Attachment of a robotic medical system

Abstract

A robotic medical system comprising: a column substantially vertically coupled to a base; a robotic drive having a receptacle for receiving the column; and at least one tapered interface shaped and oriented to engage with the receptacle to prevent rotation of the robotic drive about at least one axis.

Description

Technical Field

[0001] This invention relates generally to the field of robotic medical surgical systems, and more particularly to the attachment of robotic actuators for such systems. Background Technology

[0002] Catheters and other elongated medical devices (EMDs) are used in minimally invasive medical procedures to diagnose and treat a variety of vascular system diseases, including neurovascular intervention (NVI) (also known as neurointerventional surgery), percutaneous coronary intervention (PCI), and peripheral vascular intervention (PVI). These procedures typically involve guiding a guidewire through the vascular system and advancing a catheter via the guidewire to deliver treatment. The catheter insertion procedure begins with the appropriate vessel, such as an artery or vein, being entered through an introducer sheath using standard percutaneous techniques. The introducer sheath, sheath, or guide catheter is then advanced to the primary location via a diagnostic guidewire, such as the internal carotid artery for NVI, the coronary ostium for PCI, or the superficial femoral artery for PVI. A guidewire appropriate for the vascular system is then guided through the sheath or guide catheter to the target location within the vascular system. In some cases, such as in convoluted anatomy, a support catheter or microcatheter is inserted onto the guidewire to aid in its guidance. Physicians or operators can use imaging systems (e.g., fluorescein microscopes) to obtain images via contrast agent injection and select a fixed frame as a roadmap to guide the guidewire or catheter to a target location, such as a lesion. Contrast-enhanced images are also obtained as the physician delivers the guidewire or catheter, allowing the physician to verify that the device has moved along the correct path to the target location. When using fluoroscopy to view anatomical structures, the physician manipulates the proximal end of the guidewire or catheter to guide the distal tip into the appropriate vessel toward the lesion or target anatomical location, avoiding advancement into collateral vessels.

[0003] Robotic catheter-based surgical systems have been developed to assist physicians in performing catheter insertion procedures such as NVI, PCI, and PVI. Examples of NVI procedures include coil embolization of aneurysms, fluid embolization of arteriovenous malformations, and mechanical thrombectomy for large vessel occlusion in cases of acute ischemic stroke. In NVI procedures, physicians use a robotic system to achieve access to the target lesion by manipulating a neurovascular guidewire and microcatheter to provide treatment and restore normal blood flow. The target access is achieved by a sheath or guide catheter, but intermediate catheters may also be needed for more distant areas or to provide adequate support for the microcatheter and guidewire. Depending on the type of lesion and treatment, the distal tip of the guidewire is guided into or across the lesion. To treat an aneurysm, a microcatheter is advanced into the lesion and the guidewire is removed, and several embolization coils are deployed through the microcatheter into the aneurysm to stop blood flow into the aneurysm. To treat an arteriovenous malformation, a fluid embolization is injected into the malformation site via the microcatheter. Mechanical thrombectomy can be performed to treat vascular occlusion by aspiration and / or the use of a stent retrieval device. Depending on the location of the clot, aspiration can be performed via an aspiration catheter or a microcatheter for smaller arteries. Once the aspiration catheter is positioned at the lesion site, negative pressure is applied to remove the clot through the catheter. Alternatively, the clot can be removed by deploying a stent retrieval device using a microcatheter. Once the clot has integrated into the stent retrieval device, it is retrieved by retracting the stent retrieval device and the microcatheter (or intermediate catheter) into the guiding catheter.

[0004] In PCI, physicians use robotic systems to achieve access to the lesion by manipulating a coronary guidewire to provide treatment and restore normal blood flow. Access is achieved by placing a guiding catheter in the ostium of the coronary artery. The distal tip of the guidewire is guided through the lesion, and for complex anatomy, microcatheters can be used to provide adequate support for the guidewire. Blood flow is restored by delivering and deploying a stent or balloon at the lesion. The lesion may require preparation before stent implantation, either by delivering a balloon for pre-dilation of the lesion or by performing plaque resection using, for example, a laser or rotational plaque resection catheter and a balloon on the guidewire. Diagnostic imaging and physiological measurements can be performed using imaging catheters or fractional flow reserve (FFR) measurements to determine appropriate treatment.

[0005] In PVI, physicians use robotic systems to deliver treatment and restore blood flow using techniques similar to NVI. The distal tip of the guidewire is guided across the lesion, and for complex anatomy, microcatheters can be used to provide adequate support for the guidewire. Blood flow is restored by delivering and deploying a stent or balloon to the lesion. As with PCI, lesion preparation and diagnostic imaging can also be used.

[0006] When support is needed at the distal end of the catheter or guidewire, such as when guiding to a distal anatomical location in a tortuous or calcified vascular system or traversing a hard lesion, an on-line (OTW) catheter or coaxial system is used. An OTW catheter has a lumen for a guidewire that extends the entire length of the catheter. This provides a relatively stable system because the guidewire is supported along its entire length. However, this system has some drawbacks compared to quick-change catheters, including higher friction and a longer overall length (see below). To remove or change an OTW catheter while maintaining the position of the indwelling guidewire, the exposed length of the guidewire (outside the patient) must typically be longer than the OTW catheter. A 300cm guidewire is usually sufficient for this purpose and is often referred to as a change-length guidewire. Due to the guidewire length, two operators are required to remove or change the OTW catheter. This becomes more challenging if a triple coaxial system, known in the art as a triaxial system (quadriaxial catheters are also known), is used. However, due to its stability, the OTW system is frequently used in NVI and PVI procedures. On the other hand, PCI procedures typically use quick-change (or single-rail) catheters. In quick-change catheters, the guidewire lumen only extends through the distal segment of the catheter, known as the single-rail or quick-change (RX) segment. Using the RX system, operators can manipulate interventional devices in parallel with each other (unlike the OTW system, where devices are manipulated in a serial configuration), and the exposed length of the guidewire only needs to be slightly longer than the RX segment of the catheter. Quick-change guidewire lengths are typically 180-200 cm. Due to the shorter guidewire and single-rail lengths, RX catheters can be changed by a single operator. However, RX catheters are often insufficient when more distal support is required. Summary of the Invention

[0007] According to one embodiment, the robotic medical system includes a column that is substantially vertical and coupled to a base; a robot actuator having a socket for receiving the column; and at least one tapered interface shaped and oriented to engage with the socket to prevent the robot actuator from rotating about at least one axis.

