Control interface and robotic system comprising such control interface

Abstract

The invention relates to a control interface (I) for a robotic system for vitreoretinal surgery, comprising a haptic device (1) equipped with an articulated chain (2) having a free end (3), characterized in that it comprises a guiding device (10) comprising a fixed surface (11), a guiding means (20) mounted on the fixed surface by a ball joint (21), a rod (30) mounted on the guiding means (20) by a sliding connection (25) having an axis corresponding to the axis of the rod (30), the rod comprising a first end (32) fixedly mounted on the free end (3) of the haptic device (1) and a second end (33) on which a gripping member (5) is intended to be mounted.

Description

Technical Field

[0001] This invention relates to the field of robotic platforms that allow for the performance of vitreoretinal surgery. Background Technology

[0002] Vitreoretinal surgery requires the insertion of surgical instruments into the patient's eye. Traditionally, these instruments, called cannulas, are inserted horizontally at the front of the eye. By inserting the instrument into the cannulas, it passes through the sclera, then through the vitreous humor, and finally reaches the back of the eye where the retina resides. Surgeons cannot operate without the cannulas. The cannulas contain a valve that prevents fluid leakage while allowing easy changes in the depth and orientation of the instrument within the eye. Thus, it is a point around which the surgeon uses the instrument to perform movements to properly position it on the retina.

[0003] Vitreoretinal surgery involves intervention in structures that may be only tens of micrometers in size. Surgeons must be extremely dexterous, often placing themselves in uncomfortable positions. Some procedures are even considered impossible, requiring abilities beyond human limits.

[0004] Document US 10,271,914 B2 discloses a robotic system 100 for vitreoretinal surgery. The robotic system 100 includes a robotic platform 126 and a tactile device 118 for manipulating the robotic platform 126, to which surgical instruments 114 are attached. The robotic platform 126 includes an end effector that allows control of instruments with four or six degrees of freedom, the instruments being capable of performing at least translational and rotational movements about their axes. The tactile device 118 provides positional feedback, allowing the surgeon to remotely control the movement of the robotic platform 126 using a stylus 122. There are no restrictions on the movements that can be performed using the stylus 122. Therefore, some actions that the surgeon cannot perform with the stylus 122 are actually limited by the passage of the instrument 114 through the cannula.

[0005] Document US 6,063,095 B discloses a robotic system 10 comprising a robotic platform and a system for controlling the robotic platform, which consists of a set of robotic arms 26 to which surgical instruments are attached. The control system includes two control members 50, 52, allowing remote control of movements performed by the robotic arms 26. Control members 50, 52 can be mounted on a portable cabinet 54 or a support 900. In both cases, a set of connectors JM1-JM5 allows the control members 50, 52 to translate and rotate about their respective axes and to change their orientation. Each connector is associated with a position sensor (e.g., a potentiometer) to determine the final position of the control members 50, 52. The document does not precisely disclose how position sensor data is processed to control the robotic arms 26. In any case, control members 50, 52 are not associated with any tactile devices.

[0006] To use these systems, surgeons may need training in articulated arm manipulation, which is fundamentally different from operations performed using surgical instruments. Furthermore, the transition from routine procedures to robotic-assisted operations can be confusing for surgeons, as they must readjust each time they change their operating mode. Summary of the Invention

[0007] The present invention aims to overcome the above-mentioned problems and, to this end, proposes a control interface for a robotic system for vitreoretinal surgery, the control interface comprising a tactile device equipped with an articulated chain having a free end, characterized in that it includes a guiding device comprising:

[0008] Fixed surface,

[0009] The guiding device is mounted on a fixed surface via a ball joint.

[0010] A rod, which is mounted on the guide device by means of a sliding connection having an axis corresponding to the axis of the rod, the rod including a first end and a second end fixedly mounted on the free end of the tactile device, the gripping member being intended to be mounted on the second end.

[0011] When a surgeon uses the control interface according to the invention, he or she performs the same operation as if he or she were handling the surgical instrument itself. In fact, when the surgeon manipulates the gripping member, the action applied to it is reproduced by the surgical instrument at the end of the chain.

[0012] In this respect, the arrangement of the lever relative to the fixed surface plays a central role in the transmission of motion performed by the gripping member. When the lever is mounted on the guide device via a sliding connection and the guide device itself is mounted on the fixed surface via a ball joint, the lever is constrained in the same way that the instrument is constrained through the cannula. Therefore, its retraction and orientation can be changed, but it will always be constrained through the same point (the center of the ball joint). Thus, in addition to the depressing / retracting motion and orientation changes, rotational motion of the lever about its axis can also be performed.

[0013] Since the first end of the lever is fixedly mounted on the free end of the tactile device, these translational movements along the axis of the lever and rotations about the axis of the lever are then reliably transmitted to the tactile device. The tactile device is then able to measure them.

