Surgery system

Abstract

The present invention relates to a surgical system (10) comprising a device (11) and a robot (12) and a method of operating the same. The device (11) comprises a supply device (20) and at least one apparatus (21) for treating a biological tissue (G) connected to the supply device (20). The apparatus (21) is arranged on a holding device (44) of the robot (12) and can be positioned and / or moved relative to the tissue (G) to be treated using the robot (12), and such operation is described by at least one operation parameter (PH). At least one or multiple operation parameters (PH) are provided to the device (11), and the device (11) determines and controls at least one operation parameter (PB) for operating the apparatus (21) in an open-loop or closed-loop manner based on the at least one operation parameter (PH). By doing this, the operation of the mechanism (21) is optimally adjusted for the current movement of the force applied to the mechanism (21) using the robot (12).

Description

Technology Field

[0001] The present invention relates to a surgical system comprising a robot and a device. The device comprises a supply device as well as a mechanism connected to the supply device, wherein the mechanism may be, for example, an electrosurgical device or any other mechanism receiving at least one operating parameter (e.g., gas and / or liquid and / or ultrasound and / or light and / or power) by the supply device. The mechanism is used to treat the biological tissue of a patient.

[0002] The robot has a robot arm, and a holding device is arranged on the robot arm. The holding device is configured to detachably arrange a mechanism, and optionally multiple mechanisms. Using the robot, the at least one mechanism can be positioned and / or moved relative to the biological tissue and / or generate a force between the mechanism and the biological tissue. Background Technology

[0003] Such a surgical system having a robot that manipulates or guides instruments during treatment can streamline the process of treating living tissue by an operator (e.g., a surgeon). For example, WO 2014 / 004116 A1 discloses a surgical system having a robot and an electrosurgical instrument held and moved by said robot. The robot controller can adjust the speed of the instrument to suit the type of tissue to be treated, and such tissue type can be determined specifically based on a determined impedance.

[0004] EP 2 854 665 A2 discloses a method for measuring values ​​such as the force or speed of an instrument on a tissue to be treated, and for determining and setting the desired type of tissue treatment based on such operational parameters. To this end, relevant sensors are provided on an electrosurgical instrument.

[0005] Token-based control is described in EP 3 795 106 B1. Using tokens, the robot control and the control of the high-frequency generator supplied to the electrosurgical instrument are linked together.

[0006] EP 4 132 407 A2 relates to a surgical system in which the clamping force of a forceps-type instrument guided by a robotic arm can be set based on the impedance of the clamped tissue.

[0007] Therefore, prior art describes various approaches for linking the control of a robot with the operation of a mechanism housed in the robot. In such linkage, the manipulation of the mechanism by the robot and the operation of the mechanism for treating biological tissue must be highly precisely coordinated to achieve the desired therapeutic effect. For example, for this purpose, a method has been proposed to mount additional sensors on the mechanism to obtain information regarding the actual position or movement of the mechanism, or the force applied by the mechanism to the tissue. These additional sensors not only increase the cost and the number of components of the surgical system but also require additional installation space, which can limit the possible range of application for the mechanism. Furthermore, additional sensors may make mechanism manipulation more difficult or interfere with mechanism manipulation during the treatment of biological tissue. The problem to be solved

[0008] The objective of the present invention can be considered to be to provide a surgical system that ensures excellent temporal coordination between the positioning and / or movement of the instrument on one hand and the supply of the instrument on the other, and, in particular, provides a simple structure while ensuring coordination in real time or with minimal delay. means of solving the problem

[0009] Such an objective is achieved through a surgical system having the features of claim 1. In addition, the present invention proposes a method having the features of claim 14.

[0010] A surgical system according to the present invention comprises a device. The device comprises a supply device having a device controller. At least one electrosurgical instrument may be connected to or may be connected to the supply device. The supply device may supply at least one operating parameter required for surgery, e.g., power or energy, to the connected instrument or at least one of the connected instruments. Additionally, or alternatively, the supply device may also supply a fluid (liquid, gas) or ultrasonic power or light as an operating parameter required for the operation of the at least one connected instrument (e.g., gas for plasma generation or water for a cryoinstrument). Such operating parameters may be provided in any combination.

[0011] The device controller of the supply device is configured to determine and set at least one operating parameter for the connected mechanism or at least one of the connected mechanisms (open-loop or closed-loop control). Depending on the mechanism used, for example, the at least one operating parameter may be an electrical operating parameter and / or a fluid operating parameter and / or an ultrasonic operating parameter and / or an optical operating parameter, etc. Depending on the configuration of the mechanism, the connection between the supply device and the at least one connected mechanism may be an electrical and / or fluid and / or optical and / or ultrasonic inductive connection. For example, through an optical connection, light (light to be emitted from the mechanism and / or detected by a sensor on the mechanism) may be transmitted.

[0012] Each provided electrosurgical device may have, for example, one electrode, two electrodes, or more than two electrodes, and thus may be configured as a unipolar, bipolar, or multipolar device. When the treatment circuit is closed, voltage may be applied to the at least one electrode and / or current may flow into or through the electrode according to electrical operating parameters.

