Medical robot system for supporting an organ in a position suitable for a medical treatment

• US 9,554,827 B2
• Filed: 06/21/2010
• Issued: 01/31/2017
• Est. Priority Date: 06/24/2009
• Status: Active Grant

• Current Assignee: Karl Storz Se & Co. Kg
• Original Assignee: Karl Storz Se & Co. Kg
• Inventors: Omori, Shigeru
• Primary Examiner(s): LOUIS, RICHARD G
• Application Number:
  US12/819,522
• Publication Number:
  US 20100331859A1
• Time in Patent Office: 2,416 Days
• Field of Search: 606191-193, 606/130, 606/119, 606/215, 604 39- 42, 318/568.11, 318/567, 64/960.1
• US Class Current: 1/1
• CPC Class Codes: A61B 17/4241 Instruments for manoeuvring or retracting the uterus, e.g. during laparoscopic surgery
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

Provided is a medical robot system which includes a medical manipulator capable of handling organs such as a uterine of different shapes and sizes. The medical robot system includes a robot arm, a medical manipulator which is detachably provided in the robot arm and supports an organ to a predetermined position, and a controller unit operable by an operator to control the robot arm and the medical manipulator. The medical manipulator also includes a first arm portion in a base side thereof, a second arm portion in a front side thereof for supporting the organ, and a connection portion connecting the first arm portion with the second arm portion. The control unit adjusts a relative direction of the second arm portion and the first arm portion and a length of the second arm portion in a telescopic manner thereby being suitable for organs of various shapes and sizes.

Claims

1. A medical robot system comprising:

a first robot arm;

a medical manipulator, detachably connected to said first robot arm, to support an organ at a predetermined position in a patient body, said medical manipulator including;

a first arm portion provided on a proximal side of said medical manipulator,

a second arm portion, provided on a distal side of said medical manipulator relative to said first arm portion, to support the organ, said second arm portion including

a hollow first member, and

a hollow second member that is concentric with the first member such that walls of the second member are slidably accommodated with walls of the first member, and

a bendable connection portion disposed on a distal end of said first arm portion so as to connect said first arm portion with said first member of said second arm portion, an entirety of said first and second members of said second arm portion being disposed distally of said connection portion, and a directional orientation of said second arm portion being adjustable relative to said first arm portion via said connection portion;

a control unit to adjust a longitudinal extension of said second arm portion within the organ, and to adjust the directional orientation of said second arm portion relative to said first arm portion; and

an expandable supporting balloon provided on said second arm portion.

2. The medical robot system according to claim 1,

wherein said first member of said second arm portion is a stationary portion connected to said connection portion, the stationary portion extending in a longitudinal direction,

wherein said second member of said second arm portion is a movable portion movably fitted to said stationary portion, and

wherein said medical robot system further comprises a movement mechanism to move said movable portion relative to said stationary portion in the longitudinal direction thereof.

3. The medical robot system according to claim 2, wherein said second arm portion further comprises a stopper mechanism to limit a relative movement of said stationary portion and said movable portion within a predetermined range.

4. The medical robot system according to claim 3, wherein the stopper mechanism is disposed within the second member of the second arm portion.

5. The medical robot system according to claim 2, wherein said control unit comprises:

an input switch to control said movement mechanism to cause a relative movement of said stationary portion and said movable portion to adjust the longitudinal extension of said second arm portion, and

a safety switch, and

wherein said input switch is manipulable only when said safety switch is actuated.

6. The medical robot system according to claim 2, further comprising an expandable supporting balloon provided on said movable portion of said second arm portion.

7. The medical robot system according to claim 1, further comprising an expandable fixing balloon provided on said first arm portion.

8. The medical robot system according claim 1,

wherein said control unit comprises an input mechanism to operate said medical manipulator, and

wherein said control unit controls said medical manipulator in such a manner that an input movement direction of said input mechanism is opposite to an actual horizontal movement of said medical manipulator.

9. The medical robot system according to claim 1, further comprising:

a second robot arm; and

a treatment manipulator, detachably connected with said second robot arm, to apply a medical treatment to the organ supported by said second arm portion.

10. The medical robot system according to claim 9, further comprising:

a third robot arm; and

an endoscope, detachably connected with said third robot arm, to capture an image of the organ supported by said second arm portion,

wherein said control unit includes a monitor to display an image captured by said endoscope.

11. The medical robot system according to claim 1, wherein an exterior surface of the walls of the second member slides against an interior surface of the walls of the first member.

12. The medical robot system according to claim 11, wherein the longitudinal extension of said second arm portion is adjusted via a limitation member and a threaded nut portion through which a correspondingly threaded screw portion passes, the limitation member and the nut portion being housed within the second member.

13. The medical robot system according to claim 1, wherein an interior surface of the walls of the second member slides against an exterior surface of the walls of the first member.

14. The medical robot system according to claim 13, wherein the longitudinal extension of said second arm portion is adjusted via rotation of a threaded front end member disposed within the second member that abuts a threaded wall portion of the interior surface of the walls of the second member, the front end member being attached to a rod that extends through the first member.

15. The medical robot system according to claim 14, wherein the first member includes a notch in the walls thereof through which a fluid supply extends to fill an expandable supporting balloon disposed on the second member.

16. A medical robot system comprising:

a robot arm;

a medical manipulator, detachably connected to said robot arm, to support an organ at a predetermined position in a patient body, said medical manipulator including;

an arm portion provided on a proximal side of said medical manipulator,

a support for supporting the organ, said support provided on a distal side of said medical manipulator relative to said arm portion, said support including

a hollow first member, and

a hollow second member that is concentric with the first member such that walls of the second member are slidably accommodated with walls of the first member, and

a joint for connecting said arm portion with said first member of said support, said joint being disposed on a distal end of said arm portion, an entirety of said first and second members of said support being disposed distally of said joint, and a directional orientation of said support being adjustable relative to said arm portion via said joint; and

a controller for adjusting a longitudinal extension of said support within the organ, and for adjusting the directional orientation of said support relative to said arm portion;

wherein an interior surface of the walls of the second member slides against an exterior surface of the walls of the first member.

17. The medical robot system according to claim 16, further comprising an expandable supporting balloon provided on said support.

18. A medical robot system comprising:

a robot arm;

a medical manipulator, detachably connected to said robot arm, to support an internal portion of an organ at a predetermined position in a patient body, said medical manipulator including;

an arm portion provided on a proximal side of said medical manipulator;

a support for supporting the organ, said support provided on a distal side of said medical manipulator relative to said arm portion, said support including

a hollow first member, and

a hollow second member that is concentric with the first member such that walls of the second member are slidably accommodated with walls of the first member, and

a joint for connecting said arm portion with said first member of said support, said joint being disposed on a distal end of said arm portion, an entirety of said first and second members of said support being disposed distally of said joint, and a directional orientation of said support being adjustable relative to said arm portion via said joint; and

a controller driving one or more motors for adjusting a longitudinal extension of said support within the organ, and for adjusting the directional orientation of said support relative to said arm portion.

19. The medical robot system according to claim 18, further comprising an expandable supporting balloon provided on said support.