[0014] Of course, when referring to surgical instruments, this refers to the various surgical instruments that can be used in vitreoretinal surgery.

[0015] Various features of the invention that can be considered together or individually:

[0016] The control interface includes the gripping member, and the gripping member and the lever each include a detection device adapted to detect the pressure applied by the user to the gripping member.

[0017] The first detection device is a magnet, and the second detection device is a Hall effect sensor.

[0018] The gripping component includes a deformable gripper and a movable part, with the magnet fixedly mounted on the movable part. The movable part is capable of shifting when the gripper deforms.

[0019] The rod is hollow, defining a shell inside.

[0020] The second detection device is arranged in the housing.

[0021] The fixed surface includes an opening, and the guiding device includes a spherical member and an adapter element for the spherical member in the opening, the opening, the adapter element, and the spherical member forming a ball joint.

[0022] The rod is cylindrical, and the spherical component is hollow and has a sliding bearing that matches the shape of the rod to form a sliding connection.

[0023] The rod includes a supply device for a second detection device arranged in the housing, the supply device being electrically connected to the second detection device and capable of receiving an electrical signal emitted by the second detection device when pressure is applied to the gripping member by a user.

[0024] The guiding device includes a rotating collector arranged coaxially around a rod, the collector comprising an inner ring attached to the rod and an outer ring attached to a shaft of a hinge chain, the free end of the tactile device being located on the shaft of the hinge chain.

[0025] The control interface includes a sterile cover located between the gripping member and the second end of the rod.

[0026] The present invention also relates to a robotic system for vitreoretinal surgery, comprising:

[0027] A robotic platform comprising at least one robotic arm designed for carrying at least one surgical instrument, the robotic arm including an actuation module comprising at least one actuator.

[0028] The console includes the control interface described above.

[0029] The treatment module, connected to the control interface and the actuation module via a communication network, includes at least one processor, memory, and software for analyzing measurements performed by the haptic device, calculating motion setpoints, and providing these setpoints to the robotic arm.

[0030] The platform is configured such that the motion applied to the lever is reproduced on the surgical instrument by means of a robotic arm.

[0031] Preferably, the robotic system is configured such that the pressure applied to the gripping member and the motion applied to the gripping member are reproduced by surgical instruments using a robotic arm. Attached Figure Description

[0032] Other objects, features, and advantages of the present invention will become more apparent from the following description with reference to the accompanying drawings, in which:

[0033] Figure 1 A perspective view of the control interface according to the present invention is shown;

[0034] Figure 2 A perspective sectional view of a guide device for a control interface according to the present invention is shown;

[0035] Figure 3 This is a schematic diagram of the control interface according to the present invention, showing various kinematic connections that interconnect the components.

[0036] Figure 4 A perspective view of a gripping member suitable for a control interface according to the present invention is shown;

[0037] Figure 5a A surgeon is shown manipulating a gripping component;

[0038] Figure 5bThis is a schematic diagram of the control interface according to the present invention, specifically equipped with a lowering mechanism;

[0039] Figure 6 This is a schematic diagram of the control interface according to the present invention, showing the mechanical connections in the guiding device;

[0040] Figure 7 This is a schematic diagram of the computation and data transmission between the control interface and the robot platform. Detailed Implementation

[0041] refer to Figure 1 This invention relates to the control interface I of the robotic system SR for vitreoretinal surgery.

[0042] The robotic system SR discussed is intended for use by practitioners, particularly by surgeons, in the context of vitreoretinal surgical procedures (in... Figure 1 The example of the illustrated embodiment only shows its control interface. It includes a robotic platform PR comprising at least one robotic arm BR for manipulating surgical instruments. Preferably, the robotic platform PR includes two robotic arms BR, thereby allowing simultaneous manipulation of at least two surgical instruments. Furthermore, each robotic arm BR may include a module for actuating the robotic arm BR. This actuation module includes multiple actuators suitable for controlling the robotic arm.

[0043] Furthermore, the robot system SR includes at least one control interface I associated with a robot arm BR. It should be understood that if the robot platform PR includes two robot arms, then the robot system SR includes at least one control interface, preferably two control interfaces I, each control interface I associated with one robot arm BR. Figure 1 In the example of the embodiment shown, the robot system SR includes two control interfaces I.

[0044] Furthermore, the robotic system SR includes a processing module MT, which receives and processes measurement data received from one or more control interfaces I to generate movement of surgical instruments based on movements operated via one or more control interfaces I. This processing module will interact with... Figure 7 More details are described in the relevant descriptions.

