Robot arm for surgery, microsurgery or ultra-microsurgery

Abstract

The invention relates to a robotic arm (100) for surgery, microsurgery or ultra-microsurgery, the robotic arm (100) comprising: a first proximal arm element (102) having a first arm length (L1), the proximal arm element (102) is connected to a first proximal joint (104) having a first roll (106) and a first pitch (108) and a second intermediate joint (110) having a second roll (112) and a second pitch (114); a second intermediate arm element (116) having a second arm length (L2), the intermediate arm element (116) being connected to the intermediate joint (110) and a third distal joint (118) having a third roll (120) and a third pitch (122), and a third distal arm element (124) having a third arm length (L3), the third arm element (124) being connected to the distal joint (118), wherein the ratio between the first and second and third arm element lengths (L1, L2, L3) is: (1.00 +-10%): {(1.00 to 1.05) +-10%}: (0.60 +-10%).

Description

Technical Field

[0001] The present invention belongs to the technical field of robots for surgical operations, microsurgery or supermicrosurgery. In particular, the present invention relates to a robot arm for surgical operations, microsurgery or supermicrosurgery. For example, the robot arm can be used to perform anastomosis. Background Art

[0002] In surgery, in particular microsurgery or supermicrosurgery, robots are used for precise surgical manipulations on a sub-millimeter scale.

[0003] In particular, the use of robots enables accurate movement with micron precision without significant tremors, thereby surpassing the limitations of human manual manipulation.

[0004] However, these robots must provide the operator (eg, surgeon) with sufficient dexterity to be able to perform complex movements in the microsurgical workspace and avoid the risk of collision with other objects during manipulation.

[0005] Furthermore, it is important that parts of the robot, in particular the robot arm, do not interfere with and thus hinder the microscopic observation of the operator.

[0006] This is particularly relevant considering the environmental volume constraints of surgical workspaces, particularly microsurgery and supermicrosurgery workspaces.

[0007] Robots for surgery, microsurgery or supermicrosurgery are known in the art.

[0008] For example, EP2731535A1 discloses a microsurgical robotic device that provides robotic assistance during tasks that require long-term user concentration and high precision. One or more master-slave units are coupled to a central microscope-based suspension structure. The microsurgical robotic device focuses on motion scaling and tremor filtering in a 6-degree-of-freedom (DOF) master-slave setup with force feedback. An additional DOF is included to actuate the 1-DOF instrument tip.

[0009] A disadvantage of this known robotic device is that the link length is still suboptimal.

[0010] Therefore, it is not possible to provide the operator with sufficient dexterity to perform a wide range of microsurgical techniques (eg, anastomosis).

[0011] Another disadvantage is that parts of the robot, in particular the robot arm, may interfere during surgery and thus hinder the operator's view of the surgical site. Summary of the invention

[0012] In view of the above, an object of the present invention is to provide improvements in robotic arms for surgery, microsurgery or supermicrosurgery, and in particular to provide the operator with enhanced precision and dexterity while maintaining a high level of accuracy and coping with the volume limitations of the surgical workspace, in particular the microsurgical and supermicrosurgical workspace.

[0013] The above objectives are achieved by providing a robot arm according to the present invention. Therefore, a robot arm for surgery, microsurgery or supermicrosurgery is provided, the robot arm comprising:

[0014] a first proximal arm member having a first arm member length, the proximal first arm member connected to a first proximal joint having a first roll portion and a first pitch portion and a second intermediate joint having a second roll portion and a second pitch portion;

[0015] a second intermediate arm member having a second arm member length, the second intermediate arm member connected to the second intermediate joint and a third distal joint having a third roll portion and a third pitch portion; and

[0016] A third distal arm member having a third arm member length is connected to the third distal joint, wherein the distal end of the first proximal arm member is connected to a second intermediate joint.

[0017] In particular, the second intermediate joint has a second roll part and a second pitch part.

[0018] The robotic arm further includes a second intermediate arm element having a second arm element length.

[0019] The proximal end of the second intermediate arm member is connected to the second intermediate joint.

[0020] The distal end of the second intermediate arm member is connected to a third distal joint.

[0021] In particular, the third distal joint has a third roll portion and a third pitch portion.

[0022] The robotic arm further includes a third distal arm member having a third arm member length.

[0023] A proximal end of the third distal arm member is connected to the third distal joint.

