WO2012013846A1 - Parallel-configuration telerobotic arm for use in minimally invasive surgery - Google Patents

Parallel-configuration telerobotic arm for use in minimally invasive surgery Download PDF

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Publication number
WO2012013846A1
WO2012013846A1 PCT/ES2011/070522 ES2011070522W WO2012013846A1 WO 2012013846 A1 WO2012013846 A1 WO 2012013846A1 ES 2011070522 W ES2011070522 W ES 2011070522W WO 2012013846 A1 WO2012013846 A1 WO 2012013846A1
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WIPO (PCT)
Prior art keywords
minimally invasive
invasive surgery
arm
applications
parallel configuration
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PCT/ES2011/070522
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Spanish (es)
French (fr)
Inventor
Jose Maria Sabater Navarro
Eduardo Fernandez Jover
Nicolas Garcia Aracil
Carlos Perez Vidal
Jose María AZORIN POVEDA
Original Assignee
Universidad Miguel Hernandez
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Publication of WO2012013846A1 publication Critical patent/WO2012013846A1/en

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/302Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/304Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'

Definitions

  • the present invention consists of a telerobotic arm of at least four degrees of freedom capable of performing the movements of the surgical tools in a minimally invasive surgery operation.
  • the robotic arm is preferably formed by five actuators, four of them to execute the 4 degrees of freedom and an additional 1 to control the tool exchange.
  • Each arm has a small size, along with a dynamic capacity sufficient for performing surgical tasks.
  • the present invention relates to the field of surgical systems with robotic assistance, surgical robots and automatic systems for computer-assisted surgery.
  • the minimally invasive surgery is characterized by the use of small incisions smaller than 10 mm so that the instruments penetrate the body through these incisions.
  • the trocars are placed, which are elements that allow the access of said instruments by restricting the kinematics of operation to a spherical joint plus a degree of freedom of translation along the axis of the surgical tool.
  • Robotic devices are defined as intrinsically safe because their mechanical design is based on two requirements, avoiding collisions between their elements and avoiding singularities within the work space of the robot tool. The most common solution is the use of the "remote center of motion" (RCM), which places the center
  • REPLACEMENT SHEET (Rule 26) Rotating the robot's wrist in the trocar. In this way there is no translation of this point, preventing any failure in the control of the robot causes any damage to the patient.
  • the invention provides improvements or innovations over existing devices.
  • the present invention has a PARALLEL kinematic structure, which grants rigidity and robustness to the device, allowing sufficient forces to be performed for the performance of surgical tasks, despite the reduced size thereof. Also, the present invention incorporates an automatic tool exchanger that allows the contribution of material to the surgical area automatically without the need of a surgeon in the room and saving a large amount of time on the currently used when you want to introduce a dressing inside the abdominal cavity.
  • the invention TELEROBOTIC ARM of parallel configuration for applications of minimally invasive surgery preferably, of four degrees of freedom, capable of performing the movements of the surgical tools in a minimally invasive surgery operation preferably consists of three elements, namely , a passive positioning arm (36) that mainly has a serial configuration in which each joint (37) is passive and is sensed to know the final position of the element (21) and can be locked so that the joints remain fixed during the operation, and which is anchored on the couch of the operating room and allows to position its end (21) on the patient; a tool exchanger consisting mainly of a motorized linear guide (25) placed at the end of the positioning arm (36), preferably at an angle of 60 ° with the last link in the arm (36), on which a carriage slides.
  • a passive positioning arm (36) that mainly has a serial configuration in which each joint (37) is passive and is sensed to know the final position of the element (21) and can be locked so that the joints remain fixed during the operation, and which is anchored on the couch of the operating room
  • the carriage It carries a magnetic actuator without rod (5) for the exchange of tools, the carriage is positioned exactly along the linear guide, allowing the alignment of the magnetic actuators (4) and (5), in order to control the car, the linear guide is sensed with limit switches (1 1) and (12); and, finally, a mechanism of parallel kinematic configuration, constituted, in turn, by three linear actuators with rod (1), (2) and (3) that make up a parallel platform.
  • the lower base (20) of this platform is a spherical joint formed by three elements (21), (22) and (23) whose center of rotation (10) coincides with the entrance hole of the surgical operation, increasing the safety of this type of operations.
