Semi-autonomous robotic system for endoscope manipulation

Abstract

The present invention pertains to the fields of medicine and surgical procedures. The conventional method for removing kidney stones involves risks and limitations. One proposed solution is to use a robotic system for nephrolithotripsy, which allows the surgeon to maintain a safe distance and enhances ergonomics. This system uses a robotic manipulator to automate movements and streamline the search for stones, making the procedure more practical and focused. This overcomes the drawbacks of the conventional method and provides a safer and more efficient approach.

Description

Semi-autonomous robotic system for endoscope handling. FIELD OF APPLICATION

[0001] The present invention applies to the medical field of semi-automatic robotic systems and can be applied in medical procedures. The present invention discloses a semi-automatic robotic system for manipulating a flexible medical endoscope to assist in performing flexible nephrolithotripsy for the removal of ureteral / renal calculi. FUNDAMENTALS OF THE INVENTION

[0002] In conventional flexible nephrolithotripsy, the physician or specialist surgeon manually manipulates a flexible endoscope to remove stones from the upper ureter or kidney. With the assistance of the nursing staff, the physician introduces the video device (flexible endoscope) into the urinary tract, without incisions, through the urethra (natural orifice) to the ureteropelvic junction (UPJ) of the affected kidney, allowing internal visualization of the patient. Once in the correct position, the physician advances through the renal calyces in search of kidney stones, using the deflection trigger at the base of the video device to bypass the patient's internal walls. When a kidney stone is identified, an instrument, such as a capture net or laser fiber optic, is inserted into the flexible endoscope through an orifice at the base, with the aim of capturing and / or pulverizing the stone, respectively. This process is repeated until all kidney stones are removed.

[0003] Conventional devices require various pieces of equipment to position the endoscope in the patient (fixation to the table, support bench, etc.), including deflection axes, displays for internal visualization, computerized control for automation, and remote operation capability. This conventional method exposes the medical team to risks of contamination and radiation, in addition to generating possible procedural failures due to ergonomic fatigue of the physician responsible for manipulating the endoscope and the time required to perform the operation conventionally.

[0004] In order to solve the problems described above, the present invention discloses a robotic system that allows the system operator to maintain a safe distance and enjoy better ergonomics, differentiating itself from conventional systems that use dispersed actuators for movements. Through the use of a sophisticated robotic manipulator, the system is able to record the position of a point during its operation, automating the movements manually entered by the physician.

[0005] This approach, rarely found in similar devices, assists the nephrolithotripsy process, speeding up the search for kidney stones, making the procedure more practical and allowing the surgeon greater concentration and comfort. STATE OF THE ART

[0006] Document US11096555 discloses a medical instrument system, which may have a support structure that is movably attached to a patient table, the support structure having a computer monitor holder and a Endoscope support, in which the computer monitor support and the endoscope support are coupled to move together as a single unit. In some aspects, the system includes a computer display device and an endoscope, in which the computer display device and the endoscope are coupled to the support structure to move together as a single unit, and the patient table, computer display device, and endoscope are arranged along a common longitudinal axis.

[0007] Unlike the present invention, the document above is an example of prior art equipment and describes a structure attached to the patient table, possessing an interactive computerized display and endoscope support. In contrast, the system developed in the present invention uses a wireless control to recognize user input, allowing the user to remain further away from the patient and assume more comfortable positions, as well as a semi-autonomous robotic manipulator, which allows for a safer procedure and the adoption of methods absent in the system of the document above.

[0008] US document 10219867 describes a manipulator, for use with a robotic control system, for maneuvering an existing instrument to a desired location within a target zone. It includes at least one controller, a rotation mechanism communicating with at least one controller and being rotated about a first axis, a horizontal motion mechanism communicating with at least one controller and being moved along a first path, and a deflection mechanism capable of receiving a portion of the... existing instrument. Such a deflection mechanism is in communication with at least one controller and displaced along a second path in such a way that it causes the deflection of a distal end of the existing medical instrument.