[0013] If the electrosurgical device is a unipolar device or is used as a unipolar device, a neutral electrode to be attached to the patient may be connected to the supply device. In this case, the treatment circuit may be closed by passing from the supply device to the electrosurgical device or its electrode, the patient's biological tissue to be treated, and the neutral electrode, and then returning to the supply device. If the electrosurgical device is a bipolar or multipolar device, the treatment circuit may be closed by passing from the supply device to one electrode of the electrosurgical device, the biological tissue to be treated, and the other electrode of the electrosurgical device, and then returning to the power supply device.

[0014] The above surgical system further includes a robot configured to manipulate an instrument or at least one of the provided instruments. Herein, manipulation means the following:

[0015] a) positioning and / or movement of the device relative to biological tissue or the patient; and / or

[0016] b) Applying force between the instrument and the biological tissue to be treated. For example, applying clamping force and / or pressing force and / or cutting force to the biological tissue to be treated using the instrument.

[0017] The robot includes a holding device for holding the mechanism or at least one mechanism. The holding device is arranged on a movable robot arm of the robot.

[0018] The above operation features at least one operation parameter. The at least one operation parameter is preset in the robot or determined in the robot controller or using the robot controller.

[0019] To determine the at least one operation parameter from outside the robot, no additional sensors are provided on the mechanism possessed in the robot. Such additional sensors refer specifically to sensors exclusively assigned to the mechanism placed on the robot, rather than sensors provided on the robot in any way for the movement control of the robot arm.

[0020] The above at least one operation parameter does not include operation parameters for the operation of at least one mechanism placed on the holding device. The operation parameter, or at least one or all of the operation parameters, may be determined using only electrical control parameters and / or electric robot sensor values ​​that are used in some way to control the drive unit of the robot, in particular the robot arm, and are accordingly available. Such electrical control parameters and / or robot sensor values ​​may be used or available for open-loop or closed-loop control of the drive unit of the movable robot arm, in particular the electric motor drive unit. Thus, each operation parameter may be, for example, a preset value for the drive unit or a determined or measured actual value of the drive unit, which represents the position, movement, or force applied to the robot arm or the drive unit.

[0021] The surgical system also includes a communication device. The communication device is configured to provide at least one operating parameter of the robot for the device controller. Based on the at least one operating parameter, the device controller determines at least one operating parameter for each instrument (e.g., currently in use) to which the at least one operating parameter belongs during the treatment of biological tissue. Then, based on the at least one operating parameter, each instrument is supplied by the supply device. Based on the type of the operating parameter, the supply device may include, for this purpose, a generator that generates, for example, generator voltage and / or generator current, and / or a fluid source and / or a light source and / or an ultrasound source. The generator and / or provided sources used for supply may be controlled by the device controller in an open-loop or closed-loop manner to adjust the at least one operating parameter of the instrument.

[0022] For example, one or more of the parameters shown below can be used as operating parameters in any combination.

[0023] - Power to the device, especially to the electrodes of the device;

[0024] - The duration of activation while power and / or voltage and / or current is supplied continuously or in a clocked manner to the device, particularly to the electrodes of the device;

[0025] - As a current parameter of the current for the apparatus, particularly for the electrodes of the apparatus. The current parameter may be amplitude, frequency, crest factor, duty factor or duty cycle, waveform, or any combination of such current parameters.

[0026] - As a voltage parameter of the voltage to the apparatus, in particular to the electrode of the apparatus. The voltage parameter may be amplitude, frequency, crest factor, duty factor or duty cycle, waveform, or any combination of such voltage parameters.

[0027] - Fluid parameters of the fluid supplied to the device, e.g., pressure, flow velocity, volumetric flow rate, mass flow rate, or any combination of such fluid parameters;

[0028] - Ultrasonic parameters of the ultrasound provided to the device, e.g., its frequency and / or amplitude and / or output;

[0029] - Optical parameters of the light supplied to the device, e.g., its frequency and / or amplitude and / or output.

[0030] The configuration according to the present invention enables the rapid and adaptive setting of at least one operating parameter for the operation of the at least one mechanism based on current information regarding the manipulation of the mechanism by the robot (characterized by at least one operating parameter). In this process, the device is known to control how the robot currently positions and / or moves each of the mechanisms, and / or whether a force is generated between the mechanism and the tissue to be treated, and / or the amount of such force (e.g., clamping force, pressing force, cutting force).

[0031] The device controller may adjust the at least one (e.g., electrical and / or utility) operating parameter when necessary due to a change in the operating parameter, such as when the force or movement of the device relative to the tissue to be treated is changed. Such adjustment can be determined and set very quickly, almost in real time, and at least without any associated delay at the supply device or the device controller. By doing so, it is ensured that the at least one operating parameter is adjusted at any time with high accuracy for the operation of the device described by the at least one operating parameter.

[0032] As described, additional sensors on the mechanism are not required to determine the at least one operation parameter. Rather, the robot arm can be positioned and / or moved using set values, actual values, or other parameters already available in the robot or robot controller, or a desired force can be applied between the mechanism held on the robot arm and the tissue to be treated using the robot arm. By doing so, additional manufacturing effort and cost can be reduced. Furthermore, since the installation space required in the mechanism area is not expanded by additional sensors, it is advantageous for positioning and / or moving the mechanism, and thus advantageous for treating biological tissue.

