MOUNTING AND POSITIONING DEVICE OF A SURGICAL INSTRUMENT AND.OR AN ENDOSCOPE FOR MINIMALLY INVASIVE SURGERY AND ASURGICAL ROBOT SYSTEM

• US 20140180309A1
• Filed: 03/14/2013
• Published: 06/26/2014
• Est. Priority Date: 12/20/2012
• Status: Abandoned Application

• Current Assignee: Avateramedical GmbH (avateramedical NV)
• Original Assignee: Avateramedical GmbH (avateramedical NV)
• Inventors: Seeber, Marcel, Karguth, Andreas, Trommer, Christian
• Application Number:
  US13/828,008
• Publication Number:
  US 20140180309A1
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• 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
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B25J 18/007 the end effector rotating around a fixed point

Abstract

The invention describes a mounting and positioning device of a surgical instrument and/or an endoscope for minimally-invasive surgery, in particular for use within a surgical robot system, comprising a first axis of rotation (3), around which a support element (4) is rotatably arranged, wherein the first axis of rotation (3) intersects with the longitudinal axis (11) of at least one surgical instrument (9; 17A, 17b) and/or an endoscope (9; 17A, 17b) in a pivot point (13), as the result of a deviation drive (5) being fixed on the support element (4), said deviation drive arranging an instrument drive unit (15) in rotatable fashion around a pivot point (13), and wherein a telescopic device (8) is provided at an instrument drive unit (15), which allows for the translatory movement of the surgical instrument (9; 17A, 17b) and/or the endoscope (9; 17A, 17B) into the body, along its longitudinal axis (11) using a guide device (10, 10s) in such fashion that the longitudinal axis (11) of the surgical instrument (9; 17A, 17b) and/or the endoscope (9; 17A, 17b) is variably adjustable in relation to the telescopic device (8).

Claims

1. Mounting and positioning device of a surgical instrument and/or an endoscope for minimally invasive surgery, in particular for use within a surgical robot system, comprising a first axis of rotation (3), around which a support element (4) is rotatably arranged, wherein the first axis of rotation (3) intersects with the longitudinal axis (11) of at least one surgical instrument (9;

17A, 17b) and/or an endoscope (9;

17A, 17b) in a pivot point (13), as the result of a deviation drive (5) being fixed on the support element (4), said deviation drive arranging an instrument drive unit (15) in rotatable fashion around a pivot point (13), and wherein a telescopic device (8) is provided at an instrument drive unit (15), which allows for the translatory movement of the surgical instrument (9;

17A, 17b) and/or the endoscope (9;

17A, 17B) into the body, along its longitudinal axis (11) using a guide device (10, 10s) in such fashion that the longitudinal axis (11) of the surgical instrument (9;

17A, 17b) and/or the endoscope (9;

17A, 17b) is variably adjustable in relation to the telescopic device (8).

2. Mounting and positioning device according to claim 1, characterized in that the instrument drive unit (15) on the telescopic device (8) by means of an instrument pivot point (56) is pivoted so that the longitudinal axis of the telescope (58) of the telescopic device (8) is variable in relation to the longitudinal axis (11) of the surgical instrument (9;

17A, 17b) and/or the endoscope (9;

17A, 17b) in dependence on the deviation drive (5).

3. Mounting and positioning device according to claim 1 or 2, characterized in that the telescopic device (8) comprises several telescope elements (8U, 8V, 8W), wherein the instrument pivot point (56) is arranged on the telescope element (8W) with the largest range of telescopic adjustment.

4. Mounting and positioning device according to one of the preceding claims 1 to 3, characterized in that the guide device (10, 10s) comprises at least one instrument guide (10s), through which the shaft of the surgical instrument (9;

17A, 17b) and/or the endoscope (9;

17A, 17b) extends.

5. Mounting and positioning device according to one of the preceding claims 1 to 4, characterized in that the deviation drive (5) is arranged on the telescopic device (8) by means of a deviation drive position point (55), in such fashion that the rotation of the instrument drive unit (15) around the pivot point (13) is the result of a coupling device (6, 7) comprising a coupling pivot point (6) which is firmly connected with the support element (4).

6. Mounting and positioning device according to one of the preceding claims 1 to 5, characterized in that the instrument drive unit (15) moves the surgical instrument (9;

17A, 17b) and/or the endoscope (9;

17A, 17B) in several degrees of freedom, wherein the activation of the instrument drive unit (15) is controlled by the surgeon with a control unit (44), by means of control and supply lines, which are guided through the support element (4) and the deviation drive (5).

7. Mounting and positioning device according to one of the preceding claims 1 to 6, characterized in that the first axis of rotation (3) is formed in that a drive unit (1) is provided that can be mounted on a robotic arm, wherein a pivot joint (2) is provided between the drive unit (1) and the support element (4).

8. Mounting and positioning device according to one of the preceding claims 1 to 7, characterized in that a coupling element (12) is arranged on support element (4), which is rotatably connected at the distal end at the pivot point (13) with the instrument guide (10s).

9. Mounting and positioning device according to one of the preceding claims 1 to 8, characterized in that several surgical instruments (17a, 17b) are guided through a single trocar (18) into the body, wherein a separate instrument drive unit (15a, 15b) is provided for each surgical instrument (17a, 17b), and wherein in particular the surgical instruments (17a, 17b) are curved in a longitudinal direction.

10. Mounting and positioning device according to one of the preceding claims 1 to 9, characterized in that the support element (4) and/or the drive unit (1) can be adjusted by means of a pre-positioning device in its starting position, wherein the pre-positioning device comprises one or more pre-positioning elements (30, 32, 34, 37), the position of which is adjustable in at least one axis, wherein in particular four pre-positioning elements (30, 32, 34, 37) can be preset with positions that are in series and variable in relation to one another.

11. Surgical robot system with multiple mounting and positioning devices according to one of the claims 1 to 10, wherein at least two mounting and positioning devices are arranged on a mounting support system (19, 20, 21, 22, 23, 24) that essentially runs transversely to the mounting and positioning devices, wherein the mounting support system (19, 20, 21, 22, 23, 24) is constructed from one coupling point (22a-d) for each mounting and positioning device, and wherein the coupling points (22a-d) are connected rigidly or via joints (23, 24) with each other.

12. Surgical Robot System according to claim 11, characterized in that the mounting support system (19, 20, 21, 22, 23, 24) by means of a coupling support connection is connected to an essentially vertically running main support device (39, 40), for support in relation to a fixed bearing (42), which is movably arranged or predefined in relation to a fixed or movable operating table (48).

13. Surgical Robot System according to claim 11 or 12, characterized in that a central control unit (46) is provided, which is connected with each of the mounting and positioning devices with the appropriate surgical instruments (9;

17A, 17b) and/or endoscopes (9;

17A, 17b) and is coupled with a control panel (44) for entering commands in the form of control data provided by a surgeon, which by means of a visualization unit (53) provides image data from one or multiple endoscopes (9;

17A, 17b).

14. Surgical Robot system according to one of the claims 11 to 13, characterized in that the control unit (46) and the control panel (44) are coupled with a movable operating table (48), wherein both the image data as well as the control data are processed in dependence of the given positions of the mounting and positioning device and the operating table (48).