed with data from the control computer 1 via the data line 4.
Werden durch Manipulationen des Eingabegeräts 23 Daten in den Steuerungsrechner 1 eingegeben, dann werden diese Daten in skalierter Form über die zweite Datenleitung an den ersten Hexapod 7 übertragen, wodurch das Endoskop 21 bewegt wird. Die Bedienperson erhält außerdem vom Steuerungsrechner 1 über die Datenleitung 5 ein aktives Feedback seiner Aktionen am Eingabegerät 23 und somit der Bewegungen des Endoskops 21, die ihn über den in allen Raumrichtungen beschleunigbaren Sitz 26, der vom zweiten Hexapod 24 angetrieben wird, in skalierter Form zurückgegeben werden. Auf diese Weise wird die Bedienperson bei zu schnellen Bewegungen oder zu starken Auslenkungen oder beim Erreichen der Grenzen des Arbeitsraumes
oder bei Kollisionen gewarnt. Außerdem bekommt die Bedienperson wie beim Flugzeugsimulator Gefühl der Bewegungen, wodurch die Orientierung unterstützt und erleichtert wird. An der Spitze des Endoskops 21 befindet sich eine 3-D-Kamera, die Bilder vom Operationsraum aufnimmt. Diese Signale werden über die Datenleitung 2 dem Steuerungsrechner zugeführt und am 3-D- Bildschirm 27 in Form von Bildern dargestellt. Außerdem ist das Endoskop 21 mit Sensoren versehen, die Kräfte und Momente aufnehmen können. Diese Signale werden ebenfalls über die Datenleitung 2 dem Steuerungsrechner 1 zugeführt und entweder optisch am 3-D-Bildschirm 27, akustisch oder als taktiles Signal an den zweiten Hexapod 24 weitergeleitet.If data is entered into the control computer 1 by manipulating the input device 23, then this data is transmitted in scaled form to the first hexapod 7 via the second data line, as a result of which the endoscope 21 is moved. The operator also receives an active feedback from the control computer 1 via the data line 5 of his actions on the input device 23 and thus of the movements of the endoscope 21, which he returns in scaled form via the seat 26 which can be accelerated in all spatial directions and is driven by the second hexapod 24 become. In this way, the operator becomes aware of movements that are too fast or excessive deflections or when the limits of the working space are reached or warned of collisions. In addition, as with the aircraft simulator, the operator gets a feeling of movement, which supports and facilitates orientation. At the tip of the endoscope 21 there is a 3-D camera that takes pictures of the operating room. These signals are fed to the control computer via the data line 2 and are shown on the 3D screen 27 in the form of images. In addition, the endoscope 21 is provided with sensors that can absorb forces and moments. These signals are also fed to the control computer 1 via the data line 2 and are either forwarded optically on the 3-D screen 27, acoustically or as a tactile signal to the second hexapod 24.
In der Figur 2 ist eine perspektivische Ansicht des Operationsroboters 3 sowie des Patienten 13 dargestellt. Es ist deutlich erkennbar, wie das Endoskop 21 den ersten Hexapod 17 durchdringt und von den im Wesentlichen ringförmig angeordneten Hexapodantrieben 18 umgeben ist. Außerdem ist der durchsichtige Werkzeughalter 19 erkennbar, in welchem das Werkzeug 20 insbesondere in einer SchnellwechselVorrichtung gehaltert ist. Die Hexapodantriebe 18 sind am ringförmigen Halter 16 abgestützt, der seinerseits an der schienenförmigen Roboter-Führung 7 festgelegt ist. Die Führung 7 ist ihrerseits an der Halterung 9 befestigt, die am OP-Tisch 11 verschiebbar und schwenkbar abgestützt ist.
