Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
Inventors
CHASSOT, Julien • Friedrich, Michael
Assignees
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Publication Number
US-12161438-B2
Publication Date
2024-12-10
Expiration Date
Abstract
Surgical robot systems for remote manipulation having robotic telemanipulators are provided. The surgical robot systems are well adapted for use by the surgeon, seamlessly integrateable into the operation room, allow for a surgeon to work between the robot and the patient throughout a surgery in a sterile manner, are relatively low cost, and/or permit integrated laparoscopy. The system preferably includes a master console having a plurality of master links interconnected by a plurality of master joints, and a handle coupled to the master console for operating the telemanipulator. The system further includes a slave console operatively coupled to the master console and having a plurality of slave links interconnected by a plurality of slave joints that move responsive to movement at the master console to permit an end-effector to perform surgery.
Core Innovation
The disclosed invention is a system for remote manipulation to perform surgery that includes a master console and a handle coupled to the master console. Movement applied at the handle causes a slave console, operatively coupled to the master console, to move for performing the surgery, and the slave console includes a plurality of slave links, including an angulation slave link, with movement applied by a controller executing instructions to drive actuators coupled to the slave links.
The core mechanism constrains angulation by moving an angulation slave link to an angle while maintaining the angulation slave link and slave links of the plurality of slave links proximal to the angulation slave link in a stationary condition during operation. The controller further activates a brake mechanism at an angulation slave joint between the angulation slave link and an adjacent slave link proximal to the angulation slave link to stop movement of the angulation slave joint.
In some embodiments, the system integrates sterility- and usability-oriented components, including removable purely mechanical sterile handles and visualization features such as a display configured to permit a user to visualize the end-effector during operation. The disclosed system also includes safety and authorization features using sensors and identifier/RFID-based verification for handles, sterile interfaces, and instruments, and an optional removable incision pointer that permits alignment of the distal end of the slave console with a trocar positioned within a patient undergoing the surgery.
Claims Coverage
The partial content provides multiple independent system claims and includes an independent method claim. Across the independent claims, the coverage is grounded on remote manipulation with master console/handle input, slave console actuation via a controller, and angulation control in which proximal links remain stationary, with additional refinements such as brakes, angular constraints, removable incision pointer, and visualization display.
Remote manipulation surgery system with master console and brake-controlled angulation joint
A controller drives actuators coupled to slave links so that movement applied at the handle causes movement of the slave console, while the controller moves an angulation slave link to an angle such that the angulation slave link and slave links proximal to the angulation slave link remain stationary during operation, and activates a brake mechanism to stop movement of the angulation slave joint.
Remote manipulation surgery method with angulation angle and proximal-stationary operation
The controller causes actuators to move an angulation slave link to an angle relative to the base, and simultaneously causes actuators to apply movement to other slave links responsive to movement applied at the handle while the angulation slave link and the slave links proximal to the angulation slave link remain stationary.
Angulation slave link commanded within a zero to 45 degree range
The controller causes actuators to move the angulation slave link to an angle between zero and 45 degrees responsive to an angulation command while maintaining stationary operation of the angulation slave link and the slave links proximal to the angulation slave link.
Removably coupled master handle for remote manipulation
The handle is removably coupled to the master console such that movement applied at the handle moves at least one master link of a plurality of master links, and the controller causes actuators to apply movement to the slave links responsive to movement applied at the handle while the angulation slave link and slave links proximal to the angulation slave link remain stationary during operation.
End-effector on a removably coupled surgical instrument with proximal-stationary angulation
An end-effector coupled to the slave console moves responsive to actuation at the handle and movement at the slave console, the end-effector is disposed on a distal end of a surgical instrument removably coupled to a distal end of the slave console, and the controller causes actuators to move an angulation slave link to an angle such that the angulation slave link and slave links proximal to the angulation slave link remain stationary during operation.
End-effector visualization via a display during angulation-proximal-stationary operation
A display operatively coupled to the master console permits a user to visualize the end-effector during operation, and the controller causes actuators to apply movement to the slave links responsive to movement applied at the handle while moving the angulation slave link to an angle such that the angulation slave link and slave links proximal to the angulation slave link remain stationary during operation.
Base coupled to proximal slave link for angulation relative to base
The slave console base is coupled to a proximal slave link of the plurality of slave links, and the controller causes actuators to apply movement to the slave links responsive to movement applied at the handle while moving the angulation slave link to an angle relative to the base such that the angulation slave link and slave links proximal to the angulation slave link remain stationary during operation.
Removable incision pointer aligned with trocar
A removable incision pointer permits alignment of a distal end of the slave console with a trocar positioned within a patient undergoing the surgery, and the controller causes actuators to apply movement to the slave links responsive to movement applied at the handle while moving the angulation slave link to an angle such that the angulation slave link and slave links proximal to the angulation slave link remain stationary during operation.
Move slave links away from the patient for manual surgery transfer
The controller causes actuators to apply movement to the slave links responsive to movement applied at the handle and to move the angulation slave link to an angle such that the angulation slave link and slave links proximal to the angulation slave link remain stationary during operation, and further causes the actuators to move the plurality of slave links away from the patient so a surgeon may move from the master console to manually perform surgery on the patient.
Rotation about angulation-joint axis for distal links while proximal remains stationary
When an angulation command is actuated, the controller causes the angulation slave link and all slave links and joints distal to the angulation slave link to rotate about an axis at the angulation joint while the slave link and all slave links and joints proximal to the slave link remain stationary during operation.
Rotation of all distal joints and links relative to the slave link about angulation-joint axis
When an angulation command is actuated, the controller causes all the slave joints and links distal to the angulation slave link to rotate relative to the slave link about an axis at the angulation joint, while the angulation slave link and slave links proximal to the angulation slave link remain stationary during operation.
Across the independent claims, the document covers remote manipulation to perform surgery using a master console and handle that drive a slave console via actuators under controller instructions, with a central angulation concept in which an angulation slave link is commanded to an angle while the angulation slave link and proximal slave links remain stationary. Additional independent coverage includes brake activation at an angulation slave joint, constraints including a zero to 45 degree angulation range, visualization via a display, removable incision-pointer alignment with a trocar, a procedure for moving slave links away to enable manual surgery, and rotation behaviors about an angulation-joint axis for distal components.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Remote manipulation system for performing surgery using a master console, handle, and slave console.
Alignment of a distal end of the slave console with a trocar positioned within a patient undergoing surgery.
Enabling a surgeon to move from the master console to manually perform surgery by moving the plurality of slave links away from the patient.
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