DEVICE AND METHOD FOR EXTENDING THE WORKING ENVELOPE OF A SURGICAL ASSISTANCE ROBOT AND SURGICAL ASSISTANCE ROBOT

Abstract

TITLE OF THE INVENTION: DEVICE AND METHOD FOR EXTENDING THE WORKING ENVELOPE OF A SURGICAL ASSISTANCE ROBOT AND SURGICAL ASSISTANCE ROBOT. The device (25) for extending the working envelope (22) of a surgical assistance robot (10) comprises a carriage (11), a robotic arm (14, 15) equipped with a base (23), a means (13) for registration between a medical image and a geometric coordinate system of the robot, and a tilting base (25) positioned between the carriage and the base of the robotic arm, this base being configured to remain rigid during registration performed by the registration means and during the movements of the robotic arm. Figure for the abstract: Figure 2

Description

Title of the invention: DEVICE AND METHOD FOR EXTENDING THE WORKING ENVELOPE OF A SURGICAL ASSISTANCE ROBOT AND SURGICAL ASSISTANCE ROBOT Technical field of the invention

[0001] The present invention relates to a device and a method for extending the working envelope of a surgical assistance robot and to a surgical assistance robot implementing it. It is particularly applicable to the field of computer-assisted cranial surgery. State of the art

[0002] The approaches described in this section are approaches that could be pursued, but not necessarily approaches that have been previously conceived or pursued. Therefore, unless otherwise indicated, it should not be assumed that any of the approaches described in this section constitutes prior art simply because of its inclusion in this section.

[0003] During robot-assisted surgery, a robotic arm is moved to position a guide that the surgeon uses to move surgical instruments. The mechanical configuration of the robotic arm is determined by the dimensions of its rigid links and joints, and the orientation capabilities of the joints. This configuration allows the robotic arm to position the guide at any point and with any orientation within a given volume, called the "working envelope." Beyond this working envelope, the position or orientation of the guide can no longer be guaranteed.

[0004] Current mobile surgical robots have a fixed working envelope defined by their mechanical architecture, which limits their ability to access certain anatomical areas during surgery. This constraint related to the working envelope also limits the number of surgical procedures that can be performed by these robotic systems. Increasing this working envelope requires modifying the configuration of the robotic arm, which presents numerous problems, particularly in terms of cost, ergonomics, weight, volume, administrative authorization, etc. Summary of the invention

[0005] The present invention aims to overcome all or part of the aforementioned drawbacks by proposing a device and a method for extending the working envelope of a robot surgical assistance which includes a tiltable base for a robotic arm, this base remaining rigid once the alignment has been made between the medical imaging and the geometric reference of the robot.

[0006] The inclination of the base moves the working envelope of the robotic arm and therefore extends it, in a particular direction, towards the intervention area on the patient's body.

[0007] In some embodiments, the device comprises: - a trolley carrying an anthropomorphic or SCARA type robotic aiming arm itself carrying a surgical instrument guide, mobile after recalibration and - a tilting device located between the trolley and the aiming arm, immobile during and after recalibration.

[0008] It is noted that the acronym SCARA means "Selective Compliance Assembly Robot Arm" (in French, robotic arm for selective compliance assembly). Brief description of the figures

[0009] Other advantages, purposes and particular features of the invention will become apparent from the following non-limiting description of at least one particular embodiment of the device and robot that are the subject of the present invention, with reference to the accompanying drawings, in which: [Fig. 1] schematically represents, in side view, a first embodiment of a device for extending the working envelope of a surgical assistance robot, the subject of the invention, in a neutral configuration. [Fig.2] schematically represents, in side view, the device illustrated in [Fig.1], in its envelope extension configuration. [Fig. 3] schematically represents, in side view, a second embodiment of a device for extending the working envelope of a surgical assistance robot, the subject of the invention, in its extended configuration, and [Fig.4] represents, in the form of a flowchart, the steps for implementing the device that is the subject of the invention. Description of the implementation methods

[0010] The present description is given by way of non-limiting grammar, each feature of an embodiment being able to be advantageously combined with any other feature of any other embodiment.

[0011] It should be noted from the outset that the figures are not to scale.