In Figur 3 ist erkennbar, dass durch Verschiebung der schienenförmigen Roboterführung 7 die Position des ersten Hexapods 17 veränderbar ist. Die Halterung 9 weist hierfür eine Schiebelagerung 28 für die Schienen 8 auf. Schließlich ist die Schwenklagerung 29 der Halterung 9 erkennbar. Die Schiebelagerung 28 und die Schwenklagerung 29 erlauben ein sofortiges Entfernen des Operationsroboters 3 , so dass bei Bedarf die automatische Operation durch eine klassische Operation fortgesetzt werden kann. Aus den Figuren 2 und 3 wird außerdem deutlich, dass der gesamte Operationsroboter 3 mit Roboter-Führung 7 mit einer Schlauchfolie überzogen werden kann.FIG. 2 shows a perspective view of the surgical robot 3 and the patient 13. It can be clearly seen how the endoscope 21 penetrates the first hexapod 17 and is surrounded by the hexapod drives 18 arranged essentially in a ring. In addition, the transparent tool holder 19 can be seen in which the tool 20 is held in particular in a quick-change device. The hexapod drives 18 are supported on the ring-shaped holder 16, which in turn is fixed on the rail-shaped robot guide 7. The guide 7 is in turn attached to the bracket 9 which is slidably and pivotally supported on the operating table 11. It can be seen in FIG. 3 that the position of the first hexapod 17 can be changed by displacing the rail-shaped robot guide 7. For this purpose, the holder 9 has a sliding bearing 28 for the rails 8. Finally, the pivot bearing 29 of the bracket 9 can be seen. The sliding bearing 28 and the swivel bearing 29 allow the surgical robot 3 to be removed immediately, so that, if necessary, the automatic operation can be continued by a classic operation. It is also clear from FIGS. 2 and 3 that the entire surgical robot 3 with robot guide 7 can be covered with a tubular film.
Bei der erfindungsgemäßen Vorrichtung sind also zwei Hexapode vorgesehen, wobei an einem Hexapod das Werkzeug befestigt und am anderen Hexapod ein Sitz für die Bedienperson angeordnet ist. Die Bedienperson steuert über ein Eingabegerät das Werkzeug, wobei die Bewegungen des Werkzeugs als Feedback an den zweiten Hexapod zurückgeleitet werden und dadurch der Bedienperson Sinneseindrücke von der Bewegung des Werkzeugs vermittelt werden.In the device according to the invention, two hexapods are therefore provided, the tool being attached to one hexapod and a seat for the operator being arranged on the other hexapod. The operator controls the tool via an input device, the movements of the tool being fed back as feedback to the second hexapod, and the operator is thereby given sensory impressions of the movement of the tool.
Weitere Modifikationen durch den Einsatz von mehreren ersten Hexapoden zur Manipulation von mehreren Werkzeugen ist ohne weiteres denkbar.
Further modifications through the use of several first hexapods to manipulate several tools are easily conceivable.
Claims
1. Vorrichtung zur remotiven Steuerung eines Werkzeugs (20) mit einem das Werkzeug (20) aufnehmenden Werkzeughalter (19), einem den Werkzeughalter (19) tragenden ersten Hexapod (17), einem den ersten Hexapod (17) ansteuernden Steuerungsrechner (1) , einem mit dem Steuerungsrechner (1) verbundenen zweiten Hexapod (24), wobei der zweite Hexapod (24) einen Sitz (26) für einen Benutzer trägt, sowie mit einem Eingabegerät (23) und einer Anzeigeeinrichtung (27), die ebenfalls mit dem Steuerungsrechner (1) verbunden sind.1. Device for remotively controlling a tool (20) with a tool holder (19) receiving the tool (20), a first hexapod (17) carrying the tool holder (19), and a control computer (1) controlling the first hexapod (17), a second hexapod (24) connected to the control computer (1), the second hexapod (24) carrying a seat (26) for a user, as well as an input device (23) and a display device (27), which are also connected to the control computer (1) are connected.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass der Steuerungsrechner (1) eine Skaliereinheit zur Skalierung der über das Eingabegerät (23) eingegebenen Signale aufweist.2. Device according to claim 1, characterized in that the control computer (1) has a scaling unit for scaling the signals input via the input device (23).
3. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Eingabegerät (23) ein Joystick, eine Spacemaus, ein Datenhandschuh, eine Tastatur o.dgl. ist.3. Device according to one of the preceding claims, characterized in that the input device (23) a joystick, a space mouse, a data glove, a keyboard or the like. is.
4. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Anzeigeeinrichtung ein 3-D-Bildschirm (27), eine 3-D-Brille oder ein Virtual- Reality-System ist.4. Device according to one of the preceding claims, characterized in that the display device 3-D screen (27), a 3-D glasses or a virtual reality system.
5. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Werkzeug (20) mit Kräfte und/oder Momente aufnehmenden Sensoren bestückt ist.5. Device according to one of the preceding claims, characterized in that the tool (20) is equipped with forces and / or moments absorbing sensors.
6. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass am Werkzeug (20) eine Miniatur-Kamera, insbesondere eine 3-D-Kamera vorgesehen ist.6. Device according to one of the preceding claims, characterized in that a miniature camera, in particular a 3-D camera, is provided on the tool (20).
7. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Werkzeughalter (19) durchsichtig ist.7. Device according to one of the preceding claims, characterized in that the tool holder (19) is transparent.
8. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Halter (16) für den ersten Hexapod (17) ringförmig ausgebildet ist.8. Device according to one of the preceding claims, characterized in that the holder (16) for the first hexapod (17) is annular.
9. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Hexapodantriebe (18) ringförmig, insbesondere in der Mantelebene eines Zylinders oder Kegels angeordnet sind.9. Device according to one of the preceding claims, characterized in that the hexapod drives (18) are arranged in a ring, in particular in the lateral plane of a cylinder or cone.
10. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein Werkzeugrevolver zur Aufnahme mehrerer Werkzeuge oder eine Werkzeugwechseleinrichtung vorgesehen ist.10. Device according to one of the preceding claims, characterized in that a tool turret for Holding several tools or a tool changing device is provided.
11. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Werkzeug (20) über eine Schnellwechselvorrichtung, insbesondere über einen Bajonettanschluß mit dem Werkzeughalter (19) verbunden ist.11. Device according to one of the preceding claims, characterized in that the tool (20) is connected to the tool holder (19) via a quick-change device, in particular via a bayonet connection.
12. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der erste Hexapod (17) an einem horizontal verschiebbar und/oder verschwenkbar gelagerten Träger (9) befestigt ist.12. Device according to one of the preceding claims, characterized in that the first hexapod (17) is attached to a horizontally displaceable and / or pivotally mounted support (9).
13. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der erste Hexapod (17) über Schienen (8) im Raum verfahrbar und/oder verschwenkbar ist.13. Device according to one of the preceding claims, characterized in that the first hexapod (17) on rails (8) can be moved and / or pivoted in space.
14. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Hexapode (17 und 24) wasserhydraulisch antreibbar sind.14. Device according to one of the preceding claims, characterized in that the hexapode (17 and 24) can be driven by water hydraulics.
15. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Werkzeug (20) in z-Achse verfahrbar ist. 15. Device according to one of the preceding claims, characterized in that the tool (20) can be moved in the z-axis.
16. Verwendung einer Vorrichtung nach einem der vorhergehenden Ansprüche, im Bereich der Medizintechnik als Operationsroboter, insbesondere in der Chirurgie im Submillimeter-Bereich, wie der Neurochirurgie, der Ophthalmologie, der HNO-Chirurgie , der Orthopädie usw., wobei das Werkzeug (20) als Endoskop (21) oder als ein anderes chirurgisches Besteck ausgebildet ist.16. Use of a device according to one of the preceding claims, in the field of medical technology as a surgical robot, in particular in surgery in the submillimeter range, such as neurosurgery, ophthalmology, ENT surgery, orthopedics, etc., the tool (20) is designed as an endoscope (21) or as another surgical cutlery.
17. Verwendung einer Vorrichtung nach Anspruch 15, dadurch gekennzeichnet, dass der zu behandelnde Körperteil eines Patienten (13) insbesondere mittels eines stereotaktischen Rahmens (15) mit dem ersten Hexapod (17) verbunden ist.17. Use of a device according to claim 15, characterized in that the body part of a patient (13) to be treated is connected to the first hexapod (17) in particular by means of a stereotactic frame (15).
18. Verwendung einer Vorrichtung nach einem der Ansprüche 1 bis 15 als Telemanipulator oder als sich bewegender Roboter in unstrukturiertem, unbekanntem oder gefährlichen Gelände. 18. Use of a device according to one of claims 1 to 15 as a telemanipulator or as a moving robot in unstructured, unknown or dangerous terrain.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU54844/98A AU5484498A (en) | 1996-11-27 | 1997-11-19 | Device for remote control of a tool |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19649082A DE19649082C1 (en) | 1996-11-27 | 1996-11-27 | Remote control unit for implement with holder and two hexapods |
DE19649082.0 | 1996-11-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998023216A1 true WO1998023216A1 (en) | 1998-06-04 |
Family
ID=7812895
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1997/006468 WO1998023216A1 (en) | 1996-11-27 | 1997-11-19 | Device for remote control of a tool |
Country Status (3)
Country | Link |
---|---|
AU (1) | AU5484498A (en) |
DE (1) | DE19649082C1 (en) |
WO (1) | WO1998023216A1 (en) |
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Also Published As
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AU5484498A (en) | 1998-06-22 |
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