[0008] In one implementation, the tapered interface includes at least two tapered keys.

[0009] In one implementation, the post is substantially cylindrical, and the tapered keys are positioned at approximately 180-degree intervals along the circumference of the post.

[0010] In one embodiment, the socket includes a tapered cavity shaped and positioned to receive a tapered key and result in physical engagement of the post and the robot actuator.

[0011] In one embodiment, the post includes at least one insertion interface to facilitate insertion of the post into a socket.

[0012] In one embodiment, the post is a cylinder, and the insertion interface includes at least one cylindrical portion along the length of the post, the cylindrical portion being configured to engage the inner bushing of the socket.

[0013] In one embodiment, at least one cylindrical portion includes a plurality of cylindrical portions spaced apart along the length of the column.

[0014] In one embodiment, multiple cylindrical portions have a gradually decreasing diameter along the length of the column.

[0015] In one embodiment, the insertion interface includes a convex tip at the end of the post.

[0016] In one implementation, each tapering key extends from the tapered portion of the pillar to the outer periphery of the base portion of the pillar.

[0017] In one embodiment, the column has a cross-sectional shape selected from a circle, an ellipse, or a polygon.

[0018] In one embodiment, the tapered key includes a tilted surface and a non-tilted surface, wherein the tilted surface is not perpendicular to the base and the non-tilted surface is substantially perpendicular to the base.

[0019] In one embodiment, the robotic medical system includes a positioning system coupled to a base, the positioning system comprising a substantially vertical column. A T-shaped robot actuator has a socket for receiving the column. The column includes at least two tapered keys to engage the socket, the tapered keys being positioned at the bottom end of the column and oriented in opposite directions to prevent the robot actuator from rotating about at least one axis.

[0020] In one embodiment, the socket includes a tapered cavity for receiving a tapered key to result in a physical engagement between the post and the socket.

[0021] In one embodiment, the post includes at least one insertion interface to facilitate insertion of the post into a socket.

[0022] In one embodiment, the insertion interface includes at least one cylindrical portion along the length of the post, the cylindrical portion being configured to engage an inner bushing disposed in the socket.

[0023] In one embodiment, the insertion interface includes a convex tip at the end of the post.

[0024] In one embodiment, the tapered key includes a tilted surface and a non-tilted surface, wherein the tilted surface is not perpendicular to the base and the non-tilted surface is substantially perpendicular to the base.

[0025] In one embodiment, the robotic medical system includes a positioning system coupled to a base. The positioning system includes a substantially vertical column, the column including a receiver disposed at the top portion of the column. A robot actuator has an attachment interface for engaging the receiver of the column, and the receiver includes a tapered interface and the attachment interface includes a tapered hook configured to engage the tapered interface of the receiver.

[0026] In one embodiment, the receiving part further includes a tapered cavity disposed orthogonally to the tapered interface, and wherein the attachment interface includes a tapered protrusion for insertion into the tapered cavity.

[0027] In one embodiment, the engagement of the tapered interface and the tapered hook prevents deflection movement of the robot actuator, and the engagement of the tapered cavity and the tapered protrusion prevents pitch movement of the robot actuator. Attached Figure Description

[0028] The invention will be more fully understood from the following detailed description, taken in conjunction with the accompanying drawings, wherein reference numerals denote similar parts, and wherein: Figure 1 This is a perspective view of an exemplary catheter-based surgical system according to an embodiment; Figure 2 This is a schematic block diagram of an exemplary catheter-based surgical system according to an embodiment; Figure 3 yes Figure 1 A side view of an exemplary catheter-based surgical system, with some components removed for clarity; Figure 4 This is a perspective view of an exemplary positioning system for a robot actuator according to an embodiment; Figure 5 This is a perspective view of an exemplary catheter-based surgical system, in which a robot actuator is attached to a positioning system; Figure 6 This is a perspective view illustrating an exemplary column of a positioning system according to an embodiment and an exemplary robot actuator for attaching to the column; Figure 7 It is used for attachment Figure 6 Detailed illustration of an exemplary column of a positioning system for a robot actuator; Figure 8 The diagram shows the robot driver attached to... Figure 6 and Figure 7 A detailed exploded view of the positioning system; Figure 9A , Figure 10A and Figure 11A The illustration shows the mounting of an exemplary robot actuator for attachment to an exemplary positioning system according to an embodiment; Figure 9B , Figure 10B and Figure 11B They are Figure 9A , Figure 10A and Figure 11A A cross-sectional view; Figure 12 This is a perspective view illustrating an exemplary column of a positioning system according to an embodiment and an exemplary robot actuator for attaching to the column; Figure 13 The diagram illustrates attaching the robot actuator to... Figure 12 A detailed view of the positioning system; Figure 14 It is along Figure 13 14-14 cut Figure 13 The attached cross-sectional view; Figure 15 yes Figure 13 Attachment and along Figure 14 A cross-sectional view taken at 15-15; Figure 16A This is a column in a perspective view according to an embodiment for mounting an exemplary robot actuator to attach to an exemplary positioning system; Figure 16B yes Figure 16A Another perspective view of the column; and Figure 17 It is receiving Figure 16A The socket on the pillar. Detailed Implementation