  • the upper base (24) of this platform is subject to the three linear actuators (1), (2) and (3) which, moving on their stems (32), (33) and (34), produces the rotation of this platform. higher.
  • the invention has an electronic interface (28) located at the intersection between the stem and the axis of the surgical tool that allows the electronic connection of the memory wires so necessary for the control of the necessary degrees of freedom in the end of the surgical tool (26).
  • Figure 8 shows a clamp-type surgical tool whose degree of freedom is the movement of opening / closing clamp. This movement is controlled by the nitinol wires and springs (27) located on the tool's own axis and electrically connected to the interface (28).
  • the invention allows several arms to be used without having collision problems between them, since the passive part (the passive positioning arm) is static, and the movement of the moving part is restricted to the work space displayed in Figure 5.
  • the teleoperation scheme of this arm allows its integration into a bilateral teleoperation system, since it is possible to obtain the data of forces made by the robotic arm on the surgical tool thanks to the direct reading of the actuator intensity (1) , (2), (3) and (4).
  • Figure 1 General view of the telerobotic arm for minimally invasive surgery applications.
  • Figure 3. General view of a system consisting of two tele robotic arms
  • Figure 7 Isometric view and elevation of the tool exchanger system.
  • FIG. 1 Detail view of the electronic interface for the control of the end of the surgical tool.
  • PARALLEL CONFIGURATION TELEROBOTIC ARM is one in which the passive positioning arm is preferably formed by 3 or more extruded aluminum links.
  • the joints (37) are mounted on joints that could be of the modified cardan type (hook), so that a wide range of motion is obtained and the possibility of blocking (braking) said passive joints.
  • the linear guide (25) is placed in the housing provided for this purpose in a piece (21), so that the desired angle for positioning the guide is achieved.
  • the guide is preferably a 150 mm light-duty single-track guide, to which a DC motor (6) is coupled for the control of the linear carriage, this linear carriage is positioned exactly along the linear guide (25) and allows the alignment and approach of the actuator shafts (4) and (5).
  • a linear motor is placed on this car.
  • the actuator (4) is without any rod inside, and therefore there is initially no tool in the parallel mechanism.
  • the parallel device moves to place its main axis parallel to the axis of the linear guide, position (16).
  • the guide carriage is placed in the proper position to allow the movement of the rod (35) to insert this rod into the actuator (4).
  • the actuator (5) stops acting, so that when the carriage of the linear guide (25) moves up, the rod (35) leaves the actuator (5) and is controlled by the actuator (4).
  • the lower base of the parallel device is constructed with three pieces preferably made of Nylon or another type of low friction plastic, to achieve a spherical joint.
  • the cardan joints used are standard, while the actuators (1), (2) and (3) are preferably 80mm linear motors with a useful stroke and a minimum capacity of 2 Newtons.
  • the upper base is preferably constructed in methacrylate, and locates another actuator (4) of similar characteristics to the actuators (1), (2) and (3).
  • the stems (32 to 35) are the stems of the LM 1247 actuators, and the electronic interface and the surgical tool for minimally invasive surgery are added to the stem (35).
  • the wire muscles used to act the end of the surgical tool are desirably shaped memory alloy wires (27), these wires are placed inside the tube of the surgical tool and work with schemes of antagonistic muscles to act the end of the tool

Abstract

The present invention concerns a telerobotic arm having at least four degrees of freedom that can move the surgical tools in a minimally invasive surgical operation. The robotic arm preferably comprises five actuators, four of which are used to execute the four degrees of freedom and the fifth to control tool exchanges. Each arm is small and has sufficient dynamic capacity to perform surgical tasks.