[0009] The document above describes a single-axis manipulator with horizontal movement and rotation capabilities, and adaptability for different medical instruments. In contrast, the system of the present invention utilizes the state analysis tools of an advanced manipulator to obtain position feedback, which allows for the easier application of methods absent in the system described in the document above.

[0010] Document EP3756608 discloses a stone removal device, which may comprise: an insertion tube; a guide, which is inserted into the insertion tube and is relatively movable relative to the insertion tube; a wire, which is inserted into the guide and is relatively movable relative to the guide; a basket positioned in front of the wire and capable of holding stones; and a control unit for determining the size of the stone based on the relative movement of the guide relative to the insertion tube or the relative movement of the wire relative to the guide.

[0011] The system described in the document above is an example of a control system based purely on the kidney stone extraction method involving a generic endoscopic device. However, the system of the present invention teaches both a semi-autonomous electromechanical system and a position memorization method, differentiating itself from the system described above. from the document above. SUMMARY OF THE INVENTION

[0012] In the conventional flexible nephrolithotripsy procedure, the physician manually manipulates a flexible endoscope to perform the kidney stone removal procedure. This exposes both the physician and the patient to risks of contamination, radiation, and ergonomic fatigue. The physician guides the device through the urethra to the ureteropelvic junction (UPJ) of the affected kidney, advancing through the renal calyces with the aid of a deflection trigger at the base. Instruments such as capture nets or fiber optics are inserted into the device to remove the stones. This method requires various pieces of equipment and presents limitations and risks.

[0013] To overcome these problems, the invention proposes a robotic system that allows the system operator to maintain a safe distance while using the device and offers improved ergonomics, unlike conventional methods. Using an advanced robotic manipulator, the system records positions and automates movements during the procedure being performed, speeding up the search for the desired target. This innovative approach makes the procedure more practical and focuses the system operator's attention. BRIEF DESCRIPTION OF THE FIGURES

[0014] Figure 1 illustrates the ureterorenoscope coupling tool and associated devices in I o dismantling process.

[0015] Figure 2 illustrates the ureterorenoscope coupling tool and associated devices in 2 o dismantling process.

[0016] Figure 3 illustrates an overview of the system.

[0017] Figure 4 illustrates an exploded view of the system's base.

[0018] Figure 5 illustrates the front, side and top views of a wireless control via Bluetooth communication (38). DETAILED DESCRIPTION OF THE INVENTION

[0019] The invention can be better understood through the following detailed description, in conjunction with the attached figures.

[0020] The present invention discloses a robotic instrument system for assisting in the nephrolithotripsy procedure.

[0021] The robotic system comprises: a mobile base (28), where most of the electrical connections and mechanical components reside, capable of mechanically supporting the rest of the system, possessing a Guide Tool (17); a robotic manipulator (10), possessing at least seven axes for movement and functions for analyzing positioning, torque, and linear and axial speeds; a control unit (5) for the robotic manipulator (10), where most of the commands and methods will be sent; an HMI (Human-Machine Interface) device (9), where the data sent by the user will be processed, so as not to restrict the movement of the manipulator; a commercial wireless controller (38), wirelessly connected to the HMI (9); a coupling tool (11) for a ureterorenoscope, capable of accommodating various types of ureterorenoscopes, coupled to the last axis of the robotic manipulator; a ureterorenoscope (30) being coupled to the coupling tool (11); a servo motor (34), orthogonally coupled to the coupling tool (11) and to the ureterorenoscope (31); an emergency button (12) coupled to the mobile base (28); a guide tool (17) for the distal tip of the ureterorenoscope (30).

[0022] The mobile base (28) has the function of containing all the devices and parts of the system on a mobile and robust platform. It can be produced with materials with characteristics of aluminum and / or carbon / stainless steel. Optionally, it can have the following dimensions: 1200 - 1300 millimeters in length, 1700 - 1900 millimeters in height and 700 - 800 millimeters in width.