[0033] In one embodiment, the surgical system may include an operating device that serves as a human-machine interface or an operator interface. Such an operating device may be configured to allow an operator to input and / or output information and data and / or provide information and data to the operator. To this end, input devices and / or output devices may be provided, for example, a touchscreen, a key, a speaker, a touch sensing area for operating a pointing device on a screen, a joystick, or other input devices and / or output devices known in the field of machine or robot control.

[0034] The communication device may have at least one interface or may be composed of at least one interface. For example, the at least one communication interface or communication device may be part of the device controller and / or part of the robot controller and / or part of the actuator.

[0035] The communication device may transmit data and information wirelessly and / or wiredly and may include necessary wireless and / or wired communication interfaces for this purpose. The communication device is configured to transmit data and information unidirectionally or bidirectionally, in particular, between the following participants: (i) between the robot controller and the device controller, and optionally (ii) between the actuator and the device controller, and optionally (iii) between the actuator and the robot controller.

[0036] The communication device or at least one communication interface may be configured to operate according to a standard communication protocol. For example, the at least one communication interface may be a USB interface, an Ethernet interface, a CAN interface, a Bluetooth interface, a WLAN interface, a 5G interface, a WiFi interface, or any combination thereof. In one embodiment, the communication may be performed according to the communication protocol IEEE 11073 SDC ("Service-Oriented Device Connection").

[0037] It is advantageous for the robot to include at least one drive unit for positioning and / or moving a holding device positioned on the robot arm. The at least one drive unit may be configured to position and / or move two arm parts of the robot arm that are movably connected to each other, in particular. For example, such arm parts may rotate about at least one axis relative to each other or pivot relative to each other. Each drive unit may include an electric motor for this purpose, and relative movement between the two arm parts is performed by the operation of the motor. Each drive unit may be individually controlled by the robot controller so that relative movement between two directly connected arm parts of the robot arm can be performed independently of relative movement between two other directly connected arm parts.

[0038] The operation of the electric motor may be described by at least one motor parameter. The motor parameter may be a preset value, a measured actual value, or an otherwise determined actual value. The motor parameter may be an electrical parameter, for example, motor voltage, motor current, motor power, frequency of motor voltage and / or motor current, etc. Additionally, or alternatively, the motor parameter may be the torque of the electric motor and / or the rotational speed of the electric motor and / or the rotational angle of the electric motor and / or the temporal variation of any of the motor parameters described above (for example, a temporal derivative of any order, such as a first or second derivative).

[0039] The motor parameters, one or all of the motor parameters, may be determined, for example, without using sensors. Optionally, at least one of the provided drive units may include at least one motor sensor to determine, for example, motor rotational speed and / or motor torque by sensors. Such a motor sensor is a robot sensor of the robot and is not an additional sensor. Apart from such motor sensors, the robot may omit additional sensors. The at least one optionally provided robot sensor is preferably a sensor configured to detect relative movement and / or relative position.

[0040] The operation parameter may be a direct set value and / or actual value available in the robot, for example, one of the motor parameters described above. Additionally, or alternatively, based on at least one set value and / or actual value or motor parameter, at least one operation parameter may be determined using a function, a characteristic curve, a set of characteristic curves, or a table ("lookup table").

[0041] In a preferred embodiment, operating parameters for the apparatus or one of the apparatuses connected to the supply device, which are controlled in an open-loop or closed-loop manner by the device controller, may be determined and set according to the movement speed of each apparatus relative to the tissue to be treated. To this end, for example, power and / or current and / or voltage may be adjusted to match the movement speed.

[0042] In one embodiment, the power on the apparatus or at least one electrode of the apparatus changes based on the movement speed of the apparatus, and in particular, the power increases as the movement speed increases. The power may change in one step, in multiple steps, or continuously. Thus, it is particularly advantageous when the power on the apparatus changes and the voltage at at least one electrode of the apparatus is maintained constant.

[0043] In any embodiment, the movement or position of the robot arm may optionally be controlled in an open-loop or closed-loop manner based on at least one determined operating parameter and / or treatment parameter and / or tissue parameter of the tissue to be treated. For example, when the apparatus reaches a determined location of a specific tissue type, such as tumor tissue, the robot arm may stop at the specific location or perform a limited movement. Such determination may be made based on at least one determined parameter, for example, tissue impedance and / or tissue spectrum (OES). The movement of the robot arm may additionally or alternatively be based on whether a predetermined treatment effect has been achieved.

[0044] It may be particularly advantageous to cut off the power supplied to the apparatus, in particular to at least one electrode of the apparatus, when the apparatus is in a stopped state with respect to the tissue to be treated, or when a predetermined minimum stopping time has elapsed since the apparatus entered a stopped state with respect to the tissue to be treated.

[0045] Additionally, or alternatively, the at least one operating parameter may be varied based on the force between each of the apparatus and the tissue to be processed (e.g., cutting force and / or pressing force and / or clamping force). The variation may be performed in steps or continuously. For example, one operating parameter or multiple operating parameters may be varied based on the operating parameter representing the force. In one embodiment, the at least one operating parameter may be varied as the force increases as follows:

[0046] - The above power increases continuously or in steps as the power increases;

[0047] - The above voltage increases stepwise or continuously as the power increases.

[0048] - The above crest factor decreases stepwise or continuously as the power increases.

[0049] Therefore, all other electrical operating parameters can be adjusted independently of the above force and, for example, can be kept constant.