[0024] In particular, the ratio between the length of the first arm element and the length of the second arm element and the length of the third arm element is:

[0025] (1.00±10%):{(1.00~1.05)±10%}:(0.60±10%).

[0026] The invention is based on the basic idea that by providing a robotic arm for surgery, in particular microsurgery and supermicrosurgery, and having the ratios between the lengths of the arm elements specified above, an operator (e.g. a surgeon) can be provided with enhanced dexterity and also the risk of collision with other objects or even the patient during manipulation can be prevented. Furthermore, the operator can be provided with a better view of the surgical site without significant obstructions. Still further, the size of the robotic arm (and in particular the end effector) can be reduced, so that less mass needs to be moved during manipulation. Furthermore, the improved kinematics allow the robotic arm to be operated with less power and at lower temperatures.

[0027] The disclosed ratios have been discovered through experimentation and experience and have been shown to be very effective for achieving, among other things, the objectives noted above.

[0028] Optionally, a sterile drape may be used to cover the robotic arm to maintain sterile conditions during the surgical procedure.

[0029] Preferably, the ratio between the length of the first arm element and the length of the second arm element and the length of the third arm element may be:

[0030] {1.00±(3%~5%)}:{(1.00~1.05)±(3%~5%)}:{0.60±(3%~5%)}.

[0031] Advantageously, the first arm element may be between 225 mm and 275 mm in length.

[0032] Advantageously, the second arm member length may be between 231.75 mm and 283.25 mm.

[0033] Advantageously, the third arm element may be between 135 mm and 165 mm in length.

[0034] Preferably, the first arm element is 250 mm in length.

[0035] Preferably, the second arm member is 257.5 mm in length.

[0036] Preferably, the third arm element is 150 mm in length.

[0037] In particular, the robotic arm may be configured to have six degrees of freedom (DOF) at its tip.

[0038] Preferably, the six degrees of freedom may include three translational degrees of freedom and three rotational degrees of freedom.

[0039] As a result, surgical procedures, particularly microsurgical and supermicrosurgical procedures (eg, anastomosis), can be performed with greater accuracy and enhanced maneuverability than is possible with the prior art.

[0040] The specific features and range of motion of the first proximal joint, the second intermediate joint, and the third distal joint further enhance the precision and accuracy of movement and the maneuverability of the robotic arm.

[0041] In particular, the first proximal joint may advantageously include the following range of motion:

[0042] First roll section: -41° to +41° relative to the first roll section rotation axis; and / or

[0043] First pitch portion: -23° to +44° relative to the first pitch portion rotation axis.

[0044] In particular, the second intermediate joint may advantageously include the following range of motion:

[0045] Second pan part: -180° to 180° relative to the second pan part rotation axis; and / or

[0046] Second pitch part: -8° to +90° relative to the rotation axis of the second pitch part.

[0047] In particular, the third distal joint may advantageously include the following range of motion:

[0048] Third pan section: +- infinite angle (inf); and / or

[0049] The third pitch portion: -185° to 185° relative to the rotation axis of the third pitch portion.

[0050] The first pan section, the first pitch section, the second pan section, the second pitch section and the third pitch section may include a drive motor stack provided with a brake.

[0051] For example, the first pan portion, the first pitch portion, the second pan portion, the second pitch portion, and the third pitch portion may be actuated by frameless direct drive motors.

[0052] The third panning unit may include a servo motor.

[0053] Advantageously, a button may be provided for triggering a simultaneous disengagement of the motor brakes.

[0054] The operator can thus conveniently trigger the motor brake to disengage.

[0055] In particular, the button may be placed at the tip of the robot arm to make it easier for the operator to operate.

[0056] Preferably, the button is placed on the top of the third panning portion.

[0057] To reduce temperature buildup, some components of the robotic arm may be configured to receive lower voltages.

[0058] In particular, the second roll portion and the third pitch portion may be configured to receive a lower voltage of 24V.

[0059] In particular, the third pan part may be configured to receive a voltage even lower than 12V.

[0060] Reducing the applied voltage in some parts of the robot arm may improve safety conditions.

[0061] Therefore, patient protection measures can be relaxed.

[0062] Additionally, the efficiency of the electronics of the robot arm may be increased, since the difference between the applied voltage and the supplied voltage is smaller.

[0063] The rest of the robot arm is supplied with 48V.

[0064] Advantageously, the second roll portion, the second pitch portion, the third roll portion and the third pitch portion are provided with respective covers.