Description

BRAZO TELERROBOTICO DE CONFIGURACION PARALELA PARA APLICACIONES DE CIRUGIA MINIMA INVASIVA  PARALLEL CONFIGURATION TELERROBOTIC ARM FOR INVASIVE MINIMUM SURGERY APPLICATIONS
La presente invención consiste en un brazo telerrobótico de, al menos, cuatro grados de libertad capaz de realizar los movimientos de las herramientas quirúrgicas en una operación de cirugía mínimamente invasiva. El brazo robótico está formado preferentemente por cinco actuadores, cuatro de ellos para ejecutar los 4 grados de libertad y 1 adicional para controlar el intercambio de herramienta. Cada brazo tiene un tamaño reducido, junto con una capacidad dinámica suficiente para la realización de las tareas quirúrgicas. The present invention consists of a telerobotic arm of at least four degrees of freedom capable of performing the movements of the surgical tools in a minimally invasive surgery operation. The robotic arm is preferably formed by five actuators, four of them to execute the 4 degrees of freedom and an additional 1 to control the tool exchange. Each arm has a small size, along with a dynamic capacity sufficient for performing surgical tasks.
SECTOR TÉCNICO AL QUE SE REFIERE LA INVENCIÓN TECHNICAL SECTOR TO WHICH THE INVENTION REFERS
El presente invento se refiere al campo de los sistemas quirúrgicos con asistencia robótica, robots quirúrgicos y sistemas automáticos para cirugía asistida por computador. The present invention relates to the field of surgical systems with robotic assistance, surgical robots and automatic systems for computer-assisted surgery.
ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION
La cirugía mínima invasiva se caracteriza por la utilización de pequeñas incisiones menores de 10 mm de forma que los instrumentos penetran en el cuerpo atravesando dichas incisiones. En estos puntos de entrada se colocan los trocares, que son elementos que permiten el acceso de dichos instrumentos restringiendo la cinemática de operación a una articulación esférica más un grado de libertad de traslación a lo largo del eje de la herramienta quirúrgica. Los dispositivos robóticos se definen como intrínsecamente seguros porque su diseño mecánico se basa en dos requisitos, evitar colisiones entre sus elementos y evitar singularidades dentro del espacio de trabajo de la herramienta del robot. La solución más común es el uso del "remote center of motion" (RCM), que coloca el centro The minimally invasive surgery is characterized by the use of small incisions smaller than 10 mm so that the instruments penetrate the body through these incisions. At these points of entry, the trocars are placed, which are elements that allow the access of said instruments by restricting the kinematics of operation to a spherical joint plus a degree of freedom of translation along the axis of the surgical tool. Robotic devices are defined as intrinsically safe because their mechanical design is based on two requirements, avoiding collisions between their elements and avoiding singularities within the work space of the robot tool. The most common solution is the use of the "remote center of motion" (RCM), which places the center
HOJA DE REEMPLAZO (Regla 26) de rotación de la muñeca del robot en el trocar. De esta forma no se produce ninguna traslación de dicho punto, evitando que cualquier fallo en el control del robot provoque algún daño en el paciente. REPLACEMENT SHEET (Rule 26) Rotating the robot's wrist in the trocar. In this way there is no translation of this point, preventing any failure in the control of the robot causes any damage to the patient.
Sobre esta idea, existen distintos sistemas robóticos como el denominado Bluedragon o el llamado WA-slave que colocan la intersección de los ejes de la muñeca sobre el punto trocar. On this idea, there are different robotic systems such as the so-called Bluedragon or the so-called WA-slave that place the intersection of the wrist axes over the trocar point.
Actualmente, existen dispositivos robóticos más voluminosos, como el reivindicado con la patente US 5,855,583 conocido como "Method and apparatus form performing minimally" o la patente americana US 5,337,732 con título "Robotic Endoscopy" o incluso la patente americana "Automated endoscope system for optimal poistioning", no obstante, estos dispositivos son engorrosos y grandes y por tanto provocan problemas de ergonomía en el quirófano; sobre todo durante el cambio de herramienta, obligando a tener tiempos de preparación del robot y del paciente antes de la operación muy largos y generando problemas en la economía del quirófano. Currently, there are more bulky robotic devices, such as the one claimed with US Patent 5,855,583 known as "Method and apparatus form performing minimally" or US Patent 5,337,732 with the title "Robotic Endoscopy" or even the American patent "Automated endoscope system for optimal poistioning "However, these devices are cumbersome and large and therefore cause ergonomic problems in the operating room; especially during the tool change, forcing very long preparation times of the robot and the patient before the operation and generating problems in the operating room economy.