[0012] As can be understood from reading this description, various inventive concepts can be implemented by one or more of the methods or devices described below, several examples of which are provided herein. The actions or steps carried out in the implementation of the method or device can be ordered in any appropriate manner. Consequently, it is possible to construct embodiments in which the actions or steps are executed in a different order than illustrated, which may include the execution of certain acts simultaneously, even if they are presented as sequential acts in the illustrated embodiments.

[0013] The indefinite articles "un" and "une", as used in the description, should be understood as meaning "at least one", unless clearly stated otherwise.

[0014] The expression "and / or", as used in this document, shall be understood as meaning "either or both" of the elements thus joined, that is, elements that are present conjunctively in some cases and disjunctively in others. Multiple elements listed with "and / or" shall be interpreted in the same way, that is, "one or more" of the elements thus joined. Other elements may also be present, other than those specifically identified by the "and / or" clause, whether or not they are related to those specifically identified elements.Thus, by way of non-limiting example, a reference to "A and / or B", when used in conjunction with an open language such as "including", may refer, in one embodiment, to A only (possibly including elements other than B); in another embodiment, to B only (possibly including elements other than A); in yet another embodiment, to A and B (possibly including other elements); etc.

[0015] As used herein in the description, "or" shall be understood inclusively.

[0016] As used in this description, the expression "at least one," with reference to a list of one or more elements, shall be understood as meaning at least one element chosen from one or more elements in the list of elements, but not necessarily including at least one of each element specifically enumerated in the list of elements and not excluding any combination of elements in the list of elements. This definition also allows for the optional presence of elements other than the elements specifically identified in the list of elements to which the expression "at least one" refers, whether or not they are related to those specifically identified elements.Thus, by way of non-limiting example, "at least one of A and B" (or, equivalently, "at least one of A or B", or, equivalently, "at least one of A and / or B") may refer, in one embodiment, to at least one, possibly including more than one, A, without B present (and possibly including elements other than B); in another embodiment, to at least one, possibly including more than one, B, without A present (and possibly including elements other than A); in yet another embodiment, . to at least one, possibly including more than one, A, and at least one, possibly including more than one, B (and possibly including other elements); etc.

[0017] In the description below, all transitive expressions such as "comprising", "including", "carrying", "having", "containing", "implying", "holding", "composed of", and others, should be understood as open, that is, as meaning including but not limited to. Only the transitive expressions "consisting of" and "consisting essentially of" should be understood as closed or semi-closed transitive expressions, respectively.

[0018] Throughout this description, the terms "upper" and "top" refer to what is at the top when the device of the present invention is in its operational configuration. The terms "lower" and "bottom" refer to what is at the bottom when the device of the present invention is in its operational configuration. The term "inside" refers to what is inside the device. The term "outside" refers to what is outside the device.

[0019] The figures illustrate an application of the invention to a cranial surgery robot. Of course, the present invention is also applicable to any other type of surgery, for example, of the knee or spine.

[0020] The first embodiment is shown in Figures 1 and 2. A robot 10 comprises a carriage 11 mounted on casters 12 and a robotic arm comprising a base 23. The robotic arm is either anthropomorphic or SCARA type. In the figures, the robotic arm is anthropomorphic and comprises rigid links 14 and joints 15. On one of the sides of the carriage 11, there is a support arm 16 for a headrest or stereotaxic frame 17 holding the head 18 of a patient 19 lying on an operating table 20 in position. In some variations, the support arm is independent of the carriage, for example, by being fixed to the floor. The robot 10 includes a central unit 13 configured to perform the registration between the medical imaging and the geometric reference frame of the robotic arm, that is to say to match the geometric coordinates in the real space of the robot and the geometric coordinates in the medical imaging.This central unit 13 is represented in the carriage 11, but it can be located on another carriage, for example a navigation carriage, or remotely, for example on a server communicating with the carriage 11.

[0021] The trolley 11 is equipped with jacks (not shown) actuating support feet on the ground, which fix the trolley 11 in position and stabilize it during the movements of the robotic arm 14 and 15.

[0022] The working envelope 22 of the robot 10 is represented by dashed lines.

[0023] Between the carriage 11 and the robotic arm 14 and 15 is a swiveling base. It should be noted here that the term "swiveling" means the ability to change the inclination, that is to say, the angle formed between the axis perpendicular to the base 23 and a vertical line and, possibly, the ability to change the angle formed between this axis and a fixed vertical plane. In other words, orientable means at least one degree of freedom corresponding to the variation of the tilt.