[0050] The above at least one operating parameter, in particular at least one electrical operating parameter, may be varied specifically as follows based on the instrument penetration depth or cutting depth of the instrument (e.g., for electrosurgery) in the tissue to be treated.

[0051] - The power of the above electrosurgical device can be increased stepwise or continuously as the penetration depth or cutting depth increases.

[0052] - The above crest factor may decrease stepwise or continuously as the penetration depth or cutting depth increases.

[0053] Therefore, all other electrical operating parameters can be set independently of the penetration depth or cutting depth, and, for example, can be kept constant.

[0054] If the above mechanism comprises two mechanism parts that can be moved relative to each other and, in particular, pivoted relative to each other, the relative position (e.g., relative angle) and / or relative movement and / or force between the two movable mechanism parts may be determined as at least one operating parameter, and based thereon, at least one operating parameter may be changed. Such mechanism parts may be, for example, a clamp-type tool or jaw of a mechanism that can pivot relative to each other, and / or a tool (e.g., a needle or knife) that can be moved within a mechanism channel.

[0055] For example, the tissue may be clamped between the mechanism parts or jaws to coagulate the tissue and optionally further cut it. Preferably, the operating parameter may be varied as follows based on a clamping force or closing force determined between two movable mechanism parts:

[0056] - The power on at least one of the above-mentioned operating mechanism parts may be reduced stepwise or continuously as the power between the two tool parts increases.

[0057] - The activation duration for which power is supplied to at least one of the above-mentioned operating tool parts is reduced continuously or in steps as the power between the two tool parts increases.

[0058] Therefore, all other electrical operating parameters can be set independently of the clamping force or closing force between the two moving mechanism parts, and, for example, can be kept constant.

[0059] Based on the relative position or relative angle between the two movable tool parts, at least one of the operating parameters may be changed as follows:

[0060] - The power for at least one of the above-mentioned movable tool parts may be increased stepwise or continuously as the relative distance or angle between the tool parts increases.

[0061] - The activation duration for which power is supplied to at least one of the above-mentioned operating mechanism parts may be increased stepwise or continuously as the relative distance or angle between the above-mentioned operating tool parts increases.

[0062] Accordingly, all other electrical operating parameters can be set independently of the relative position or relative angle between the two operating tool parts, and, for example, can be kept constant.

[0063] To determine contact or reference position with respect to the tissue to be treated, the point in time when contact or a contact state occurs between the device component and the tissue to be treated can be determined, for example, through the device controller and / or the robot controller. If voltage is applied to the device component, the voltage change when the device component contacts the tissue to be treated can be determined through the device controller. Additionally, or alternatively, when such contact occurs, a change in current flowing into the device or the device component can be determined. If the tissue to be treated provides sufficient resistance to penetration by the device component, additionally or alternatively, the motor current of the robot drive unit can be increased to overcome the increasing reaction force.

[0064] The contact or reference position between the instrument held on the above-mentioned holding device and the tissue can be used to determine the penetration depth or cutting depth into the tissue to be treated without additional sensors. A change in position relative to the contact or reference position into the tissue to be treated corresponds to the penetration depth or cutting depth.

[0065] The robot, and for example, the holding device, may be configured to move two mechanism parts that are movable relative to each other and, for example, rotatable, of the mechanism held on the holding device. The relative position and / or relative movement and / or force between the movable mechanism parts may be determined through the robot, in particular the robot controller. For example, the mechanism parts movable relative to each other may be moved to a reference position (e.g., a completely closed position or a completely closed direct contact position). Subsequent position changes performed following such a reference position may be determined to determine the current relative position and relative movement (e.g., relative velocity) without additional sensors.

[0066] The force required to actuate the actuating mechanism parts using the robot or the holding device may be measured in the robot and / or determined by other means. For example, the motor current of the drive unit required for the actuation may be characterized for the closing force or clamping force between the actuating mechanism parts. Brief explanation of the drawing

[0067] Advantageous embodiments of the present invention are derived from the dependent claims, the detailed description, and the drawings. Hereinafter, preferred embodiments are described in detail based on the attached drawings. The drawings are as follows: FIG. 1 is a schematic diagram in the form of a block diagram of a surgical system including a robot and a device. FIG. 2 is a block diagram of one embodiment of a device for a surgical system according to FIG. 1. FIG. 3 is a block diagram of an embodiment having multiple driving units of the robot of FIG. 1 that can be controlled through a robot controller. FIG. 4 is a schematic principle diagram in the form of a block diagram to explain the relationship between robot control and device control performed according to robot control. Specific details for implementing the invention

[0068] In FIG. 1, an embodiment of a surgical system (10) is described very schematically in the form of a block diagram. The surgical system (10) includes a device (11) and a robot (12). The device (11) and the robot (12) are connected to communicate via a communication device (13) so as to be able to transmit electrical and / or optical signals in both directions, preferably.

[0069] In the present embodiment, the surgical system (10) additionally includes an operating device (15), through which the surgical system (10) can be operated by an operator (OP). Thus, the operating device (15) represents an operating interface or a human-machine interface. The operating device may be configured to input commands and / or output information through appropriate input units and / or output units. The operating device (15) may include, for example, a screen, a touch sensing area or screen, a motion control element, etc.

