An unconstrained master controller device (110) comprising a sensorized elongated body (10) comprising at least one tracking sensor (11) for detecting position and orientation of the master controller device; a handle (12); a cylindrical roll joint (13) between the handle (12) and the sensorized elongated body (10), said cylindrical joint being suitable to allow relative rotation between the sensorized elongated body and the handle at least about a roll rotation axis (R); and a sensorized control interface (14), mounted to the sensorized elongated body (10) to actuate rotation of the sensorized elongated body (10) about the roll rotation axis (R).
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
2.
METHOD OF MANUFACTURING A GRIPPING SURFACE FOR AN END EFFECTOR AND SURGICAL INSTRUMENT COMPRISING A GRIPPING END EFFECTOR
A manufacturing method by wire electro-erosion comprising the following steps of providing a wire electro-erosion machine having a cutting wire; mounting at least one workpiece to the wire electro-erosion machine; making a surface micro-topography by wire electro-erosion; performing a first through cut on the workpiece according to a cutting path comprising peaks and valleys, thus exposing an exposed portion on the workpiece comprising reliefs and recesses corresponding to said peaks and valleys of the first cutting path. A surgical instrument comprises at least one gripping surface comprising a surface micro-topography.
A61B 17/04 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for suturing woundsHolders or packages for needles or suture materials
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/06 - NeedlesHolders or packages for needles or suture materials
Surgical instrument (1 ) for a surgical robot (10) comprising an articulated end (2) comprising a first link (3) actuated by one or more tendons and comprising an attachment root (31 ) and an elongated body (32) forming at least one distal free end (33); a second link (4) actuated by one or more tendons and comprising an attachment root (41 ) and an elongated body (42) forming at least one free end (43); said first link (3) and said second link (4) are movable with respect to each other in a closing/opening direction; said elongated body (32) of the first link (3) comprises, in a single piece, its own elastic appendix (34) having its own free end (35) comprising an elastic element to bias the distancing of said first link and said second link; said second link (4) comprises an abutment wall (44) to abut against the appendix (34) of the first link for the purpose of elastically deforming the elastic appendix (34) of the first link (3) by loading it.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods
4.
METHOD FOR CONTROLLING A SLAVE DEVICE, CONTROLLED BY A MASTER DEVICE IN A ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION, TAKING INTO ACCOUNT LIMITS OF A FIELD OF VIEW, AND RELATED ROBOTIC SYSTEM
A method controls a slave device of a robotic system for medical or surgical teleoperation. The robotic system includes a master device movable by an operator, a slave device having a surgical instrument controllable by the master device, and a viewer configured to display to the operator images and/or videos of a viewing space associated with a teleoperation area in which the surgical instrument operates. Position of the surgical instrument is determined with respect to the viewing space, to determine whether the surgical instrument is located inside or outside an allowed space correlated to the viewing space. Movement of the slave device is dependent on the determined position of the surgical instrument with respect to the allowed space correlated to the viewing space, and so that movement of the surgical instrument is allowed only if located inside the viewing space. A robotic system is controllable by the control method.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
42 - Scientific, technological and industrial services, research and design
44 - Medical, veterinary, hygienic and cosmetic services; agriculture, horticulture and forestry services
Goods & Services
Computer hardware and recorded software for acquiring images
and videos from digital microscopes and other medical
imaging devices; software for processing of images and
videos of surgical procedures visualizing the status and use
of a robotic surgical instrument system; computer hardware
and recorded software for transmitting and receiving
surgical videos, surgical procedure information, surgical
robotic status, surgical procedure information; downloadable
and recorded medical software for fusion of images to be
used in pre-operative microsurgical procedures; downloadable
and recorded medical software using artificial intelligence
(AI) for use in video analysis, interpretation and assist in
increasing efficacy of surgical procedures used in the field
of microsurgery; downloadable and recorded medical software
using artificial intelligence (AI) for use in analysis,
interpretation and provide feedback on a microsurgical
procedure, used in the field of microsurgery; downloadable
and recorded medical software using artificial intelligence
(AI) for use in pre-operative procedures, used in the field
of microsurgery; downloadable and recorded medical software
for medical teaching in the field of microsurgery;
downloadable and recorded medical software for connecting to
cloud-based storage for uploading and accessing video,
images and other information used in the field of
microsurgery. Medical and surgical apparatus for acquiring and visualizing
images and video from digital microscopes and medical
imaging devices; apparatus for interfacing with a robotic
surgical system; medical instrument for microsurgery;
surgical and medical apparatus and instruments for use in
microsurgery; medical imaging apparatus for the fusion of
images for use in pre-operative microsurgical procedures. Updating and maintaining cloud-based computer software
through on-line updates, enhancements and patches; platform
as a service (paas) featuring computer software platforms
for use in data management related to microsurgical
procedures. Medical services in the field of microsurgery.
