Robotic surgical intervention device with controlled articulated arm for tracking a path

Abstract

This robotic surgical intervention device comprises an articulated arm (10), with actuating motors (M1, M2, M3, M4, M5, M6), a distal end of which is intended to carry a surgical instrument (12), a control peripheral (28) of the articulated arm (10) for moving a functional end (24) of the surgical instrument (12) along a path, and means (32) for processing movement instructions supplied by the control peripheral (28) to convert them into control instructions for the actuating motors of the articulated arm (10). It further comprises a trigger (34) for automatic reverse return of the articulated arm (10), the actuation of which causes the sending of individual reverse control instructions to each of the actuation motors (M1, M2, M3, M4, M5, M6) of the articulated arm (10) for reverse movement of the functional end of the surgical instrument (12) along the path carried out. Figure for the abstract: Fig. 1

Description

Title of the invention: Robotic surgical intervention device with controlled articulated arm for following a path

[0001] The present invention relates to a robotic surgical intervention device, in particular in the otolaryngological field but not only.

[0002] It applies more particularly to a robotic device comprising: - an articulated arm with actuating motors, one distal end of which is intended to carry a surgical instrument; - a control device of the articulated arm for movement of a functional end of the surgical instrument along a path; and - means for processing movement instructions provided by the control peripheral to convert them into individual control instructions for each of the actuating motors of the articulated arm.

[0003] Such a device is described in the article by Miroir et al, entitled "RobOtol: from design to evaluation of a robot for middle ear surgery", published at the IEEE / RSJ International Conference on Intelligent Robots and Systems held from October 18 to 22, 2010 in Taipei (TW). It has an architecture and kinematics particularly well suited to otological surgical interventions of the middle or inner ear of patients. These interventions are sensitive to false movements so that robotic assistance is a valuable aid.

[0004] Nevertheless, even with this assistance, the practitioner may make a wrong move when handling the control device given the confined volume in which he generally has to operate. If in most cases, the precision of the surgical gesture is such that a slight deviation is of no consequence and easily correctable, there are particular situations in which the tolerance is zero or almost zero. This is the case, for example, when operating a disengagement of an otological surgical instrument inside a patient's ear. The path followed by the functional end of the surgical instrument for its engagement may be complex given the crevices in which it is required to move, so that its removal may prove tricky if it has to take into account the path taken. Furthermore, such a removal may be desired in an emergency situation so that it must then be rapid.This speed of execution adds stress for the practitioner and an increased risk of incorrect action.

[0005] More generally, in any type of surgical intervention assisted by a robotic device carrying a surgical instrument and manipulated using a control peripheral, situations in which the slightest imprecision in the event of withdrawal The desired rapid removal of a surgical instrument can have serious consequences.

[0006] It may thus be desirable to provide a robotic device which makes it possible to overcome at least some of the aforementioned problems and constraints.

[0007] A robotic surgical intervention device is therefore proposed comprising: - an articulated arm with actuating motors, one distal end of which is intended to carry a surgical instrument; - a control device of the articulated arm for movement of a functional end of the surgical instrument along a path; and - means for processing movement instructions provided by the control peripheral to convert them into individual control instructions for each of the actuating motors of the articulated arm; further comprising an automatic reverse return trigger for the articulated arm, the actuation of which causes, independently of any movement instruction from the control peripheral, the sending of individual reverse control instructions to each of the actuating motors of the articulated arm for reverse movement of the functional end of the surgical instrument along the path taken.

[0008] Thus, any backtracking can be carried out automatically by trigger and without the aid of the control peripheral with the guarantee that the reverse path is rigorously followed. In the delicate situations mentioned above, this prevents any deviation from the desired withdrawals, including in restricted volumes or with crevices and regardless of any instructions issued by the control peripheral when the automatic backtracking is triggered.

[0009] Optionally, the robotic device is configured so that actuation of the automatic reverse trigger causes a suspension of the processing of new movement instructions provided by the control peripheral.

[0010] Also optionally: - the processing means comprise means for recording in memory an ordered series of successive arrangements of the articulated arm during the controlled movement of the functional end along the path; and - the processing means are configured so that the actuation of the automatic reverse return trigger causes successive returns of the articulated arm from one last arrangement to another recorded in this ordered series.

