Robotic arm for use in surgery, microsurgery or super-microsurgery
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-04-15
- Publication Date
- 2026-03-27
AI Technical Summary
Existing robotic arms for surgical, microsurgery, or ultramicrosurgery lack optimal link length, resulting in insufficient dexterity for complex microsurgical techniques and potential interference with the operator's vision.
A robotic arm design with specific arm element length ratios (1.00±10%):{(1.00~1.05)+-10%}:(0.60±10%) and advanced joint configurations, including six degrees of freedom, to enhance dexterity and reduce interference with the operator's view.
The robotic arm provides improved accuracy, dexterity, and maneuverability for microsurgical procedures, reducing the risk of collisions and maintaining clear operator vision, while also reducing power consumption and temperature rise.
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Abstract
Description
[Technical field]
[0001] The present invention belongs to the technical field of robotics for use in surgical, microsurgical or super-microsurgical procedures.
[0002] In particular, the present invention relates to a robotic arm for use in surgical, microsurgical or super-microsurgical procedures. [Background technology]
[0003] For example, a robotic arm can be used in performing an anastomosis.
[0004] In surgical procedures, particularly micro- or super-microsurgical procedures, robots are used for precise surgical manipulation on the sub-millimeter scale.
[0005] In particular, the use of robots facilitates precise movements with micrometer accuracy without significant tremors, thereby replacing the limitations of human manual manipulation.
[0006] However, these robots need to provide the operator (e.g., surgeon) with sufficient dexterity to be able to perform complex movements within the microsurgical workspace and also to avoid the risk of collisions with other objects during the operation.
[0007] Furthermore, it is important that the parts of the robot, and in particular the robot arm, do not interfere with and therefore obstruct the operator's microscopic view.
[0008] This is particularly important given the environmental volume constraints of the working space in surgery, particularly microsurgery and super-microsurgery.
[0009] Robots for use in surgical, microsurgical or super-microsurgical procedures are known in the art.
[0010] For example, EP 2731535 A1 discloses a microsurgical robotic device for providing robotic assistance during tasks requiring prolonged 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 six degree of freedom (DOF) master-slave setup with force feedback. An additional DOF is included to actuate a 1-DOF instrument tip.
[0011] A drawback of this known robotic device is that the link lengths are still suboptimal.
[0012] As a result, it is not possible to provide the operator with sufficient dexterity required to perform a wide range of microsurgical techniques (eg, anastomosis).
[0013] A further drawback is that the robotic parts, particularly the robotic arms, can interfere with and thus obstruct the surgeon's view of the surgical site during a surgical procedure. [Prior art documents] [Patent documents]
[0014] [Patent Document 1] European Patent Application Publication No. 2731535 Summary of the Invention [Problem to be solved by the invention]
[0015] In view of the above, it is an object of the present invention to provide an improved robotic arm for use in surgery, microsurgery or super-microsurgery, inter alia in that the robotic arm is able to provide the operator with improved precision and dexterity whilst maintaining a high level of precision and addressing volumetric constraints in the workspace of surgery, particularly microsurgery and super-microsurgery. [Means for solving the problem]
[0016] The above mentioned object is achieved by providing a robotic arm according to claim 1. There is therefore provided a robotic arm for use in surgery, microsurgery or super-microsurgery, comprising: a first proximal arm element having a first arm length connected to a first proximal articulation portion having a first roll and a first pitch and a second intermediate articulation portion having a second roll and a second pitch; a second intermediate arm element having a second arm length connected to the intermediate joint portion and a third distal joint portion having a third roll and a third pitch; a third distal arm element having a third arm length connected to the distal articulation portion; and wherein a ratio between the first, second and third arm element lengths is: (1.00+-10%):{(1.00~1.05)+-10%}:(0.60+-10%) A robotic arm is provided, wherein a distal end of the proximal arm element is connected to a second intermediate joint.
[0017] In particular, the intermediate joint has a second roll and a second pitch.
[0018] The robotic arm further includes a second intermediate arm element having a second arm element length.