6.
ARTICULATED SURGICAL INSTRUMENT FOR ROBOTIC SURGERY OR MICROSURGERY, MANUFACTURING METHOD AND ASSEMBLY METHOD
A surgical instrument includes an articulated end having a first support link, and a second link articulated with respect to the support link about a rotation axis, and a transmission cable fixed to the second link. The first support link includes at least a first convex ruled surface with straight generator lines all parallel to each other, and at least a second convex ruled surface with straight generator lines all parallel to each other. The transmission cable is configured to slide on both the at least a first surface and the second surface of the first support link when the second link rotates with respect to the support link. The straight generator lines of the at least a first convex ruled surface are orthogonal to the straight generator lines of the second convex ruled surface.
METHOD AND SYSTEM FOR CONTROLLING A SLAVE DEVICE, IN A MASTER-SLAVE ROBOTIC SYSTEM FOR SURGICAL TELEOPERATION, AT PHYSICAL LIMITS OF MOVEMENT OF THE SLAVE DEVICE
A method controls a robotic system slave device for medical/surgical teleoperation. The system includes a hand-held master device movable by an operator and controlling a slave device. If a nominal target pose having an orientation in a rotational space of the slave device is outside a slave device working region, and the nominal or modified target pose inside the working region, are inside the departure region, the slave device orientation is converged to the modified target pose. If the nominal and/or modified target poses are outside the departure region, rotational movement of the slave device is blocked until the nominal and modified target poses enter into the reentry region. When the nominal and modified target poses return to the reentry region, the slave device orientation is converged to the modified target pose, through a teleoperation phase, ending when the slave device orientation converges to the modified target pose.
A control method usable in any robotic system for medical or surgical teleoperation having at least one master device, at least one slave device configured to be moved by an actuator and to be controlled by the master device, a central microprocessor unit configured to control the slave device and a display configured to visualize in its central portion a surgical site in which the slave device operates, comprises the operations of; determining with the central unit the spatial orientations of the master and slave devices; when the central unit receives an help-alignment request signal, generating a graphical user interface on the display comprising at least one help-alignment graphic element visually representing a relative spatial orientation of the master device with respect to the slave device; modifying at least one graphical aspect of the help-alignment graphic element in a manner corresponding to the relative spatial orientation of the master device with respect to the slave device.
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
9.
ELECTROSURGICAL INSTRUMENT AND MOVABLE ELECTROSURGICAL ENERGY TRANSMISSION CABLE ASSEMBLY, PARTICULARLY FOR ROBOTIC TELEOPERATION
An assembly (1) comprising an electrosurgical instrument (2) having an elongated positioning element (3) and an electrosurgical end (4) at the distal end (5) of the elongated positioning element (3); and an electrosurgical energy transmission cable (8) operatively connected to the electrosurgical end (4); the elongated positioning element (3) comprises a body extending along a longitudinal direction (X-X); said electrosurgical end (4) is adapted to rotate in a rolling rotation (ROLL) around the longitudinal direction (X-X) of the elongated positioning element (3); said elongated positioning element (3) comprises at least one electrically conductive path in electric conduction communication with the electrosurgical end (4); said electrically conductive path of the elongated positioning element (3) of the electrosurgical instrument (2) comprises at least one contact surface (10) thereof; said transmission cable (8) comprises at least one electrically conductive contact element (9) thereof arranged in electric conduction contact with said at least one contact surface (10) of the electrically conductive path of the elongated positioning element (3) of the electrosurgical instrument (2); the elongated positioning element (3) with the at least one contact surface (10) thereof is adapted to rotate around the longitudinal direction (X-X) thereof with respect to the at least one contact element (9) of the electrosurgical energy transmission cable (8), creating an electrically conductive sliding contact.