[0070] When using the above operating device (15), the robot (12) and preferably the device (11) can also be operated and controlled by the operator (OP). For example, the operator can use the above operating device (15) and / or directly on the device (11) to select or adjust an application (mode) for the device (11). The application may be, for example, a type of treatment for the biological tissue (G) of a patient (P) (e.g., amputation, coagulation, excision, etc.).

[0071] The communication device (13) may include at least one communication interface (14) for establishing a communication connection, and each communication interface (14) may be a wired and / or wireless communication interface. The communication may be performed based on a standard communication protocol. For example, the communication interface may be a WLAN interface, a 5G interface, a USB interface, a Bluetooth interface, a WiFi interface, or other standard interfaces, or any combination thereof.

[0072] The above device (11) includes a supply device (20), and a mechanism (21) operated by the supply device (20) may be connected to or connected to the supply device. Optionally, multiple mechanisms (21) may be connected to the supply device (20).

[0073] In this embodiment, an exemplary electrosurgical device (21) is described. Accordingly, the device (11) may be referred to as an electrosurgical device. Additionally, or alternatively, other devices (21), such as an ultrasonic device or a cryogenic device, may also be used. Depending on the type of device, the at least one operating parameter is provided by a supply device (20), such as electrical energy and / or fluid and / or ultrasound.

[0074] The above apparatus (21) has a line (22) for connecting to a supply device (20). An electrical and / or optical and / or utility and / or ultrasonic induction connection with the supply device (20) can be established through the line (22). To this end, the line (22) includes a connector (23) at the opposite end of the apparatus (21), and a detachable connection to a socket of the supply device (20) or other suitable connection device can be made through the connector (23).

[0075] The above electrosurgical device (21) may be composed of, for example, a unipolar device, a bipolar device, or a multipolar device. In this case, it includes at least one device electrode (24) that can be operated using voltage and / or current.

[0076] In a unipolar device or a bipolar or multipolar device operated as a unipolar device, the at least one electrosurgical device further comprises a neutral electrode (25), which may be omitted in a device operated in a bipolar or multipolar manner. The neutral electrode (25) is attached to the patient (P) in an electrically conductive manner to treat the patient (P)'s biological tissue (G) (Fig. 1). Thereby, a treatment circuit extending from the supply device (20) through the device electrode (24), the patient (P)'s treatment target tissue (G), and the neutral electrode (25) back to the supply device (20) can be closed (Figs. 1 and 2). To this end, the neutral electrode (25) is electrically connected to the supply device (20) via an electrode line (26).

[0077] In the case of a positive or multipolar device (21) (indicated by a dotted line in FIG. 2), the treatment circuit leading from the supply device (20) to one of the provided device electrodes, the tissue (G) to be treated by the patient (P), and the other of the provided device electrodes, and back to the supply device (20), can be closed (without a neutral electrode (25). The description in FIG. 2 is schematic. It is understood that each device (21) can be connected to the supply device (20) via an individual connector (23).

[0078] The above-described supply device (20) can be controlled by a mechanism controller (31) and has an electric generator (32) that supplies electrical energy to the mechanism (21). Through the generator (32), the mechanism can receive power, which can be applied, for example, to the at least one mechanism electrode (24). The generator (32) can operate as a forced voltage source or a forced current source. When using the generator (32), the high-frequency generator voltage (U G ) and / or high-frequency generator current (I G ) can be provided to the above-mentioned connected mechanism (21).

[0079] The above supply device (20) may optionally include a fluid source (33) that can be controlled via the device controller (31). In that case, it becomes possible to supply a fluid, particularly a gas such as argon, for operation to the connected electrosurgical device (21). For example, the gas may be used to generate plasma for tissue treatment in the electrosurgical device (21). As described above, other types of devices may also be used.

[0080] The robot (12) has a robot arm (37) capable of movement or positioning. As can be seen from the schematic diagram of FIG. 1, the robot arm (37) includes multiple arm parts (38) that are movable relative to each other. Two directly adjacent arm parts (38) are rotatably supported relative to each other according to the present example. One of the robot arm (37) or the arm parts (38) may be rotatably and / or pivotably positioned on the base (39) of the robot (12), and according to the present example, the axis of rotation may extend in a vertical direction.

[0081] To perform rotation and / or pivot movement or other movement between the robot arm (37) and the base (39) or between two arm parts (38) that are movably connected to each other, the robot (12) includes multiple drive units (40). To this end, the drive units (40) may each include a controllable electric motor (41). The drive units (40) may optionally include a motor sensor (42) assigned to the electric motor (41), for example, a rotation position and / or rotation speed sensor.

[0082] The robot (12) includes a robot controller (43). The robot controller (43) is configured to control the drive units (40) of the robot arm (37). Through this, the arm parts (38) can be moved and positioned relative to each other, and / or the robot arm (37) can be moved and positioned relative to the base (39). If each of the drive units (40) includes a motor sensor (42), the signal of the motor sensors (42) can optionally be transmitted to the robot controller (43) to control each of the drive units (40). Additionally, or alternatively, motor parameters such as the motor voltage and / or motor current and / or motor torque and / or motor rotational speed and / or the temporal change of any motor parameters of each of the drive units (40) described above may be pre-set and / or determined in the robot controller (43).

[0083] On the opposite end of the base (39), the robot arm (37) includes a holding device (44) configured to hold or arrange a mechanism or optionally multiple mechanisms (21). The holding device (44) may be configured, for example, as a gripping device.

