Microsurgical robot system

• US 8,005,571 B2
• Filed: 07/03/2006
• Issued: 08/23/2011
• Est. Priority Date: 08/13/2002
• Status: Active Grant

• Current Assignee: Deerfield Imaging Incorporated
• Original Assignee: Neuroarm Surgical Ltd. (IMRIS Inc.)
• Inventors: McBeth, Paul Bradley, Sutherland, Garnette Roy, Gregoris, Dennis John, Louw, Deon Francois, Fielding, Tim
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): MARC, MCDIEUNEL
• Application Number:
  US11/480,701
• Publication Number:
  US 20070032906A1
• Time in Patent Office: 1,877 Days
• Field of Search: 700/245, 700/247, 700/248, 700/249, 700/256, 700/258, 700/259, 700/264, 318/568.11, 318/568.13, 318/568.16, 318/568.2, 318/568.22, 600/102, 600/130, 600/103, 600/109, 600/117, 600/229, 600/429, 600/587, 606/205, 606/130, 606/139, 606/142, 606/170, 606/206, 606/208, 901/1, 901/2, 901/9
• US Class Current: 700/248
• CPC Class Codes: A61B 2017/00911 for fields applied by a magnetic resonance imaging system
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/75 Manipulators having means for prevention or compensation of hand tremors
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/20 Surgical microscopes characterised by non-optical aspects
• CPC Class Codes: A61B 90/25 Supports therefor
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers

Abstract

A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool. The robot is MRI compatible and can be configured to operate within a closed magnet bore. The arms are driven about vertical and horizontal axes by piezoelectric motors.

Claims

1. A surgical system comprising:

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; and

two movable arms each carried on the support assembly, each arm having a plurality of degrees of freedom of movement and an end effector for carrying a selected surgical tool for operation on the patient;

one or more force sensors for detecting a force applied to the surgical tool carried by at least one of the arms as a result of contact with the patient;

where the end effector of one movable arm comprises;

a first actuator configured to roll a surgical tool about a longitudinal axis;

a collar configured to surround a portion of a surgical tool; and

a second actuator operable to move the collar along the longitudinal axis, and a workstation and control system including;

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

at least one of the hand-controllers having force feedback arranged to be controlled in response to the detected force for providing haptic effect to the operator.

2. The surgical system of claim 1, where the first actuator is configured to roll a surgical tool about a longitudinal axis using a driving gear.

3. The surgical system of claim 1, where:

the second actuator is mounted on a slide; and

the slide is carried in a track.

4. The surgical system of claim 1, where the one or more force sensors comprise:

a first flexure detection component attached to the first actuator and arranged to detect force along the longitudinal axis; and

a second flexure detection component attached to the second actuator and arranged to detect force in at least two different directions that are perpendicular to the direction of the longitudinal axis.

5. A surgical robot comprising:

a movable support assembly arranged to be located in fixed position adjacent a patient supported on an operating table;

a first robotic arm configured to be coupled to the movable support assembly, the first robotic arm including multiple joints and having at least six degrees of freedom, where the joint among the multiple joints that is not separated from the movable support assembly by any other joint when the first robotic arm is coupled to the movable support assembly is a yaw joint having a height relative to the movable support assembly that is fixed;

a second robotic arm configured to be coupled to the movable support assembly; and

the first and second robotic arms each having an end effector configured to carry a surgical tool for operation on a patient;

where the multiple joints comprise;

the yaw joint, which defines a vertical axis;

a first roll joint coupled to the yaw joint and defining a horizontal axis that passes through the vertical axis;

a second yaw joint coupled to the first roll joint by a rigid link and defining a second vertical axis;

a second roll joint coupled to the second yaw joint and defining a second horizontal axis that passes through the second vertical axis;

a third yaw joint coupled to the second roll joint by a second rigid link and defining a third vertical axis; and

a third roll joint coupled to the third yaw joint by a third rigid link and defining a third horizontal axis that is offset from and perpendicular to the third vertical axis.