[0011] Also optionally, each recorded arrangement of the ordered series of successive arrangements of the articulated arm comprises a set of positions of its actuating motors.

[0012] Also optionally, the recording means are configured to record in memory the successive arrangements of the articulated arm at regular time intervals.

[0013] Also optionally, the memory in which the ordered series of successive arrangements of the articulated arm is recorded is configured in a stack structure.

[0014] Also optionally, the automatic reverse return trigger includes a pedal or a stop push button with variable speed control for the automatic reverse return of the articulated arm depending on pressure exerted by an operator.

[0015] Also optionally, the processing means are configured to stop the automatic reverse in progress and resume processing of new movement instructions provided by the control peripheral as soon as no more pressure is exerted on the automatic reverse trigger by the operator.

[0016] Also optionally, the control device is a 6D base handle.

[0017] Also optionally, a robotic surgical intervention device according to the invention can be configured and sized for a middle or internal ear surgery intervention on a patient, the surgical instrument itself being an intervention instrument for middle or internal ear surgery on the patient.

[0018] The invention will be better understood with the aid of the following description, given solely by way of example and with reference to the appended drawings in which:

[0019] [Fig-1] [Fig.l] schematically represents the general structure of a device robotic surgical intervention, according to one embodiment of the invention,

[0020] [Fig.2] [Fig.2] illustrates the successive stages of an intervention process surgical using the robotic device of [Fig.l], according to one embodiment of the invention, and

[0021] [Fig.3] [Fig.3] illustrates an example of a scenario carried out by executing the method of [Fig.2],

[0022] With reference to [Fig.l], a robotic surgical intervention device according to one embodiment of the invention comprises an articulated arm 10 with actuating motors carrying a surgical instrument 12. The non-limiting example illustrated in this figure is more precisely that of a robotic device for an application in otological surgery of the middle or internal ear of a patient whose architecture and kinematics are optimized in accordance with the teaching of the aforementioned Miroir et al document. The articulated arm 10 thus has, from its base to its end carrying the surgical instrument 12, three motorized prismatic links in series followed by three motorized rotoid links in series.

[0023] A first prismatic connection L1, actuated by a first motor M1, allows the translational movement of a first member 14 of the articulated arm 10 along the axis Z1 (for example vertical) of a first local orthogonal Cartesian reference frame (X1, Y1, Z1) linked to the first motor M1. The first motor M1 is fixed to the robotic device so that the first local reference frame (X1, Y1, Z1) has the same directions as a global orthogonal Cartesian reference frame (X0, Y0, Z0) linked to a fixed base of the robotic device. The axis of movement of the first member 14 is therefore parallel to Z0.

[0024] A second prismatic link L2, actuated by a second motor M2 carried by one end of the first member 14, allows the translational displacement of a second member 16 of the articulated arm 10, along the axis Z2 of a second local orthogonal Cartesian reference frame (X2, Y2, Z2) linked to the second motor M2. The second local reference frame (X2, Y2, Z2) is returned by a right angle with respect to the axis Yl of the first local reference frame (XI, Yl, Zl) so that its axis Z2 is parallel to the axis XL. The axis of displacement of the second member 16 is therefore parallel to X0.

[0025] A third prismatic connection L3, actuated by a third motor M3 carried by one end of the second member 16, allows the translational displacement of a third member 18 of the articulated arm 10, along the axis Z3 of a third local orthogonal Cartesian reference frame (X3, Y3, Z3) linked to the third motor M3. The third local reference frame (X3, Y3, Z3) is returned by a right angle with respect to the axis X2 of the second local reference frame (X2, Y2, Z2) so that its axis Z3 is parallel to the axis Y2 itself parallel to the axis YL. The axis of displacement of the third member 18 is therefore parallel to Y0.

[0026] A fourth rotoidal link L4, actuated by a fourth cylindrical motor M4 and carried by one end of the third member 18, allows the rotational movement of a fourth member 20 of the articulated arm 10, around the axis Z4 of a fourth local orthogonal Cartesian reference frame (X4, Y4, Z4) linked to the fourth motor M4.