[0045] Surgical instruments are any surgical instruments that can be used in vitreoretinal surgery. Needless to say, the instrument is suitable for passing through a cannula. For background, a cannula is a hollow, pointed, cylindrical rod extending along a longitudinal axis. The instrument can not only pass through a cannula but can also optionally or in combination perform cutting, cauterizing, injecting, aspirating, etc. In this regard, the practitioner typically needs to perform a pinching motion to manipulate the instrument; that is, he / she uses a pinching gesture to make the instrument perform cutting, cauterizing, injecting, aspirating, etc. In the following description, the movement of the surgical instrument relative to the longitudinal axis of the cannula is described.

[0046] The control interface I includes a tactile device 1, a guiding device 10, and a gripping member 5 that is advantageously detachably mounted on the guiding device.

[0047] The tactile device 1 is a force feedback device that allows for high-precision positioning measurements in space. In other words, the purpose of the tactile device 1 is to measure positions with very high reliability.

[0048] In this respect, it includes a hinge chain 2 comprising multiple hinge arms 2a connected to each other via joints 2b, the joints 2b being designed to allow the hinge chain 2 to move in all degrees of freedom. The hinge chain includes at least two hinge arms 2a. Each joint 2b is equipped with its own motor, which allows the generation of force. Each joint 2b includes its own angular position sensor, which allows the measurement of its position. One end of the hinge chain 2 is connected to a support 4, which is preferably fixed relative to the control console 60, which will affect the position of the hinge chain 2. Figure 5b The description is further detailed below. As will be seen in more detail below, the free end 3 of the hinge chain is attached to the guiding device 10. Thus, the tactile device 1 includes all the elements between the free end 3 and the support 4, which include the free end 3 and the support 4.

[0049] The guiding device 10 includes a fixed surface 11, a rod 30, and a guiding device 20, with the surface 11 and the rod 30 being coordinated by the guiding device 20.

[0050] The fixed surface 11 ensures the retention of the guide device 20, i.e., it provides mechanical support. It is fixed relative to the support 4 of the tactile device 1. In other words, the guide device 10 does not move relative to the tactile device 1. It is integrated into the aforementioned console 60 and is fixed relative to the console 60.

[0051] exist Figure 1 In the example of the illustrated embodiment, the fixing surface 11 is planar. However, this is by no means limiting, as the fixing surface 11 can also have any other shape, such as curved. It is important that the fixing surface 11 ensures that the guide device 20 is held in place while being fixed relative to the support 4 of the tactile device 1.

[0052] As previously described, the rod 30 is fitted to the fixed surface 11 via the guide device 20.

[0053] In this respect, the guide device 20 is mounted on the fixed surface 11 via a ball joint 21, while the rod 30 is mounted on the guide device 20 via a sliding connection 25, the axis of which corresponds to the axis of the rod 30. By arranging themselves relative to each other in this way, the rod 30, the guide device 20, and the surface 11 form a sliding ball joint, which will be described in more detail below.

[0054] Incidentally, the lever 30 of the guiding device can be manipulated by changes in orientation about the ball joint 21, rotation about the axis of the lever, and translation about an axis corresponding to the axis of the lever. In this context, from the surgeon's perspective, the lever 30 is equivalent to the lever of a surgical instrument used in vitreoretinal surgery. The rotation of the lever 30 about its axis, i.e., the rotation of the lever 30 itself, corresponds to the rotation of the instrument itself. The movement that changes the orientation of the lever 30 corresponds to a change in the orientation of the instrument and the axis of the cannula in the patient's eye, where the cannula necessarily follows the change in the orientation of the surgical instrument. This is because the cannula is in ball joint with the eye. Finally, the translational movement of the lever 30 along its axis corresponds to the insertion / retraction of the instrument into / from the cannula, the insertion or removal depending on the direction of the translational movement. That is, regardless of the movement performed, the lever 30 is always constrained through the center of the ball joint.

[0055] In addition, such as Figure 3 As shown, the lever 30 includes a first end 32 fixedly mounted on the free end 3 of the hinge chain of the tactile device. The guiding device 10 is thus connected to the tactile device 1 via the first end 32 of the lever. Since the first end 32 of the lever is fixedly mounted on the free end 3 of the tactile device 1, the joint 3 of the hinge chain 2 is adapted to the movements performed by the lever 30. These movements are measured in a precise manner, and the data from these measurements is transmitted to the treatment module MT.

[0056] Using joystick 30, the operator performs the same actions he or she would have done if he or she had directly operated the machine, while benefiting from the assistance provided by the robotic system SR.

[0057] However, in practice, practitioners can advantageously use the gripping component 5 to control the movement of the lever 30. This will be combined with... Figure 4 The description of the gripping member 5, which is similar in shape to surgical instruments, further enhances the practitioner's sense of trust. In addition to having the same shape as conventional surgical instruments, the gripping member 5 is preferably sterile. The term "sterile" as used herein is in a medical sense, thus meaning that the gripping member 5 has been previously sterilized and is therefore sterile.

