IPC분류정보
| 국가/구분 |
United States(US) Patent
등록
|
| 국제특허분류(IPC7판) |
|
| 출원번호 |
US-0162902
(2007-02-02)
|
| 등록번호 |
US-8506555
(2013-08-13)
|
| 우선권정보 |
EP-06101251 (2006-02-03) |
| 국제출원번호 |
PCT/EP2007/051047
(2007-02-02)
|
| §371/§102 date |
20080731
(20080731)
|
| 국제공개번호 |
WO2007/088208
(2007-08-09)
|
|
발명자
/ 주소 |
|
| 출원인 / 주소 |
- The European Atomic Energy Community (Euratom)
|
| 대리인 / 주소 |
|
| 인용정보 |
피인용 횟수 :
117 인용 특허 :
6 |
초록
▼
A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manip
A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator, for robotically setting the yaw angle and the pitch angle of the effector unit respectively; the effector unit includes a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIA which includes a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to the effector unit, and an actuation mechanism cooperating with the instrument stem adaptor for actuating a laparoscopic instrument connected to the adaptor. The effector unit is configured such that the rotation axis of the revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument mounted to the effector unit and the effector unit includes a sensor assembly having a 6 degree-of-freedom (DOF) force/torque sensor and a 6 DOF accelerometer. The sensor assembly connects the LIA to the sixth revolute joint.
대표청구항
▼
1. Robotic surgical system for performing minimally invasive medical procedures comprising a robot manipulator for robotically assisted handling of a laparoscopic instrument, said robot manipulator having a manipulator arm, a manipulator wrist supported by said manipulator arm and an effector unit s
1. Robotic surgical system for performing minimally invasive medical procedures comprising a robot manipulator for robotically assisted handling of a laparoscopic instrument, said robot manipulator having a manipulator arm, a manipulator wrist supported by said manipulator arm and an effector unit supported by said manipulator wrist, wherein: said manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning said wrist;said manipulator wrist provides two degrees-of-freedom by means of a fourth joint and a fifth joint, said fourth and fifth joints being revolute joints and each having an associated actuator, for robotically setting a yaw angle and a pitch angle of said effector unit respectively;said effector unit comprises a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting a roll angle of said laparoscopic instrument actuator;said laparoscopic instrument actuator comprises a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to said effector unit, and an actuation mechanism cooperating with said instrument stem adaptor for actuating a laparoscopic instrument connected to said adaptor;said effector unit is configured such that the rotation axis of said revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument when mounted to said effector unit by means of said instrument stem adaptor; andsaid effector unit comprises a sensor assembly including a six degree-of-freedom force/torque sensor and a six degree-of-freedom accelerometer, said sensor assembly connecting said laparoscopic instrument actuator to said sixth revolute joint;wherein said seat comprises an elongated essentially semi-cylindrical recess arranged essentially coaxial to the rotation axis of said sixth joint, in an access surface of said laparoscopic instrument actuator, said seat and said coupling mechanism being configured for mounting removing an instrument stem adaptor perpendicularly to the axis of rotation of said sixth joint. 2. Robotic surgical system according to claim 1, wherein said effector unit is configured such that one sensor axis of said 6 DOF force/torque sensor and one sensor axis of said 6 DOF accelerometer coincide with the rotation axis of said sixth joint. 3. Robotic surgical system according to claim 2, wherein said laparoscopic instrument actuator comprises a housing with an access surface in which said seat is arranged, an interface flange which attaches said housing to said sensor assembly and gradual reinforcing ribs connecting said access surface to said interface flange for reinforcing the rigidity of attachment of said housing to said interface flange. 4. Robotic surgical system according to claim 3, wherein said housing is semi-cylindrical having a semi-cylindrical surface opposite to said access surface, said semi-cylindrical surface being in conformity with a cylindrical envelope of 50-135 mm and coaxial to the rotation axis of said sixth joint and wherein said housing, said flange, said reinforcing ribs and said sensor assembly are dimensioned so as to fit into said cylindrical envelope. 