CA2633137A1 - Microsurgical robot system - Google Patents

Microsurgical robot system Download PDF

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Publication number
CA2633137A1
CA2633137A1 CA002633137A CA2633137A CA2633137A1 CA 2633137 A1 CA2633137 A1 CA 2633137A1 CA 002633137 A CA002633137 A CA 002633137A CA 2633137 A CA2633137 A CA 2633137A CA 2633137 A1 CA2633137 A1 CA 2633137A1
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CA
Canada
Prior art keywords
tool
patient
arm
robot
movement
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Granted
Application number
CA002633137A
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French (fr)
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CA2633137C (en
Inventor
Garnette Roy Sutherland
Deon Francois Louw
Paul Bradley Mcbeth
Tim Fielding
Dennis John Gregoris
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Neuroarm Surgical Ltd
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Individual
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Publication of CA2633137A1 publication Critical patent/CA2633137A1/en
Application granted granted Critical
Publication of CA2633137C publication Critical patent/CA2633137C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/35Surgical robots for telesurgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/37Master-slave robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/71Manipulators operated by drive cable mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/74Manipulators with manual electric input means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/75Manipulators having means for prevention or compensation of hand tremors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/76Manipulators having means for providing feel, e.g. force or tactile feedback
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/77Manipulators with motion or force scaling
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/20Surgical microscopes characterised by non-optical aspects
    • A61B90/25Supports therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831Material properties
    • A61B2017/00902Material properties transparent or translucent
    • A61B2017/00911Material properties transparent or translucent for fields applied by a magnetic resonance imaging system
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101Computer-aided simulation of surgical operations
    • A61B2034/102Modelling of surgical devices, implants or prosthesis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2059Mechanical position encoders
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/305Details of wrist mechanisms at distal ends of robotic arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06Measuring instruments not otherwise provided for
    • A61B2090/064Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/363Use of fiducial points
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37Surgical systems with images on a monitor during operation
    • A61B2090/374NMR or MRI
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25User interfaces for surgical systems
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/20Surgical microscopes characterised by non-optical aspects
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361Image-producing devices, e.g. surgical cameras
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39Markers, e.g. radio-opaque or breast lesions markers

Abstract

A surgical robot comprising at least one MR-compatible robotic arm having multiple joints and at least six degrees of freedom, the one or more robotic arms comprising structural components comprising MR-compatible structural material, multiple MR-compatible joint motors, and multiple MR-compatible joint encoders, wherein the at least one robotic arm is configured as yaw plane manipulators and the multiple joints comprise a first, second and third yaw joint, the yaw joints operatively linked by a plurality of roll joints.

Claims (22)

1. Apparatus for use in micro-surgery and stereotactic surgical procedures on a patient comprising:

an imaging system for obtaining a three dimensional internal image through a selected part of the body of the patient;

a robot for operating on a part of a patient, the robot including:

a movable support assembly arranged to be located in fixed position adjacent a patient;

two movable arms each carried on the support assembly;

each arm having a plurality of degrees of freedom of movement;

each arm having an end effector for carrying a selected surgical tool for operation on the patient;

each end effector including force sensors for detecting forces applied to the tool by engagement with the part of the patient;

a microscope arranged to be located at a position for viewing the part of the patient;

and a workstation and control system including:

a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms;

each hand-controller having force feedback arranged to be controlled in response to the detected forces for providing haptic effect to the operator such that the hand-controllers can control the arms in effecting micro-surgery;

a first display for displaying at least one first image obtained from the microscope;

a second display for displaying a second image obtained from the imaging system of the part of the patient and for displaying on the second image the real-time location of the tool such that the tool can be guided in sterotaxy.
2. The apparatus according to Claim 1 wherein there is provided on the robot a field camera operable for generating a field image of the part of the patient.
3. Apparatus for use in surgical procedures on a patient comprising:

an imaging system for obtaining a three dimensional internal image through a selected part of the body of the patient;

a robot for operating on the part of the body of the patient, the robot including:

a movable support assembly arranged to be located in fixed position adjacent the patient;

at least one movable arm carried on the support assembly;

said at least one arm having a plurality of degrees of freedom of movement;

said at least one arm having an end effector for carrying a selected surgical tool for operation on the patient;

at least one camera arranged to be located at a position for obtaining a visual image of the part of the patient;

and a workstation and control system including:

at least one hand-controllers to be manipulated by an operator to control movement of said at least one arm;