6. A surgical robot comprising:

a movable support assembly arranged to be located in fixed position adjacent a patient supported on an operating table;

a first robotic arm configured to be coupled to the movable support assembly, the first robotic arm including multiple joints and having at least six degrees of freedom, where the joint among the multiple joints that is not separated from the movable support assembly by any other joint when the first robotic arm is coupled to the movable support assembly is a yaw joint having a height relative to the movable support assembly that is fixed;

a second robotic arm configured to be coupled to the movable support assembly; and

the first and second robotic arms each having an end effector configured to carry a surgical tool for operation on a patient;

where the second robotic arm includes multiple joints and has at least six degrees of freedom, and the joint among the multiple joints of the second robotic arm that is not separated from the movable support assembly by any other joint of the second robotic arm when the second robotic arm is coupled to the movable support assembly is a yaw joint having a height relative to the movable support assembly that is fixed.

7. The surgical robot of claim 6, where the multiple joints of the second robotic arm comprise:

the yaw joint of the second robotic arm (SRA), the SRA yaw joint defining an SRA first vertical axis;

an SRA first roll joint coupled to the SRA yaw joint and defining an SRA horizontal axis that passes through the SRA first vertical axis;

an SRA second yaw joint coupled to the SRA first roll joint by an SRA rigid link and defining an SRA second vertical axis;

an SRA second roll joint coupled to the SRA second yaw joint and defining an SRA second horizontal axis that passes through the SRA second vertical axis;

an SRA third yaw joint coupled to the SRA second roll joint by an SRA second rigid link and defining an SRA third vertical axis; and

an SRA third roll joint coupled to the SRA third yaw joint by an SRA third rigid link and defining an SRA third horizontal axis that is offset from and perpendicular to the SRA third vertical axis.

8. A surgical robot comprising:

a movable support assembly arranged to be located in fixed position adjacent a patient supported on an operating table;

a first robotic arm configured to be coupled to the movable support assembly, the first robotic arm including multiple joints and having at least six degrees of freedom, where the joint among the multiple joints that is not separated from the movable support assembly by any other joint when the first robotic arm is coupled to the movable support assembly is a yaw joint having a height relative to the movable support assembly that is fixed;

a second robotic arm configured to be coupled to the movable support assembly; and

the first and second robotic arms each having an end effector configured to carry a surgical tool for operation on a patient;

where each end effector comprises;

a first actuator configured to roll a surgical tool about a longitudinal axis;

a collar configured to surround a portion of a surgical tool; and

a second actuator operable to move the collar along the longitudinal axis.

9. The surgical robot of claim 8, where the first actuator of each end effector is configured to roll a surgical tool about a longitudinal axis using a driving gear.

10. The surgical robot of claim 9, where:

the second actuator of each end effector is mounted on a slide carried in a track.

11. The surgical robot of claim 8, where each end effector further comprises:

a first flexure detection component attached to the end effector'"'"'s first actuator and arranged to detect force along the longitudinal axis; and

a second flexure detection component attached to the end effector'"'"'s second actuator and arranged to detect force in at least two different directions that are perpendicular to the direction of the longitudinal axis.

12. A surgical robot comprising:

a movable support assembly arranged to be located in fixed position adjacent a patient supported on an operating table, the movable support assembly having a laterally-oriented surface for supporting multiple robotic arms;

a first robotic arm configured to be coupled to the laterally-oriented surface of the movable support assembly;

a second robotic arm configured to be coupled to the laterally-oriented surface of the movable support assembly;

the first and second robotic arms each having an end effector that includes a flexure detection system configured to detect forces applied to a surgical tool as a result of contact with a patient when the surgical tool is coupled to the end effector; and

the movable support assembly being configured such that the laterally-oriented surface is vertically adjustable;

where the first robotic arm includes multiple joints and has at least six degrees of freedom, and the joint among the multiple joints that is not separated from the laterally-oriented surface by any other joint when the first robotic arm is coupled to the laterally-oriented surface is a yaw joint having a height relative to the laterally-oriented surface that is vertically fixed.

