Surgical robot arm and surgical system

Abstract

Surgical robot arm (10) with a first arm (18), a second arm (22) and a third arm (32), wherein a work element (40) having a longitudinal axis (42) is arranged at a second end (36) of the third arm (32), the first axis (16), the second axis (28), the third axis (38) and the longitudinal axis (42) intersect at a common point of rest (44), and, upon movement of one or more of the first, second or third arm (18, 22, 32), the point of rest remains stationary. Also disclosed are a surgical system (12), having a mount (14) and a surgical robot arm (10), and a method for controlling a surgical robot arm (10).

Description

[0001] SURGICAL ROBOT ARM AND SURGICAL SYSTEM

[0002] The invention relates to a surgical robot arm, a surgical system with a holder and with a robot arm and a method for controlling a surgical robot arm.

[0003] During laparoscopic surgery, instruments must be inserted through small openings in the patient's body. The area where this occurs should be subjected to as little stress as possible to avoid irritation or even injury.

[0004] The required instruments are often inserted using a trocar. The aforementioned location is then often referred to as the trocar point. Securely determining the trocar point is an important factor in the design of a robotic assistance system. After correct initial positioning, this ensures that the point where an instrument is inserted into the body is subjected to as little stress as possible, even if the positioning configuration of the robot arm changes.

[0005] Due to the diverse control options available on a robot arm, it is possible to perform such a low-stress transition between positioning configurations of the robot arm(s) by appropriately controlling the actuators, particularly motors. The definition of a "fixed" point in space without assigning it any useful geometry, particularly the robot arm's mechanics, is referred to as Remote Center of Motion (RCM).

[0006] However, according to the normative definition, determining the trocar point using software must always be considered unsafe, as errors in the control or errors in the implementation of an otherwise correct control can occur. Such errors can have serious consequences for the patient, so very complex protective measures must be implemented to prevent such errors.

[0007] Current solutions suffer from various deficiencies and problems. For example, self-collision of arms in robotic systems with multiple robotic arms is a significant problem when working with one or more trocar points. This can make it difficult to switch between positioning configurations of the robotic arm(s) while simultaneously minimizing stress on the trocar points.

[0008] With serial robot arms that have at least seven degrees of freedom, switching between positioning configurations of the robot arms is generally possible, and collisions between the robot arms can generally be avoided. The disadvantage, however, is that such a serial robot must always maintain its trocar point using software and must therefore be considered unsafe without further measures.

[0009] It is therefore an object of the present invention to provide an improved robot arm, a corresponding system and a corresponding method for controlling a robot arm, which offer a solution to the above-mentioned problems.

[0010] According to a first aspect, the object is achieved by a surgical robot arm having a first arm which is designed to be arranged on a holder with a first end of the first arm so as to be rotatable about a first axis, a second arm which is arranged with a first end of the second arm at a second end of the first arm so as to be pivotable about a second axis relative to the first arm, a third arm which is arranged with a first end of the third arm at a second end of the second arm so as to be pivotable about a third axis relative to the second arm, wherein a working element with a longitudinal axis is arranged at a second end of the third arm, wherein the first axis, the second axis, the third axis and the longitudinal axis intersect at a common rest point, and wherein the rest point remains stationary when one or more of the first, second or third arms are displaced.

[0011] A technical approach of the invention is to provide a robot arm as an RCM mechanism that is capable of maintaining the identical orientation of the working element and thus of an instrument guided therein in different position configurations of the robot arm.

[0012] A robotic arm with three axes of rotation around a rest point, specifically the aforementioned trocar point, is shown. In addition to the three axes of rotation of the robotic arm's arms, there is a linear axis that runs linearly to the longitudinal axis, i.e., straight to the instrument axis of an instrument guided in the working element.

[0013] The robotic arm has at least one more degree of freedom around the rest point or trocar point than is necessary for full positioning. This additional degree of freedom enables various positional configurations of the robotic arm's arms, allowing repositioning without changing the orientation of the working element or instrument. This also expands the possibilities for avoiding collisions or self-collision.

[0014] Due to the mechanical nature of the robot arm, the potential risks are relatively low and easily controlled. This completely solves the problem.

[0015] In a preferred embodiment, the third arm has a first section with the first end of the third arm and a second section with the second end of the third arm, wherein the second section is at an angle to the first section and extends parallel to the longitudinal axis.

[0016] This design enables a compact design of the robot arm.

[0017] In a further preferred embodiment, the third arm can be positioned such that the longitudinal axis is parallel to the first axis and in particular coincides with the first axis.

[0018] This design enables a compact design of the robot arm.

[0019] In a further preferred embodiment, a first angle between the first axis and the second axis is between 20° and 40°, preferably between 25° and 35°, particularly preferably at least approximately 30° and in particular 30°.

[0020] This design is considered particularly advantageous for practical use.

[0021] In a further preferred embodiment, a second angle between the second axis and the third axis is between 20° and 40°, preferably between 25° and 35°, particularly preferably at least approximately 30° and in particular 30°.