[0029] Figure 1 This is a perspective view of an exemplary catheter-based surgical system 10 according to an embodiment. The catheter-based surgical system 10 can be used to perform catheter-based medical procedures, such as percutaneous interventional procedures, such as percutaneous coronary intervention (PCI) (e.g., treatment of STEMI), neurovascular intervention (NVI) (e.g., treatment of emergency large vessel occlusion (ELVO)), peripheral vascular intervention (PVI) (e.g., for severe limb ischemia (CLI), etc.). Catheter-based medical procedures may include diagnostic catheter insertion procedures, during which one or more catheters or other elongated medical devices (EMDs) are used to aid in the diagnosis of a patient's condition. For example, during one embodiment of a catheter-based diagnostic procedure, contrast agent is injected through a catheter onto one or more arteries, and images of the patient's vascular system are taken. Catheter-based medical procedures may also include catheter-based therapeutic procedures (e.g., angioplasty, stent placement, treatment of peripheral vascular disease, clot removal, treatment of arteriovenous malformations, treatment of aneurysms, etc.), during which a catheter (or other EMD) is used to treat the condition. The therapeutic procedure may include an accessory device 54 (such as... Figure 2As shown), enhancements can be achieved using techniques such as intravascular ultrasound (IVUS), optical coherence tomography (OCT), fractional flow reserve (FFR), etc. However, it should be noted that those skilled in the art will recognize that certain specific percutaneous interventional devices or components (e.g., type of guidewire, type of catheter, etc.) can be selected based on the type of procedure to be performed. The catheter-based surgical system 10 can perform any number of catheter-based medical procedures with only minor adjustments to accommodate the specific percutaneous interventional device used in the procedure.

[0030] The catheter-based surgical system 10 includes a bedside unit 20, a control station (not shown), and other components. The bedside unit 20 includes a robot actuator 24 positioned adjacent to the patient 12 and a positioning system 22. The patient 12 is supported on a patient table 18. The positioning system 22 is used to position and support the robot actuator 24. The positioning system 22 can be, for example, a robotic arm, an articulated arm, a retainer, etc. One end of the positioning system 22 can be attached to, for example, the patient table 18 (e.g., ...). Figure 1 The positioning system 22 is attached to the base or trolley. The other end of the positioning system 22 is attached to the robot actuator 24. The positioning system 22 (along with the robot actuator 24) can be removed to allow patient 12 to be placed on the patient table 18. Once patient 12 is positioned on the patient table 18, the positioning system 22 can be used to position or position the robot actuator 24 relative to patient 12 for surgery. In one embodiment, the patient table 18 is operatively supported by a base 17 fixed to the floor and / or ground. The patient table 18 is capable of moving relative to the base 17 in multiple degrees of freedom, such as rolling, pitching, and yaw. The bedside unit 20 may also include controls and a display 46 (e.g., ...). Figure 2 (As shown). For example, controls and displays can be located on the housing of robot driver 24.

[0031] Typically, the robot actuator 24 can be equipped with appropriate percutaneous intervention devices and accessories 48 (such as...). Figure 2(As shown) (e.g., guidewires, various types of catheters, including balloon catheters, stent delivery systems, stent retrieval devices, embolization coils, fluid embolization, aspiration pumps, contrast agent delivery devices, medications, hemostatic valve adapters, syringes, stopcock valves, inflation devices, etc.), to allow a user or operator to perform catheter-based medical procedures via a robotic system by operating various controls (such as controls and inputs located at a control station). Bedside unit 20, particularly robotic actuator 24, may include any number and / or combination of components to provide the functionality described herein to bedside unit 20. Robotic actuator 24 includes multiple device modules 32a-d mounted to a track or linear member. Each device module 32a-d can be used to drive an EMD, such as a catheter or guidewire. For example, robotic actuator 24 can be used to automatically advance a guidewire into a diagnostic catheter and into a guiding catheter in an artery of patient 12. One or more devices, such as EMDs, enter the body (e.g., a blood vessel) of patient 12 at insertion point 16 via, for example, an introducer sheath.

[0032] Bedside unit 20 communicates with a control station (not shown), allowing signals generated by user input from the control station to be transmitted wirelessly or via hardwired to bedside unit 20 to control various functions of bedside unit 20. As discussed below, control station 26 may include control computing system 34 (such as...). Figure 2 (As shown) or connected to the bedside unit 20 via the control computing system 34. The bedside unit 20 can also connect to the control station, control computing system 34 (as shown) Figure 2 (as shown) or both provide feedback signals (e.g., load, speed, operating conditions, warning signals, error codes, etc.). Communication between the control computing system 34 and the various components of the catheter-based surgical system 10 can be provided via a communication link, which can be a wireless connection, a cable connection, or any other means that allows communication between components. The control station or other similar control system can be located at a local site (e.g., Figure 2 The local control station 38 shown) or a remote station (e.g., Figure 2 The remote control station and computer system 42 are shown. The catheterization system 10 can be operated by a control station at a local site, by a control station at a remote site, or by both a local and a remote control station simultaneously. At the local site, the user or operator and the control station are located in the same room or adjacent to the patient 12 and the bedside unit 20. As used herein, the local site is the location of the bedside unit 20 and the patient 12 or subject (e.g., an animal or a cadaver), and the remote site is the location of the user or operator and the control station used for remotely controlling the bedside unit 20. For example, the control station (and control computing system) at the remote site and the bedside unit 20 and / or control computing system at the local site can use a communication system and server 36 ( Figure 2(As shown) Communicates via the Internet. In this embodiment, the remote site and the local (patient) site are geographically separated, for example, in different rooms within the same building, different buildings within the same city, different cities, or the remote site cannot physically access the bedside unit 20 and / or other different locations of the patient 12 from the local site.

[0033] The control station typically includes one or more input modules 28 configured to receive user input to operate various components or systems of the catheter-based surgical system 10. In the illustrated embodiment, the control station allows a user or operator to control the bedside unit 20 to perform catheter-based medical procedures. For example, the input modules 28 may be configured to cause the bedside unit 20 to perform various tasks using a percutaneous interventional device (e.g., an EMD) connected to a robot actuator 24 (e.g., advancing, retracting, or rotating a guidewire; advancing, retracting, or rotating a catheter; inflating or deflating a balloon located on the catheter; positioning and / or deploying a stent; positioning and / or deploying a stent retrieval device; positioning and / or deploying a coil; injecting contrast agent into the catheter; injecting a fluid embolism into the catheter; injecting medication or saline into the catheter; aspirating from the catheter; or performing any other function that may be performed as part of a catheter-based medical procedure). The robot actuator 24 includes various actuation mechanisms to cause movement (e.g., axial and rotational movement) of the components of the bedside unit 20, including the percutaneous interventional device.