[0058] like Figure 2 As shown in the example of the embodiment, the lever 30 includes a second end 33 on which the gripping member 5 is intended to be mounted. The lever 30 is thus rigidly connected to the gripping member 5, which allows the movement of the gripping member 5 to be reliably transmitted to the lever 30 when the gripping member 5 is present, while allowing the surgeon to have a sensation similar to that he or she would have when operating surgical instruments.

[0059] refer to Figure 2 This provides a more accurate description of the arrangement of the rod 30 within the guide device 10 and the operation of the guide device 10.

[0060] The fixed surface 11 includes an opening 12, and the guiding device 20 includes a spherical member 23 that mates with the opening 12 via an adapter element 22 to form a ball joint 21. The adapter element 22 is located between the opening 12 and the spherical member 23. It consists of a mechanical component comprising a cylindrical outer ring and a spherical inner shell within which the spherical member 23 moves freely. The dimensions of the adapter element 22 are chosen such that it externally matches the shape of the opening 12 and internally matches the shape of the spherical member 23. This configuration allows for changes in the orientation of the rod 30, specifically because the spherical member 23 can move freely within the inner shell of the adapter element 22. Furthermore, according to this configuration, the center of the ball joint 21 is the center of the spherical member 23.

[0061] The above construction is not limiting, and those skilled in the art can consider other constructions to design the ball joint 21.

[0062] Preferably, the spherical component 23 is a chromium steel sphere.

[0063] exist Figure 2 In the illustrated embodiment, the rod 30 is cylindrical, while the spherical member 23 is hollow and has an interior 24 that matches the shape of the rod 30 to form a sliding connection 25. For example, the interior 24 may include components made of… A sliding bearing is fabricated. The interior 24 therefore has a cylindrical profile, its dimensions chosen to fit as closely as possible around the rod 30 without preventing the rod 30 from sliding. Again, the configuration shown is by no means limiting. Alternatively, the rod 30 can be provided in the form of a straight block, then the inner surface 24 would have a profile in the form of a hollow block. Many other ways exist within the capabilities of those skilled in the art to realize the sliding connection 25 between the spherical member 23 and the rod 30, but without departing from the inventive concept of the invention.

[0064] By combining the ball joint 21 and the sliding connection 25, a sliding ball joint is formed, which allows the practitioner to simulate the surgical instruments through the retraction / depression movement of the cannula, the change in orientation of the axis of the surgical instruments and the cannula, and the rotational movement of the surgical instruments about the axis, with the change in the orientation of the axis serving as a cue to follow the movement along the orientation change of the intraocular surgical instruments.

[0065] like Figure 2 As further shown, the rod 30 is advantageously hollow, internally defining a housing 34. In other words, the rod 30 itself is therefore generally in the form of a hollow cylinder. The housing 34 thus formed advantageously allows for the housing of a second detection device 40, which operates in conjunction with a first detection device 6 contained in the gripping member 5. The housing 34 also allows for the housing of a supply device 41 for the second detection device 40. The relationship between the first detection device 6 and the second detection device 40 and the supply device 41 is described below. Figure 4 The relevant descriptions will be provided.

[0066] The supply device 41 of the second detection device 40 is preferably an electrical wire. To prevent wire twisting, i.e., to prevent wire tangling, the guiding device 10 advantageously includes a rotating collector 44 arranged coaxially around the rod 30. The rotating collector 44 allows the wire 41 to be electrically connected to an electronic board 45, which processes data from the second detection device 40. More specifically, it allows the wire 41 located in the rod, which is rotatable due to a sliding ball joint, to be electrically connected to other wires 42 connected to the electronic board 45, which, unlike the rod 30, remains fixed relative to the surface 11. In this respect, it should be noted that the rod 30 includes an aperture 35 for allowing the wire 41 to pass from the housing 34 to the collector 44.

[0067] Advantageously, the operator can perform multiple rotations of rod 30, arguably an infinite number of rotations, without the line 41 becoming tangled. In this respect, collector 44 itself is a pivotal connection. Figure 3 As schematically shown, the collector 44 includes an inner ring 44a attached to the rod 30 and an outer ring 44b attached to the shaft of the hinged arm 2a, with the free end 3 of the tactile device located on the shaft of the hinged arm 2a. A means to prevent translation of the collector 44 relative to the rod 30 is also provided at the horizontal plane of the rod. For example, such a means may consist of protrusions arranged on the outer surface of the rod on both sides of the collector 44. This allows for prevention of stretching and subsequent deterioration of the wire 41.

[0068] Please refer to the attached diagram, specifically... Figure 1 and 4 The control interface I advantageously includes the gripping member 5. The use of the gripping member 5 has many advantages, which will be better understood below.

[0069] The gripping component 5 is not permanently mounted on the guide device 10. This is because it is detachably mounted on the guide device 10. Therefore, the manufacturer can sell a control interface I without the gripping component 5.