13. The surgical robot of claim 12, where the multiple joints comprise:

the first yaw joint, which defines a vertical axis;

a first roll joint coupled to the first yaw joint and defining a horizontal axis that passes through the vertical axis;

a second yaw joint coupled to the first roll joint by a rigid link and defining a second vertical axis;

a second roll joint coupled to the second yaw joint and defining a second horizontal axis that passes through the second vertical axis;

a third yaw joint coupled to the second roll joint by a second rigid link and defining a third vertical axis; and

a third roll joint coupled to the third yaw joint by a third rigid link and defining a third horizontal axis that is offset from and perpendicular to the third vertical axis.

14. A surgical robot comprising:

a movable support assembly arranged to be located in fixed position adjacent a patient supported on an operating table, the movable support assembly having a laterally- oriented surface for supporting multiple robotic arms;

a first robotic arm configured to be coupled to the laterally-oriented surface of the movable support assembly;

a second robotic arm configured to be coupled to the laterally-oriented surface of the movable support assembly;

the first and second robotic arms each having an end effector that includes a flexure detection system configured to detect forces applied to a surgical tool as a result of contact with a patient when the surgical tool is coupled to the end effector; and

the movable support assembly being configured such that the laterally-oriented surface is vertically adjustable;

where the second robotic arm includes multiple joints and has at least six degrees of freedom, and the joint among the multiple joints of the second robotic arm that is not separated from the laterally-oriented surface by any other joint of the second robotic arm when the second robotic arm is coupled to that surface is a yaw joint having a height relative to the laterally-oriented surface that is fixed.

15. The surgical robot of claim 14, where the multiple joints of the second robotic arm comprise:

the yaw joint of the second robotic arm (SRA), the SRA yaw joint defining an SRA first vertical axis;

an SRA first roll joint coupled to the SRA first yaw joint and defining an SRA horizontal axis that passes through the vertical axis along which the second robotic arm cannot be moved relative to the laterally-oriented surface;

an SRA second yaw joint coupled to the SRA first roll joint by an SRA rigid link and defining an SRA second vertical axis;

an SRA second roll joint coupled to the SRA second yaw joint and defining an SRA second horizontal axis that passes through the SRA second vertical axis;

an SRA third yaw joint coupled to the SRA second roll joint by an SRA second rigid link and defining an SRA third vertical axis; and

an SRA third roll joint coupled to the SRA third yaw joint by an SRA third rigid link and defining an SRA third horizontal axis that is offset from and perpendicular to the SRA third vertical axis.

16. A surgical robot comprising:

a movable support assembly arranged to be located in fixed position adjacent a patient supported on an operating table, the movable support assembly having a laterally- oriented surface for supporting multiple robotic arms;

a first robotic arm configured to be coupled to the laterally-oriented surface of the movable support assembly;

a second robotic arm configured to be coupled to the laterally-oriented surface of the movable support assembly;

the first and second robotic arms each having an end effector that includes a flexure detection system configured to detect forces applied to a surgical tool as a result of contact with a patient when the surgical tool is coupled to the end effector; and

the movable support assembly being configured such that the laterally-oriented surface is vertically adjustable;

where each end effector comprises;

a first actuator configured to roll a surgical tool about a longitudinal axis;

a collar configured to surround a portion of a surgical tool; and

a second actuator operable to move the collar along the longitudinal axis.

17. The surgical robot of claim 16, where each first actuator is configured to roll a surgical tool about a longitudinal axis using a driving gear.

18. The surgical robot of claim 16, where each second actuator is mounted on a slide carried in a track.

19. The surgical robot of claim 16, where each flexure detection system comprises:

a first flexure detection component attached to the first actuator and arranged to detect force along the longitudinal axis; and

a second flexure detection component attached to the second actuator and arranged to detect force in at least two different directions that are perpendicular to the direction of the longitudinal axis.