[0024] In the first embodiment, this steerable base includes a motorized tilting means. For example, the motorized tilting means includes at least one motorized cylinder 24.

[0025] In the first embodiment, this steerable base consists of a parallel robot 25. A parallel robot is a mechanism whose architecture gives it remarkable properties. The technical definition of such a robot is: a closed kinematic chain mechanism whose end effector is connected to the base by several independent kinematic chains. Such a parallel robot 25 consists of extendable "parallel" links 24 connected to a common base. These links 24 are not geometrically parallel, to reduce the risk of twisting of the robot 25, but their kinematics are independent, which gives them the designation of being parallel to the robot 25. These links 24 include, for example, electric actuators, for example, six of them. It should be noted that, for the implementation of the present invention, a single link 24 is sufficient, for example, in the case where the base 23 of the robotic arm 14 and 15 is connected to the carriage 11 by a hinge.By analogy with the case where more than one link 24 is provided, in this document a robot with only one link 24 is also called a "parallel robot".

[0026] As illustrated in [Fig.2], by orienting the base 23 of the robotic arm 14 and 15, by implementing the parallel robot 25, the working envelope 22 of the robotic arm 14 and 15 is moved towards the surgical intervention area, here the head 18 of the patient 19.

[0027] It is important to note that the parallel robot 25 does not operate in conjunction with the robotic arm 14 and 15. Indeed, once oriented, the parallel robot 25 remains rigid during and after the registration process. Conversely, the robotic arm 14 and 15 is mobile during and after the registration process, in order to position a guide near or in contact with the surgical intervention area.

[0028] In other words, the robotic arm 14 and 15 does not include the parallel robot 25 and the central unit 13, which controls the operation of the electrical components of the robotic arm 14 and 15, in particular the motors located in the joints and at the distal end of the robotic arm 14 and 15, independently controls, in two successive operating phases, the movements of the parallel robot 25 and the robotic arm 14 and 15. Thus, the implementation of the present invention only slightly modifies the operation of a robot 10 without a steerable base. A simple control of the orientation of the robot 25, which can be achieved by elements other than the central unit 13, for example via a touchscreen user interface and / or a button (in the case of a parallel robot with only one A single connection (24) or two control buttons (one to control the tilt angle and the other to control the tilt direction) operated by an operator is sufficient to implement the invention. The tilt control of this user interface and / or each such button is deactivated by the central unit (13) as soon as the recalibration begins, such that this tilt cannot be changed without altering the recalibration.

[0029] In the second embodiment, illustrated in [Fig.3], the orientable base of the robotic arm 14 and 15 is a tiltable base, having only one degree of freedom to vary the angle between the axis perpendicular to the base 23 with a vertical line, consisting of an adjustable bracket 26. This adjustable bracket 26 has a hinge connection and a means for locking the angle between the arms of the bracket, one of these arms being fixed to the carriage 11 and the other to the base 23 of the robotic arm 14 and 15.

[0030] In embodiments such as that illustrated in [Fig.3], this adjustable bracket 26 comprises an arc of a circle whose center is located on the axis of the hinge joint, provided with mechanical markers 27, for example circular holes, on which a mechanical part, for example a sliding lock, mounted under the base 23, can be locked. These markers materialize preferred inclinations, for example in five-degree increments up to thirty or forty degrees.

[0031] A marker or sensor 29 of the locked state of the base 26's tilt provides a signal representative of this state. With a marker, this signal can be visual, for example, the locking process causing a colored surface to appear at the end of the lock when it is engaged, or audible, with the locking process producing a recognizable noise. With a sensor 29, this signal can also be electrical, for example, via a dry contact in an electronic circuit that is closed when the locking is engaged, or via a magnetic sensor. With such a sensor 29, this signal can be processed by an electronic and / or computer circuit so that an indicator light on a user interface displays an appearance that signifies to the operator that the base 26's tilt is locked in the operating position.This signal can also be processed by the central unit 13 of the robot 10 to prohibit all or part of the functions of the robot 10, for example the realignment and / or the movements of the robotic arm 14 and 15, when the base is not in a locked state.