[0023] The guide tool (17) has the function of supporting the sheath and flexible part of the ureterorenoscope, preventing bulging; in addition, it must be adjustable to be positioned at a height similar to the tip of the endoscope. It can be produced with lightweight materials resistant to simple sterilization processes, for example, plastic and / or ceramic polymers. The tool must be mechanically constructed in such a way that it can be fixed in different positions on the vertical axis to follow the height of the robotic manipulator (10).

[0024] The robotic manipulator (10) has the function of performing precise movement of the ureterorenoscope and sending position feedback to the control unit (5). It must have a robust and highly sensitive embedded internal monitoring system, featuring position and torque sensors in each The axle must have an overall load capacity of at least 7 kg and a travel of 100 mm - 300 mm. Optionally, it can be 1100 mm - 1300 mm long when fully extended.

[0025] The control unit (5) has the function of processing the data sent by the wireless control (38) and the HMI device (9) of the system, and interpreting it based on the positioning data sent by the manipulator (10). The control unit (5) is preferably inserted into the mobile base (28) for safety and hygiene reasons. Optionally, it may have the following dimensions: 400 mm - 600 mm in length, 300 mm - 500 mm in width, 100 mm - 300 mm in height.

[0026] The HMI device (9) has the function of graphically presenting the most relevant system data and / or facilitating user interaction with the system, allowing dynamic use of robotic manipulator positioning adjustments and semi-automatic movement functions. It must be certified for use in a surgical environment, allowing handling by users wearing disposable gloves. Optionally, it can be connected to the system base by a flexible arm, to facilitate positioning and viewing of information.

[0027] The wireless Bluetooth control (38) is used to control the manual movements of the system. It must be able to send commands from the user via a wireless signal. Optionally, it can be designed to assist with the ergonomics and usability of the process. It can be stored in a drawer (14) in the base of the system.

[0028] The coupling tool (11) is a structure with dimensions of 300 mm - 400 mm in length, 200 mm - 300 mm in width, and 100 mm - 200 mm in height, whose function is to fix the ureterorenoscope (32) and to actuate the trigger using the servo motor (34). The coupling tool (11) comprises a main base (24) fixed to the last axis of the manipulator (10), so that, when inserting the ureterorenoscope (30), the axis of the manipulator is superimposed on its central axis of rotation. The trigger fitting (23) is connected to an extender (21) mounted in the same direction as the actuation axis of the servo motor (31), which is connected to the main base by means of an auxiliary tool (22). The servo motor (31) is responsible for moving the trigger and is protected by a protective cover (26), which is fitted to the main base.The coupling tool (11) can be produced with lightweight and malleable materials such as, for example, plastic and ceramic polymers.

[0029] The ureterorenoscope (30) must have dimensions compatible with the coupling tool (11), its body being suitable for fitting the trigger (23).

[0030] The servo motor (31) has the function of actuating the trigger for deflection of the distal tip of the ureterorenoscope (30), in addition, it must have a system for identifying the positioning of its own axis. Both the motor and its actuator, which is intended to ensure its correct positioning, must have a communication pattern similar to the manipulator. Their dimensions must also be suitable for the capacity of the robotic manipulator (10).

[0031] The emergency button (12) has the function of activating an emergency stop when pressed, locking the system in order to prevent and / or contain an identified danger. Optionally, it may have the following dimensions: 20 mm - 30 mm in length, 20 mm - 30 mm in diameter.

[0032] The robotic system is controlled by three distinct processes: - A process being for wireless control (38), whose primary function is to interpret user commands; - A process being for the HMI device (9), whose primary functions are to display manipulator data graphically and to interpret user commands; - A process being for the robotic manipulator (10), whose primary functions are: to interpret the data sent by the other applications, to activate the actuators of the robotic manipulator (10) and to send the position and safety data to the second application.

[0033] All processes are happening simultaneously. Even if the user doesn't make any changes, they are in a verification loop.