También, se han generado dispositivos de pequeño tamaño, como el denominado MARS o el dispositivo de la Universidad de Hawaii o el llamado Light Endoscope-Holder Robot, no obstante, estos dispositivos poseen una capacidad muy pequeña para ejercer las fuerzas necesarias en algunos procedimientos quirúrgicos actuales, siendo difícilmente adaptables a determinadas realidades quirúrgicas. Also, small devices have been generated, such as the so-called MARS or the device of the University of Hawaii or the so-called Light Endoscope-Holder Robot, however, these devices have a very small capacity to exert the necessary forces in some surgical procedures current, being difficult to adapt to certain surgical realities.
Ante esta situación, la invención proporciona mejoras o innovaciones sobre los dispositivos existentes.  In this situation, the invention provides improvements or innovations over existing devices.
La presente invención posee una estructura cinemática PARALELA, que otorga rigidez y robustez al dispositivo, permitiendo ejercer fuerzas suficientes para la realización de las tareas quirúrgicas, a pesar del tamaño reducido del mismo. Asimismo, la presente invención incorpora un intercambiador de herramientas automático que permite el aporte de material a la zona quirúrgica de forma automática sin necesidad de la presencia de un cirujano en la sala y ahorrando una gran cantidad de tiempo sobre el actualmente utilizado cuando se quiere introducir un aposito al interior de la cavidad abdominal. The present invention has a PARALLEL kinematic structure, which grants rigidity and robustness to the device, allowing sufficient forces to be performed for the performance of surgical tasks, despite the reduced size thereof. Also, the present invention incorporates an automatic tool exchanger that allows the contribution of material to the surgical area automatically without the need of a surgeon in the room and saving a large amount of time on the currently used when you want to introduce a dressing inside the abdominal cavity.
DESCRIPCIÓN DE LA INVENCIÓN La invención BRAZO TELEROBÓTICO de configuración paralela para aplicaciones de cirugía mínima invasiva, preferiblemente, de cuatro grados de libertad, capaz de realizar los movimientos de las herramientas quirúrgicas en una operación de cirugía mínimamente invasiva consiste preferentemente en tres elementos, a saber, un brazo posicionador pasivo (36) que posee principalmente una configuración serial en la que cada articulación (37) es pasiva y se encuentra sensorizada para conocer la posición final del elemento (21 ) pudiendo bloquearse para que las articulaciones permanezcan fijas durante la operación, y la cual se ancla en la camilla del quirófano y permite posicionar su extremo final (21 ) sobre el paciente; un intercambiador de herramientas constituido principalmente, por una guía lineal motorizada (25) colocada en el extremo final del brazo posicionador (36) guardando un ángulo preferentemente de 60° con el último eslabón del brazo (36), sobre la que desliza un carro que porta un actuador magnético sin vástago (5) para el intercambio de herramientas, el carro se posiciona de manera exacta a lo largo de la guía lineal, permitiendo el alineamiento de los actuadores magnéticos (4) y (5), con la finalidad de controlar el carro, la guía lineal se encuentra sensorizada con finales de carrera (1 1 ) y (12); y, por último, un mecanismo de configuración cinemática paralela, constituido, a su vez, por tres actuadores lineales con vástago (1 ), (2) y (3) que conforman una plataforma paralela. La base inferior (20) de esta plataforma es una articulación esférica formada por tres elementos (21 ), (22) y (23) cuyo centro de rotación (10) coincide con el orificio de entrada de la operación quirúrgica, aumentando la seguridad de este tipo de operaciones. La base superior (24) de esta plataforma se encuentra sujeta a los tres actuadores lineales (1 ), (2) y (3) que desplazándose sobre sus vástagos (32), (33) y (34) produce la rotación de esta plataforma superior. DESCRIPTION OF THE INVENTION The invention TELEROBOTIC ARM of parallel configuration for applications of minimally invasive surgery, preferably, of four degrees of freedom, capable of performing the movements of the surgical tools in a minimally invasive surgery operation preferably consists of three elements, namely , a passive positioning arm (36) that mainly has a serial configuration in which each joint (37) is passive and is sensed to know the final position of the element (21) and can be locked so that the joints remain fixed during the operation, and which is anchored on the couch of the operating room and allows to position its end (21) on the patient; a tool exchanger consisting mainly of a motorized linear guide (25) placed at the end of the positioning arm (36), preferably at an angle of 60 ° with the last link in the arm (36), on which a carriage slides. It carries a magnetic actuator without rod (5) for the exchange of tools, the carriage is positioned exactly along the linear guide, allowing the alignment of the magnetic actuators (4) and (5), in order to control the car, the linear guide is sensed with limit switches (1 1) and (12); and, finally, a mechanism of parallel kinematic configuration, constituted, in turn, by three linear actuators with rod (1), (2) and (3) that make up a parallel platform. The lower base (20) of this platform is a spherical joint formed by three elements (21), (22) and (23) whose center of rotation (10) coincides with the entrance hole of the surgical operation, increasing the safety of this type of operations. The upper base (24) of this platform is subject to the three linear actuators (1), (2) and (3) which, moving on their stems (32), (33) and (34), produces the rotation of this platform. higher.