[0070] like Figure 4 As shown in the example, the gripping component 5 is in the form of a stylus, its shape and size being similar only to standard instruments used in vitreoretinal surgery. The gripping component 5 is not a surgical instrument and is not intended for direct use by the patient. It is a control device, meaning it has a control function, specifically pinch control. It works in conjunction with the rest of the control interface I to detect and measure pinching.

[0071] The gripping component 5 includes, in sequence, a slender section 9 positioned side by side, a deformable gripper 8, and a movable part 7.

[0072] The slender, cylindrical section 9 works in conjunction with the deformable gripper 8 to provide the operator with a tactile sensation equivalent to that experienced when manipulating surgical instruments. Figure 4 In this part, only the outer casing of the elongated segment 9 is visible, but the elongated segment includes an invisible core that extends far beyond the outer casing, or more precisely, at least as far as the movable part 7, as will be seen below.

[0073] The deformable gripper 8 has a rhomboid shape, i.e., a double pyramid shape, in which the pyramids share a common base BC and one of the pyramids is truncated. The gripper 8 is thus formed by a complete pyramid 8a and a truncated pyramid 8b. The vertex S of the complete pyramid is located on one side of the elongated segment 9, while the smaller base of the truncated pyramid, hereinafter referred to as the "other base" AB, is located near the movable portion 7. Each pyramid is formed by multiple tongues 8c, which give the gripper 8 its deformable properties.

[0074] Furthermore, it should be noted that although the other base AB of the truncated pyramid 8b is rigidly connected to the movable portion 7 via the narrowed segment PRE, both the other base AB and the movable portion 7 are movable relative to the elongated segment 9, specifically its core (not visible). In fact, both the other base AB and the movable portion 7 are slidably connected to the core of the elongated segment 9, although... Figure 4 It is not possible to distinguish the core, but the core extends at least to the movable part 7. Figure 3 The sliding connection shown schematically is formed by openings implemented in another base AB and movable part 7, each of which is adjusted to the outer surface of the core of the elongated segment 9, i.e., their dimensions are adapted to form a sliding connection with the core of the elongated segment 9.

[0075] In this configuration, when pressure is applied at the level of the common base BC, the tongues 8c are thinner at the level of base BC than they are at the level of the top S and the other base AB, causing the gripper 8 to deform, thereby allowing the other base AB and the movable part 7 to slide simultaneously along the elongated segment 9. In this respect, the elongation of the gripper 8 can vary depending on the applied pressure and the location where that pressure is applied on the gripper 8. Under constant pressure, the closer the support is to the common base BC, the more the gripper 8 deforms and therefore elongates. Simultaneously, for the same support position between two operations, the higher the applied pressure, i.e., the higher the support ratio, the more the gripper 8 deforms and therefore elongates.

[0076] Therefore, the support position, i.e., the position where pressure is applied to the gripper 8, and the selected applied pressure, i.e., the support ratio, affect the displacement of the movable part 7, and thus the desired pinching level, as will be seen below. Thus, when the practitioner presses the gripper 8, he can manipulate the gripping member 5 as if he were manipulating a surgical instrument to perform a pinch, and adjust the position of his / her fingers relative to the common base BC according to the pinching level he / she desires to achieve. Figure 5a This situation is illustrated. The above configuration is merely one example of using the gripping member 5. Those skilled in the art can conceive of any other solutions that allow displacement of the movable part 7 when pressure is applied to the gripper 8.

[0077] In other words, if the gripping position and gripping rate determine the desired kneading level, then the method for detecting and measuring elongation will be explained below.

[0078] Advantageously, the gripping member 5 includes a detection device 6, hereinafter referred to as the first detection device 6, which allows the detection of displacement of the movable portion 7. For this purpose, the first detection device 6 is fixedly mounted on the movable portion 7 such that any displacement of the movable portion 7 along the core of the elongated segment 9 automatically causes displacement of the first detection device 6. It should also be noted that once the gripping member 5 is mounted on the rod 30, the movable portion 7 also becomes movable relative to the rod 30 and therefore relative to the second detection device 40. This is important because the second detection device 40 of the guide device 10 can detect the movement of the first detection device 6 and subsequently measure that movement. Therefore, as long as sufficient pressure is applied to the gripper 8 to cause displacement of the movable portion 7 and thus the first detection device 6, the displacement of the first detection device 6 can be measured by the second detection device 40. The first detection device 6 and the second detection device 40 thus cooperate to detect the pressure applied to the gripping member 5. This gives the gripping member 5 its control function, particularly the control of the pinch performed by the operator.

[0079] Preferably, the first detection device 6 is a magnet, and the second detection device 40 is a Hall effect sensor; more precisely, the magnet is a permanent magnet. Therefore, when sufficient pressure is applied to the gripper 8 to displace the magnet 6, the magnetic field of the magnet shifts and thus changes in the field of view of the Hall effect sensor 40, which is located within the rod 30. Therefore, the pressure rate can be inferred from the signal from the Hall effect sensor.

