Guiding and support device, particularly for a robot for minimally-invasive surgery through a single parietal incision and/or natural orifice
Inventors
JAUVTIS, Louis Judah • Donella, Nicolò • ZALTIERI, Renzo • IOVINE, Federica • RIGHETTO, Filippo • PANSINI, Alberto Giovanni • FORGIONE, Antonello
Assignees
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Publication Number
US-11116595-B2
Publication Date
2021-09-14
Expiration Date
Abstract
A guiding and support device, particularly for a robot for minimally-invasive surgery through a single parietal incision and/or natural orifice, includes mutually associated rigid bodies, and stiffening elements associated with the guiding and support device and adapted for the transition of the device from an inactive configuration, the rigid bodies can move with respect to each other, to an active configuration, in which the rigid bodies are mutually aligned so as to define a rigid guide, and vice versa. The device further includes elements for combined rotary and translational motion which are adapted, in the active configuration of the guiding and support device, to translate and/or to rotate a robot.
Core Innovation
The guiding and support device is for a robot for minimally-invasive surgery through a single parietal incision and/or natural orifice. The guiding and support device comprises a plurality of mutually associated rigid bodies that move with respect to each other during a transition from an inactive configuration to an active configuration.
In the active configuration, the mutually associated rigid bodies are mutually aligned so as to define a rigid guide, and vice versa when returning to the inactive configuration. The guiding and support device further includes stiffening means adapted for the transition by rendering the guide rigid, including tensioning cables and shape mating between a female element and a male element of consecutive rigid bodies.
The active configuration also includes means for combined rotary and translational motion, adapted to translate and/or rotate the robot along the rigid guide. The means comprise a pair of flexible threaded shafts and a gearwheel configured to engage the flexible threaded shafts, and a carriage configured to slide along the guide and coupled to translate to the gearwheel and to translate to the robot.
The rigid guide may be formed by mutually associated straight rigid bodies and curved rigid bodies to obtain a variable curvilinear configuration with a variable length, together with a positioning system relative to a patient and stability elements such as braking/clutch elements.
Claims Coverage
Independent claim clm-00001 covers the overall guiding and support device architecture and motion system, with six main inventive features that define the rigid-guide formation, stiffening transition, and combined rotary/translational drive along the guide.
Rigid guide formed by mutually associated rigid bodies
A guiding and support device comprising a plurality of mutually associated rigid bodies, wherein stiffening means transition the device from an inactive configuration to an active configuration in which the rigid bodies are mutually aligned so as to define a rigid guide, and vice versa.
Combined rotary and translational motion for translating or rotating the robot along the guide
Means for combined rotary and translational motion adapted, in the active configuration, to translate and/or rotate the robot along the guide.
Flexible threaded shafts engaging a gearwheel
The means for combined rotary and translational motion comprise a pair of flexible threaded shafts, and a gearwheel configured to engage the pair of flexible threaded shafts, wherein rotation of the flexible threaded shafts determines translation of the gearwheel along the guide and/or rotation of the gearwheel with respect to its own axis.
Carriage sliding along the guide and coupled to the gearwheel and robot
The means for combined rotary and translational motion comprise a carriage configured to slide along the guide, the carriage being coupled to translate to the gearwheel and being adapted to be coupled to translate to the robot.
Gearwheel shaft through a hole in the carriage coupled to robot rotation
The gearwheel comprises a shaft which passes through a hole provided in the carriage, wherein the robot is adapted to be coupled to rotate to the shaft.
Stiffening means using tensioning and shape mating of consecutive rigid bodies
Stiffening means associated with the guiding and support device and adapted for the transition from inactive to active configuration, wherein the rigid bodies move with respect to each other, to an active configuration and wherein the transition includes stiffening by rendering consecutive rigid bodies shape-mated by a female element and a male element.
The independent claim set is directed to a single-incision or natural-orifice minimally-invasive surgery guiding and support device that forms a rigid curvilinear guide in an active configuration from mutually aligned rigid bodies using stiffening means, and that moves the robot along the guide using a combined rotary/translational drive based on flexible threaded shafts and a gearwheel with a sliding carriage and a through-shaft coupling to robot rotation.
Stated Advantages
Correct introduction/positioning.
Stable and precise motion with reduced mechanical play.
A curvilinear optimal path to reduce invasiveness.
Documented Applications
Guiding and supporting a robot for minimally-invasive surgery through a single parietal incision and/or natural orifice.
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