Asimismo, la invención cuenta con una interíaz electrónica (28) ubicada en la intersección entre el vástago y el propio eje de la herramienta quirúrgica que permite el conexionado electrónico de los alambres de memoria de forma necesarios para el control de los grados de libertad necesarios en el extremo de la herramienta quirúrgica (26). Para ilustrar esto último, la figura 8 muestra una herramienta quirúrgica tipo pinza cuyo grado de libertad es el movimiento de abrir/cerrar pinza. Este movimiento se controla mediante los alambres y muelles de nitinol (27) ubicados en el propio eje de la herramienta y que se conectan eléctricamente en la interíaz (28). Likewise, the invention has an electronic interface (28) located at the intersection between the stem and the axis of the surgical tool that allows the electronic connection of the memory wires so necessary for the control of the necessary degrees of freedom in the end of the surgical tool (26). To illustrate the latter, Figure 8 shows a clamp-type surgical tool whose degree of freedom is the movement of opening / closing clamp. This movement is controlled by the nitinol wires and springs (27) located on the tool's own axis and electrically connected to the interface (28).
En esta configuración, la invención permite utilizar varios brazos sin tener problemas de colisiones entre ellos, ya que la parte pasiva (el brazo posicionador pasivo) está estático, y el movimiento de la parte móvil queda restringido al espacio de trabajo visualizado en la figura 5. El esquema de teleoperación de este brazo permite su integración en un sistema bilateral de teleoperación, dado que es posible obtener el dato de fuerzas realizadas por el brazo robótico sobre la herramienta quirúrgica gracias a la lectura directa de la intensidad de los actuadores (1 ), (2), (3) y (4). In this configuration, the invention allows several arms to be used without having collision problems between them, since the passive part (the passive positioning arm) is static, and the movement of the moving part is restricted to the work space displayed in Figure 5. The teleoperation scheme of this arm allows its integration into a bilateral teleoperation system, since it is possible to obtain the data of forces made by the robotic arm on the surgical tool thanks to the direct reading of the actuator intensity (1) , (2), (3) and (4).
BREVE DESCRIPCIÓN DE LOS DIBUJOS BRIEF DESCRIPTION OF THE DRAWINGS
Figura 1 . Vista general del brazo telerobótico para aplicaciones de cirugía mínima invasiva. Figure 1 . General view of the telerobotic arm for minimally invasive surgery applications.
Figura 2. Vista alzado del brazo telerobótico. Figura 3. Vista general de un sistema formado por dos brazos tele robóticos Figure 2. Elevated view of the telerobotic arm. Figure 3. General view of a system consisting of two tele robotic arms
Figura 4. Croquis en alzado del efector paralelo y el intercambiador de herramienta.  Figure 4. Elevation sketch of the parallel effector and the tool exchanger.
Figura 5. Croquis en alzado del espacio de trabajo del brazo teleoperador.Figure 5. Elevation sketch of the teleoperator arm workspace.
Figura 6. Vista detalle de la rótula esférica formada por tres piezas concéntricas Figure 6. Detail view of the ball joint formed by three concentric pieces
Figura 7. Vista isométrica y alzado del sistema intercambiador de herramienta.  Figure 7. Isometric view and elevation of the tool exchanger system.