[0027] A fifth rotoidal link L5, actuated by a fifth cylindrical motor M5 and carried by one end of the fourth member 20, allows the rotational movement of a fifth member 22 of the articulated arm 10, around the axis Z5 of a fifth local orthogonal Cartesian reference frame (X5, Y5, Z5) linked to the fifth motor M5.

[0028] Finally, a sixth rotoidal link L6, actuated by a sixth cylindrical motor M6 and carried by one end of the fifth member 22, allows the rotational movement of the surgical instrument 12, around the axis Z6 of a sixth local orthogonal Cartesian reference frame (X6, Y6, Z6) linked to the sixth motor M6.

[0029] According to the particularly interesting configuration of [Fig.l], the three respective axes of rotation Z4, Z5 and Z6 of the three rotoidal links converge at the same central point of the functional distal end 24 of the surgical instrument 12, thus making this point a pivot point. This means that in the absence of any actuation of the motors M1, M2, M3 of the prismatic links, any instruction to actuation at least one of the motors M4, M5, M6 of the rotoid links causes a rotation of the surgical instrument 12 around its pivot point without any displacement of the latter in the global reference frame (XO, YO, ZO).

[0030] The surgical instrument 12 has a proximal end 26 for attachment to the articulated arm 10, more precisely to a corresponding attachment end of the arm 10 linked to the motor M6. This attachment is for example advantageously carried out in accordance with the locking system described in patent FR 2 998 344 B1, but this is not an obligation. Any other attachment system adapted to the intended application is also suitable.

[0031] The surgical instrument 12 may have a rectilinear shape such that its main axis Zp, around which a local Cartesian reference frame (Xp, Yp, Zp) is defined which is linked to it, is that which links a central point of its proximal end 26 of fixation to the pivot point of its functional distal end 24. In this case, not illustrated in [Fig.l], the axis Zp merges with the axis Z6.

[0032] Alternatively and as illustrated in [Fig.l], it may be a surgical instrument with deflected portions such as that described in patent application FR 3 066 378 AL In this case, its main axis Zp, around which the local Cartesian reference frame (Xp, Yp, Zp) linked to it is always defined, is that of a rectilinear distal portion of this instrument, offset relative to the axis Z6 which always connects the central point of its proximal attachment end 26 to the pivot point of its functional distal end 24.

[0033] The robotic surgical intervention device further comprises a control peripheral 28 for the articulated arm 10, such as a 6D joystick or any other equivalent device, adapted to allow movement of the functional distal end 24 of the surgical instrument 12 along a desired path according to three degrees of freedom in translation and three degrees of freedom in rotation by actuation of the six motors M1 to M6. It may further comprise a screen 30, in particular for displaying and monitoring any movement of the surgical instrument 12 in the operating phase along its path.

[0034] The robotic surgical intervention device further comprises means for processing movement instructions supplied by the control peripheral 28 to convert them into individual control instructions for each of the motors M1 to M6 of the articulated arm 10. These processing means take the form of an electronic circuit 32.

[0035] The robotic surgical intervention device further comprises a trigger 34 for automatic reverse return of the articulated arm 10. This is, for example, a pedal device or a speed-variable stop push button for the automatic reverse return of the articulated arm 10 depending on pressure exerted by an operator. Its function when actuated, for example by foot pressure if it is a pedal, is to cause, independently of any movement instruction from the control peripheral 28, the sending of individual reverse control instructions to each of the six motors M1 to M6 for reverse movement of the functional end 24 of the surgical instrument 12 along the path carried out. In surgical practice, the trigger 34 is advantageously a pedal since its actuation by the foot frees the practitioner's hands.

[0036] The electronic circuit 32 is connected to the articulated arm 10 in order to transmit to it the individual control instructions for the motors M1 to M6 and to receive in return as often as it wishes the Cartesian or angular positions of the motors M1 to M6. It is connected to the control peripheral 28 in order to receive its movement instructions. These are generally expressed in the global reference frame (X0, Y0, Z0). It is connected to the reverse return trigger 34 to detect its actuation and consequently engage the automatic reverse return of the articulated arm 10.