[0065] The cover may be made of an electrically insulating material, which provides further protection.

[0066] Additionally or alternatively, the cover may be made of a thermally insulating material. Thus, it is easier to comply with temperature requirements during surgery.

[0067] The cover of the second pan section and the cover of the third pitch section can be removed for cleaning purposes, and the remaining covers are non-removable.

[0068] The present invention further provides a surgical, microsurgical or supermicrosurgical robot comprising a robotic arm as described above.

[0069] In particular, the robot may be configured and adapted to perform anastomosis. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Further details and advantages of the invention will now be disclosed in conjunction with the accompanying drawings.

[0071] Figure 1 A partial perspective view of a surgical robotic system including two robotic arms;

[0072] Figure 2 A perspective view of a robotic arm for surgery, microsurgery, or supermicrosurgery according to an embodiment of the present invention;

[0073] Figure 3 Similar to Figure 2 but from a different perspective and further illustrating the direction of rotation of the different elements of the robot arm; and

[0074] Figure 4 exist Figure 2 A perspective magnified view of a detail of a cover used in a robotic arm.

[0075] The reference numerals are listed as follows:

[0076] 100 Robot Arm

[0077] 102 first proximal arm element

[0078] 104 First proximal joint

[0079] 106 First roll section

[0080] 108 First Pitch Section

[0081] 110 Second intermediate joint

[0082] 112 Second roll section

[0083] 114 Second Pitch Section

[0084] 116 Second intermediate arm element

[0085] 118 Distal joint / Third distal joint

[0086] 120 Third roll section

[0087] 122 Third Pitch Section

[0088] 124 Distal arm element

[0089] 126 Covering member (of second pitch portion)

[0090] 128 Covering member (of second panning portion)

[0091] 130 Covering member (of the third pitching portion)

[0092] 132 Covering member (of the third roll section)

[0093] 200 Surgical Robotic System

[0094] 202 Column

[0095] 204 Cantilever

[0096] 206 Fork element

[0097] 300 Surgical instruments

[0098] L1 Length of the first arm element

[0099] L2 Length of the second arm element

[0100] L3 Length of the third arm element DETAILED DESCRIPTION

[0101] Figure 1 A partial view of a surgical robotic system 200 for use in surgical procedures, microsurgery, or supermicrosurgery procedures is shown.

[0102] Not shown, the surgical robot system 200 includes a base station.

[0103] Not shown, the base station may include a display device for displaying information to one or more operators, or provide a user interface for inserting user input.

[0104] Not shown, the base station may be provided with wheels, thereby allowing the surgical robotic system 200 to be easily placed at a desired location in the operating room.

[0105] The surgical robotic system 200 includes a base column 202 .

[0106] The base column 202 carries a cantilever arm 204 which is rotatable about the longitudinal (vertical) axis of the base column 202 .

[0107] The cantilever arm 204 carries a fork element 206 which is rotatable about a vertical axis mounted on the cantilever arm 204 .

[0108] In the illustrated configuration, the fork element 206 carries first and second robotic arms, such as the robotic arms 100 described below.

[0109] Each of the robotic arms carries a respective surgical instrument 300 .

[0110] Figure 2 A robotic arm 100 for surgery, microsurgery or supermicrosurgery is shown according to an embodiment of the present invention.

[0111] The robotic arm 100 comprises a first proximal arm element 102 ( Figure 3 ).

[0112] The proximal end of the first proximal arm element 102 is connected to a first proximal joint 104 having a first roll portion 106 and a first pitch portion 108 ( Figure 2-3 ).

[0113] Furthermore, the distal end of the first proximal arm element 102 is connected to a second intermediate joint 110 ( Figure 2-3 ).

[0114] Furthermore, the robot arm 100 comprises a second intermediate arm element 116 ( Figure 3 ).

[0115] The proximal end of the second intermediate arm member 116 is connected to the second intermediate joint 110 ( Figure 2 ).

[0116] Furthermore, the distal end of the second intermediate arm element 116 is connected to a third distal joint 118 ( Figure 2-3 ).

[0117] Still further, the robotic arm 100 includes a third distal arm element 124 ( Figure 3 ).

[0118] The proximal end of the third distal arm member 124 is connected to the third distal joint 118 ( Figure 2 ).