Figura 8. Vista detalle de la interíaz electrónica para el control del extremo de la herramienta quirúrgica. Figure 8. Detail view of the electronic interface for the control of the end of the surgical tool.
Figura 9. Esquema de control para la tele operación del brazo tele robótico. Leyenda de las figuras:  Figure 9. Control scheme for tele operation of the robotic tele arm. Legend of the figures:
(1 ) actuador lineal 1 de la estructura paralela  (1) linear actuator 1 of the parallel structure
(2) actuador lineal 2 de la estructura paralela  (2) linear actuator 2 of the parallel structure
(3) actuador lineal 3 de la estructura paralela  (3) linear actuator 3 of the parallel structure
(4) actuador lineal de la pata central para control de la herramienta (4) linear actuator of the central leg for tool control
(5) actuador lineal para el intercambio de herramienta (5) linear actuator for tool exchange
(6) actuador eléctrico para control del carro portaherramientas  (6) electric actuator for tool carriage control
(10) punto de rotación e inserción de la herramienta en el paciente (10) rotation point and insertion of the tool in the patient
(fulcrum)  (fulcrum)
(1 1 ) final de carrera del carro portaherramientas  (1 1) limit switch of the tool carriage
(12) final de carrera del carro portaherramientas  (12) limit switch of the tool carriage
(13) posición de la herramienta arriba  (13) tool position up
(14) posición de la herramienta abajo  (14) tool position below
(15) posición de intercambio de herramienta  (15) tool exchange position
(16) posición extrema del espacio de trabajo de la herramienta  (16) extreme position of the tool workspace
(20) articulación esférica  (20) spherical joint
(21 ) pieza base de la articulación esférica  (21) spherical joint base piece
(22) pieza intermedia de la articulación esférica (23) pieza superior de la articulación esférica (22) intermediate piece of the spherical joint (23) upper part of the spherical joint
(24) base superior plataforma paralela  (24) upper base parallel platform
(25) guía lineal portaherramientas  (25) linear tool holder guide
(26) extremo final de una pinza quirúrgica  (26) end of a surgical forceps
(27) muelle de compresión. Actuador SMA de Nitinol  (27) compression spring. Nitinol SMA Actuator
(28) interfaz electrónica par control del actuador SMA de Nitinol (28) Nitinol SMA actuator electronic control interface
(32 a 34) vástagos de los motores (1 ),(2) y (3) (32 to 34) engine stems (1), (2) and (3)
(35) vástago portaherramientas  (35) tool holder shank
(36) brazo posicionador pasivo para soporte  (36) passive support arm for support
(37) articulaciones del brazo soporte pasivo  (37) passive support arm joints
EXPOSICIÓN DETALLADA DE UN MODO DE REALIZACIÓN DE LA INVENCIÓN DETAILED EXHIBITION OF AN EMBODIMENT OF THE INVENTION
Un modo de realización de la invención BRAZO TELEROBÓTICO DE CONFIGURACIÓN PARALELA es aquel en el que el brazo posicionador pasivo está formado preferentemente por 3 ó más eslabones de aluminio extrusionado. Las articulaciones (37) se montan sobre articulaciones que podrían ser del tipo cardan (hook) modificadas, de forma que se obtenga una gran amplitud de movimiento y la posibilidad de bloquear (frenar) dichas articulaciones pasivas. La guía lineal (25) se coloca en el alojamiento previsto para ello en una pieza (21 ), de forma que se consigue el ángulo pretendido para la colocación de la guía. La guía es preferentemente una guía monocarril ligera de carrera útil 150 mm, a la que se acopla un motor DC (6) para el control del carro lineal, este carro lineal se posiciona exactamente a lo largo de la guía lineal (25) y permite el alineamiento y acercamiento de los ejes de los actuadores (4) y (5). Sobre este carro se coloca un motor lineal. Para la inserción automática de una nueva herramienta, el actuador (4) se encuentra sin ningún vástago en su interior, y por tanto no hay inicialmente herramienta en el mecanismo paralelo. El dispositivo paralelo se desplaza hasta colocar su eje principal paralelo al eje de la guía lineal, posición (16). El carro de la guía se coloca en la posición adecuada para permitir que el movimiento del vástago (35) inserte este vástago en el actuador (4). Una vez el actuador (4) controla el vástago (35) y la herramienta quirúrgica, el actuador (5) deja de actuar, de forma que cuando el