[0034] The robotic system handling process comprises the following steps: (a) Start positioning the system so that the front face (16) of the mobile base is towards the patient table, being aligned with the center of the table; (b) Securing the system by means of brakes on the base, to prevent unwanted movement, and the power cables They are connected to the power source; (c) Initialization, the HMI device is used to connect the wireless control (38), identifying the necessary step-by-step process; (d) Activation of the "HOME" position function by the handler, after connecting the bluetooth wireless control (38), being able to change the height and speed parameters of the system, when the handler stops moving; (e) Insertion of the ureterorenoscope (30) into the site of interest, where the target of the system will be, and attachment to the coupling tool (11), allowing the start of its handling, after the user has finished changing the parameters; (f) Extension and fixation of the support tool for the flexible part of the ureterorenoscope (30); (g) Use of the wireless control (38) to perform manual movement of the manipulator, controlling the advance and retraction, rotation of the tool and deflection of the distal tip of the ureterorenoscope (30). Using these functions, the handler performs the procedure normally until reaching the target point, where it is possible to record the position of the manipulator via the system screen in conjunction with specific actions on the control; (h) Positioning the manipulator in "HOME" by the handler at the end of the device operation and activation of automatic movement to the transport position; (i) Deactivation of the system, following the steps from the start of the operation in reverse order.

[0035] The system operation history can be accessed from the HMI device (9), where the movements and functions used during the process will be presented in order of occurrence.

[0036] The robotic system recording method comprises the following steps: (a) Define a critical position to begin the recording process; (b) Return the manipulator to the target position by means of the manual movement function, using the bluetooth wireless control (38); (c) Select the point recording function via the HMI device (9); (d) Trigger a command on the HMI device (9) to start motion recording; (e) Use the manual movement function, using the bluetooth wireless control (38); (f) Trigger a command on the HMI device (9) when you reach the desired point, ending the motion recording process to go to a point and return to the target position in a semi-automatic way.

[0037] The user selects the desired point using the system's HMI device (9) and selects the recording function. While the recording method is active, the position data of all actuators in the system will be saved, so that when the user disables the method, the automatic movement function is capable of reproducing the recorded positions in ascending and descending order, resulting in the back-and-forth movement of the final position selected by the user.

[0038] The invention will be illustrated by the following examples, without being limited to or by them. EXAMPLES Example 1: Evaluation of the invention parameters

[0039] The present invention has been disclosed in this report through a description in terms of its preferred embodiment. However, other modifications and variations are possible from the present description, and are still within the scope of the invention disclosed herein.

[0040] In the prototype under development, a manipulator was used to assist in performing nephrolithotripsy, thus increasing handling safety and supporting the development and testing of the programming. The manipulator has a control unit inserted in the mobile base, where the development team used various tools embedded in the equipment to develop the functions of manual and semi-automatic movement and positioning recording.

[0041] To assist in controlling the described functions, a touch-sensitive computer screen, certified for medical use (sensitive to surgical gloves and splash-resistant), is located on top of the base. The screen presents an interface where the physician can obtain manipulator positioning data, change movement parameters, configure limits for endoscope manipulation, and select between manual and manual movement modes. semi-automatic and record points along the trajectory.

[0042] For manipulator movement, a commercial wireless control (38) is used. The control (38) communicates with the screen via an embedded application, which identifies the signals sent and relays them to the manipulator's control unit. Using the left joystick, the operator can advance and retract the manipulator by moving the vertical axis and rotate the coupling tool clockwise and counterclockwise by moving the horizontal axis. Using the right joystick, the operator can rotate the ureterorenoscope trigger clockwise and counterclockwise by moving the horizontal axis.

[0043] The prototype under development utilizes a mobile base constructed from robust metal and plastic polymers. Metal was primarily used for the structure and side body of the mobile base, while printed polymer parts were used to fill the bottom and form the supports for movement. The base has a retractable panel on its right side, where a specialized technician can access its internal components and electrical circuitry. On the left side of the mobile base is a drawer where up to two wireless controllers can be stored on a charging base.

[0044] The robotic system was developed with the capability to manipulate flexible medical endoscopes to assist in performing flexible nephrolithotripsy for the removal of urinary / renal stones.