[0119] In this embodiment, the ratio between the first arm element length L1 and the second arm element length L2 and the third arm element length L3 is:

[0120] (1.00±10%):{(1.00~1.05)±10%}:(0.60±10%).

[0121] Preferably, the ratio between the first arm element length L1 and the second arm element length L2 and the third arm element length L3 is:

[0122] {1.00±(3%~5%)}:{(1.00~1.05)±(3%~5%)}:{(0.60±(3%~5%)}.

[0123] In this embodiment, the length L1 of the first arm element is between 225 mm and 275 mm.

[0124] Preferably, the first arm element length L1 is 250 mm.

[0125] In this embodiment, the second arm element length L2 is between 231.75 mm and 283.25 mm.

[0126] Preferably, the second arm element length L2 is 257.5 mm.

[0127] In this embodiment, the third arm element length L3 is between 135 mm and 165 mm.

[0128] Preferably, the third arm element length L3 is 150 mm.

[0129] In the present embodiment, the robotic arm 100 is configured to have six degrees of freedom (DOF) at its tip.

[0130] Preferably, the six degrees of freedom include three translational degrees of freedom and three rotational degrees of freedom.

[0131] This allows the anastomosis to be performed at a microscopic level.

[0132] In this embodiment, the first proximal joint 104 includes the following range of motion:

[0133] First roll section 106: -41° to +41° relative to the first roll section rotation axis; and / or

[0134] The first pitch portion 108 is -23° to +44° relative to the first pitch portion rotation axis.

[0135] Additionally or alternatively, the second intermediate joint 110 includes the following range of motion:

[0136] The second panning part 112: -180° to 180° relative to the second panning part rotation axis; and / or

[0137] The second pitch portion 114 is -8° to +90° relative to the second pitch portion rotation axis.

[0138] Additionally or alternatively, the third distal joint 118 includes the following range of motion:

[0139] Third pan section 120: +- infinite angle; and / or

[0140] The third pitch portion 122 is -185° to 185° relative to the third pitch portion rotation axis.

[0141] The robotic arm 100 is capable of possessing the high level of dexterity required to perform anastomosis procedures while avoiding the risk of undesirable collisions with the patient during the procedure.

[0142] In this embodiment, the first pan portion 106 , the first pitch portion 108 , the second pan portion 112 , the second pitch portion 114 , and the third pitch portion 122 include a stack of drive motors provided with brakes.

[0143] Advantageously, a backlash-free brake can be used, for example a permanent magnet brake.

[0144] Furthermore, in order to reduce the power consumption of the brake, the hysteresis when the brake is engaged and disengaged can be utilized.

[0145] The third panning unit 120 includes a servo motor.

[0146] In this embodiment, a button (not shown) may be provided for triggering the simultaneous disengagement of the motor brakes.

[0147] Preferably, the button is placed at the tip of the robotic arm 100 .

[0148] More preferably, the button is placed on the top of the third panning portion 120 .

[0149] Typically, the voltage applied to the elements of the robot arm 100 is 48V.

[0150] However, to reduce temperature buildup, the voltage in some elements of the robotic arm 100 is reduced.

[0151] In particular, according to the present embodiment, the second roll unit 112 and the third pitch unit 122 are configured to receive a voltage of 24V.

[0152] In addition, the third panning unit 120 is configured to receive a voltage of 12V.

[0153] Reducing the applied voltage increases the overall safety condition of the robotic arm 100, thereby improving patient protection.

[0154] In this embodiment, covers 126 , 128 , 130 , 132 may be provided to protect the components of the robotic arm 100 .

[0155] Figure 4 Details of covers 126 , 128 , 130 , 132 according to this embodiment are shown.

[0156] In particular, the first cover 126 covers the second pan portion 112 .

[0157] The second cover 128 is disposed on the second intermediate joint 110 and covers the second pitch portion 114 .

[0158] The third cover 130 covers the third pan portion 120 .

[0159] Finally, the fourth covering member 132 covers the third pitch portion 122 .

[0160] The covers 126 , 128 , 130 , 132 are made of an electrically insulating material and / or a thermally insulating material.

[0161] Advantageously, the first cover 126 and the fourth cover 132 covering the second roll portion 112 and the third pitch portion 122 , respectively, may be removed for cleaning purposes.

[0162] The remaining covers 128, 130 should not be removed.

[0163] The cover 130 of the third pan portion 120 may have a PCB (not shown) mounted thereon.

