Remote center-of-motion robot for surgery

• US 5,397,323 A
• Filed: 10/30/1992
• Issued: 03/14/1995
• Est. Priority Date: 10/30/1992
• Status: Expired due to Term

• Current Assignee: International Business Machines Corporation
• Original Assignee: International Business Machines Corporation
• Inventors: Taylor, Russell H., Grossman, David D., Karidis, John P., Funda, Janez, LaRose, David A.
• Primary Examiner(s): Graysay, Tamara L.
• Application Number:
  US07/968,715
• Time in Patent Office: 865 Days
• Field of Search: 606/130, 606/88, 901/48, 901/15, 901/41, 414/719, 414/917, 414/728, 414/718
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/3409 including needle or instrument drives
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 19/0008 Balancing devices
• CPC Class Codes: B25J 9/1065 with parallelograms

Abstract

An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links which rotate about pivots to position and re-position an instrument, like a surgical instrument, at a work point proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion with orthogonally decoupled degrees of freedom resolved at the work point.

The proximal part of the apparatus is adjustably fixed to a stationary object, like an operating table, while the distal part of the apparatus holds the instrument. Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient.

Claims

1. A manipulator apparatus, for assisting surgery, comprising:

a rotational joint that permits a first direction of revolute motion about a first axis;

a linkage comprising rigid linkage elements connected by two or more pivots with a second direction of revolute motion about the two or more pivots, the pivots having rotating axes parallel to one another, one or more of the two or more pivots being distal attachment pivots and one or more of the two or more pivots being proximal attachment pivots, the axis of each pivot being perpendicular to the first axis and the linkage being connected to the rotational joint at one or more of the proximal attachment pivots, the rotational joint permitting the linkage to rotate about the first axis;

a linear actuator connected to the linkage at one or more of the distal attachment pivots, the linear actuator having a third axis being perpendicular to the pivot axes; and

a connection attached to the linear actuator for attaching a surgical instrument to the linear actuator, the instrument having an instrument axis adapted to be parallel to the third axis, the linear actuator for moving the instrument along the instrument axis to enter a patient at a work point on the patient,

where the first axis and the third axis intersect at the work point, the work point being remote, at a first approximately fixed distance, from at least one proximal attachment pivot axis, the linear actuator modifying a second approximately fixed distance from the instrument to the work point and maintaining the instrument axis parallel to the third axis during a rotation in the first and second directions of revolute motion.

2. A manipulator apparatus, for assisting surgery, as in claim 1, where the first and second approximately fixed distances are exact fixed distances.

3. A manipulator apparatus, for assisting surgery, as in claim 1, where the linear actuator.

4. A manipulator apparatus, for assisting surgery, comprising:

a rotational joint that permits a first direction of revolute motion about a first axis;

a linkage comprising rigid linkage elements connected by two or more pivots, the linkage elements including a proximal element and a distal element, the proximal element having a first end connected to a first end of the distal element, a second end of the proximal element connected to the rotational joint at one or more proximal pivots of the two or more pivots thereby permitting the linkage to rotate about the first axis, a second end of the distal element connected to a linear actuator at one or more, distal pivots of the two or more pivots the linkage elements having a second direction of revolute motion about an axis of each pivot, each pivot axis being perpendicular to the first axis and the linear actuator having a third axis being perpendicular to the pivot axes; and

a connection attached to the linear actuator for attaching a surgical instrument, the instrument having an instrument axis adapted to be parallel to the third axis, and the linear actuator for moving the instrument along its instrument axis to enter a patient at a work point;

where the first axis and the third axis intersect at the work point, the work point being remote, at a first approximately fixed distance, from at least one proximal pivot, the linear actuator modifying a second approximately fixed distance from the work point and maintaining the instrument axis parallel to the third axis during a rotation in the first and second direction of revolute motion.

5. A manipulator apparatus, for assisting surgery, as in claim 4, where the rotation of the linkage elements is driven by a linkage actuator.