[0034] In one embodiment, the input module 28 may include one or more touchscreens, joysticks, scroll wheels, and / or buttons. In addition to the input module 28, the control station 26 may also use additional user controls 44 (such as…). Figure 2As shown), such as a foot switch and a microphone for voice commands. Input module 28 can be configured to advance, retract, or rotate various components and percutaneous interventional devices, such as guidewires, and one or more catheters or microcatheters. Buttons may include, for example, an emergency stop button, a multiplier button, a device selection button, and an automatic movement button. When the emergency stop button is pressed, the power (e.g., electrical power) to bedside unit 20 is cut off or removed. In speed control mode, the multiplier button is used to increase or decrease the speed at which the relevant component moves in response to manipulation of input module 28. In position control mode, the multiplier button changes the mapping between input distance and output command distance. The device selection button allows the user or operator to select which percutaneous interventional devices loaded into robot actuator 24 are controlled by input module 28. The automatic movement button is used to enable algorithmic movement that the catheter-based surgical system 10 can perform on percutaneous interventional devices without direct commands from the user or operator 11. In one embodiment, input module 28 may include one or more controls or icons (not shown) displayed on a touchscreen (which may or may not be part of a display) that, when activated, cause operation of components of the catheter-based surgical system 10. Input module 28 may also include balloon or stent controls configured to inflate or deflate a balloon and / or deploy a stent. Each input module 28 may include one or more buttons, scroll wheels, joysticks, touchscreens, etc., which can be used to control one or more specific components dedicated to that control. Furthermore, one or more touchscreens may display one or more icons (not shown) associated with various parts of input module 28 or with various components of the catheter-based surgical system 10.

[0035] The catheter-based surgical system 10 also includes an imaging system 14. The imaging system 14 can be any medical imaging system that can be used in conjunction with catheter-based medical procedures (e.g., non-digital X-ray, digital X-ray, CT, MRI, ultrasound, etc.). In an exemplary embodiment, the imaging system 14 is a digital X-ray imaging device that communicates with a control station. In one embodiment, the imaging system 14 may include a C-arm (such as...) Figure 1 As shown, the C-arm allows the imaging system 14 to rotate partially or completely around the patient 12 to obtain images (e.g., sagittal view, tail view, anterior and posterior view, etc.) at different angular positions relative to the patient 12. In one embodiment, the imaging system 14 is a fluorescence fluoroscopy system including a C-arm with an X-ray source 13 and a detector 15, also referred to as an image intensifier.

[0036] Imaging system 14 can be configured to take X-ray images of appropriate areas of patient 12 during surgery. For example, imaging system 14 can be configured to take one or more X-ray images of the head to diagnose neurovascular conditions. Imaging system 14 can also be configured to take one or more X-ray images (e.g., real-time images) during catheter-based medical procedures to help the user or operator 11 of control station 26 correctly position guidewires, guiding catheters, microcatheters, stent retrieval devices, coils, stents, balloons, etc., during surgery. One or more images can be displayed on display 30. For example, images can be displayed on the display to allow the user or operator to move the guiding catheter or guidewire accurately to the appropriate position.

[0037] To define directions, a Cartesian coordinate system with X, Y, and Z axes is introduced. The positive X-axis is oriented in the longitudinal (axial) direction, that is, in the direction from the proximal end to the distal end; in other words, from the proximal direction to the distal direction. The Y and Z axes lie in the transverse plane of the X-axis, with the positive Z-axis oriented upwards, that is, in the direction opposite to gravity, and the Y-axis is automatically determined by the right-hand rule.

[0038] Figure 2This is a block diagram of a catheter-based surgical system 10 according to an exemplary embodiment. The catheter-based surgical system 10 may include a control computing system 34. The control computing system 34 may be physically, for example, part of a control station. The control computing system 34 may typically be an electronic control unit adapted to provide the various functions described herein for the catheter-based surgical system 10. For example, the control computing system 34 may be an embedded system, a dedicated circuit, a general-purpose system programmed with the functions described herein, etc. The control computing system 34 communicates with a bedside unit 20, a communication system and server 36 (e.g., the Internet, firewall, cloud server, session manager, hospital network, etc.), a local control station 38, an additional communication system 40 (e.g., a telepresence system), a remote control station and computing system 42, and patient sensors 56 (e.g., an electrocardiogram (ECG) device, an electroencephalogram (EEG) device, a blood pressure monitor, a temperature monitor, a heart rate monitor, a respiratory monitor, etc.). The control computing system also communicates with the imaging system 14, patient table 18, auxiliary medical system 50, contrast agent injection system 52, and auxiliary devices 54 (e.g., IVUS, OCT, FFR, etc.). The bedside unit 20 includes a robot actuator 24, a positioning system 22, and may include additional controls and a display 46. As described above, the additional controls and display may be located on the housing of the robot actuator 24. Interventional devices and accessories 48 (e.g., guidewires, catheters, etc.) are connected to the bedside system 20. In embodiments, interventional devices and accessories 48 may include dedicated devices (e.g., IVUS catheters, OCT catheters, FFR wires, diagnostic catheters for contrast imaging, etc.) connected to their respective auxiliary devices 54, i.e., the IVUS system, OCT system, and FFR system, etc.