a first display for displaying the visual image obtained from the at least one camera;

a second display for displaying the three dimensional internal image obtained from an imaging system of the part of the patient and for displaying on the three dimensional internal image the real-time location of the surgical tool;

wherein there is provided a registration system including fiducial marker members located at the part of the patient arranged, when generating the three dimensional internal image of the part of the patient from the imaging system, such that the fiducial marker members are visible in generating the three dimensional internal image;

the control system being arranged to provide, from the robot when the robot is in position for operating on the patient, inputs of the position of the tool relative to the fiducial marker members, whereby the position of the tool is located and displayed on the three dimensional internal image of the part of the patient.
4. The apparatus according to Claim 1 wherein the imaging system for generating the second image is an MRI system and wherein the tool is arranged to be visible in the MRI system such that the image of the tool is visible on the second image of the patient.
5. The apparatus according to any one of Claims 1 to 4 wherein each arm has joints defining six degrees-of-freedom and the end effector for the tool actuation has two degrees of freedom.
6. Apparatus for use in surgical procedures on a patient comprising:

a magnetic resonance imaging system for obtaining a three dimensional internal image through a part of the body of the patient;

the magnetic resonance imaging system including a magnet having a horizontal bore open at least at one end for receiving the part of the body of the patient therein;

a robot for operating on the part of the body of the patient, the robot including:

a movable support assembly arranged to be located in fixed position adjacent the bore of the magnet;

at least one movable arm carried on the support assembly for extending into the bore;

said at least one arm having a plurality of joints and drive motors therefor defining at least four degrees of freedom of movement of the arm;

said at least one arm having an end effector for carrying a selected surgical tool for operation on the patient;

said at least one arm being arranged such that in use the joints and the motors extend into the bore to allow dextrous manipulation of the tool within the bore to change an angle of an axis of the tool in the bore relative to an axis of the bore and relative to the patient;

at least one camera arranged to be located at a position for obtaining a visual image of the part of the patient;

and a workstation and control system including:

at least one hand-controller to be manipulated by an operator to control movement of said at least one arm;

a first display for displaying the visual image obtained from the at least one camera;

a second display for displaying the three dimensional internal image obtained from the magnetic resonance imaging system of the part of the patient and for displaying on the three dimensional internal image the real-time location of the surgical tool;

wherein the robot is MR compatible in that the joints and motors of the arm can work within the confines of the high magnetic fields of the magnet of the MRI systems without being affected by the MRI electromagnetic field emissions and without affecting the quality of the MRI imaging.
7. The apparatus according to Claim 6 wherein said at least one arm comprises two arms and wherein a first one of the arms is arranged such that said first arm can be moved relative to the support to a deployed position and a second one of the arms can be moved relative to the support to a retracted position to allow said first arm only to extend into the bore with the support located at one end of the bore.
8. The apparatus according to Claim 7 wherein the support includes a movable slide table forming an extension thereof onto which the first arm can be moved.
9. The apparatus according to any one of Claims 6 to 8 wherein each joint providing a respective degree of freedom is driven by a piezoelectric ultrasonic motor.
10. The apparatus according to any one of Claims 6 to 8 wherein each joint provides for rotation about either a vertical or a horizontal axis.
11. The apparatus according to Claim 10 wherein those joints which provide rotation about a horizontal axis are arranged to minimize the moment of those portions of the arm which cantilevered from that joint so as to minimize the force necessary on the joint to counteract gravity.
12. The apparatus according to Claim 10 or 11 wherein some of the joints include a single piezoelectric motor and some include two piezoelectric motors for increased torque.
13. The apparatus according to any one of Claims 1 to 12 wherein the end-effector includes a roll actuator for causing roll movements of the tool about a longitudinal axis of the tool and a tool actuator for causing actuation movements of the tool.
14. The apparatus according to Claim 13 wherein the tool actuator is a linear drive mechanism designed to effect movement of an actuation member along the tool.
15. The apparatus according to Claim 13 or 14 wherein the linear drive mechanism provides accurate movement and targeting of a cannula and introducer for MR guided stereotactic procedures.
16. The apparatus according to any one of Claims 13 to 15 wherein the tool actuator is a linear drive mechanism designed to effect movement of an actuation member along the tool, wherein the tool comprises a pair of forceps and wherein the actuation member comprises a collar for engaging ramp surfaces on the forceps for actuating a squeeze movement of the forceps.
17. The apparatus according to any one of Claims 13 to 16 wherein the tool actuator is a linear drive mechanism designed to effect movement of an actuation member along the tool, wherein the tool comprises a pair of scissors and wherein the actuation member moves an actuating rod longitudinally of the scissors for pivoting one blade of the scissors.
18. The apparatus according to any one of Claims 13 to 17 wherein the tool actuator is a linear drive mechanism designed to effect movement of an actuation member along the tool, wherein the tool comprises a suction duct and wherein the actuation member moves a blocking collar longitudinally of the suction duct for exposing or covering a suction release opening of the suction duct.
19. The apparatus according to any one of Claims 1 to 18 wherein the robot includes a dead-man switch in the robot hand controllers to prevent inadvertent movement of the robot arm and alternative dead-man switches located on the workstation and the robot base.
20. Apparatus for use in surgical procedures on a patient comprising:

a robot for operating on the part of the body of the patient, the robot including:

a movable support assembly arranged to be located in fixed position adjacent the patient;

at least one movable arm carried on the support assembly;

said at least one arm having a plurality of degrees of freedom of movement;

said at least one arm having an end effector for carrying a selected surgical tool for operation on the patient;

at least one camera arranged to be located at a position for obtaining a visual image of the part of the patient;

and a workstation and control system including:

at least one hand-controller to be manipulated by an operator to control movement of said at least one arm;

a first display for displaying the visual image obtained from the at least one camera;

the at least one hand-controller having force feedback sensors arranged to be controlled in response to the detected forces for providing haptic effect to the operator;

wherein the force sensors for detecting forces applied to the tool by engagement with the part of the patient include a first sensor for detecting forces in so an axial (Z) direction along the tool and a second and third sensor for detecting transverse forces on the tool in the X and Y planes.
21. The apparatus according to Claim 20 wherein the end-effector of each arm includes a roll actuator for causing roll movements of the tool about a longitudinal axis of the tool and a tool actuator for causing actuation movements of the tool and wherein the first force sensor is located on the roll actuator and the second force sensor is located on the tool actuator.
22. The apparatus according to Claim 20 or 21 wherein the force sensors are optical force sensors.
CA2633137A 2002-08-13 2003-08-13 Microsurgical robot system Expired - Fee Related CA2633137C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US40272402P 2002-08-13 2002-08-13
US60/402,724 2002-08-13
CA002437286A CA2437286C (en) 2002-08-13 2003-08-13 Microsurgical robot system

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CA002437286A Division CA2437286C (en) 2002-08-13 2003-08-13 Microsurgical robot system

Publications (2)

Publication Number Publication Date
CA2633137A1 true CA2633137A1 (en) 2004-02-13
CA2633137C CA2633137C (en) 2012-10-23

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CA2633137A Expired - Fee Related CA2633137C (en) 2002-08-13 2003-08-13 Microsurgical robot system
CA002437286A Expired - Fee Related CA2437286C (en) 2002-08-13 2003-08-13 Microsurgical robot system

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CA002437286A Expired - Fee Related CA2437286C (en) 2002-08-13 2003-08-13 Microsurgical robot system

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US (6) US7155316B2 (en)
EP (2) EP2070487B1 (en)
AU (1) AU2003257309A1 (en)
CA (2) CA2633137C (en)
WO (1) WO2004014244A2 (en)

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WO2004014244A3 (en) 2004-07-29
US8396598B2 (en) 2013-03-12
US20080161677A1 (en) 2008-07-03
US20040111183A1 (en) 2004-06-10
US8170717B2 (en) 2012-05-01
US20070032906A1 (en) 2007-02-08
AU2003257309A1 (en) 2004-02-25
CA2437286A1 (en) 2004-02-13
US9220567B2 (en) 2015-12-29
EP1531749A2 (en) 2005-05-25
US20080161830A1 (en) 2008-07-03
US8041459B2 (en) 2011-10-18
EP2070487A3 (en) 2010-05-12
US20080004632A1 (en) 2008-01-03
US7155316B2 (en) 2006-12-26
WO2004014244A2 (en) 2004-02-19
CA2633137C (en) 2012-10-23
EP2070487B1 (en) 2014-03-05
EP2070487A2 (en) 2009-06-17
CA2437286C (en) 2008-04-29
US8005571B2 (en) 2011-08-23
US20100063630A1 (en) 2010-03-11

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