6. A manipulator apparatus, for assisting surgery, as in claim 5, where the linkage actuator can be decoupled.

7. A manipulator apparatus, for assisting surgery, as in claim 5, where the linkage actuator is located on the proximal element, the proximal element being electrically isolated from the distal element.

8. A manipulator apparatus, for assisting surgery, as in claim 4, where the rotation of the linkage elements is driven manually.

9. A manipulator apparatus for assisting surgery, as in claim 4, where one or more of the linkage elements can be separated, at a disconnect, into a first element section and a second element section whereby the manipulator apparatus is separable into a distal part having the linear actuator and a proximal part.

10. A manipulator apparatus for assisting surgery, as in claim 9, where the disconnect is made from an electrically non-conductive material.

11. A manipulator apparatus for assisting surgery, as in claim 4, where at least one of the linkage elements is made of an electrically non-conducting material so that the manipulator apparatus includes a distal part having the linear actuator and a proximal part, the distal part being electrically isolated from the proximal part.

12. A manipulator apparatus for assisting surgery, as in claim 4, where all the components of the manipulator apparatus are fabricated from non-conductive materials.

13. A manipulator apparatus, for assisting surgery, comprising:

a rotational joint that permits a first direction of revolute motion about a first axis;

an adjustable linkage comprising linkage elements connected by two or more pivots, the linkage elements including a proximal element and a distal element, the proximal element having a first end connected to a first end of the distal element, a second end of the proximal element connected to the rotational joint at one or more proximal pivots of the two or more pivots, thereby permitting the linkage to rotate about the first axis, a second end of the distal element connected to a holding means at one or more distal pivots of the two or more pivots, the linkage elements having a second direction of revolute motion about an axis of each pivot, each pivot axis being perpendicular to the first axis, holding means having a third axis being perpendicular to the pivot axes; and

a connection attached to the holding means for attaching a surgical instrument, the instrument having an instrument axis adapted to be parallel to the third axis;

where the first axis and the third axis intersect at a work point, the work point being at a remote position at a first approximately fixed distance from at least one proximal pivot, the holding means for moving the surgical instrument along the instrument axis; and

maintaining the instrument axis parallel to the third axis during a rotation in the first and second direction of revolute motion.

14. A manipulator apparatus, for assisting surgery, as in claim 13, where one or more of the linkage elements is adjustable in length and the length adjustment changes a second approximately fixed distance between the holding means and the work point.

15. A manipulator apparatus, for assisting surgery, as in claim 14, where the length adjustment is a telescopic linkage.

16. A manipulator apparatus, for assisting surgery, as in claim 13, where one or more of the linkage elements is adjustable in length and the length adjustment changes the first approximately fixed distance.

17. A manipulator apparatus, for assisting surgery, as in claim 16, where the length adjustment is a telescopic linkage.

18. A manipulator for assisting surgery, as in claim 13, where the proximal clement is a set of proximal parallel elements and the distal element is a set of distal parallel elements, the linkage being adjustable due to the lengths of the set of proximal parallel elements being adjustable in length in a manner that maintains the proximal parallel elements parallel, and adjusting the proximal element length changes the second approximate fixed distance between the holding means and the workpoint.

19. A manipulator for assisting surgery, as in claim 18, where the set of proximal parallel elements are constrained to move in tandem by identical amounts.

20. A manipulator for assisting surgery, as in claim 18, where the set of proximal parallel elements are adjusted in length by telescoping.

21. A manipulator for assisting surgery, as in claim 20, where the telescoping proximal parallel elements can be separated, the first ends of proximal parallel elements being detachable from the second ends of the proximal parallel elements so that the holding means can be separated from the remainder of the manipulator.