[0039] In various embodiments, the control computing system 34 is configured to generate control signals based on user interaction with input modules 28 (e.g., a control station such as local control station 38 or remote control station 42) and / or based on information accessible to the control computing system 34, thereby enabling the performance of medical procedures using the catheter-based surgical system 10. The local control station 38 includes one or more displays 30, one or more input modules 28, and additional user controls 44. The remote control station and computing system 42 may include components similar to those of the local control station 38. The remote control station 42 and the local control station 38 may be different and may be customized based on their required functionality. The additional user controls 44 may include, for example, one or more foot input controls. The foot input controls may be configured to allow the user to select functions of the imaging system 14, such as turning X-rays on and off and scrolling through different stored images. In another embodiment, the foot input device may be configured to allow the user to select which devices are mapped to a scroll wheel included in the input module 28. Additional communication systems 40 (e.g., audio conferencing, video conferencing, telepresence, etc.) can be used to help operators interact with patients, medical staff (e.g., vascular kit personnel) and / or bedside devices.

[0040] The catheter-based surgical system 10 may be connected to or configured to include any other systems and / or devices not explicitly shown. For example, the catheter-based surgical system 10 may include an image processing engine, a data storage and archiving system, an automated balloon and / or stent inflation system, a drug injection system, a drug tracking and / or recording system, a user log, an encryption system, a system for restricting access to or use of the catheter-based surgical system 10, etc.

[0041] As mentioned, the control computing system 34 communicates with the bedside unit 20, which includes a robot actuator 24, a positioning system 22, and may include additional controls and a display 46. The bedside unit 20 can provide control signals to the bedside unit 20 to control the operation of motors and drive mechanisms used to drive percutaneous interventional devices (e.g., guidewires, catheters, etc.). Various drive mechanisms may be provided as part of the robot actuator 24.

[0042] Now for reference Figure 3 , Figure 3 It shows Figure 1 A side view of an exemplary catheter-based surgical system 10, wherein certain components (e.g., patient, C-arm) have been removed for clarity. See above reference. Figure 1The patient table 18 is supported on the base 17, and the robot actuator 24 is mounted to the patient table via a positioning system 22. The positioning system 22 allows manipulation of the robot actuator 24 relative to the patient table 18. In this regard, the positioning system 22 is securely mounted to the patient table 18 and includes various joints and links / arms to allow manipulation, as referenced below. Figure 4 As stated above.

[0043] Figure 4 This is a perspective view of an exemplary positioning system 22 for a robot actuator according to an embodiment. The positioning system 22 includes a mounting arrangement 60 for securely mounting the positioning system 22 to a patient table 18. The mounting arrangement 60 includes engagement mechanisms for engaging a first engagement member with a first longitudinal track and engaging a second engagement member with a second longitudinal track of the patient table 18 to removably secure the positioning system to the patient table 18.

[0044] The positioning system 22 includes various segments and connectors to allow the robot actuator 24 to be positioned as needed, such as relative to the patient. The positioning system 22 includes a first rotary joint 70 coupled to the mounting arrangement 60. The first rotary joint 70 allows the first arm 72 or link to rotate about an axis of rotation. In the example shown, the mounting arrangement 60 is in a substantially horizontal plane (e.g., the plane of the patient table 18), and the axis of rotation is substantially vertical and extends through the center of the first rotary joint 70. The first rotary joint 70 may include circuitry allowing a user to control the rotation of the first rotary joint 70.

[0045] In the example shown, the first arm 72 is substantially horizontal, with its first end connected to the first rotary joint 70. The second end of the first arm 72 is connected to the second rotary joint 74. Furthermore, the second rotary joint 74 is also connected to the first end of the second arm 76. Therefore, the second rotary joint 74 allows the second arm 76 to rotate relative to the first arm 72. Like the first rotary joint 70, the second rotary joint 74 allows rotation about a substantially vertical axis extending through its center. Additionally, the second rotary joint 74 may include circuitry allowing the user to control its rotation.

[0046] In the example shown, the second end of the second arm 76 is coupled to a third rotary joint 78. The third rotary joint 78 includes a post 80 to allow the robot actuator 24 to be mounted to the positioning system 22. Therefore, the third rotary joint 78 allows the robot actuator 24 to rotate relative to the second arm 76. The third rotary joint 78 allows rotation about a substantially vertical axis extending through the center of the third rotary joint 78. Furthermore, the third rotary joint 78 may include circuitry allowing the user to control the rotation of the third rotary joint 78.

[0047] In one example, the second arm 76 includes a four-arm linkage that allows for restricted vertical movement of the third rotary joint 78 relative to the second rotary joint 74. In this respect, the four-arm linkage allows for vertical movement of the third rotary joint 78 while maintaining the substantially vertical orientation of the third rotary joint 78 and the column 80.

[0048] Figure 5 This is a perspective view of a catheter-based surgical system 10, in which a robot actuator 24 is attached to a positioning system 22. In various examples, the robot actuator 24 is mounted to the positioning system 22 in a safe manner without the use of any specific or special tools. Furthermore, it is desirable that the connection between the robot actuator 24 and the positioning system 22 be rigid, with minimal or no recoil. In this respect, stiffness of the connection is required in all six degrees of freedom. The six degrees of freedom include along... Figure 5 The coordinate system shown represents the translation or rotation of the three axes of the system. The X-axis is longitudinally aligned with the length of the robot actuator, the Y-axis is a horizontal axis perpendicular to the X-axis, and the Z-axis is vertically aligned. As used herein, "roll" refers to the rotation of the robot actuator 24 about the X-axis, "pitch" refers to the rotation of the robot actuator 24 about the Y-axis, and "yaw" refers to the rotation of the robot actuator 24 about the Z-axis.

[0049] In the various examples described herein, the robot actuator is provided with a socket 90 for receiving the post 80 of the positioning system 22, such as... Figure 6 As illustrated more clearly in the diagram, as described above, the column 80 is substantially vertical and is attached to the base of a device such as the positioning system 22 or the patient table 18. Thus, when the robot actuator 24 is positioned onto the positioning system 22, its socket 90 receives the column 80 therein. The weight of the robot actuator 24 provides sufficient downward force to secure it to the positioning system 22 to prevent any translation in the vertical direction (i.e., along the Z-axis). The robot actuator may be equal to or approximately 222 N (or approximately 50 lbs). The positioning of the column on the arm and the socket on the actuator helps to keep fluid outside the socket. However, in one embodiment, it is also conceivable that the column is located on the robot actuator 24 and the socket is located on the arm.