[0032] In embodiments (not shown), the orientable base of the robotic arm 14 and 15 is a combination of two tiltable bases, each having only one degree of freedom, made up, for example, of two adjustable brackets whose axes of rotation are not parallel.

[0033] In both embodiments of the robot 10 described above, the robot 10 includes a means for determining the locked state of the orientation of the base 25 or 26. This means may be: - in the control software of the parallel robot 25, which transmits to the central unit 13 a message indicating that the orientation of the parallel robot 25 is locked, - on a user interface communicating with the central unit 13, through which an operator confirms the locking of the base orientation, or - a sensor 29 of a locked state of the base tilting means.

[0034] The recalibration means 13 is configured not to perform recalibration when this determination means indicates an unlocked state of the base and the robotic arm 14 and 15 is configured not to perform movement when this determination means indicates an unlocked state of the base.

[0035] In other embodiments (not shown), the robot 10 and the device, 25 or 26, do not include a means for determining the locked state of the base orientation.

[0036] We observe, in [Fig.4], steps of the process 40 of implementation of the device and the robot which are the objects of the invention.

[0037] During a step 41, an operator positions the trolley 11 and immobilizes it by deploying its feet via their jacks.

[0038] During step 42, the operator controls the orientation of the tilting base of the robotic arm. For example, this orientation depends on the surgical procedure to be performed and / or the configuration of the operating room. For example, surgery on the patient's spine may require a greater tilt of the base than surgery on the patient's skull. As another example, positioning the carriage near a long side of the operating table requires a smaller tilt of the base than positioning it near a short side.

[0039] During a step 43, the operator locks the orientation of the tilting base.

[0040] During a step 44, the locked state of the base tilt is determined Step 45 of recalibration and step 46 of starting movement of the robotic arm are inhibited when this tilt is not locked.

[0041] As described above, for this determination step, the operator, the circuits, or the software of the carriage 11 check that the orientation of the tilting base is locked. Preferably, during step 44, the locked state of the base's tilt is captured by means of a sensor 29, and the transition to step 45 is inhibited until this tilt is locked. Also preferably, during step 44, the deployed state of the carriage 11's feet is captured by means of another sensor (not shown), and the transition to step 45 is inhibited until the carriage 11's feet are deployed.

[0042] During step 45, the operator performs the recalibration of the position and orientation of the intervention area, the medical imaging and the reference point geometric of the robot. The recalibration uses, for example, a robot probe or a navigation camera and a pointer equipped with a navigation reference carried by hand, attached to the patient's head or attached to the headrest or stereotaxic frame. A navigation reference 21, illustrated in Figures 1 to 3, is a set of at least four markers pre-mounted on a rigid support, in non-coplanar and asymmetrical positions. An image of this navigation reference thus allows the position (three coordinates in an orthonormal coordinate system) and orientation (three angular coordinates in this coordinate system) of this navigation reference 21 to be identified.

[0043] During a step 46, the robotic arm is moved to perform the surgical intervention.

[0044] After the end of the surgical operation, the steps for removing the robot are the reverse of steps 44 to 41.

[0045] The implementation of the present invention has the following advantages: - it increases the workspace of a surgical aiming robot, - it provides increased accessibility to the different anatomical areas of the patient, - it increases the number of surgical procedures that can be performed by a aiming robot, - it allows maintaining the precision of the spatial positioning of an instrument guide at the end of the robotic arm of the surgical aiming assistance robot. Presentation of the invention

[0046] The present invention aims to remedy all or part of the drawbacks of the prior art.

[0047] To this end, according to a first aspect, the present invention relates to a device for extending the working envelope of a surgical assistance robot which includes a trolley, a robotic arm equipped with a base, a means for registrating between a medical image and a geometric reference of the robot, an inclinable base positioned between the trolley and the base of the robotic arm, this base being configured to remain rigid during a registration carried out by the registration means and during the movements of the robotic arm.

[0048] The inclination of the base moves the working envelope of the robotic arm and therefore extends it towards the intervention area on the patient's body.

[0049] In embodiments, the device of the invention further comprises a motorized tilting means for the tiltable base.

[0050] The motorization of the tilt of the base allows control of this tilt by a central unit of the robot, for example according to the type of surgical intervention to be carried out and / or the configuration of the operating room.

[0051] In some embodiments, the motorized tilting means comprises at least one motorized cylinder.