[0019] The proximal end of the intermediate arm element is connected to the intermediate articulation section.
[0020] The distal end of the intermediate arm element is connected to a third distal articulation portion.
[0021] In particular, the distal articulation portion has a third roll and a third pitch.
[0022] The robotic arm further includes a third distal arm element having a third arm element length.
[0023] The proximal end of the distal arm element is connected to the distal articulation portion.
[0024] In particular, the ratio between the lengths of the first, second and third arm elements is: (1.00+-10%):{(1.00~1.05)+-10%}:(0.60+-10%) It is.
[0025] The present invention is based on the basic idea that by providing a robotic arm for use in surgery, in particular in microsurgery and super-microsurgery, having the above-mentioned specified ratio between the arm element lengths, it is possible to provide the operator (e.g. surgeon) with improved dexterity and to prevent the risk of collision with other objects or the patient during operation. Furthermore, it is possible to provide the operator with a better vision of the surgical site without significant obstacles. Furthermore, it is possible to reduce the dimensions of the robotic arm (in particular the end effector), so that less mass needs to be moved during operation. Furthermore, the improved kinematics make it possible to operate the robotic arm with less power and at lower temperatures.
[0026] The disclosed ratios have been found by experiment and experience and have been shown to be highly effective in achieving, among other things, the above objectives.
[0027] Optionally, a sterile drape may be used to cover the robotic arms to maintain sterility during the surgical procedure.
[0028] Preferably, the ratio between the first, second and third arm element lengths is: (1.00+-3%~5%):{(1.00~1.05)+-3~5%}:(0.60+-3%~5%) It is.
[0029] Advantageously, the first arm element length may be between 225 and 275 mm.
[0030] Advantageously, the second arm element length may be between 231.75 and 283.25 mm.
[0031] Advantageously, the third arm element length may be between 135 and 165 mm.
[0032] Preferably, the first arm element length is 250mm.
[0033] Preferably, the second arm element length is 257.5mm.
[0034] Preferably, the third arm element length is 150mm.
[0035] In particular, the robotic arm may be configured to have six degrees of freedom (DOF) at its tip.
[0036] Preferably, the six degrees of freedom may include three translational degrees of freedom and three rotational degrees of freedom.
[0037] It is therefore possible to perform surgical operations, in particular micro- and super-microsurgeries (eg anastomosis), with greater precision and improved maneuverability compared to the prior art.
[0038] The precision and accuracy of the robotic arm's movements as well as its maneuverability are further improved by the specific features and range of motion of the proximal, middle and distal joints.
[0039] In particular, the proximal joint is advantageously First roll: -41° to +41° relative to the first roll rotation axis, and / or Primary pitch: -23°~+44° to the primary pitch rotation axis This can include a range of motion of
[0040] In particular, the intermediate joint is advantageously Second roll: -180° to 180° with respect to the second roll rotation axis, and / or Secondary pitch: -8°~+90° to the secondary pitch rotation axis This can include a range of motion of
[0041] In particular, the distal joint is advantageously Third role: +-inf, and / or Third pitch: -185°~185° to the third pitch rotation axis This can include a range of motion of
[0042] The first roll, the first pitch, the second roll, the second pitch, and the third pitch may include a drive motor stack provided with a brake.
[0043] For example, the first roll, the first pitch, the second roll, the second pitch, and the third pitch may be actuated by a frameless direct drive motor.
[0044] The third roll may include a servo motor.
[0045] Advantageously, a button can be provided for simultaneous disengagement of the motor brakes.
[0046] Thus, an operator is able to conveniently trigger the disengagement of the motor brake.
[0047] In particular, the button may be located at the end of the robot arm for easier operation by an operator.
[0048] Preferably, the buttons are located on the third roll.
[0049] To reduce temperature rise, some components of the robot arm may be configured to receive reduced voltages.
[0050] In particular, the second roll and the third roll may be configured to receive a reduced voltage of 24V.
[0051] In particular, the third roll may be configured to receive a further reduced voltage of 12V.
[0052] By reducing the applied voltage in some parts of the robot arm, safety conditions can be improved.