carro de la guía lineal (25) se desplace hacia arriba, el vástago (35) sale del actuador (5) y queda controlado por el actuador (4). An embodiment of the invention PARALLEL CONFIGURATION TELEROBOTIC ARM is one in which the passive positioning arm is preferably formed by 3 or more extruded aluminum links. The joints (37) are mounted on joints that could be of the modified cardan type (hook), so that a wide range of motion is obtained and the possibility of blocking (braking) said passive joints. The linear guide (25) is placed in the housing provided for this purpose in a piece (21), so that the desired angle for positioning the guide is achieved. The guide is preferably a 150 mm light-duty single-track guide, to which a DC motor (6) is coupled for the control of the linear carriage, this linear carriage is positioned exactly along the linear guide (25) and allows the alignment and approach of the actuator shafts (4) and (5). A linear motor is placed on this car. For automatic insertion of a new tool, the actuator (4) is without any rod inside, and therefore there is initially no tool in the parallel mechanism. The parallel device moves to place its main axis parallel to the axis of the linear guide, position (16). The guide carriage is placed in the proper position to allow the movement of the rod (35) to insert this rod into the actuator (4). Once the actuator (4) controls the rod (35) and the surgical tool, the actuator (5) stops acting, so that when the carriage of the linear guide (25) moves up, the rod (35) leaves the actuator (5) and is controlled by the actuator (4).
La base inferior del dispositivo paralelo se construye con tres piezas hechas preferiblemente en Nylon u otro tipo de plástico de baja fricción, para conseguir una articulación esférica. Las juntas cardan utilizadas son estándar, mientras que los actuadores (1 ), (2) y (3) son, preferiblemente motores lineales de 80mm de carrera útil y con una capacidad mínima de 2 Newtons. La base superior se construye preferiblemente en metracrilato, y ubica otro actuador (4) de características similares a los actuadores (1 ), (2) y (3). Los vástagos (32 a 35) son los vástagos de los actuadores LM 1247, y al vástago (35) se le añade en un extremo la interfaz electrónica y la herramienta quirúrgica para cirugía mínima invasiva. The lower base of the parallel device is constructed with three pieces preferably made of Nylon or another type of low friction plastic, to achieve a spherical joint. The cardan joints used are standard, while the actuators (1), (2) and (3) are preferably 80mm linear motors with a useful stroke and a minimum capacity of 2 Newtons. The upper base is preferably constructed in methacrylate, and locates another actuator (4) of similar characteristics to the actuators (1), (2) and (3). The stems (32 to 35) are the stems of the LM 1247 actuators, and the electronic interface and the surgical tool for minimally invasive surgery are added to the stem (35).
Los músculos de alambre utilizados para actuar el extremo final de la herramienta quirúrgica son deseablemente alambres de aleaciones con memoria de forma (27), estos alambres se colocan en el interior del tubo de la herramienta quirúrgica y funcionan con esquemas de músculos antagonistas para poder accionar el extremo de la herramienta. The wire muscles used to act the end of the surgical tool are desirably shaped memory alloy wires (27), these wires are placed inside the tube of the surgical tool and work with schemes of antagonistic muscles to act the end of the tool

Claims

REIVINDICACIONES
1 . BRAZO TELEROBÓTICO de configuración paralela para 5 aplicaciones de cirugía mínima invasiva caracterizado por disponer de, al menos, cuatro grados de libertad, de los cuales, al menos, tres son movimientos de orientación y uno es el movimiento de traslación a lo largo del eje de una herramienta quirúrgica, así como de una interfaz mecánica que permite el intercambio de estas o herramientas de forma automática. one . TELEROBOTIC ARM of parallel configuration for 5 applications of minimally invasive surgery characterized by having at least four degrees of freedom, of which at least three are orientation movements and one is the movement of movement along the axis of a surgical tool, as well as a mechanical interface that allows the exchange of these or tools automatically.