[0084] Since the above-mentioned holding device (44) and the mechanism (21) held therein can be moved and positioned relative to the patient (P) using the robot arm (37), the mechanism (21) can be oriented relative to the tissue (G) to be treated. The movement of the robot arm (37) and the mechanism (21) held therein can be controlled or influenced by an operator (OP) through the operating device (15) of the present embodiment.

[0085] The mechanism (21) is operated using the robot (12), and operation parameters (PH) control or describe such operation in an open-loop or closed-loop manner. The operation includes a relative position and / or relative velocity between the mechanism (21) and the tissue to be treated (G) and / or a force between the mechanism (21) and the tissue to be treated (G) applied to the tissue to be treated (G) using the mechanism (21). The at least one operation parameter (PH) is pre-set or determined by the robot controller (43) and, for example, may be at least one set value and / or at least one actual value for the movement of the robot arm, or may be derived from these. The at least one operation parameter (PH) specifically represents the control of the drive units (40) and may be an electric motor parameter of the electric motor (41).

[0086] While the robot controller (43) controls the robot arm (37) in an open-loop or closed-loop manner according to the at least one operating parameter (PH), at least one operating parameter (PB) of each mechanism (21) may be controlled in an open-loop or closed-loop manner through the device controller (31). The operating parameter (PB) is a parameter representing the provided operating parameter, for example, an electrical and / or fluid parameter representing the operation of each electrosurgical mechanism (21).

[0087] For example, as an operating parameter (PB), at least one of the following parameters may be controlled in an open-loop or closed-loop manner through the device controller (31) of the supply device (20):

[0088] - The above generator current (I GAs a current parameter of ), the current parameter may be an amplitude, frequency, crest factor, duty factor or duty cycle, waveform, or any combination of such current parameters;

[0089] - The above generator voltage (U G As a voltage parameter of ), said voltage parameter may be amplitude, frequency, crest factor, duty factor or duty cycle, waveform, or any combination of such voltage parameters;

[0090] - As fluid parameters of the fluid supplied to the above apparatus, they may be, for example, pressure, flow velocity, volumetric flow rate, mass flow rate, or any combination of such fluid parameters;

[0091] - Generator voltage (U G ) and / or generator current (I G ) and / or activation duration while power is supplied continuously or clockwise to the connected device (21);

[0092] - Power to the above apparatus, in particular to the electrodes of the above apparatus.

[0093] The above operating parameter (PB) is distinguished from the above manipulation parameter (PH). While the above operating parameter (PB) limits the operating conditions (e.g., electrical and / or fluid) of the connected mechanism (21), the above manipulation parameter (PH) limits the position (spatial position and / or orientation in space) of the mechanism (21) placed on the holding device (44) of the robot (12) relative to the patient (P)'s tissue (G) to be treated. Additionally, the above manipulation parameter (PH) may also represent a force (e.g., press force, clamping force, cutting force, forward movement force) between the mechanism (21) and the tissue (G) to be treated.

[0094] Through the communication device (13) or at least one communication interface (14), the robot controller (43) and the device controller (31) are communicationally connected, enabling the transmission of communication data from at least the robot controller (43) to the device controller (31). The communication connection may also be bidirectional. Additionally, alternatively, as schematically illustrated in FIG. 1, a communication connection may also be established between the operating device (15) on one side and the device controller (31) and / or the robot controller (43) on the other side using the communication device (13).

[0095] Through the communication connection or the communication device (13), at least one of the operation parameter (PH) or at least one of the operation parameters (PH) is provided to the device controller (31). The device controller (31) is configured to determine the operation parameter (PB) or at least one of the operation parameters (PB) based on at least one of the operation parameter (PH) or the operation parameters (PH). Accordingly, at least one, multiple, or all of the operation parameters (PB) are determined and controlled in an open-loop or closed-loop manner based on one or more operation parameters (PH).

[0096] For example, an operating parameter (PB) or multiple operating parameters (PB) may be determined and controlled in an open-loop or closed-loop manner based on the relative speed of the apparatus (21) to the tissue (G) and / or the force between the apparatus (21) and the tissue (G). In this case, in particular, the voltage and / or current and / or power at at least one of the apparatus electrodes (24) is determined in an open-loop or closed-loop manner based on the speed or the force and is controlled accordingly.

[0097] Specifically, the electrical operation of the electrosurgical device (21) may be modified or adjusted based on a relative speed or relative force with respect to the tissue (G) to be treated, according to at least one possibility described below. Thus, the modification or adjustment of the operating parameter (PB) or at least one of the operating parameters (PB) may be performed in a stepless manner and / or continuously based on the position and / or speed and / or force in each case. In the following description, the relative speed relates to the speed of the electrosurgical device (21) with respect to the tissue (G) to be treated, and the force relates to the force applied between the electrosurgical device (21) and the tissue (G) to be treated (e.g., a press force on the tissue (G), a forward movement force while the device moves along the surface of the tissue (G) or into the tissue (G), a clamping force between two movable device parts, or a cutting force while cutting the tissue (G):

[0098] 1) The power supplied to the electrosurgical device (21) or the at least one device electrode (24) increases as the relative speed increases, and at this time the voltage supplied to the electrosurgical device (21) (particularly the generator voltage (U G )) can be maintained at a constant level.