[0037] It has a central processing unit 36, such as a microprocessor designed to transmit to the articulated arm 10 the individual control instructions, to receive from the control peripheral 28 the movement instructions and to receive from the articulated arm 10 the positions of the motors M1 to M6. It also has a memory 38 in which is recorded at least one computer program, intended to be executed by the central unit 36, carrying out the aforementioned conversion and automatic return. Two computer programs 40 and 42, selectable according to a software switch 44 are shown in [Fig.l].

[0038] According to a possible embodiment of the present invention, the first computer program 40 comprises instructions for implementing the conversion of the movement instructions supplied by the control peripheral 28 into individual control instructions for each of the motors M1 to M6, and for implementing the recording of the respective positions of the latter at the desired times. The second computer program 42 comprises instructions for implementing the automatic backtracking.

[0039] It will be noted that the electronic circuit 32 as shown schematically in [Fig. 1] can for example be implemented in a computer device such as a conventional computer comprising a processor associated with one or more memories for the storage of data files and computer programs whose instructions are intended to be executed by the processor, such as the instructions of the programs 40, 42 and of the software switch 44 which can also constitute a computer program. These programs are represented as distinct, but this distinction is purely functional. They could just as easily be grouped according to all possible combinations into one or more software programs. Their functions could also be at least partly microprogrammed or microwired in dedicated integrated circuits. Thus, as a variant, the computer device implementing the electronic circuit 32 could be replaced by an electronic device composed solely of digital circuits (without a computer program) for carrying out the same actions.

[0040] More precisely, the first computer program 40 comprises instructions 46 carrying out a Jacobian conversion of the instructions supplied by the control peripheral 28, expressed in the global reference frame (X0, Y0, Z0), into individual instructions for controlling each of the motors M1 to M6 for actuating the articulated arm 10 using Jacobian parameters stored in memory. This Jacobian converter function is well known to those skilled in the art and will not be detailed. The individual control instructions supplied by execution of the computer program 40 are to be transmitted by the central unit 36 ​​to the articulated arm 10.

[0041] The first computer program 40 further comprises instructions 48 performing a recovery, for example at regular time intervals when the surgical instrument 12 is in motion, of the positions of the motors M1 to M6 to record them in memory 38, more precisely in a portion 50 of the memory 38 dedicated to data storage. This portion of memory 50 is advantageously structured in a stack, that is to say in LIFO (Last In First Out) type memory. The recovery of the data is executed by the central unit 36. Thus, the successive arrangements of the articulated arm 10 recovered at regular time intervals during the controlled movement of the functional end 24 along the path followed, that is to say more precisely the respective successive positions of the motors M1 to M6 in the example of [Fig. 1], are recorded in LIFO memory 50 according to an ordered series.

[0042] More precisely also, the second computer program 42 comprises instructions 52 carrying out a reading of the respective successive positions of the motors M1 to M6 recorded in LIFO memory 50 for successive returns of the articulated arm 10 from close to close from the last to the first set of these successive positions. Each time a new set of positions of the motors M1 to M6 is read, making it possible to reverse the path followed by the functional end 24 of the surgical instrument 12, the instructions 52 generate the corresponding individual instructions for controlling the motors M1 to M6. These are transmitted to the articulated arm 10 by the central unit 36 ​​and the set of positions read is then deleted from the LIFO memory 50.

[0043] The software switch 44 makes it possible to select the execution of one or other of the computer programs 40, 42 depending on whether the pedal 34 is actuated or not. By default, the first computer program 40 is selected. Any movement instruction supplied by the control peripheral 28 is taken into account by the central unit 36 ​​and converted into individual control instructions for each of the motors M1 to M6 by executing this program. Furthermore, at regular time intervals, the successive positions of the motors M1 to M6 are recorded in an ordered list by stacking in the LIFO memory 50. Pressing the foot on the pedal 34 makes it possible to orient the software switch 44 to an execution of the second computer program 42. Any new movement instructions issued by the control peripheral 28 are then no longer taken into account.These are the successive position data of the motors M1 to M6 recorded in LIFO memory 50 which are unstacked one after the other in the reverse order of their recording to reconstruct the reverse path followed by the surgical instrument 12. If the electronic device 32 is programmed to be sensitive to the pressure exerted on the pedal 34, the reverse return of the robotic arm 10 which results therefrom is for example all the faster as the pressure is strong. In a preferred embodiment, as soon as the pedal 34 is released, the automatic reverse return is interrupted, whether the LIFO memory 50 is emptied or not, and the software switch 44 switches back to the execution of the first computer program 40.