[0045] The same system can be used to manipulate other endoscopes from different medical fields, provided they are compatible with the coupling tool (11) present in this invention. This can be achieved by modifying the trigger fitting (23). LIST OF REFERENCES Electrical Panel (1) Removable Panel (2) Left Side (3) Uninterruptible Power Supply (4) Control unit (5) Rear Handle (6) Back Face (7) Top Cover (8) HMI device (9) Robotic manipulator (10) Coupling tool (11) Emergency Button Support (12) Right Side (13) Drawer (14) Front Handle (15) Front Face (16) Guide Tool (17) Internal Structure (18) Wheels (19) Base and "Skirt" of the Structure (20) Axle extender (21) Auxiliary tool (22) Trigger Fitting (23) Tool Body (24) Emergency Button (25) Protective Cover (26) Auxiliary Drawer (27) Mobile Base (28) Power Connection Plug (29) Ureterorenoscope (30) Servo motor (31) Screws (32) to (37) Bluetooth wireless controller (38)

Claims

CLAIMS 1. Semi-autonomous robotic system for endoscope manipulation CHARACTERIZED by comprising a mobile base (28) that mechanically supports the system and has electrical connections; a robotic manipulator (10); a control unit (5); a Human-Machine Interface (HMI) device (9) for visualization and data processing and user command input; a Bluetooth wireless control (38) for remote operation of the robotic manipulator (10); a coupling tool (11) that attaches to a ureterorenoscope (30); a servo motor (34); a guide tool (17) for the distal tip of the ureterorenoscope (30); and an emergency button (12) on the mobile base (28).

2. System, according to claim 1, CHARACTERIZED in that the robotic manipulator (10) has seven or more axes for movement, being integrated with position, torque and linear and axial velocity sensors on each axis, has the function of moving the ureterorenoscope (30) and sending position feedback to the control unit (5), has an embedded internal monitoring system, with position and torque sensors on each axis, has a total load capacity of 7 or more kilograms, has a travel of 100 mm to 300 mm and has dimensions of 1100 mm to 1300 mm when fully extended.

3. System, according to claim 1, CHARACTERIZED by the fact that the control unit (5) is inserted into the mobile base (28), has a length of 400 mm to 600 mm, a width of 300 mm to 500 mm and a height of 100 mm to 300 mm, and its function is to process data sent by the control without wire (38) and by the HMI device (9) of the system and its interpretation based on the positioning data sent by the manipulator (10).

4. System, according to claim 1, CHARACTERIZED in that the coupling tool (11) comprises 300 to 400 mm in length, 200 to 300 mm in width and 100 to 200 mm in height and secures the ureterorenoscope (30), in addition to performing the trigger actuation.

5. System, according to claim 1 or 4, CHARACTERIZED in that the coupling tool (11) comprises a main base (24) fixed to the last axis of the robotic manipulator (10).

6. System according to claim 1, CHARACTERIZED in that the adjustable guide tool (17) has the function of supporting the ureterorenoscope sheath (30) and can be made of plastic and / or ceramic polymers.

7. System, according to claim 1, CHARACTERIZED in that the servo motor (34) is orthogonally coupled to the coupling tool (11) and to the ureterorenoscope (30) and is responsible for actuating the trigger for deflection of the distal tip of the ureterorenoscope and has a system for identifying its own axis.

8. System, according to any one of claims 1 to 6, characterized by having the ability to record and reproduce specific movements during its operation, allowing semi-autonomous execution and the repetition of procedures with precision.

9. Method of operation of the robotic system, as defined in claims 1 to 7, CHARACTERIZED by the fact that to understand the following steps: i. position and align the system; ii. secure the system using brakes on the base; iii. initialize the system and connect the wireless control (38) via the HMI device (9); iv. define the initial position and activate the "HOME" position function using the manipulator (10); v. adjust the system's height and speed parameters using the wireless control (38); vi. start recording the movement; vii. use the wireless control (38) to operate the manipulator while the system is running; viii. reach a target position; ix. end the movement recording; x. position the manipulator in HOME for the system to return to the initial position semi-automatically.

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