2. BRAZO TELEROBÓTICO de configuración paralela para aplicaciones de cirugía mínima invasiva según reivindicación 1 caracterizado porque el intercambiador automático de herramientas quirúrgicas se basa en el uso de dos motores lineales ((4) y (5)),5 uno de los cuales se sitúa en un carro motorizado instalado sobre una guía lineal, que permite el intercambio de herramientas quirúrgicas con un vástago magnético (34) en el extremo opuesto a la pinza quirúrgica. El otro motor controla la traslación de la herramienta quirúrgica durante la operación.  2. TELEROBOTIC ARM of parallel configuration for applications of minimally invasive surgery according to claim 1 characterized in that the automatic surgical tool exchanger is based on the use of two linear motors ((4) and (5)), one of which is located in a motorized carriage installed on a linear guide, which allows the exchange of surgical tools with a magnetic rod (34) at the opposite end of the surgical clamp. The other motor controls the translation of the surgical tool during the operation.
0 3. BRAZO TELEROBÓTICO de configuración paralela para aplicaciones de cirugía mínima invasiva, según las reivindicaciones 1 y 2, caracterizado porque los grados de libertad de orientación se disponen de forma que el punto de rotación de la herramienta quirúrgica coincide en todo momento con el orificio de entrada al 5 paciente, evitando de esa forma los posibles daños por desgarro del orificio de entrada. 0 3. TELEROBOTIC ARM of parallel configuration for applications of minimally invasive surgery, according to claims 1 and 2, characterized in that the degrees of freedom of orientation are arranged so that the rotation point of the surgical tool coincides at all times with the hole of entry to the patient, thus avoiding possible damage by tearing the entrance hole.
4. BRAZO TELEROBÓTICO de configuración paralela para aplicaciones de cirugía mínima invasiva, según las reivindicaciones 1 , 2 y 3 caracterizado por disponer de una interfaz electrónica que 0 permite el control de grados de libertad adicionales que existan en el extremo de una herramienta quirúrgica motorizada. BRAZO TELEROBÓTICO de configuración paralela para aplicaciones de cirugía mínima invasiva, según las reivindicaciones 1 , 2, 3 y 4, caracterizado por disponer de una articulación esférica formada por tres piezas concéntricas cuyo centro de rotación coincide con el orificio de entrada en una operación de cirugía mínima invasiva. 4. TELEROBOTIC ARM of parallel configuration for applications of minimally invasive surgery, according to claims 1, 2 and 3 characterized by having an electronic interface that allows the control of additional degrees of freedom that exist at the end of a motorized surgical tool. TELEROBOTIC ARM of parallel configuration for applications of minimally invasive surgery, according to claims 1, 2, 3 and 4, characterized by having a spherical joint formed by three concentric pieces whose center of rotation coincides with the entrance hole in a surgery operation minimally invasive
BRAZO TELEROBÓTICO de configuración paralela para aplicaciones de cirugía mínima invasiva según las reivindicaciones 1 , 2, 3, 4 y 5, caracterizado por disponer de un sistema de control que evita el uso de sensores de fuerza o contacto intra-abdominales mediante la lectura de la intensidad de los actuadores lineales.  TELEROBOTIC ARM of parallel configuration for applications of minimally invasive surgery according to claims 1, 2, 3, 4 and 5, characterized by having a control system that avoids the use of intra-abdominal force or contact sensors by reading the intensity of linear actuators.
BRAZO TELEROBÓTICO de configuración paralela para aplicaciones de cirugía mínima invasiva, según las reivindicaciones 1 , 2, 3, 4, 5 y 6 caracterizado por formar parte de un sistema robótico constituido por DOS o MAS unidades robóticas y que permitan realizar operaciones de cirugía mínima invasiva, trabajando de forma cooperativa y evitando las colisiones entre los diferentes brazos. TELEROBOTIC ARM of parallel configuration for applications of minimally invasive surgery, according to claims 1, 2, 3, 4, 5 and 6 characterized by being part of a robotic system constituted by TWO or MORE robotic units and allowing to perform minimally invasive surgery operations , working cooperatively and avoiding collisions between the different arms.
PCT/ES2011/070522 2010-07-30 2011-07-15 Parallel-configuration telerobotic arm for use in minimally invasive surgery WO2012013846A1 (en)

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