[0080] Compared to another detection system, the advantage of this configuration is that the gripping member 5 therefore has no electronic components; all electronic components are located in the rod 30 and thus in the guiding device 10. Therefore, even without electronic components, the pressure applied to the gripping member 5 can be detected. Furthermore, the cost of the gripping member 5 can be kept low, making it easier to use as a consumable. This ensures that the required sterilization conditions for the gripping member 5 are met in every operation. Moreover, since the gripping member 5 is a consumable without electronic components, it is easier to recycle.

[0081] Preferably, the Hall effect sensor 40 is located at the horizontal position of the second end 33 within the housing 34 of the rod. This brings it as close as possible to the magnet 6, enhancing its ability to detect even small movements of the magnet. Of course, the Hall effect sensor 40 and the magnet 6 can be arranged in any other manner, as long as changes in pressure on the gripping member 5 can be detected. Advantageously, the housing 34 of the rod allows for the accommodation of other types of sensors, depending on the desired additional functionality of the control interface I according to the invention.

[0082] Furthermore, while the combination of magnet 6 and Hall effect sensor 40 offers the aforementioned advantages, other solutions are conceivable for detecting and measuring the pressure exerted by the operator on gripping member 5. A linear variable differential transformer (LVDT) can be used. This type of sensor comprises a cylindrical transformer and a core, and has a response proportional to the displacement of the core within the transformer. For example, a strain gauge can be used. A strain gauge allows the deformation of a component to be converted into a change in resistance. In other words, any sensor that allows for position feedback can be used by those skilled in the art.

[0083] The electrical signal SE from Hall effect sensor 40 is transmitted to electronic board 45 via line 41, collector 44, and processing line 42. Sensor data can be transmitted to electronic board 45 by any other means known to those skilled in the art. The data processed by electronic board 45 is then transmitted to processing module MT, which processes the data and sends a specific setpoint to robotic platform PR, allowing the pressure applied by the operator to gripper 5 to be reproduced on the surgical instrument using robotic arm BR. Therefore, the operator does not need to learn any new gestures to perform the kneading action on the surgical instrument, as they manipulate gripper 5 in the same way they would manipulate the surgical instrument itself.

[0084] like Figure 5b As shown, the control interface 1 may include a console 60. The console 60 consists of a height-adjustable table, wherein a fixed surface 11, a guide device 10, and a lever 30 are integrated together according to the previously described configuration. At the horizontal position of the surface 11, the console 60 is connected to the rest of the control interface 1. In this respect, the fixed surface 11 may be integral with the console 60, or it may be an assembly component pre-attached to the console 60. Figure 5a As shown, when the surgeon is seated in the horizontal position of control interface I, console 60 provides the necessary support and stability to operate joystick 30 and, if necessary, also to manipulate gripping member 5. Console 60 forms a physical boundary between the surgeon and tactile device 1, as tactile device 1 is located below console 60.

[0085] Preferably, the console 60 has a wrist rest (not shown) that the practitioner can lean against for stability. Furthermore, the console 60 may also include a height-adjustable lower hand mechanism 62. This lower hand mechanism 62 can be positioned below the gripping member 5 for easy gripping of the gripping member, while adapting to the practitioner's posture. The lower hand mechanism 62 includes at least one support surface 62a and a torso 62b extending from the console 60. The height of the lower hand mechanism 62 can be adjusted by a sliding connection between the torso 62b and the console 60. Preferably, the sliding connection is motorized, allowing the height of the lower hand mechanism 62 to be adjusted according to the type of instrument used and the surgery performed.

[0086] It should be noted that, for reference Figure 3 The control interface I may also include a sterile cover 15. The sterile cover 15 may be positioned between the gripping member 5 and the rest of the control interface I. This allows maintaining a sterile environment from the second end 33 of the mounting gripping member 5 of the rod to the patient. Therefore, the cover 15 is a constraint that must be considered when designing the control interface I. The sterile cover 15 preferably includes a sealing element (not shown) between the two parts.

[0087] refer to Figure 6The kinematics and geometry of the guiding device 10 are described. A reference frame R0 with origin O is associated with the guiding device 20. A reference frame R1 with origin A is associated with the support 4 of the tactile device, which is preferably fixed relative to the control console 60. A reference frame R2 with origin B is associated with the free end 3 of the hinge chain of the tactile device. A reference frame R3 with origin T is associated with the rod 30. A reference frame R5 with origin P is associated with the elongated segment 9 of the gripping member 5.