22. A manipulator apparatus for assisting surgery, as in claim 13, where two or more of the linkage elements is a set of parallel elements, the linkage being adjustable due to the lengths of the set of parallel elements being adjustable in length in a manner that maintains the parallel elements parallel, and adjusting the length of the parallel elements changes the first approximately fixed distance.

23. A manipulator apparatus for assisting surgery, as in claim 22, where the parallel elements in the set of parallel elements are constrained to move in tandem by identical amounts.

24. A manipulator apparatus for assisting surgery, as in claim 22, where the parallel elements in the set of parallel elements are adjusted in length by telescoping.

25. A manipulator apparatus for assisting surgery, as in claim 24, where the telescoping parallel elements can be separated, so that the third holding means and the surgical instrument can be separated from the remainder of the manipulator.

26. A manipulator apparatus, for assisting surgery, as in claim 13, where the lengths of at least one of the linkage elements is adjustable by an adjustment actuator.

27. A manipulator apparatus, for assisting surgery, as in claim 13, where the rotation of the linkage elements is driven by a linkage actuator.

28. A manipulator apparatus, for assisting surgery, as in claim 27, where the linkage actuator can be decoupled.

29. A manipulator apparatus, for assisting surgery, as in claim 13, where the rotation of the linkage elements is driven manually.

30. A manipulator apparatus for assisting surgery, as in claim 13, where one or more of the linkage elements can be separated, at a disconnect, into a first element section and a second element section whereby the manipulator apparatus is separable into a distal part having the linear actuator and a proximal part.

31. A manipulator apparatus for assisting surgery, comprising:

a rotational joint with a first direction of rotation about a first axis;

a linkage having linkage elements, the elements having a second direction of rotation about two or more pivots, one or more of the pivots being distal attachment pivots and one or more of the pivots being proximal attachment pivots, a rotating axis of each pivot being perpendicular to the first axis and the linkage being connected to the rotational joint at one or more of the proximal attachment pivots to permit rotation of the linkage about the first axis;

a linear actuator connected to the linkage at one or more of the distal attachment pivots, the linear actuator having a third axis being perpendicular to the distal attachment pivot axes;

a connection attached to the linear actuator for attaching a surgical instrument to the linear actuator, the instrument having an instrument axis adapted to be parallel to the third axis and adapted to pass through a work point; and

a mounting means for connecting the manipulator apparatus to a fixed surgical structure,

where the first axis and the third axis intersect at the work point, the work point being remote, at a first approximately fixed distance, from at least one proximal attachment pivot axis, the linear actuator modifying a second approximately fixed distance from the work point and maintaining the instrument axis parallel to the third axis during rotation in the first direction and second direction of revolute motion.

32. A manipulator apparatus for assisting surgery, as in claim 31, where the mounting means is one or more linear displacement stages.

33. A manipulator apparatus for assisting surgery, as in claim 31, where the weight of the apparatus is counterbalanced in at least one direction of rotation by a counterbalancing means for reducing the gravity force on the surgical instrument.

34. A manipulator apparatus, for assisting surgery, as in claim 33, where the counterbalancing means comprises a weight.

35. A manipulator apparatus, for assisting surgery, as in claim 34, where the counterbalancing means comprises an adjustable weight.

36. A manipulator apparatus, for assisting surgery, as in claim 35, where the adjustable weight comprises one weight for a coarser adjustment and a second weight for a finer adjustment.

37. A manipulator apparatus, for assisting surgery, as in claim 35, where there are a plurality of weights used to adjust the balance of the manipulator in a plurality of directions.

38. A manipulator apparatus for assisting surgery, as in claim 31, where the mounting means is adjustable.

39. A manipulator apparatus for assisting surgery, as in claim 31, where the fixed surgical structure is an operating table.

40. A manipulator apparatus for assisting surgery, as in claim 31, where the mounting means comprises a slidable locking means adjustably connecting the manipulator to a fixed element on the surgical structure.

41. A manipulator apparatus for assisting surgery, as in claim 40, where the fixed element is a rail.