[0099] 2) As the power increases, the power supplied to the at least one electrosurgical device (21), and in particular to the device electrode (24), may be increased. This allows, for example, the voltage supplied to the electrosurgical device (21) (in particular, the generator voltage (U G )) can be increased as the power increases. Preferably, the generator voltage (U G ) and / or the generator current (I G The crest factor of ) can decrease as power increases.

[0100] 3) The duration of activation while power is provided to the electrosurgical device (21) or the device electrode (24) continuously or clockwise may be reduced as the power increases, and in particular, when the power is a clamping force that clamps tissue (G) between two movable parts of the device, the power may be reduced (compare FIG. 2).

[0101] 4) As the distance between the two movable mechanism parts of the device acting on the tissue (G) to be treated, for example, clamping the tissue, increases (compare FIG. 2), the duration of activation may be increased while power is supplied to the electrosurgical device (21) continuously or clockwise, and in particular, as the distance increases, the power may be increased.

[0102] The two movable mechanism parts of the above apparatus (21) may be, for example, jaws (50) of an electrosurgical apparatus, particularly jaws (50) of an electrosurgical apparatus that operate in a clamp-like manner (for example, as shown in FIG. 1 and FIG. 2). The jaws (50) may move toward each other or away from each other, and may pivot, for example. Here, the relative distance is represented by the angle between the jaws, and the relative distance increases as the angle between the jaws increases, whereas the relative distance decreases as the angle between the jaws decreases.

[0103] The movable mechanism parts or jaws (50) of the instrument (21) (for electrosurgery according to the example) placed on the holding device (44) may be operated by the robot (12) or the holding device (44) to clamp, for example, tissue (G) between the jaws (50). On the jaws (50), one instrument electrode (24) may be provided in each case that contacts the tissue (G) to be treated when clamped between the jaws (50). By doing so, the tissue (G) may be coagulated, for example.

[0104] Due to the configuration according to the present invention, an operating parameter (PB) or multiple operating parameters (PB) can be rapidly adapted to changing operating parameters (PH). Through this, the treatment of the tissue (G) can be optimized. Operating parameters, for example, electrical and / or fluid operating parameters, can be very rapidly adapted to changes in the movement speed, force, or other operating parameters (PH) that the robot (12) acts on the mechanism (21). Thus, the optimal influence of the mechanism (21) adapted to the movement and force parameters is ensured at any time.

[0105] In addition to the embodiments described above, additionally or alternatively, the penetration depth and / or cutting depth of the needle, knife, or needle-type instrument electrode (24) or cutting electrode into the tissue to be treated (G) may be determined, and the operating parameter (PB) or multiple operating parameters (PB) may be changed based on the penetration depth or cutting depth. For example, if the penetration depth or cutting depth increases, the power and / or voltage supplied to the electrosurgical instrument (21) may be increased. Additionally, additionally or alternatively, the crest factor may be decreased as the penetration depth and / or cutting depth increases.

[0106] The above penetration depth or cutting depth may be determined, for example, in a manner in which contact between the distal end of the apparatus (21) (e.g., needle electrode or cutting electrode) and the tissue (G) is first determined. For example, this may be done in such a way that the operating parameter (PB) changes because, when the needle electrode or cutting electrode contacts the tissue (G), for example, a current flow is generated through the tissue to be treated (G) and / or the voltage applied to the apparatus electrode (24) (needle electrode or cutting electrode) changes and, in particular, decreases. Starting from such a reference position, movement performed by the robot (12) can be detected, and the penetration depth or cutting depth into the tissue to be treated (G) can be described.

[0107] As described above, the different operation parameters (PH) can be determined without additional sensors on the mechanism (21) using parameters already known in the robot (12), particularly motor parameters. Optionally, sensors such as the motor sensors (42) described above may be provided in the robot (12), particularly in the robot arm (37). However, such robot sensors are not directly assigned to the mechanism (21) placed on the holding device (44), but are provided to the robot (12) for the control of the robot arm (37). Additional sensors assigned to and attached to the mechanism (21) or attached to the holding device (44) are not required and do not exist in these embodiments.

[0108] The present invention relates to a surgical system (10) and a method of operating the same. The surgical system (10) comprises a device (11) and a robot (12). The device (11) includes a supply device (20) and at least one mechanism (21) configured to treat biological tissue (G) and connected to the supply device (20). At least one of the mechanism (21) or the provided mechanisms (21) is arranged on a holding device (44) of the robot (12) and may be positioned and / or moved relative to the tissue (G) to be treated, such relative movement and / or relative positioning is indicated by at least one operation parameter (PH). Additionally or alternatively, the operation parameter (PH) may represent a force between the mechanism (21) and the tissue (G). At least one or multiple operating parameters (PH) are provided to the device (11) via a communication device, and the one or more operating parameters (PB) are determined and controlled in an open-loop or closed-loop manner to operate the mechanism (21) based on one or more operating parameters (PH). In this case, optimal adaptation of the operation of the mechanism (21) to the current movement or force applied to the mechanism (21) by the robot (12) is achieved. Explanation of the symbols