[0050] Figure 7 and Figure 8 Detailed illustrations of an exemplary post 80 of the positioning system 22 are provided, along with a detailed exploded view illustrating the attachment of a receptacle 90 of the robot actuator 24 to the receptacle 90 of the positioning system 22. In various examples, the post 80 is provided with at least one tapered interface to engage the receptacle 90. The tapered interface is oriented to prevent rotation of the robot actuator 24 about at least one axis. Furthermore, the tapered interface is also constrained in the vertical direction (Z-axis). Figure 7 and Figure 8In the example shown, post 80 is provided with a set of tapered interfaces or keys 82a, 82b to engage a socket 90 of robot actuator 24. The post has a top end and a bottom end. The bottom end is adjacent to the base, and the top end is opposite to the bottom end. Tapered keys 82a, 82b are positioned at the bottom end of post 80 and are oriented in opposite directions to prevent rotation of the robot actuator about at least one axis. In the example shown, tapered keys 82a, 82b are located on opposite sides of post 80, or spaced approximately 180 degrees apart along the circumference of post 80. In other examples, tapered keys 82a, 82b may be positioned at locations other than approximately 180 degrees, but spaced sufficiently large that the tapering of tapered keys 82a, 82b prevents rotation of the robot actuator. Reference Figure 7 , Figure 16A and Figure 16B The first tapered key 82a includes an inclined surface 232c and a non-inclined surface 232g, and the second tapered key 82b includes an inclined surface 232d and a non-inclined surface 232f. The inclined and non-inclined surfaces extend upwards from the base along the length of the post. The key can be attached to the base or the post. The inclined surfaces 232c and 232d have inclined portions that are not perpendicular to the upper surface of the base portion or base portion 234a. The non-inclined surface is perpendicular to or substantially perpendicular to the ground plane and / or the upper surface of the base portion or base portion. Each of the tapered keys 82 and 82b has a height extending from the upper surface of the base in a direction parallel to the longitudinal axis of the post 80. The height and width of the tapered keys 82 and 82b are sufficient to resist torque applied to the socket 236 by the post about a vertical or longitudinal axis, ensuring that the socket 236 does not climb onto the inclined surfaces 232c and 232d of the tapered keys 82 and 82b, respectively. The geometry of tapered keys 82 and 82b can also be applied to pillars 80 and 110 described herein. Figure 8 In the illustrated embodiment, tapered keys 82a and 82b have the same shape and are in the same orientation, spaced 180 degrees apart. Similarly, corresponding tapered cavities 92 have the same shape and are in the same orientation, spaced 180 degrees apart, corresponding to the positions of tapered keys 82a and 82b. Figure 7 and Figure 8 In the example, the group of tapered keys 82a, 82b includes two keys. In other examples, the number of keys may not be two. For example, additional tapered keys may be provided to increase resistance to the rotation of the robot actuator. In one implementation, a single key has two opposing tapered surfaces.

[0051] The taper angles of the taper keys 82a and 82b are chosen to prevent the robot actuator from rotating. In this respect, the taper of the taper keys 82a and 82b should be steep enough that the weight of the robot actuator prevents the actuator from climbing the steepness of the taper keys 82a and 82b. On the other hand, the steepness of the taper of the taper keys 82a and 82b should be limited to allow the installation and removal of the robot actuator without excessive resistance.

[0052] The receptacle 90 of the robot actuator 24 is provided with tapered cavities 92 for receiving tapered keys 82a, 82b, resulting in physical engagement of the post and the robot actuator. In this respect, the tapered keys 82a, 82b of the post 80 and the corresponding tapered cavities 92 of the receptacle 90 are positioned to engage with each other and orient the robot actuator 24 in the desired orientation relative to the positioning system 22 in the XY plane. In various examples, the tapered keys 82a, 82b are sized sufficiently large to at least allow for firm contact between the tapered surfaces of the cavities 92 and the tapered keys 82a, 82b.

[0053] Furthermore, the tapered keys 82a and 82b of the post 80 and the corresponding cavities 92 of the socket 90 are formed to face the same direction and thus rotate relative to each other. In this respect, the tapering of the tapered keys 82a and 82b along the circumference of the post 80 in the opposite rotational direction prevents or minimizes rotation or deflection about the Z-axis.

[0054] exist Figure 7 and Figure 8 In the example, post 80 includes at least one insertion interface for inserting post 80 into socket 90. In this respect, post 80 is provided with cylindrical portions 84a, 84b. The cylindrical portions 84a, 84b are formed along the vertical length of post 80. Figure 7 and Figure 8 In the example shown, column 80 is provided with two cylindrical portions 84a and 84b, which are spaced apart along the vertical length of column 80.

[0055] Correspondingly, the socket 90 is provided with internal bushings 94a and 94b, which are positioned along the vertical length of the cavity of the socket 90. Figure 8In the example, the bushings are shown as individual bushings positioned in various regions of the socket 90 to correspond to the positions of the cylindrical portions 84a, 84b of the post 80. In other examples, multiple bushings 94a, 94b may be formed as part of a single integrated piece within the socket. The single integrated piece can provide a smoother surface with minimal discontinuities or protrusions. When the post 80 is received in the socket 90, the cylindrical portions 84a, 84b engage the corresponding bushings 94a, 94b. The bushings 94a, 94b are dimensioned to securely fit around the cylindrical portions 84a, 84b, thereby preventing any lateral movement of the robot actuator 24 relative to the positioning system 22 in the XY plane. Furthermore, the secure fit between the cylindrical portions 84a, 84b along the vertical length of the post 80 and the bushings 94a, 94b and the cavity of the socket 90 minimizes or prevents rotation of the robot actuator 24 relative to the positioning system 22 about the X-axis (roll) and Y-axis (pitch).