[0044] [Fig. 2] illustrates the successive steps of a surgical intervention procedure using the robotic device of [Fig. 1].

[0045] During a first step 100, the pedal 34 is not actuated and an operator initiates the movement of the functional distal end 24 of the surgical instrument 12 carried by the articulated arm 10 using the control peripheral 28.

[0046] During a following step 102, the central unit 36 ​​executes the instructions 46 and 48 of the first computer program 40 to convert the instructions supplied by the control peripheral 28 into individual instructions for controlling the motors M1 to M6 and to regularly record their successive positions so as to store in LIFO memory 50 the path followed by the surgical instrument 12. It will be noted that the fact of recording the successive positions of the motors M1 to M6 at regular time intervals advantageously makes it possible to store information on the speed of movement of the surgical instrument 12 since the distance traveled by its functional distal end 24 between two recordings is proportional to its speed of movement.

[0047] During a following step 104, the practitioner wishes to initiate a rapid and automatic reverse return of the surgical instrument 12 along the path already taken. To do this, he presses the pedal 34.

[0048] During a following step 106, the central unit 36 ​​then executes the instructions 52 of the second computer program 42 to carry out this automatic backtracking as explained previously, the speed of the backtracking being able to be a function of the pressure exerted on the pedal 34.

[0049] Finally, during a last step 108, the practitioner releases the pedal 34 so that the rapid and automatic rewind is interrupted, whether the LIFO memory 50 is emptied or not. The method can then resume at step 100 or 104.

[0050] [Fig.3] illustrates an example of a scenario carried out by executing the method of [Fig.2],

[0051] Initially (i.e. first execution of step 100), the LIFO memory 50 is empty and the functional distal end 24 of the surgical instrument 12 is at an initial point PL

[0052] During the execution of step 102, the functional distal end 24 moves: - from point PI to a point P2 at high speed, hence the recording of a small number of successive movement information items in LIFO memory 50; then - from point P2 to point P3 at average speed, hence the recording of an intermediate number of successive movement information in LIFO 50 memory; then - from point P3 to point P4 at average speed, hence the recording of an intermediate number of successive movement information in LIFO 50 memory; then - from point P4 to point P5 at slow speed, hence the recording of a large number of successive movement information in LIFO 50 memory; then - from point P5 to point P6 at high speed, hence the recording of a small number of successive movement information in LIFO 50 memory.

[0053] Having arrived at point P6, the operator decides to activate the rapid and automatic reverse return of the surgical instrument 12 by pressing the pedal 34 (step 104).

[0054] This results in the execution of step 106 during which the functional distal end 24 returns: - from P6 to P5 in rapid return, hence the unstacking of successive movement information previously recorded between P5 and P6; then - from P5 to P4 in rapid return, hence the unstacking of successive movement information previously recorded between P4 and P5; then - from P4 to P3 in rapid return, hence the unstacking of successive movement information previously recorded between P3 and P4.

[0055] Having returned to point P3, the operator decides to interrupt the rapid and automatic reverse return of the surgical instrument 12 by releasing the pedal 34 (step 108).

[0056] It then decides to direct the functional distal end 24 of the surgical instrument 12 towards another path and thereby returns to a new execution of step 100.

[0057] During a new execution of step 102 marking the end of the scenario illustrated in [Fig.3], the functional distal end 24 moves: - from point P3 to point P7 at high speed, hence the recording of a small number of successive movement information in LIFO 50 memory; then - from point P7 to point P8 at slow speed, hence the recording of a large number of successive movement information in LIFO 50 memory.

[0058] The surgical intervention method of [Fig.2] and its example scenario of [Fig.3] are easily generalizable to the implementation of other interventions than those on the middle or inner ear of a patient.