[0052] In some embodiments, the motorized tilting means comprises a parallel robot.

[0053] A parallel robot has the advantage of allowing tilting in all directions and a wide range of tilt angle values. Furthermore, a parallel robot generally includes position sensors that provide precise knowledge of the orientation of the robotic arm's base.

[0054] In embodiments, the device of the invention includes a means for manually tilting the tiltable base.

[0055] A manual tilting mechanism offers advantages in terms of cost, ease of use, and independence from the robot's central processing unit. The present invention can therefore be deployed on existing robots without modifying their software for orienting and moving their robotic arm.

[0056] In embodiments, the device of the invention further comprises a marker or a sensor of the locked state of the tilting means.

[0057] The robot operator or the central unit controlling the robot can thus verify that the tilting mechanism is locked. If this lock is not engaged, the alignment between the medical imaging and the robot's geometric coordinate system and / or the movements of the robotic arm may be inhibited.

[0058] According to a second aspect, the present invention relates to a surgical assistance robot, which includes a trolley, a robotic arm equipped with a base, a means of registration between a medical image and a geometric reference of the robot and an extension device which is the subject of the invention.

[0059] The advantages, purposes and special characteristics of this robot being similar to those of the device which is the subject of the invention, they are not recalled here.

[0060] In embodiments, this robot further comprises a means for determining the locked state of the base tilt, the recalibration means being configured not to perform recalibration when this determination means indicates an unlocked state of the base and / or the robotic arm being configured not to perform movement when this determination means indicates an unlocked state of the base.

[0061] According to a third aspect, the present invention relates to a method for extending the working envelope of a surgical assistance robot comprising a trolley and a robotic arm equipped with a base, which comprises, successively: - a tilting step of a tiltable base positioned between the carriage and the base of the robotic arm, - a step for locking the base's tilt, - a registration step between a medical image and a geometric reference frame of the robot and - a step to start the robotic arm moving.

[0062] The advantages, purposes and particular characteristics of this method being similar to those of the device which is the subject of the invention, they are not recalled here.

[0063] In embodiments, the method of the invention includes a step of determining the locked state of the inclination of the base, the recalibration step and the step of moving the robotic arm being inhibited when this inclination is not locked.

Claims

Demands

1. Device (25, 26) for extending the working envelope (22) of a surgical assistance robot (10) comprising a carriage (11), a robotic arm (14, 15) equipped with a base (23) and a means (13) for registration between a medical image and a geometric reference of the robot, characterized in that it comprises a tiltable base (25, 26) positioned between the carriage and the base of the robotic arm, this base being configured to remain rigid during registration performed by the registration means and during the movements of the robotic arm.

2. Device (25) according to claim 1, which further comprises a motorized tilting means (24) for the tiltable base.

3. Device (25) according to claim 2, wherein the motorized tilting means comprises at least one motorized cylinder (24).

4. Device (25) according to claim 3, wherein the motorized tilting means comprises a parallel robot.

5. Device (26) according to claim 1, which includes a manual tilting means (26, 27, 28) of the tiltable base.

6. Device (25, 26) according to any one of claims 2 to 5, further comprising a marker or sensor (29) of a locked state of the tilting means.

7. A surgical assistance robot (10), comprising a trolley (11), a robotic arm (14, 15) equipped with a base (23), a means (13) for re-registering between a medical image and a geometric reference of the robot and a device (25, 26) according to any one of claims 1 to 6.

8. Robot (10) according to claim 7, further comprising a means (29) for determining the locked state of the tilt of the base (25, 26), the recalibration means (13) being configured not to perform recalibration when this determination means indicates an unlocked state of the base and / or the robotic arm (14, 15) being configured not to perform movement when this determination means indicates an unlocked state of the base.

9. A method (40) for extending the working envelope (22) of a surgical assistance robot (10) comprising a trolley (11) and a robotic arm (14, 15) equipped with a base (23), characterized in that it comprises, successively: - a step (42) of tilting a tiltable base (25, 26) positioned between the carriage and the base of the robotic arm, - a step (43) of locking the tilt of the base, and - a step (45) of realignment between a medical image and a geometric reference of the robot.

10. Method (40) according to claim 9, which includes a step (44) of determining the locked state of the inclination of the base (25, 26), the recalibration step (45) being inhibited when this inclination is not locked.

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