[0022] This design is considered particularly advantageous for practical use.

[0023] In a further preferred embodiment, a first angle between the first axis and the second axis and a second angle between the second axis and the third axis differ in size by no more than 10°, preferably no more than 5°, and are particularly preferably at least approximately the same size and are in particular the same size.

[0024] This design is considered particularly advantageous for practical use.

[0025] In a further preferred embodiment, the second arm is configured in the shape of a first circular arc, and an imaginary center of a first circle on which the first circular arc lies serves as the resting point. This embodiment is considered particularly advantageous for the relative displacement of the arms of the robot arm.

[0026] In a further preferred embodiment, a first section of the third arm is designed in the shape of a second circular arc and an imaginary center of a second circle on which the second circular arc lies is the rest point.

[0027] This design is considered particularly advantageous for the displacement of the arms of the robot arm relative to each other.

[0028] In a further preferred embodiment, the second arm is spaced from the third arm in the direction of the rest point.

[0029] This design is considered particularly advantageous for the operation of the robot arm.

[0030] In a further preferred embodiment, the first arm is guided away from the first axis in a first section of the first arm and is guided parallel to the first axis and spaced from the first axis in a second section of the first arm.

[0031] This design enables a compact design of the robot arm.

[0032] According to a second aspect, the object is achieved by a surgical system having a holder and a previously described surgical robot arm, wherein the robot arm is arranged on the holder and is rotatable about the first axis relative to the holder.

[0033] According to a third aspect, the object is achieved by a method for controlling a previously described surgical robot arm, wherein the first, second and third arms are displaced from a first position configuration into a second position configuration, wherein the rest point remains stationary due to the mechanical design of the robot arm.

[0034] Further embodiments as well as some of the advantages associated with these and further embodiments will become clear and easier to understand from the following detailed description with reference to the accompanying figures. Objects or parts thereof that are substantially the same or similar may be provided with the same reference numerals. The figures are merely a schematic representation of an embodiment of the invention. Further advantages will become apparent from the following description of the drawings. An embodiment of the invention is shown in the drawings. The drawings, the description and the claims contain numerous features in combination. It is understood that the features mentioned above and those to be explained below can be used not only in the respective combination specified, but also in other combinations or on their own, without departing from the scope of the present invention.

[0035] An embodiment of the invention is illustrated in the drawing and explained in more detail in the following description. It shows:

[0036] Fig. 1 shows an embodiment of a system with a holder and an embodiment of a robot arm.

[0037] Fig. 1 shows an embodiment of a surgical system 12 with a mount 14 and a surgical robot arm 10, wherein the robot arm 10 is arranged on the mount 14 and is rotatable relative to the mount 14 about a first axis 16. Specifically, a first arm 18 of the robot arm 10 is configured to be arranged on the mount 14 with a first end 20 of the first arm 18 rotatable about the first axis 16.

[0038] The robot arm 10 also has a second arm 22, which is pivotally mounted about a second axis 28 relative to the first arm 18 with a first end 26 of the second arm 22 at a second end 24 of the first arm 18. The robot arm 10 also has a third arm 32, which is pivotally mounted about a third axis 38 relative to the second arm 22 with a first end 34 of the third arm 32 at a second end 30 of the second arm 22.

[0039] A working element 40 with a longitudinal axis 42 is arranged at a second end 36 of the third arm 32. The first axis 16, the second axis 28, the third axis 38, and the longitudinal axis 42 intersect at a common rest point 44. If one or more of the first, second, or third arms 16, 28, 38 are displaced, the rest point 44 remains stationary.

[0040] The third arm 32 has a first portion 46 with the first end 34 of the third arm 32 and a second portion 48 with the second end 36 of the third arm 32, wherein the second portion 48 is at an angle to the first portion 46 and extends parallel to the longitudinal axis 42. The third arm 32 can be positioned such that the longitudinal axis 42 is parallel to the first axis 16 and, in particular, coincides with the first axis 16, as shown in this embodiment.

[0041] A first angle α between the first axis 16 and the second axis 28 is between 20° and 40°, preferably between 25° and 35°, particularly preferably at least approximately 30° and in particular 30°, as shown in this exemplary embodiment. A second angle β between the second axis 28 and the third axis 38 is between 20° and 40°, preferably between 25° and 35°, particularly preferably at least approximately 30° and in particular 30°, as shown in this exemplary embodiment.

[0042] The first angle α and the second angle β differ in size by no more than 10°, preferably no more than 5°, and are particularly preferably at least approximately the same size and are in particular the same size, as shown in this embodiment.

[0043] The second arm 22 is designed in the shape of a first circular arc, and an imaginary center point of a first circle on which the first circular arc lies is the rest point 44. The first section 46 of the third arm 32 is designed in the shape of a second circular arc, and an imaginary center point of a second circle on which the second circular arc lies is the rest point 44.