[0059] It is clear that a robotic device such as that described above allows for safe surgical intervention in certain situations where rapid withdrawal of the surgical instrument without false movement or deviation from the previously followed path is desired.

[0060] It will also be noted that the invention is not limited to the embodiment described above.

[0061] It is advantageously applied to the architecture and kinematics of the articulated arm 10 of [Fig.l], but it can be generalized to other architectures and kinematics by adapting the conversions and corresponding arrangement information.

[0062] The successive arrangements of the articulated arm 10 are recorded in the form of positions of the motors, but they could be recorded in other forms, such as for example the successive 6D positions of the surgical instrument 12.

[0063] It will be more generally apparent to those skilled in the art that various modifications may be made to the embodiment described above, in light of the teaching just disclosed to them. In the detailed presentation of the invention given above, the terms used should not be interpreted as limiting the invention to the embodiment set forth in the present description, but should be interpreted to include all equivalents the prediction of which is within the reach of those skilled in the art by applying their general knowledge to the implementation of the teaching just disclosed to them.

Claims

Claims

1. Robotic surgical intervention device comprising: - an articulated arm (10), with actuating motors (Ml, M2, M3, M4, M5, M6), a distal end of which is intended to carry a surgical instrument (12); - a control peripheral (28) of the articulated arm (10) for moving a functional end (24) of the surgical instrument (12) along a path; - means (32) for processing movement instructions supplied by the control peripheral (28) to convert them into individual control instructions for each of the actuating motors (Ml, M2, M3, M4, M5, M6) of the articulated arm (10);and - a trigger (34) for automatic reverse return of the articulated arm (10) the actuation of which causes, independently of any movement instruction from the control peripheral (28), the sending of individual reverse control instructions of each of the actuation motors (M1, M2, M3, M4, M5, M6) of the articulated arm (10) for reverse movement of the functional end (24) of the surgical instrument (12) along the path carried out; characterized in that the trigger (34) for automatic reverse return of the articulated arm (10) is mechanically actuable by an operator.;

2. A robotic surgical intervention device according to claim 1, configured such that actuation of the automatic reverse trigger (34) causes a suspension of the processing of new movement instructions provided by the control peripheral (28).

3. A robotic surgical intervention device according to claim 1 or 2, wherein: - the processing means (32) comprise means (36, 48) for recording in memory (50) an ordered series of successive arrangements of the articulated arm (10) during the controlled movement of the functional end (24) along the path; and - the processing means (32) are configured so that the actuation of the automatic reverse return trigger (34) causes successive returns of the articulated arm (10) from one last arrangement to a first recorded arrangement of this ordered series.

4. A robotic surgical intervention device according to claim 3, wherein each recorded arrangement of the ordered series of successive arrangements of the articulated arm (10) comprises a set of positions of its actuating motors (M1, M2, M3, M4, M5, M6).

5. Robotic surgical intervention device according to claim 3 or 4, in which the recording means (36, 48) are configured to record in memory (50) the successive arrangements of the articulated arm (10) at regular time intervals.

6. A robotic surgical intervention device according to any one of claims 3 to 5, wherein the memory (50) in which the ordered series of successive arrangements of the articulated arm (10) is recorded is configured in a stack structure.

7. A robotic surgical intervention device according to any one of claims 1 to 6, wherein the automatic reverse return trigger (34) comprises a pedal or a speed-variable stop push button for the automatic reverse return of the articulated arm (10) depending on pressure exerted by the operator.

8. A robotic surgical intervention device according to claim 7, wherein the processing means (32) are configured to stop the current automatic reverse and resume processing of new movement instructions provided by the control peripheral (28) as soon as no more pressure is exerted on the automatic reverse trigger (34) by the operator.

9. A robotic surgical intervention device according to any one of claims 1 to 8, wherein the control peripheral (28) is a 6D base handle.

10. A robotic surgical intervention device according to any one of claims 1 to 9, configured and sized for a middle or internal ear surgery intervention on a patient, the surgical instrument (12) itself being an instrument for intervention on the middle or internal ear of the patient.

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