[0053] Therefore, patient protection measures can be relaxed.
[0054] Additionally, the smaller difference between the applied and supply voltages allows for improved efficiency in the robot arm's electronics.
[0055] The rest of the robot arm is powered by 48V.
[0056] Advantageously, the second roll, the second pitch, the third roll and the third pitch are provided with respective covers.
[0057] The cover may be made from an electrically insulating material.
[0058] This provides an additional layer of protection.
[0059] Additionally or alternatively, the cover may be made from a thermally insulating material.
[0060] Therefore, temperature requirements during surgery are easier to comply with.
[0061] The cover of the second roll and the cover of the third roll may be removable for cleaning purposes.
[0062] The remaining covers are not removable.
[0063] The present invention further provides a surgical, microsurgical or super-microsurgical robot comprising a robotic arm as described above.
[0064] In particular, the robot may be configured and adapted to perform anastomosis.
[0065] Further advantages of the present invention will now be disclosed in connection with the drawings. [Brief description of the drawings]
[0066] [Figure 1] FIG. 1 is a partial perspective view of a surgical robotic system including two robotic arms.
[0067] [Diagram 2] FIG. 1 is a perspective view of a robotic arm for use in a surgical, microsurgical or super-microsurgical procedure, according to one embodiment of the present invention.
[0068] [Diagram 3] FIG. 3 is a perspective view similar to FIG. 2 but from a different perspective, further illustrating the rotational orientation of different elements of the robot arm.
[0069] [Figure 4] FIG. 3 is an enlarged perspective view of a detail of a cover used in the robot arm of FIG. 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0070] FIG. 1 shows a partial view of a surgical robotic system 200 for surgery, microsurgery or super-microsurgery.
[0071] Although not shown, the surgical robotic system 200 includes a base station.
[0072] Although not shown, the base station may include display means for displaying information to one or more operators and may provide a user interface for entering user input.
[0073] Although not shown, the base station may be equipped with wheels that allow for easy placement of the surgical robotic system 200 in a desired location within the operating room.
[0074] The surgical robotic system 200 includes a base column 202 .
[0075] The base column 202 carries a suspension arm 204 that can rotate about a longitudinal (vertical) axis of the base column 202 .
[0076] The suspension arm 204 carries a fork element 206 that is capable of rotating about a vertical axis mounted to the suspension arm 204 .
[0077] In the illustrated configuration, the fork element 206 supports first and second robotic arms, such as robotic arm 100, described below.
[0078] Each robotic arm carries a respective surgical instrument 300 .
[0079] FIG. 2 illustrates a robotic arm 100 for use in surgery, microsurgery or microsurgery, according to one embodiment of the present invention.
[0080] The robotic arm 100 includes a first proximal arm element 102 having a first arm element length L1 (FIG. 3).
[0081] The proximal end of the first arm element 102 is connected to a first proximal articulation portion 104 having a first roll 106 and a first pitch 108 (FIGS. 2-3).
[0082] Additionally, the distal end of the first arm element 102 is connected to a second intermediate joint portion 110 having a second roll 112 and a second pitch 114 (FIGS. 2-3).
[0083] Additionally, the robotic arm 100 includes a second intermediate arm element 116 having a second arm element length L2 (FIG. 3).
[0084] The proximal end of the second arm element 116 is connected to the intermediate joint 110 (FIG. 2).
[0085] Additionally, the distal end of the second arm element 116 is connected to a third distal joint 118 having a third roll 120 and a third pitch 122 (FIGS. 2-3).
[0086] Furthermore, the robotic arm 100 includes a third distal arm element 124 having a third arm element length L3 (FIG. 3).
[0087] The proximal end of the third arm element 124 is connected to the distal articulation portion 118 (FIG. 2).
[0088] In this embodiment, the ratio between the first, second, and third arm element lengths L1, L2, and L3 is: (1.00+-10%):{(1.00~1.05)+-10%}:(0.60+-10%) It is.