[0044] The second arm 22 is spaced apart from the third arm 32 in the direction of the rest point 44. Furthermore, the first arm 18 is guided away from the first axis 16 in a first section 50 of the first arm 18 and is guided parallel to the first axis 16 and spaced apart from the first axis 16 in a second section 52 of the first arm 18.

[0045] The working element 40 is designed here as a trocar, so the resting point 44 can also be referred to as the trocar point. An attachment 54 at the second end 36 of the first arm 32 holds the working element 40, i.e., the trocar, and provides an insertion aid for inserting a medical instrument into the working element 40.

[0046] Further embodiments as well as some of the advantages associated with these and further embodiments will become clear and easier to understand from the following detailed description with reference to the accompanying figures. Objects or parts thereof that are substantially the same or similar may be provided with the same reference numerals. The figures are merely a schematic representation of an embodiment of the invention. Further advantages will become apparent from the following description of the drawings. An embodiment of the invention is shown in the drawings. The drawings, the description and the claims contain numerous features in combination. It is understood that the features mentioned above and those to be explained below can be used not only in the respective combination specified, but also in other combinations or on their own, without departing from the scope of the present invention.

[0047] A surgical robot arm 10 having a first arm 18, a second arm 22, and a third arm 32, wherein a working element 40 having a longitudinal axis 42 is arranged at a second end 36 of the third arm 32, the first axis 16, the second axis 28, the third axis 38, and the longitudinal axis 42 intersect at a common rest point 44, and upon displacement of one or more of the first, second, or third arms 18, 22, 32, the rest point remains stationary. Furthermore, a surgical system 12 having a mount 14 and a surgical robot arm 10 and a method for controlling a surgical robot arm 10 are disclosed.

Claims

Claims Surgical robot arm (10) with a first arm (18) which is designed to be arranged on a holder (14) so ​​as to be rotatable about a first axis (16) with a first end (20) of the first arm (18), a second arm (22) which is arranged so as to be pivotable about a second axis (28) relative to the first arm (18) with a first end (26) of the second arm (22) at a second end (24) of the first arm (18), a third arm (32) which is arranged so as to be pivotable about a third axis (38) relative to the second arm (22) with a first end (34) of the third arm (32) at a second end (30) of the second arm (22), wherein a working element (40) with a longitudinal axis (42) is arranged at a second end (36) of the third arm (32), wherein the first axis (16), the second axis (28), the third axis (38) and the Longitudinal axis (42) intersect at a common rest point (44), and wherein upon displacement of one or more of the first,second or third arm (18, 22, 32), the rest point remains stationary. Surgical robot arm (10) according to claim 1, wherein the third arm (32) has a first section (46) with the first end (34) of the third arm (32) and a second section (48) with the second end (36) of the third arm (32), wherein the second section (48) is at an angle to the first section (46) and extends parallel to the longitudinal axis (42). Surgical robot arm (10) according to one of the preceding claims, wherein the third arm (32) can be positioned such that the longitudinal axis (42) is parallel to the first axis (16) and in particular coincides with the first axis (16). Surgical robot arm (10) according to one of the preceding claims, wherein a first angle (α) between the first axis (16) and the second axis (28) is between 20° and 40°, preferably between 25° and 35°, particularly preferably at least approximately 30° and in particular 30°. Surgical robot arm (10) according to one of the preceding claims, wherein a second angle (β) between the second axis (28) and the third axis (38) is between 20° and 40°, preferably between 25° and 35°, particularly preferably at least approximately 30° and in particular 30°. Surgical robot arm (10) according to one of the preceding claims, wherein a first angle (α) between the first axis (16) and the second axis (28) and a second angle (β) between the second axis (28) and the third axis (38) differ in size by no more than 10°, preferably no more than 5°, and particularly preferably are at least approximately the same size and in particular are the same size.Surgical robot arm (10) according to one of the preceding claims, wherein the second arm (22) is configured in the shape of a first circular arc, and an imaginary center of a first circle on which the first circular arc lies is the rest point (44). Surgical robot arm (10) according to one of the preceding claims, wherein a first portion of the third arm (32) is configured in the shape of a second circular arc, and an imaginary center of a second circle on which the second circular arc lies is the rest point (44). Surgical robot arm (10) according to one of the preceding claims, wherein the second arm (22) is spaced from the third arm (32) in the direction of the rest point (44).Surgical robot arm (10) according to one of the preceding claims, wherein the first arm (18) is guided away from the first axis (16) in a first section of the first arm (18) and is guided parallel to the first axis (16) and spaced from the first axis (16) in a second section of the first arm (18). A surgical system (12) comprising a mount (14) and a surgical robot arm (10) according to any one of the preceding claims, wherein the robot arm (10) is arranged on the mount (14) and is rotatable relative to the mount (14) about the first axis (16). A method for controlling a surgical robot arm (10) according to any one of claims 1 to 10, wherein the first, second, and third arms (18, 22, 32) are displaced from a first position configuration to a second position configuration, wherein the rest point remains stationary due to the mechanical design of the robot arm (10).

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