[0056] To facilitate insertion of the post 80 into the socket 90, the cylindrical portions 84a and 84b have gradually decreasing diameters along the length of the post. In this respect, the first cylindrical portion 84a, measured from the bottom of the post, has a larger diameter than the second cylindrical portion 84b. Therefore, during insertion, the second cylindrical portion 84b passes through the bushing 94a corresponding to the first cylindrical portion 84a without resistance. Using multiple cylindrical portions with sufficient tolerances provides stability and resistance to rotation about the X-axis (rolling) and about the Y-axis (pitch).

[0057] Various embodiments may include an electrical connection between the positioning system 22 and the robot actuator 24. In this embodiment, electrical pins and sockets are integrated into the post 80 and the mating socket 90, and the electrical connection is made simultaneously with the mechanical connection.

[0058] Figure 9A , Figure 10A and Figure 11A The illustration shows the mounting of an exemplary robot actuator for attachment to an exemplary positioning system according to another embodiment, and Figure 9B , Figure 10B and Figure 11B They are Figure 9A , Figure 10A and Figure 11A A cross-sectional view. Figures 9A-11B The diagram shows the positioning system's post 110 being inserted into the attachment 100 in the robot driver's socket 120. Figures 9A-11B The column 110 and socket 120 are similar to those in the reference above. Figures 5-8The described column 80 and socket 90. In this respect, the column 110 has tapered interfaces or keys 112a, 112b at its bottom. As described above, the tapered keys 112a, 112b are positioned on opposite sides of the column (i.e., approximately 180 degrees apart) and oriented in the same direction (i.e., relative rotation). The socket 120 has a cavity 122 to receive the tapered keys 112a, 112b therein. The engagement of the tapered keys 112a, 112b of the column 110 and the cavity 122 of the socket 120 minimizes or prevents the robot actuator from rotating (deflecting) about the Z-axis relative to the positioning system.

[0059] Furthermore, the post 110 is provided with cylindrical portions 114a and 114b. Correspondingly, the socket 120 is provided with bushings 124a and 124b, which are positioned along the vertical length of the cavity of the socket 120. When the post 110 is as follows... Figure 11B When received in the socket 120, the cylindrical portions 114a and 114b engage with the corresponding bushings 124a and 124b. This engagement of the cylindrical portions 114a and 114b with the bushings 124a and 124b prevents any lateral movement of the robot actuator relative to the positioning system in the XY plane. Furthermore, the secure fit between the cylindrical portions 114a and 114b along the vertical length of the post 110 and the bushings 124a and 124b and the cavity of the socket 120 minimizes or prevents rotation of the robot actuator relative to the positioning system about the X-axis (roll) and Y-axis (pitch).

[0060] exist Figures 9A-11B In the example shown, post 110 has an insertion interface in the form of a convex tip 116 at its top end, which can be located at or near the top end of the post. The convex tip 116 facilitates insertion of post 110 into the cavity of socket 120. Figure 10A and Figure 10B As shown, the convex tip 116 serves as a guide for inserting the post 110 into the socket 120. Furthermore, the use of the convex tip 116 prevents the top of the post 110 from getting stuck on a feature of the socket 120, thereby ensuring that the post 110 is inserted into the socket 120 to ensure engagement between the socket 120 and the post 110. Figures 9A-11B In the example shown, the convex tip 116 is a spherical tip. In other examples, the convex tip 116 can have any of a variety of convex forms. The design of the post and socket allows for adjustment of the misalignment of the deflection direction by manually moving the post and socket relative to each other when they are joined, until the socket is correctly positioned on the post. This is achieved through a flat portion at the bottom of the socket.

[0061] refer to Figure 16A , Figure 16B and Figure 17This figure illustrates another exemplary attachment of a post and robot actuator 204 to a base (e.g., a positioning system) according to an embodiment. In one embodiment, the post 230 includes a cylindrical base portion 234a, a transition cylindrical portion 234b, a truncated conical portion 234c, and a top cylindrical portion 234d. In this embodiment, a first tapered interface or key 232a and a second tapered interface or key 232b are integrally formed with the base portion 234a and extend the entire distance between the outer periphery of the transition cylindrical portion 234b and the outer periphery of the base portion 234a. In other words, the radially outer surfaces of the tapered keys 232a and 232b, respectively measured from the longitudinal axis of the post 230, are adjacent to the radially outer periphery of the base portion 234a. In one embodiment, the tapered keys 232a and 232b are integrally formed with the base portion 234a, the transition cylindrical portion 234b, the truncated conical portion 234c, and the top cylindrical portion 234d. In one embodiment, tapered keys 232a and 232b, base portion 234a, transition cylindrical portion 234b, truncated tapered portion 234c, and top cylindrical portion 234d have a hard black anodized surface.

[0062] The first tapered key 232a includes an inclined surface 232c and a substantially vertical surface 232g, and the second tapered key 232b includes an inclined surface 232d and a substantially vertical surface 232f. The inclined surfaces 232c and 232d have inclined portions that are not perpendicular to the upper surface of the base portion 234a. Each of the tapered keys 232a and 232b has a height extending from the upper surface of the base portion 234a in a direction parallel to the longitudinal axis of the post 230. The tapered key 232a includes an upper surface 232h, and the tapered key 232b includes an upper surface 232i. The height and width of the tapered keys 232a and 232b are sufficient to resist torque applied to the socket 236 by the post about the vertical or longitudinal axis, ensuring that the socket 236 does not climb onto the inclined surfaces 232c and 232d of the tapered keys 232a and 232ab, respectively. The geometry of taper keys 232a and 232b can also be applied to posts 80 and 110 as described herein. The axial length of the cylindrical interfaces is short enough that a single interface would never respond to pitch or roll torques; they must always respond between two different cylindrical sections. If a single cylindrical interface could respond to these torques, the point load would be very high, and loading and removing the driver would be extremely difficult.