H01R 13/52 - Dustproof, splashproof, drip-proof, waterproof, or flameproof cases
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
10.
METHOD FOR CONTROLLING, BY DECREASING THE IMPARTED SPEED OR POWER, A SLAVE DEVICE CONTROLLED BY A MASTER DEVICE IN A ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION, AND RELATED ROBOTIC SYSTEM
A method for controlling a slave device during teleoperation is performed by a robotic system. The robotic system includes a master device movable by an operator, and a slave device having a surgical instrument controllable by the master device. The method defines a nominal target pose in a workspace of the slave device, modifies the nominal target pose to obtain a modified target pose, and controls motion of the slave device in the workspace so that the slave follows the modified target pose. Modifying the nominal target pose includes decreasing a translational speed module of the modified target pose relative to speed of the nominal target pose, and/or decreasing instantaneous power or energy imparted to the slave device, according to a transfer function dependent on the instantaneous speed/instantaneous power of the master device and/or the distance between a current position and the nominal target pose of the slave device.
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
11.
MASTER CONTROLLER DEVICE FOR ROBOTIC SURGERY WITH STERILE MANIPULATION INTERFACE FOR ACTUATING A SLAVE DEVICE FUNCTION
Master controller device (1) for a robotic system for surgical teleoperation, comprising a sensorized operating portion (3) for controlling at least one degree of freedom of position and/or orientation of a slave surgical instrument (4) associable with the master controller device; a sterile manipulation interface (5, 6) mountable to the sensorized operating portion (3) and comprising at least one sterile manipulation surface (7, 8); the sterile manipulation interface (5, 6) comprises an actuation device (9) for controlling at least one additional function (Ω) of the slave surgical instrument.
A manufacturing method by wire electro-erosion includes providing a wire electro-erosion machine having a cutting wire; mounting at least one workpiece to the wire electro-erosion machine; and making a surface micro-topography by wire electro-erosion. The method includes performing a first through cut on the workpiece according to a cutting path having peaks and valleys, thus exposing an exposed portion on the workpiece comprising reliefs and recesses corresponding to the peaks and valleys of the first cutting path. A surgical instrument includes at least one gripping surface having a surface micro-topography.
A61B 17/04 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for suturing woundsHolders or packages for needles or suture materials
A61B 17/06 - NeedlesHolders or packages for needles or suture materials
Surgical instrument (1) for a robotic system (10) of surgical or microsurgical teleoperation comprising a transmission interface portion (2) having a frame (3) and at least one transmission element (4) which is movable with respect to the frame, an operating portion (5), at least one actuation tendon (6) between the transmission interface portion and the operating port ion for actuating the operating portion based on an actuation action (F) applied to the at least one transmission element (4); wherein the transmission interface portion (2) comprises at least one return pulley (7) for the at least one actuation tendon (6); said at least one return pulley (7) is mounted on the frame (3) of the transmission interface portion so that it can rotate about a rotation axis (X-X) and translate along a translation direction (Y -Y) with respect to the frame; - the rotation axis (X -X) of the at least one return pulley (7) is orthogonal to the translation direction (Y-Y) of the same return pulley (7).
Master control device (110) for surgical or microsurgical teleoperation comprising a control gripper (112) operable to open/close (M) and a sterile barrier covering the control gripper; wherein the control gripper comprises a first elastic device (113) for elastically biasing the control gripper to open and/or close; and wherein the sterile barrier of the master control device comprises at least one sterile manipulation interface (206, 207) mounted to the control gripper (112) for manipulating the control gripper to open/close; and wherein the at least one sterile manipulation interface includes a second elastic element (220) for elastically biasing the control gripper to open and/or close.