[0088] Point T corresponds to a point on rod 30 and the end of the surgical instrument in the patient's eye. Therefore, in order to change the position of the end of the surgical instrument, the surgeon must change the position of point T in R0. An algorithm is implemented to measure this position. This takes into account the geometric transformations between reference frames R0 and R1, R1 and R2, R1 and R3, and R2 and R3. As previously mentioned, the fixed surface 11 is fixed relative to the support 4 of the tactile device 1, so the transformation between reference frames R0 and R1 is constant and known by design. Similarly, since the free end 3 of the hinge chain is fixed relative to the first end 32 of the rod, the resulting geometric transformation between R2 and R3 is constant and known by design. The geometric transformation between reference frames R1 and R2 is measured by the tactile device 1. The geometric transformation between reference frames R0 and R3 can be determined by calculations performed by the processing module MT.

[0089] Point P in reference frame R5 is associated with movable part 7. After pressure is applied to gripping member 5, the position of point P changes, and gripper 8 deforms from the position of point P when no pressure is applied to gripping member 5. As previously stated, this reflects the level of pinching applied by the practitioner to the surgical instrument itself.

[0090] Measuring the positions of points T and P reveals all the actions the surgeon expects the surgical instrument, located at the end of the chain, to perform in the patient's view. These actions can be performed by the robotic platform PR in the same or modified manner. It should be noted that measuring the position of point T in reference frame R0 alone is sufficient to manipulate instruments that do not require pinching, i.e., instruments that only require pressing / removing and reorientation. When performing pinching, the surgeon needs to measure the pressure rate of the gripping member 5, and then the position of point P in reference frame R5 needs to be measured.

[0091] In this regard, the control interface I according to the invention provides many options. The ability of the tactile device 1 to generate force allows for the provision of feedback to the operator. In fact, the tactile device 1 allows:

[0092] The range of motion of the limiting lever 30 can be the range of motion of the gripping member 5, in order to force the device to remain in certain areas.

[0093] The displacement velocity of the limiting rod 30 can also be limited, as can the displacement velocity of the gripping member 5, to improve the accuracy and stability of the movement.

[0094] For material and / or safety reasons, the speed of the lever 30 and, possibly, the speed of the gripping component 5, are adapted to the speed of the robot platform PR.

[0095] Tactile feedback is provided by force measured by sensors at the horizontal position of the instrument mounted on the robotic platform.

[0096] In this regard, such as Figure 7 As shown, data transmission within the robot system is performed according to the following method.

[0097] Advantageously, and as previously described, the robotic system SR includes a treatment module MT, which, as previously mentioned, is connected to the control interface I and the actuation module via a communication network (not shown). The treatment module is equipped with a processor and memory. It can be any type of electronic or computer processing device, such as a computer or any device equipped with a processor and memory, as long as it allows processing of data received from the tactile device 1 and the electronic board 45.

[0098] The processor is configured to analyze and / or process data acquired from the tactile device 1 and the electronic board 45. In this regard, therapeutic software can be installed on the processor to perform such treatments automatically and in real time. This software includes spatial and kinematic geometry algorithms that allow the spatial configuration of the lever 30 and possible gripping members 5 to be translated into setpoints for each actuator of the actuation module. These actuators act on the robotic platform PR to control surgical instruments. Figure 7 As described, the software determines the position of point T in reference frame R0, and, if applicable, the position of point P in reference frame R5. These algorithms allow the device to conform to its passage through the cannula. The algorithms advantageously allow for simplified implementation of additional options, which, as seen above, can be used by the practitioner by improving the initial posture performed.

[0099] The memory allows for the reception and storage, even temporarily, of data transmitted and processed by the processing module MT.

[0100] Arrow F1 instructs the operator to position and orient lever 30 and, if applicable, gripping member 5. Arrow F2 instructs the operator to pinch gripping member 5 when control interface I includes it. Arrow F3 instructs the surgical instrument to be positioned and oriented in the same way as lever 30, and, if applicable, to be positioned, or oriented in the same way as gripping member 5. Data is transmitted between events F1 and F3, if necessary, using both F1 and F2 together, as follows:

[0101] 1) Data measured by the tactile device 1 and the electronic board 45 is transmitted to the treatment module MT (arrows F4, F4', and F9).

[0102] 2) The processing module MT processes this data through software algorithms and converts the configuration of the lever 30 and the possible gripping member 5 into the setpoint of each actuator of the actuation module (between F4 and F8, between F4' and F8, and possibly between F4' and F9).

[0103] 3) The setpoint is sent to the actuation module.

[0104] 4) The actuation module controls the robot platform, enabling the surgical instruments to reproduce the movements performed by the surgeon (arrow F3).

