Microsurgical robot system

• US 9,220,567 B2
• Filed: 04/16/2007
• Issued: 12/29/2015
• Est. Priority Date: 08/13/2002
• Status: Active Grant

• Current Assignee: Deerfield Imaging Incorporated
• Original Assignee: Neuroarm Surgical Ltd. (IMRIS Inc.)
• Inventors: Sutherland, Garnette Roy, Louw, Deon Francois, McBeth, Paul Bradley, Fielding, Tim, Gregoris, Dennis John
• Primary Examiner(s): Holwerda, Stephen
• Application Number:
  US11/735,983
• Publication Number:
  US 20080004632A1
• Time in Patent Office: 3,179 Days
• Field of Search: 128/897, 128/923, 340/3.5, 600/101, 600/102, 600/109, 600/118, 600/130, 600/205, 600/426, 600/429, 600/595, 606/1, 606/130, 700/247, 700/248, 700/249, 700/256, 700/258, 700/259, 700/264, 318/568.11, 901/1, 901/2, 901/9
• US Class Current: 1/1
• 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 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 end effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. 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 robotic system end effector configured to hold a surgical tool, the end effector comprising:

a first actuator configured to roll the surgical tool about a longitudinal axis when held by the end effector and comprising a first flexure detection component for detecting force on the surgical tool along the longitudinal axis, wherein the first flexure detection component comprises optical strain sensors;

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

a second actuator operable to move the collar relative to the surgical tool along the longitudinal axis and comprising a second flexure detection component for detecting force on the surgical tool in at least two different directions that are perpendicular to the direction of the longitudinal axis, wherein the second flexure detection component comprises optical strain sensors;

wherein the end effector is for attachment to a robotic arm and actuatable in response to signals from the robotic arm.

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

3. The surgical robotic system end effector of claim 1, where the second actuator is mounted on a slide carried in a track.

15. The surgical robotic system end effector of claim 1, where at least one flexure detection component comprises one or more members configured to flex in response to force.

4. A surgical robotic system comprising:

an end effector for attachment to a robotic arm and actuatable in response to signals from the robotic arm, the end effector comprising;

a tool support mechanism configured to hold a surgical tool defining a longitudinal axis;

an actuator configured to move relative to the tool support mechanism along the longitudinal axis;

a collar coupled to the actuator, and

a flexure detection system configured to detect forces in X, Y, and Z directions on a surgical tool held by the end effector comprising;

a first flexure detection component operatively associated with the tool support mechanism and arranged to detect force in the Z direction, wherein the first flexure detection component comprises optical strain sensors; and

a second flexure detection component operatively associated with the actuator and arranged to detect force in the X and Y directions, wherein the second flexure detection component comprises optical strain sensors.

5. The surgical robotic system of claim 4, where the actuator is mounted on a slide, and the slide is carried in a track.

6. The surgical robotic system of claim 4, where the collar is configured to surround a portion of the surgical tool.

7. The surgical robotic system of claim 6, where the collar is configured to move along the longitudinal axis of the surgical tool to actuate the surgical tool.

8. The surgical robotic system of claim 4, the end effector further comprising a gear that rotates the surgical tool around the longitudinal axis of the surgical tool.

9. The surgical robotic system of claim 4, where the surgical tool is a pair of forceps.

10. The surgical robotic system of claim 9, where the pair of forceps comprises tips and ramp surfaces, and movement of the collar along the ramp surfaces determines the spacing of the tips.

11. The surgical robotic system of claim 4, where the surgical tool is a suction tool.

12. The surgical robotic system of claim 11, where the suction tool comprises an opening and the collar is configured to partially or wholly cover the opening depending on the location of the collar.

13. The surgical robotic system of claim 4, where the surgical tool is a micro scissors tool.

14. The surgical robotic system of claim 4, where the flexure detection system comprises one or more members configured to flex in response to force.

16. A surgical robot end effector comprising:

a tool support mechanism configured to hold a surgical tool defining a longitudinal axis;

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

a collar configured to surround a portion of the surgical tool and movable along the longitudinal axis of the surgical tool to transfer the surgical tool from an unactuated position to an actuated position, wherein the collar is longitudinally spaced apart from the tool support mechanism when the surgical tool is in the actuated position,

a second actuator operable to move the collar along the longitudinal axis of the surgical tool, and

a flexure detection system comprising;

a first flexure detection component operatively associated with the tool support mechanism and arranged to detect force in the Z direction, wherein the first flexure detection component comprises optical strain sensors; and

a second flexure detection component operatively associated with the second actuator and arranged to detect force in the X and Y directions, wherein the second flexure detection component comprises optical strain sensors;

wherein the end effector is for attachment to a robotic arm and actuatable in response to signals from the robotic arm.