Surgical instrument (1) for a robotic system (10) of surgical or microsurgical teleoperation comprising a transmission interface portion (2) having a frame (3) and at least one transmission element (4) which is movable with respect to the frame, an operating portion (5), at least one actuation tendon (6) between the transmission interface portion and the operating port ion for actuating the operating portion based on an actuation action (F) applied to the at least one transmission element (4); wherein the transmission interface portion (2) comprises at least one return pulley (7) for the at least one actuation tendon (6); said at least one return pulley (7) is mounted on the frame (3) of the transmission interface portion so that it can rotate about a rotation axis (X-X) and translate along a translation direction (Y -Y) with respect to the frame; - the rotation axis (X -X) of the at least one return pulley (7) is orthogonal to the translation direction (Y-Y) of the same return pulley (7).
Master control device (110) for surgical or microsurgical teleoperation comprising a control gripper (112) operable to open/close (M) and a sterile barrier covering the control gripper; wherein the control gripper comprises a first elastic device (113) for elastically biasing the control gripper to open and/or close; and wherein the sterile barrier of the master control device comprises at least one sterile manipulation interface (206, 207) mounted to the control gripper (112) for manipulating the control gripper to open/close; and wherein the at least one sterile manipulation interface includes a second elastic element (220) for elastically biasing the control gripper to open and/or close.
METHOD FOR CONTROLLING A SLAVE DEVICE, CONTROLLED BY A MASTER DEVICE MOVABLE BY AN OPERATOR IN A ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION, CLOSE TO MOTION LIMITS OF THE SLAVE DEVICE, AND RELATED ROBOTIC SYSTEM
A method for controlling a robotic system slave device for medical or surgical teleoperation, is close to physical motion limits of the slave device. The robotic system includes a master device movable by an operator, controlling a slave device having a surgical instrument. For each master trajectory of the master device, a respective slave target trajectory is determined in a slave reference coordinate system, with slave device movements being reduced by a scale factor with respect to master device movements. Determining the slave trajectory includes defining an edge region and an inner region of a convex volume. When a slave device nominal target trajectory is outside the inner region the modified scale factor is greater than a predetermined maximum scaling factor, the scale factor or the translational offset are dynamically varied so the target slave trajectory remains within the convex volume.
Surgical instrument and anti-electrostatic flexible sleeve comprising a surgical instrument for robotic surgery comprising an elongated positioning element and an articulated end at the distal end of the elongated positioning element, wherein the articulated end comprises an operating portion for manipulating a tissue and/or a surgical or microsurgical needle and/or a surgical or microsurgical suture wire and/or an operating micro-instrument; and a flexible sleeve fitted onto the surgical instrument comprising a flexible body made of a dielectric material having an inner surface in contact with the surgical instrument and an outer surface facing away from the inner surface; wherein the flexible sleeve comprises electrically conductive particulate dispersed in the dielectric material of the flexible body thereof, forming one or more electrically conductive paths from the inner surface to the outer surface of the flexible sleeve.
Surgical instrument for robotic microsurgery comprising at least one joint of motion between the proximal portion and the distal portion; a flexible sleeve fitted onto the at least one joint of motion said sleeve comprising flexible body, adapted to deform to conform to various operating configurations of the at least one joint of motion; wherein said flexible sleeve comprises at least one electrically insulating portion and at least one electrically conductive path and wherein said at least one electrically conductive path comprises a proximal contact and a distal contact, located proximal and distal to said joint of motion of the surgical instrument; a flexible electric conductor extended from the proximal contact to the distal contact; and wherein the flexible electric conductor is between the electrically insulating portion of the flexible sleeve and the at least one joint of motion of the surgical instrument.