[0105] The process between F4 and F8 will be described in more detail below. Between F4 and F5, the treatment module MT has received the rotation existing between reference frames R1 and R2 (given by the tactile device 1). The processing module MT inverts this and combines it with the rotation existing between reference frames R3 and R2 (constant and known by the design) to derive the rotation existing between reference frames R3 and R1. Between F5 and F6, the processing module MT uses the rotation between reference frames R3 and R1 and the expression for vector BT in reference frame R3 (constant and known by the design) to derive the expression for vector BT in reference frame R1. Between F6 and F7, the processing module MT receives the expression for vector AB in reference frame R1 (given by the tactile device 1) and adds it to the expression for vector OA (constant and known by the design) and the expression for vector BT (derived after F6). It then derives the expression for vector OT in reference frame R1. Between F7 and F8, the processing module uses the rotation (constant and known by the design) between reference frames R1 and R0, and the expression for vector OT in reference frame R1, to derive the expression for vector OT in reference frame R0. This is precisely the data he needs to know about the position and orientation the surgeon wants to provide to the instrument.

Claims

1. A control interface (I) for a robotic platform used in vitreoretinal surgery, the control interface comprising: A tactile device (1) is equipped with a hinge chain (2) having a free end (3). Guiding device (10), the guiding device comprising: Fixed surface (11). The guide device (20) is mounted on the fixed surface via a ball joint (21). A rod (30) is mounted on the guide device (20) via a sliding connection (25) having an axis corresponding to the axis of the rod (30). The rod includes a first end (32) fixedly mounted on the free end (3) of the tactile device (1) and a second end (33) on which a gripping member (5) can be mounted. The guide device is configured such that the rod is physically constrained to pass through a fixed point defined by the center of the ball joint.

2. The control interface (I) as described in claim 1, characterized in that, It also includes the gripping member (5), and the gripping member (5) and the rod (30) respectively include detection devices (6, 40) capable of detecting the pressure applied by the user on the gripping member.

3. The control interface (I) as described in claim 2, characterized in that, The detection device includes a first detection device and a second detection device. The first detection device (6) is a magnet, and the second detection device (40) is a Hall effect sensor. The gripping component has no electronic components.

4. The control interface (I) as described in claim 3, characterized in that, The gripping component (5) includes a deformable gripper (8) and a movable part (7), the magnet (6) is fixedly mounted on the movable part, and the movable part (7) can be displaced when the gripper (8) deforms.

5. The control interface (I) as described in any one of claims 3 to 4, characterized in that, The rod (30) is a hollow body that internally defines the housing (34), and the second detection device (40) is disposed in the housing (34).

6. The control interface (I) as described in claim 1, characterized in that, The fixed surface (11) includes an opening (12), and the guiding device (20) includes a spherical member (23) and an adapter element (22) for adapting the spherical member to the opening (12), the opening (12), the adapter element (22) and the spherical member (23) forming the ball joint (21).

7. The control interface (I) as described in claim 6, characterized in that, The rod (30) is cylindrical, and the spherical member (23) is hollow and has a sliding bearing (24) that matches the shape of the rod (30) to form a sliding connection (25).

8. The control interface (I) as described in claim 5, characterized in that, The rod (30) includes a supply device (41) for a second detection device (40) arranged in the housing (34), the supply device (41) being electrically connected to the second detection device and capable of receiving an electrical signal (SE) emitted by the second detection device (40) when the user applies pressure on the gripping member (5).

9. The control interface (I) as described in claim 8, characterized in that, The guiding device (10) includes a rotating collector (44) arranged coaxially around the rod (30), the collector (44) including an inner ring (44a) attached to the rod (30) and an outer ring (44b) attached to the shaft of the hinge chain (2), the free end (3) of the tactile device (1) being located on the shaft of the hinge chain.

10. The control interface (I) as described in claim 2, characterized in that, It also includes a sterile cover (15) between the gripping member (5) and the second end (33) of the rod, the gripping member being detachable.

11. A robotic system (SR) for vitreoretinal surgery, comprising: A robotic platform (PR) includes at least one robotic arm (BR) for carrying at least one surgical instrument, the at least one robotic arm (BR) including an actuation module, the actuation module including at least one actuator. The console (60) includes a control interface (I) for a robotic platform for vitreoretinal surgery as claimed in any one of claims 1 to 10. The treatment module (MT) is connected to the control interface (I) and the actuation module via a communication network. The treatment module (MT) includes at least one processor (52), a memory (53), and software for analyzing measurements performed by the tactile device (1) and for calculating motion setpoints and providing the motion setpoints to the at least one robotic arm (BR). The platform is configured such that the motion applied to the rod (30) is reproduced on the at least one surgical instrument by means of the at least one robotic arm (BR).

12. The robot system (SR) as claimed in claim 11, wherein the control interface (I) of the robot system (SR) includes the gripping member (5), and the gripping member (5) and the rod (30) respectively include detection devices (6, 40) capable of detecting pressure applied by the user to the gripping member, characterized in that, The robotic system (SR) is configured such that the pressure applied to the gripping member (5) and the motion applied to the gripping member are reproduced by at least one surgical instrument via the at least one robotic arm (BR).

Images