[0063] refer to Figure 17The socket 236 includes a cavity for receiving post 230. The socket 236 includes a first key receiving portion 238a and a second key receiving portion 238b, each key receiving portion having an inclined surface aligned with tapered key inclined surfaces 232c and 232d respectively in the installation position. In one embodiment, the first key receiving portion 238a and the second key receiving portion 238b are formed of copper.

[0064] Now for reference Figures 12-15 The illustration shows another exemplary attachment 200 of a base (e.g., a positioning system) and a robot actuator 204 according to an embodiment. Figure 12 This is a perspective view illustrating an exemplary post 202 and an exemplary attachment interface 220 for attaching a robot driver 204 to the post 202. Figure 13 The attachment 200 of the robot actuator 204 to the post 202 is shown.

[0065] The attachment interface 220 is formed as a socket for receiving at least a portion of a substantially vertical post 202 therein. The post 202 is provided with a tapered interface 212 to engage the attachment interface 220. In this respect, the attachment interface 220 is provided with a tapered hook 222 to engage the tapered interface 212 of the post. The tapered interface 212 is oriented to prevent the robot actuator 204 from rotating about at least one axis.

[0066] A tapered hook 222 is formed at the top portion of the attachment interface 220. A tapered interface 212 is formed in a receiving portion 210 provided on the top surface of the post 202. Figure 13 As shown, when the robot actuator 204 is attached to the post 202, the tapered hook 222 of the attachment interface 220 is positioned above and around the tapered interface 212 of the post 202, as in Figure 14 The cross-sectional view provided in the diagram illustrates this more clearly.

[0067] The tapered interface 212 formed in the receiving part 210 tapers downwards. Therefore, when the corresponding tapered hook 222 is positioned on the receiving part 210, the tapered surface of the tapered hook 222 engages with the tapered surface of the tapered interface 212. This tapered engagement, together with the downward force of the robot actuator's weight, prevents vertical movement (along the Z-axis) of the robot actuator.

[0068] The receiving portion 210 of the exemplary column 202 further includes a tapered cavity 214 in the vertical plane of the receiving portion 210. The tapered cavity 214 is formed on the side of the receiving portion facing the robot actuator 204. Correspondingly, the attachment interface 220 of the robot actuator 204 has a tapered protrusion 224 on its side surface. The tapered protrusion 224 is formed on the side surface of the attachment interface 220 facing the receiving portion 210, and is thus positioned to be received by the tapered cavity 214 of the receiving portion 210, as shown below. Figure 13 and Figure 15 The cross-sectional view is shown. The engagement of the tapered cavity 214 and the tapered protrusion 224 minimizes or prevents the robot actuator from rotating about the Y-axis (pitch).

[0069] The tapering of the tapering protrusion 224 and the tapering cavity 214 is orthogonal to the tapering of the tapering hook 222 and the tapering interface 212. Specifically, as the tapering hook 222 and the tapering interface 212 taper downwards in the vertical plane (XZ plane), the tapering protrusion 224 and the tapering cavity 214 taper in the horizontal plane (XY plane). The engagement of the tapering protrusion 224 with the tapering cavity 214 minimizes or prevents the robot actuator from rotating (deflecting) about the Z-axis. The combination of the engagement of the hook 222 with the protrusion interface 212 and the engagement of the tapering protrusion 224 with the tapering cavity 214 minimizes or prevents the robot actuator 24 from rotating (rolling) about the X-axis. Therefore, the combination of engagements of various tapering surfaces provides attachment stiffness in the required six degrees of freedom. Note that the lower tapering interface relies on the rolling torque of the actuator mass to maintain its firm engagement.

[0070] This written description uses examples to disclose the invention, including the best mode, and also enables any person skilled in the art to make and use the invention. The patentable scope of the invention is defined by the claims and may include other examples that would occur to those skilled in the art. These other examples are intended to be included within the scope of the claims if they have structural elements that are not different from the literal language of the claims, or if they include equivalent structural elements that are not substantially different from the literal language of the claims. According to alternative embodiments, the order and sequence of any process or method steps may be changed or reordered.

[0071] Many other changes and modifications can be made to this invention without departing from its spirit. The scope of these and other changes will become apparent from the appended claims.

Claims

1. A robotic medical system, comprising: The column is substantially vertical and connected to the base; A robot actuator having a socket for receiving the column; as well as At least one tapered interface, the at least one tapered interface being shaped and oriented to engage with the socket to prevent the robot actuator from rotating about at least one axis; The at least one tapered interface is attached to the post.

2. The robotic medical system according to claim 1, wherein, The tapered interface includes at least two tapered keys.

3. The robotic medical system according to claim 2, wherein, The post is substantially cylindrical, and the tapered keys are positioned at approximately 180-degree intervals along the circumference of the post.

4. The robotic medical system according to claim 2, wherein, The socket includes a tapered cavity shaped and positioned to receive the tapered key and cause physical engagement between the post and the robot actuator.

5. The robotic medical system according to claim 1, wherein, The post includes at least one insertion interface for inserting the post into the socket.

6. The robotic medical system according to claim 5, wherein, The post is a cylinder, and the insertion interface includes at least one cylindrical portion along the length of the post, the cylindrical portion being configured to engage the inner bushing of the socket.

7. The robotic medical system according to claim 6, wherein, The at least one cylindrical portion includes a plurality of cylindrical portions spaced apart along the length of the column.

8. The robotic medical system according to claim 7, wherein, The plurality of cylindrical portions have a gradually decreasing diameter along the length of the column.

9. The robotic medical system according to claim 5, wherein, The insertion interface includes a convex tip at the end of the post.

10. The robotic medical system according to claim 2, wherein, Each tapering key extends from the conical portion of the pillar to the outer periphery of the base portion of the pillar.

11. The robotic medical system according to claim 1, wherein, The column has a cross-sectional shape selected from a circle, an ellipse, or a polygon.

12. The robotic medical system according to claim 2, wherein, The tapered key includes a tilted surface and a non-tilted surface, wherein the tilted surface is not perpendicular to the base and the non-tilted surface is substantially perpendicular to the base.

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