Active Device for Positioning a Surgical Instrument and a Surgical Robotic System Comprising this Device

• US 20140180308A1
• Filed: 03/14/2013
• Published: 06/26/2014
• Est. Priority Date: 12/20/2012
• Status: Active Grant

• Current Assignee: Avateramedical GmbH (avateramedical NV)
• Original Assignee: Avateramedical GmbH (avateramedical NV)
• Inventors: von Grnberg, Hubertus
• Granted Patent: US 9,480,531 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

The present invention relates to an active positioning device for a surgical instrument arranged on a robot arm, comprising a carrier plate (3, 33), which can be connected with a robot arm (1, 31), a port mechanism (4, 34), which is arranged on carrier plate (3, 33) and intended as entry point into the interior of a body, at least one guide device (6, 36, 59) for insertion of a surgical instrument (8, 38, 61) into the body, whereby the shaft of surgical (8, 38, 61) instrument extends through guide device (6, 36, 59) and whereby guide device (6, 36, 59) is variably connected to port mechanism (4, 34) via a compensating element (5, 35) and an adjustment device (9, 10, 11, 12, 13, 14, 39, 40, 41, 42, 43, 44, 62, 63, 64, 65, 66, 67) for guide device (6, 36, 59) opposite port mechanism (4, 34), which is arranged on carrier plate (3, 33) and/or port mechanism (4, 34) on the one hand and guide device (6, 36, 59) on the other hand, in such a way that the shaft of surgical instrument (8, 38, 61) is movable both in x-direction and y-direction in relation to the starting position, in which the longitudinal extension of the surgical instrument runs parallel to the longitudinal extension of port mechanism (4, 34).

Claims

1. Active positioning device for a surgical instrument for use on a robot arm comprising

a carrier plate, which can be connected with a robot arm,

a port mechanism that is arranged on the carrier plate and intended as entry point into the interior of a body,

at least one guide device for inserting a surgical instrument into the body, whereby the shaft of surgical instrument extends through guide device and whereby guide device is variably connected to port mechanism via a compensating element), and

an adjustment device for guide device opposite port mechanism, which is arranged on carrier plate and/or port mechanism on the one hand and guide device on the other hand, in such a way that the shaft of surgical instrument is movable both in x-direction and y-direction in relation to the starting position, in which the longitudinal extension of the surgical instrument runs parallel to the longitudinal extension of port mechanism.

2. Active positioning device as defined in claim 1, characterized in that the geometry of compensating element is variable in such a way that a freely selectable angle can be set for both the x-direction and y-direction between port mechanism and guide device with regard to the starting position, in which they are congruent to each other, whereby compensating element is particularly made from elastic material.

3. Active positioning device as defined in claim 1, characterized in that adjustment device comprises at least two controllable actuators, which in particular are designed as actuating drives that are arranged orthogonally to each other, whereby a ball lever mechanism (is provided in-between guide device and carrier plate or port mechanism in such a way that per actuating drives by means of ball lever mechanism guide device can be independently positioned in x-direction and y-direction in relation to the starting position.

4. Active positioning device as defined in claim 1, characterized in that a translation adjustment device is provided on guide device, said translation adjustment device being connected to surgical instrument in such a way that the shaft of the surgical instrument is movable in the z-direction.

5. Active positioning device as defined in claim 4, characterized in that translation adjustment device moves the shaft of surgical instrument in the z-direction by means of a telescopic mechanism and/or a cable winch system.

6. Active positioning device as defined in claim 1, characterized in that an instrument drive unit is provided on surgical instrument, said instrument drive unit comprising a rotational actuator, by means of which shaft of the surgical instrument is variably rotated around the z-axis in relation to the starting position.

7. Active positioning device as defined in claim 6, characterized in that instrument drive unit preferably comprises three instrument actuators by means of which the work unit of the surgical instrument, arranged on the distal end, is variable in three further degrees of freedom.

8. Active positioning device as defined in claim 6 characterized in that instrument drive unit is arranged on the proximal end of telescopic mechanism by means of a holding device.

9. Active positioning device as defined in claim 1, characterized in that two guide devices are intended for insertion of two surgical instruments through a compensating element, whereby adjustment device of first guide device is essentially arranged in mirror-inverted manner with regard to the longitudinal axis of the two guide devices to active positioning device of the other guide device.

10. Surgical robot system, comprising

a control system, which can be operated by a user to perform the surgical procedure,

a support structure, on which two or more robot arms are arranged, which are movable by means of the control system

and whereby an active positioning device of a surgical instrument is provided on at least one robot arm, which comprises

a carrier plate, which can be connected with a robot arm,

a port mechanism that is arranged on the carrier plate and intended as entry point into the interior of a body,

at least one guide device for inserting a surgical instrument into the body, whereby the shaft of surgical instrument extends through guide device and whereby guide device is variably connected to port mechanism via a compensating element and

an adjustment device for guide device opposite of port mechanism, which is arranged on carrier plate and/or port mechanism on the one hand and guide device on the other hand, in such a way that the shaft of surgical instrument is movable both in x-direction and y-direction in relation to the starting position, in which the longitudinal extension of the surgical instrument runs parallel to the longitudinal extension of port mechanism.

11. Surgical robot system as defined in claim 10, characterized in that the geometry of compensating element is variable in such a way that a freely selectable angle can be set for both the x-direction and y-direction between port mechanism and guide device with regard to the starting position, in which they are congruent to each other, whereby compensating element is particularly made from elastic material.

12. Surgical robot system as defined in claim 10, characterized in that adjustment device comprises at least two controllable actuators, which in particular are designed as actuating drives that are arranged orthogonally to each other, whereby a ball lever mechanism is provided in-between guide device and carrier plate or port mechanism in such a way that per actuating drives by means of ball lever mechanism guide device can be independently positioned in x-direction and y-direction in relation to the starting position.

13. Surgical robot system as defined in claim 10, characterized in that a translation adjustment device is provided on guide device, said translation adjustment device being connected to surgical instrument in such a way that the shaft of the surgical instrument is movable in the z-direction.

14. Surgical robot system as defined in claim 13, characterized in that translation adjustment device moves the shaft of surgical instrument in the z-direction by means of a telescopic mechanism and/or a cable winch system.

15. Surgical robot system as defined in claim 10, characterized in that an instrument drive unit is provided on surgical instrument, said instrument drive unit comprising a rotational actuator, by means of which shaft of the surgical instrument is variably rotated around the z-axis in relation to the starting position.

16. Surgical robot system as defined in claim 15, characterized in that instrument drive unit preferably comprises three instrument actuators by means of which the work unit of the surgical instrument, arranged on the distal end, is variable in three further degrees of freedom.

17. Surgical robot system as defined in claim 15, characterized in that instrument drive unit is arranged on the proximal end of telescopic mechanism by means of a holding device.

18. Surgical robot system as defined in claim 10, characterized in that two guide devices are intended for insertion of two surgical instruments through a compensating element, whereby adjustment device of first guide device is essentially arranged in mirror-inverted manner with regard to the longitudinal axis of the two guide devices to active positioning device of the other guide device.