[0109] 10 surgical systems 11 devices 12 robots 13 Communication Devices 14 Communication Interface 15 operating device 20 supply units 21 apparatus 22 lines 23 connector 24 device electrodes 25 neutral electrode 26 electrode lines 31 Device Controller 32 generators 33 Fluid Source 37 Robotic Arm 38 arm parts 39 bases 40 drive units 41 electric motor 42 motor sensor 43 Robot Controller 44 holding devices 50 Joe G tissue IG generator current OP manipulator Patient P PB operating parameters pH manipulation parameters UG generator voltage

Claims

Claim 1 In a surgical system (10), - a device (11) having a supply device (20), wherein the supply device (20) includes a device controller (31) and has at least one mechanism (21) connected to the supply device (20) and used to process biological tissue (G), and the device controller (31) is configured to determine and set at least one operating parameter (PB) for the operation of the at least one connected mechanism (21); - a robot (12) having a robot controller (43) and at least one movable robot arm (37), wherein a holding device (44) is provided for arranging the mechanism (21) or at least one of the mechanisms (21), and the robot controller (43) is configured to control the robot (12) to operate the mechanism (21) arranged on the holding device (44) or the mechanisms (21) arranged on the holding device (44), and is pre-limited in the robot (12) A surgical system comprising: a robot (12) wherein at least one determined operation parameter (PH) represents the movement and / or position of each of the mechanisms (21) relative to the tissue (G) and / or the force between each of the mechanisms (21) and the tissue (G); and a communication device (13) configured to provide the at least one operation parameter (PH) to the device controller (31), wherein the device controller (31) is configured to determine the at least one operation parameter (PB) based on the operation parameter (PH) or at least one of the operation parameters (PH). Claim 2 In claim 1, the surgical system, wherein the communication device (13) includes at least one communication interface (14). Claim 3 A surgical system according to claim 2, wherein one of the communication interface (14) or the communication interfaces (14) is part of the device controller (31) and / or the robot controller (43). Claim 4 A surgical system according to any one of claims 1 to 3, wherein the robot (12) comprises at least one drive unit (40) for positioning and / or moving the holding device (44), and each drive unit (44) comprises an electric motor (41). Claim 5 In claim 4, at least one motor parameter of at least one electric motor (41) is used to limit the operation parameter (PH) or to determine the operation parameter (PH) in the robot controller (43), in a surgical system. Claim 6 In claim 5, the surgical system wherein at least one motor parameter is one of the following parameters: - motor voltage; - motor current; - motor torque; - motor rotational speed; - motor rotational angle; - any one of the temporal variations of the motor parameter or a multiple combination of the parameters. Claim 7 A surgical system according to any one of claims 1 to 6, wherein the robot (12) includes at least one sensor (42), and the sensor (42) is configured to provide a sensor value that can limit an operation parameter (PH) in the robot controller (43) or determine an operation parameter (PH) based thereon. Claim 8 A surgical system according to any one of claims 1 to 7, wherein at least one of the operating parameters (PB) or the operating parameters (PB) for the apparatus (21) or one of the apparatuses (21) is controlled by relying on an operating parameter (PH) representing the movement speed of each apparatus (21). Claim 9 A surgical system according to any one of claims 1 to 8, wherein at least one of the operating parameters (PB) or the operating parameters (PB) for the apparatus (21) or one of the provided apparatuses (21) is controlled depending on an operating parameter (PH) representing the force between each apparatus (21) and the tissue (G) to be treated. Claim 10 A surgical system, wherein in any one of claims 1 to 9, the device controller (31) and / or the robot controller (43) is configured to detect contact between the mechanism (21) or one of the provided mechanisms (21) and the tissue (G) to be treated. Claim 11 A surgical system according to claim 10, wherein the device controller (31) and / or the robot controller (43) is configured to determine a change in position of the mechanism (21) or one of the provided mechanisms (21) after the contact occurs. Claim 12 A surgical system according to claim 11, wherein the device controller (31) and / or the robot controller (43) is configured to determine the depth of penetration into the tissue (G) to be treated based on a change in position of the mechanism (21) or one of the provided mechanisms (21). Claim 13 A surgical system, wherein in any one of claims 1 to 12, the device controller (31) and / or the robot controller (43) is configured to determine the position of the mechanism (21) or one of the mechanisms (21) movable part (50). Claim 14 As a method of operating a surgical system (10), the surgical system (10) comprises a supply device (20) having a device controller (31) and a device (11) having at least one mechanism (21) for treating biological tissue (G) connected to the supply device (20), and the surgical system (10) further comprises a robot (12) having a movable robot arm (37) provided with a robot controller (43) and a holding device (44) for arranging at least one of the mechanism (21) or the mechanisms (21), and the surgical system (10) also comprises a communication device (13), the method comprising: - determining and setting at least one operating parameter (PB) for operating the at least one connected mechanism (21) using the device controller (31); - using the robot controller (43) to operate the mechanism (21) arranged on the holding device (44) or the mechanisms (21) arranged on the holding device (44). A method comprising: a step of controlling the robot (12), wherein at least one operating parameter (PH) that is preset or determined in the robot (12) represents the movement and / or position of each mechanism (21) relative to the tissue (G) and / or the force between each mechanism (21) and the tissue (G); a step of providing the at least one operating parameter (PH) to the device controller (31) using the communication device (13); and a step of determining the at least one operating parameter (PB) based on the operating parameter (PH) or at least one of the operating parameters (PH) using the device controller (31).

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