[0164] A spring system (not shown) may be provided for the first and second pitch portions 108, 114 to compensate for the torque caused by the spring position and stiffness being adjusted so that the torque during a procedure (eg, anastomosis) remains low enough so that the motor does not overheat.

[0165] The robot arm 100 can easily cover the overhang when adjusted to a proper covering posture.

Claims

1. A robot arm (100) for surgery, microsurgery or supermicrosurgery, characterized in that: The robot arm (100) comprises: a first proximal arm member (102) having a first arm member length (L1), the first proximal arm member (102) being connected to a first proximal joint (104) having a first roll portion (106) and a first pitch portion (108) and a second intermediate joint (110) having a second roll portion (112) and a second pitch portion (114); a second intermediate arm member (116) having a second arm member length (L2), the second intermediate arm member (116) being connected to the second intermediate joint (110) and a third distal joint (118) having a third roll portion (120) and a third pitch portion (122); and a third distal arm member (124) having a third arm member length (L3), the third distal arm member (124) being connected to the third distal joint (118); The ratio between the first arm element length (L1) and the second arm element length (L2) and the third arm element length (L3) is: (1.00±10％):{(1.00～1.05)±10％}:(0.60±10％)。 2. The robot arm (100) according to claim 1, characterized in that: The ratio between the first arm element length (L1) and the second arm element length (L2) and the third arm element length (L3) is: {(1.00±(3％～5％)}:{(1.00～1.05)±(3％～5％)}:{0.60±(3％～5％)}。 3. The robot arm (100) according to claim 1, characterized in that: The first arm element length (L1) is between 225 mm and 275 mm; The second arm element length (L2) is between 231.75 mm and 283.25 mm; The third arm element length (L3) is between 135 mm and 165 mm.

4. The robot arm (100) according to claim 3, characterized in that: The length (L1) of the first arm element is 250 mm; The second arm element length (L2) is 257.5 mm; The third arm element length (L3) is 150 mm.

5. The robot arm (100) according to claim 1, characterized in that: The robotic arm (100) is configured to have six degrees of freedom at its tip, preferably wherein the six degrees of freedom include three translational degrees of freedom and three rotational degrees of freedom.

6. The robot arm (100) according to claim 1, characterized in that: The first proximal joint (104) includes the following range of motion: First roll section (106): -41° to +41° relative to the first roll section rotation axis; and / or The first pitch portion (108) is -23° to +44° relative to the first pitch portion rotation axis.

7. The robot arm (100) according to claim 1, characterized in that: The second intermediate joint (110) includes the following range of motion: The second panning part (112): -180° to 180° relative to the second panning part rotation axis; and / or The second pitch part (114) is -8° to +90° relative to the rotation axis of the second pitch part.

8. The robot arm (100) according to claim 1, characterized in that: The third distal joint (118) includes the following range of motion: Third pan section (120): +- infinite angle; and / or The third pitch part (122): relative to the rotation axis of the third pitch part, the angle is between -185° and 185°.

9. The robot arm (100) according to any one of claims 1 to 8, characterized in that: The first pan section (106), the first pitch section (108), the second pan section (112), the second pitch section (114) and the third pitch section (122) include a drive motor stack provided with a brake, and the third pan section (120) includes a servo motor.

10. The robot arm (100) according to claim 9, characterized in that: A button is provided for triggering simultaneous disengagement of the motor brakes.

11. The robot arm (100) according to claim 10, characterized in that: The button is placed at the tip of the robot arm (100), preferably wherein the button is placed at the top of the third panning portion (120).

12. The robot arm (100) according to any one of claims 1 to 8, characterized in that: The second pan part (112) and the third pitch part (122) are configured to receive a voltage of 24V, the third pan part (120) is configured to receive a voltage of 12V, and the rest of the robot arm (100) is configured to receive a voltage of 48V.

13. The robot arm (100) according to any one of claims 1 to 8, characterized in that: The second roll portion (112), the second pitch portion (114), the third roll portion (120) and the third pitch portion (122) are provided with respective covers (126, 128, 130, 132) made of an electrical insulating material and / or a thermal insulating material.

14. The robot arm (100) according to claim 13, characterized in that: The cover (126) of the second roll portion (112) and the cover (132) of the third pitch portion (122) are removable.

15. A surgical, microsurgical or supermicrosurgical robot (200), in particular for performing anastomosis, comprising a robotic arm (100) according to any one of claims 1 to 14.

Images