Robotic surgery system comprising a robotic manipulator, comprising a plurality of actuation motors; and a surgical instrument, mounted to the robotic manipulator, comprising an articulated terminal comprising one or more joints actuated by actuation tendons; an actuation interface, adapted to receive a rotary actuation action imparted by the robotic manipulator, one or more actuation tendons for transmitting the rotary actuation action to the articulated terminal; wherein the robotic manipulator comprises a plurality of rotary transmission elements in operational connection with said plurality of actuation motors, the actuation interface of the surgical instrument comprises a plurality of spools to which said actuation tendons are wound to actuate the joints of the articulated terminal, each spool of said plurality comprises a toothed element arranged to receive the rotary actuation action imparted by the rotary transmission elements of the robotic manipulator.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Computer hardware and recorded software for acquiring images and videos from digital microscopes and other medical imaging devices; Downloadable images and video recordings, and recorded software featuring images and video recordings, all in the field of surgical procedures using robotic surgical instruments; downloadable and recorded Software for processing of images and videos of surgical procedures visualizing the status and use of a robotic surgical instrument system; Computer hardware and recorded software for transmitting and receiving surgical videos, surgical procedure information, surgical robotic status, surgical procedure information; downloadable and recorded medical software for performing the fusion of images to be used in pre-operative microsurgical procedures; downloadable and recorded medical software using artificial intelligence (AI) for use in performing video analysis, interpretation and to assist in increasing efficacy of surgical procedures used in the field of microsurgery; downloadable and recorded medical software using artificial intelligence (AI) for use in providing analysis, interpretation and to provide feedback on a microsurgical procedure, used in the field of microsurgery; downloadable and recorded medical software using artificial intelligence (AI) for use in performing and assisting surgeons in performing pre-operative procedures, used in the field of microsurgery; downloadable and recorded medical software for providing medical teaching in the field of microsurgery; downloadable and recorded medical software for connecting to Cloud-based storage for uploading and accessing video, images and other technical medical information used in the field of microsurgery Medical and surgical apparatus for acquiring and visualizing images and video from digital microscopes and medical imaging devices for use in surgery; medical apparatus for interfacing with a robotic surgical system; medical instrument for microsurgery; surgical and medical apparatus and instruments for use in microsurgery; medical imaging apparatus for the fusion of images for use in preoperative microsurgical procedures Updating and maintaining cloud-based computer software through on-line updates, enhancements and patches; Platform as a service (PAAS) featuring computer software platforms for use in data management related to microsurgical procedures
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
42 - Scientific, technological and industrial services, research and design
44 - Medical, veterinary, hygienic and cosmetic services; agriculture, horticulture and forestry services
Goods & Services
Computer hardware and recorded software for acquiring images and videos from digital microscopes and other medical imaging devices; Software for processing of images and videos of surgical procedures visualizing the status and use of a robotic surgical instrument system; Computer hardware and recorded software for transmitting and receiving surgical videos, surgical procedure information, surgical robotic status, surgical procedure information; downloadable and recorded medical software for fusion of images to be used in pre-operative microsurgical procedures; downloadable and recorded medical software using artificial intelligence (AI) for use in video analysis, interpretation and assist in increasing efficacy of surgical procedures used in the field of microsurgery; downloadable and recorded medical software using artificial intelligence (AI) for use in analysis, interpretation and provide feedback on a microsurgical procedure, used in the field of microsurgery; downloadable and recorded medical software using artificial intelligence (AI) for use in pre-operative procedures, used in the field of microsurgery; downloadable and recorded medical software for medical teaching in the field of microsurgery; downloadable and recorded medical software for connecting to Cloud-based storage for uploading and accessing video, images and other information used in the field of microsurgery. Medical and surgical apparatus for acquiring and visualizing images and video from digital microscopes and medical imaging devices; apparatus for interfacing with a robotic surgical system; medical instrument for microsurgery; surgical and medical apparatus and instruments for use in microsurgery; medical imaging apparatus for the fusion of images for use in pre-operative microsurgical procedures. Updating and maintaining cloud-based computer software through on-line updates, enhancements and patches; Platform as a service (PAAS) featuring computer software platforms for use in data management related to microsurgical procedures. Medical services in the field of microsurgery.
25.