5. Robotic surgical system according to claim 1, wherein said coupling mechanism comprises at least one magnetic device, in particular permanent magnets or electromagnets, respectively arranged on either side of said semi-cylindrical recess for fastening the instrument stem adaptor to said laparoscopic instrument actuator by means of magnetic attraction. 6. Robotic surgical system according to claim 5, wherein said instrument stem adaptor is mounted to the laparoscopic instrument actuator and configured to resist a plurality of forces and moments without disconnecting from the laparoscopic instrument actuator, said plurality of forces and moments including, a plurality of traction and compression forces of 100 N; a plurality of torsion moments corresponding to radial forces of 15 N at an instrument tip; and a bending moment of 5 Nm or less. 7. Robotic surgical system according to claim 1, wherein said actuation mechanism comprises a slider carriage configured for engagingly receiving and for linearly sliding a slider pin of the instrument stem adaptor mounted to said effector unit, said seat being preferably elongated along the rotation axis of said sixth joint and said slider carriage preferably arranged laterally to said seat. 8. Robotic surgical system according to claim 7, wherein said actuation mechanism comprises a force sensor, which connects said slider carriage to a driving means, for measuring forces exerted by or onto said slider carriage. 9. Robotic surgical system according to claim 7, wherein said slider carriage comprises an engagement member which is detachable from said slider carriage and has bevelled capture surfaces for engaging said slider pin. 10. Robotic surgical system according to claim 1, wherein said laparoscopic instrument actuator comprises a presence detector for detecting whether an instrument stem adaptor is correctly mounted to said effector unit, in particular, a plurality of inductive presence sensors for identifying an instrument mounted to said effector unit by means of an inductively identifiable pattern provided on the instrument stem adaptor. 11. Robotic surgical system according to claim 1, wherein said system is configured for operating in a manual mode, in which said laparoscopic instrument actuator can be positioned and oriented by said robot manipulator using information read by said 6 DOF force/torque sensor, and further comprising switching means arranged on said laparoscopic instrument actuator for switching said system to manual mode. 12. Laparoscopic instrument stem adaptor configured to be mounted to a robot manipulator in a new Robotic surgical system according to claim 1, for using a stem of the manual laparoscopic instrument on said robot manipulator, said adaptor comprising an elongated case having a stem connector arranged on a front end and coupling means arranged laterally on said case, said stem connector being configured for detachable connection to the manual laparoscopic instrument stem, and said coupling means cooperating with the coupling mechanism on the laparoscopic instrument actuator of said robot manipulator. 13. Laparoscopic instrument stem adaptor according to claim 12, wherein said coupling means comprises a semi-cylindrical surface, said surface being conformed to a semi-cylindrical recess of the seat in the laparoscopic instrument actuator of said robot manipulator for centering the instrument stem adaptor on the rotation axis of said sixth joint. 14. Laparoscopic instrument stem adaptor according to claim 12, comprising an internal cylindrical hollow as a guide for a piston of the manual laparoscopic instrument, which can be arranged to slide in said guide, and a through hole for a slider pin attached transversely to said piston and protruding from said case for operating the piston. 15. Laparoscopic instrument stem adaptor according to claim 12, wherein said coupling means comprises at least one ferromagnetic element arranged on either side of said case, said ferromagnetic elements cooperating respectively with a corresponding magnetic device of the coupling mechanism on said laparoscopic instrument actuator for fastening said instrument stem adaptor to said laparoscopic instrument actuator by means of magnetic attraction and wherein said instrument stem adaptor comprises a lever for detaching said adaptor from said laparoscopic instrument actuator. 16. Laparoscopic instrument stem adaptor according to claim 12, further comprising an inductively identifiable pattern provided on the instrument stem adaptor for identifying an instrument mounted to said adaptor. 17. Laparoscopic instrument stem adaptor according to claim 12, further comprising an electrical connector arranged opposite to said coupling means for transmitting electric power to an instrument connected to said stem connector. 