[0089] Preferably, the ratio between the first, second and third arm element lengths L1, L2, L3 is: (1.00+-3%~5%):{(1.00~1.05)+-3~5%}:(0.60+-3%~5%) It is.
[0090] In this embodiment, the first arm element length L1 is 225 to 275 mm.
[0091] Preferably, the first arm element length L1 is 250 mm.
[0092] In this embodiment, the second arm element length L2 is 231.75 to 283.25 mm.
[0093] Preferably, the second arm element length L2 is 257.5 mm.
[0094] In this embodiment, the third arm element length L3 is 135 to 165 mm.
[0095] Preferably, the third arm element length L3 is 150 mm.
[0096] In this embodiment, the robot arm 100 is configured to have six degrees of freedom (DOF) at its tip.
[0097] Preferably, the six degrees of freedom include three translational degrees of freedom and three rotational degrees of freedom.
[0098] This allows the anastomosis to be performed at a microscopic level.
[0099] In this embodiment, the proximal joint 104 is First roll 106: -41° to +41° relative to the first roll rotation axis, and / or First pitch 108: -23° to +44° relative to the first pitch rotation axis Includes range of motion.
[0100] Additionally or alternatively, the intermediate joint portion 110 may include: Second roll 112: -180° to 180° with respect to the second roll rotation axis, and / or Second pitch 114: -8° to +90° relative to the second pitch rotation axis Includes range of motion.
[0101] Additionally or alternatively, the distal articulation portion 118 may include: Third roll 120: +-inf, and / or Third pitch 122: -185° to 185° with respect to the third pitch rotation axis Includes range of motion.
[0102] The robotic arm 100 makes it possible to obtain the high level of dexterity required to perform the anastomosis while avoiding the risk of undesired collisions with the patient during the surgical procedure.
[0103] In this embodiment, the first roll 106, the first pitch 108, the second roll 112, the second pitch 114 and the third pitch 122 include drive motor stacks equipped with brakes.
[0104] Advantageously, a backlash-free brake can be used, for example a permanent magnet brake.
[0105] Additionally, hysteresis in brake engagement and disengagement can be utilized to reduce power consumption by the brakes.
[0106] The third roll 120 includes a servo motor.
[0107] In this embodiment, a button (not shown) is provided to simultaneously disengage the motor brakes.
[0108] Preferably, the button is located at the end of the arm 100 .
[0109] More preferably, the buttons are located on the third roll 120 .
[0110] Typically, the voltage applied across the elements of the robot arm 100 is 48V.
[0111] Nevertheless, the voltage is reduced in some elements of the robot arm 100 to reduce the temperature rise.
[0112] In particular, according to this embodiment, the second roll 112 and the third roll 122 are configured to receive a voltage of 24V.
[0113] Additionally, the third roll 120 is configured to receive a voltage of 12V.
[0114] Reducing the applied voltage increases the overall safety conditions of the robotic arm 100, thereby improving patient protection.
[0115] In this embodiment, covers 126 , 128 , 130 , 132 may be provided to protect the components of the robotic arm 100 .
[0116] FIG. 4 shows details of the covers 126, 128, 130, 132 according to this embodiment.
[0117] In particular, the first cover 126 covers the second roll 112 .
[0118] The second cover 128 is provided on the intermediate arm 110 and covers the second pitch 114 .
[0119] The third cover 130 covers the third roll 120 .
[0120] Finally, a fourth cover 132 covers the third pitch 122 .
[0121] The covers 126, 128, 130, 132 are made from an electrically insulating and / or thermally insulating material.
[0122] Advantageously, the first and fourth covers 126, 132 covering the second roll 112 and the third roll 122 respectively are removable for cleaning purposes.
[0123] The remaining covers 128, 130 are not intended to be removed.
[0124] The cover 130 of the third roll 120 may have a PCB attached to it (not shown).
[0125] A spring system (not shown) may be provided to compensate for the torque caused by the first pitch 108 and the second pitch 114. The spring position and stiffness are adjusted so that the torque during the surgical procedure (e.g., anastomosis) remains low enough and the motor does not heat up excessively.