METHOD FOR CONTROLLING AN ARTICULATED END EFFECTOR ACTUATED BY ONE OR MORE ACTUATION TENDONS OF A SURGICAL INSTRUMENT OF A ROBOTIC SYSTEM FOR SURGERY, AND RELATED ROBOTIC SYSTEM FOR SURGERY
A method controls an articulated end effector actuated by actuation tendon(s) of a surgical instrument of a robotic surgery system. The surgical instrument has an articulated end effector and an actuation tendon to actuate the end effector. A controller and a motorized actuator are operatively connectable to a respective actuation tendon to impart an action, controlled by the controller, to the respective actuation tendon, to determine a univocal correlation between movement of motorized actuator(s) and a respective movement of the articulated end effector. A force exerted by the motorized actuator(s) during the operating step is detected. A length variation of the actuation tendon(s) due to elastic elongation of the actuation tendon is estimated based on a detected force; and then the estimated length variation is used for position control, which moves the motorized actuator(s) taking into account the estimated length variation to reduce or cancel error from elastic elongation.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
26.
METHOD FOR PROVIDING MONITORING AND/OR CONTROL DIGITAL INFORMATION TO A MEDICAL DEVICE, BY AN EXTERNAL VISION SYSTEM
There is described a method for providing monitoring and/or control digital information to a medical device comprising a robotic system 100 (e.g., a robotic system for medical or surgical teleoperation), by a vision system 120 adapted to acquire images and/or videos of a teleoperation area and send them to the robotic system 100 by vision system-to- medical device transmission means. The aforesaid vision system 120 is outside the robotic system 100 of the medical device. The method firstly includes encoding digital data representative of the aforesaid monitoring and/or control digital information within pixels of a raw video data stream, representative of the images and/or videos acquired by the vision system, by means of steganographic techniques, to generate a multiplexed stream containing videos and data. The method then comprises the steps of transmitting the aforesaid multiplexed stream containing videos and data, by the aforesaid vision system-to-robotic system transmission means; then, demultiplexing and decoding the aforesaid encoded and multiplexed digital data; and finally making the demultiplexed digital data available to the robotic system and/or to a control unit associated with the robotic system and/or to display means associated with the vision system. There is also described a medical system or device in which the aforesaid method is carried out, and comprising a robotic system for medical or surgical teleoperation and a vision system which is outside said robotic system, but connected thereto by data transmission means.
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
Bipolar electrosurgical instrument (1) comprising an articulating end (2) comprising a support link (10), and two tips (21, 22) comprising an electrically conductive body, said two tips being articulated to the support link (10) and movable towards/away from each other; wherein: said support link (10) comprises a multilayered structure comprising two electrically conductive bodies (11, 12) and at least one electrically insulating body (20) therebetween, each electrically conductive body (11, 12) of the support link comprising a support portion (13, 14) thereof which receives a respective tip (21, 22) in electrical conductive communication therewith, defining a first conductive outward path and a second, distinct, conductive return path through the electrically conductive bodies of the tips (21, 22) and the support link (10); said support link (10) defines two rotational joints (PJ, DJ) having mutually orthogonal axes (P-P, Y-Y), wherein each rotational joint of said two rotational joints comprises the multilayered structure with the electrically insulating body (20) interposed between the two electrically conductive bodies (11, 12).
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
Assembly (1) comprising an electrosurgical instrument (10) comprising a positioning shaft (13) having a distal portion (14), an articulating end (15) connected to the distal portion (14) of the shaft and comprising at least one tip (16; 17) of electrically conductive material having an elongated body forming a free end (18); a protective cap (20) fitted on the articulating end (15) of the electrosurgical instrument and comprising a body of electrically insulating material comprising a proximal opening (22) defined by a proximal opening edge (23) of the cap body, at least one distal opening (24; 25) defined by at least one distal opening edge (26; 27) of the cap; the at least one tip (16; 17) of the articulating end (15) is movable with respect to the positioning shaft (13) and is actuated by at least one actuation tendon (11); the at least one tip (16; 17) of the articulating end (15) comprises an actuation interface portion (19) for receiving the actuation action of said at least one actuation tendon (11); said actuation interface port ion (19) of the at least one tip (16; 17) is inside the protective cap (20); said at least one actuation tendon (11) is made at least partially of polymeric material; the body of the protective cap (20) is made of thermally insulating material; the free end (18) of said at least one tip (16; 17) of the articulating end (15) is exposed outside the protective cap (20); the body of the protective cap (20) is made of material impermeable to fluids and fumes; the at least one distal opening edge (26; 27) of the protective cap (20) is fitted with mechanical interference on the elongated body of said at least one tip (16; 17) of the electrosurgical instrument (10), resulting tight sealing adherent to the elongated body of the at least one tip (16; 17) of the electrosurgical instrument (10), for any operating configuration of the articulating end (15).