18. Robotic surgical system according to claim 1, wherein the position of the effector unit with respect to the rotation axis of said fifth joint is selected at an equilibrium point of the effector unit configured to avoid tilting when said fifth joint is stopped and not powered. 19. A robot manipulator for robotically assisted handling of a laparoscopic instrument, said robot manipulator comprising a manipulator arm, a manipulator wrist supported by said manipulator arm and an effector unit supported by said manipulator wrist, said manipulator arm providing three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for positioning said wrist;said manipulator wrist providing two degrees-of-freedom by means of a fourth joint and a fifth joint, said fourth and fifth joints being revolute joints and each having an associated actuator, for setting a yaw angle and a pitch angle of said effector unit respectively;said effector unit comprising a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for setting a roll angle of said laparoscopic instrument actuator;said laparoscopic instrument actuator comprising a seat and an associated coupling mechanism for mounting an instrument stem adaptor to said effector unit;said effector unit being configured such that the rotation axis of said revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument when mounted to said effector unit by means of said instrument stem adaptor; andsaid effector unit comprising a sensor assembly including a six degree-of-freedom force/torque sensor and a six degree-of-freedom accelerometer, said sensor assembly connecting said laparoscopic instrument actuator to said sixth revolute joint;wherein said seat comprises an elongated essentially semi-cylindrical recess arranged, essentially coaxial to the rotation axis of said sixth joint, in an access surface of said laparoscopic instrument actuator, said seat and said coupling mechanism being configured for mounting and removing an instrument stem adaptor perpendicularly to the axis of rotation of said sixth joint. 20. Robot manipulator according to claim 19, wherein said effector unit is configured such that one sensor axis of said 6 DOF force/torque sensor and one sensor axis of said 6 DOF accelerometer coincide with the rotation axis of said sixth joint. 21. Robot manipulator according to claim 19, wherein said laparoscopic instrument actuator comprises a housing with an access surface in which said seat is arranged, an interface flange which attaches said housing to said sensor assembly and gradual reinforcing ribs connecting said access surface to said interface flange for reinforcing the rigidity of attachment of said housing to said interface flange. 22. Robot manipulator according to claim 21, wherein said housing is semi-cylindrical having a semi-cylindrical surface opposite to said access surface, said semi-cylindrical surface being in conformity with a cylindrical envelope, preferably of 50-135 mm, and coaxial to the rotation axis of said sixth joint and wherein said housing, said flange, said reinforcing ribs and said sensor assembly are dimensioned so as to fit into said cylindrical envelope. 23. Robot manipulator according to claim 19, wherein said coupling mechanism comprises at least one magnetic device, in particular permanent magnets and/or electromagnets for fastening an instrument stem adaptor to said laparoscopic instrument actuator by means of magnetic attraction. 24. Robot manipulator according claim 19, wherein said laparoscopic instrument actuator comprises an actuation mechanism cooperating with said instrument stem adaptor for actuating the laparoscopic instrument connected to said adaptor, said actuation mechanism comprising a slider carriage configured for engagingly receiving and for linearly sliding a slider pin of an instrument stem adaptor mounted to said effector unit, said seat being preferably elongated along the rotation axis of said sixth joint and said slider carriage preferably arranged laterally to said seat and said actuation mechanism further comprising a force sensor, which connects said slider carriage to a driving means, for measuring forces exerted by or onto said slider carriage. 25. Robot manipulator according to claim 19, wherein said laparoscopic instrument actuator comprises a presence detector for detecting whether an instrument stem adaptor is correctly mounted to said effector unit, in particular, a plurality of inductive presence sensors for identifying an instrument mounted to said effector unit by means of an inductively identifiable pattern provided on the instrument stem adaptor.
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