[0126] The robot arm 100 can be easily draped by moving it to the appropriate draping position. [Explanation of symbols]
[0127] 100 Robot Arm 102 Proximal Arm Element 104 Proximal Joint 106 First Roll 108 First Pitch 110 Intermediate joint 112 Second Roll 114 Second Pitch 116 Intermediate arm element 118 Distal Joint 120 Third Roll 122 Third Pitch 124 Distal Arm Element 126 (Second Pitch) Cover 128 (2nd roll) cover 130 (third pitch) cover 132 (3rd roll) cover 200 Surgical Robot System 202 Bass Column 204 Suspension arm 206 Fork Elements 300 Surgical instruments L1 First arm element length L2 Second arm element length L3 Third arm element length
Claims
1. A robotic arm for use in surgical procedures, microsurgery, or ultramicrosurgery, A first proximal arm element having a first arm length (L1) is connected to a first proximal joint having a first roll and a first pitch, and to a second intermediate joint having a second roll and a second pitch, A second intermediate arm element having a second arm length (L2) is connected to the intermediate joint and a third distal joint having a third roll and a third pitch, A third distal arm element having a third arm length (L3) is connected to the distal joint portion. Equipped with, The ratio between the lengths of the first, second, and third arm elements (L1, L2, L3) is （１．００＋－１０％）：｛（１．００～１．０５）＋－１０％｝：（０．６０＋－１０％） This is a robotic arm.
2. The ratio between the lengths of the first to third arm elements (L1, L2, L3) is （１．００＋－３％～５％）：｛（１．００～１．０５）＋－３～５％｝：（０．６０＋－３％～５％） Being Characterized by, The robotic arm according to claim 1.
3. The length of the first arm element (L1) is 225 to 275 mm. The length of the second arm element (L2) is 231.75 to 283.25 mm. The length of the third arm element (L3) is 135 to 165 mm. Characterized by, The robotic arm according to claim 1.
4. The length of the first arm element (L1) is 250 mm. The length of the second arm element (L2) is 257.5 mm. The length of the third arm element (L3) is 150 mm. Characterized by, The robotic arm according to claim 1.
5. It is configured to have six degrees of freedom at its tip, preferably including three translational degrees of freedom and three rotational degrees of freedom. Characterized by, The robotic arm according to claim 1.
6. The aforementioned proximal joint portion, First roll: -41° to +41° with respect to the first roll rotation axis, and / or First pitch: -23° to +44° relative to the first pitch rotation axis Including the range of motion Characterized by, The robotic arm according to claim 1.
7. The aforementioned intermediate joint portion, Second roll: -180° to 180° with respect to the second roll rotation axis, and / or Second pitch: -8° to +90° relative to the second pitch rotation axis Including the range of motion Characterized by, The robotic arm according to claim 1.
8. The distal joint portion, Third role: + - inf, and / or Third pitch: -185° to 185° relative to the third pitch rotation axis Including the range of motion Characterized by, The robotic arm according to claim 1.
9. The first roll, the first pitch, the second roll, the second pitch, and the third pitch include a drive motor stack equipped with a brake, and The third roll includes a servo motor. Characterized by, The robotic arm according to claim 1.
10. A button is provided to simultaneously disengage the motor brake. Characterized by, The robotic arm according to claim 9.
11. The button is installed at the tip of the arm, preferably on the third roll. Characterized by, The robot arm according to claim 10.
12. The second roll and the third pitch are configured to receive a voltage of 24V. The third roll is configured to receive a voltage of 12V, and The remaining portion of the robot arm is configured to receive a voltage of 48V. Characterized by, The robotic arm according to claim 1.
13. The second roll, the second pitch, the third roll, and the third pitch are each provided with a cover made of an electrical insulating material and / or a thermal insulating material. Characterized by, The robotic arm according to claim 1.
14. The cover of the second roll and the cover of the third pitch are removable. Characterized by, The robotic arm according to claim 13.
15. A surgical, microsurgical, or ultramicrosurgical robot, particularly for performing anastomoses, comprising a robotic arm according to any one of claims 1 to 14.