A robotic surgical assembly includes a support, one macro-positioning arm, connected to the support and having a plurality of degrees of freedom. The macro-positioning arm includes a support member, at least two micro-positioning devices, each having a plurality of motorized degrees of freedom, connected in cascade to the support member of the macro-positioning arm, and at least two medical instruments. Each instrument is connected in cascade to each of the micro-positioning device and includes a jointed device having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments has a shaft, suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction.
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
A61B 10/04 - Endoscopic instruments, e.g. catheter-type instruments
A61B 17/00 - Surgical instruments, devices or methods
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/20 - Surgical microscopes characterised by non-optical aspects
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
G05B 19/402 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
32.
METHOD FOR KEEPING A SURGICAL INSTRUMENT OF A ROBOTIC SURGERY SYSTEM, DURING ITS MOVEMENT CONTROL, WITHIN THE FIELD OF VIEW OF A VIEWING SYSTEM AND RELATED ROBOTIC SURGERY SYSTEM
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
33.
METHOD FOR KEEPING A SURGICAL INSTRUMENT OF A ROBOTIC SURGERY SYSTEM, DURING ITS MOVEMENT CONTROL, WITHIN THE FIELD OF VIEW OF A VIEWING SYSTEM AND RELATED ROBOTIC SURGERY SYSTEM
A method for controlling a robotic system for medical or surgical teleoperation is described. The robotic system, to which the method is applied, comprises at least one surgical instrument (170), adapted to operate in teleoperation, and further comprises viewing means (120), (130) configured to display to an operator (150) images and/or videos of at least one viewing space associated with a teleoperation area in which the surgical instrument (170) operates. The method first comprises the step of determining whether a position of the surgical instrument (170) is within an allowed space correlated to a first viewing space FOV1, in which the first viewing space FOV1 is used as the current viewing space for the teleoperation, with respect to which a current visualization is provided to the operator. The method then comprises, if or when it is determined that the aforesaid position of the surgical instrument (170) is not within the aforesaid allowed space correlated to the first viewing space FOV1, the further step of automatically providing, by the viewing means, a second visualization defining a second viewing space FOV2 having a surface or field of view greater than the aforesaid first viewing space FOV1 and containing, or partially containing, the aforesaid first viewing space FOV1. Said second visualization comprises a combination and/or superimposition of the aforesaid second viewing space FOV2 and first viewing space FOV1, and/or a switching from the aforesaid first viewing space FOV1 to the aforesaid second viewing space FOV2, in which such a switching is performed, without mechanical movements, by controlling optical and/or digital parameters of the viewing means (120), (130). A robotic system for medical or surgical teleoperation, adapted to be controlled by the aforesaid control method, is further described.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
34.
MASTER CONTROLLER DEVICE FOR MEDICAL OR SURGICAL TELEOPERATION
A master controller device includes a control gripper to control at least the open/close degree of freedom of a slave surgical instrument. The control gripper has a first interface portion and a second interface portion for the fingers of a user, wherein the first interface portion is opposite to the second interface portion. Each interface portion includes a cavity thereof formed by a respective conically-developing surface. The controller device can further include a handle which forms the handle of the master controller device, wherein the handle has a body which forms at least one seat with a surface thereof to rest on the back of a user's hand.
A master workstation (101 ) for a robotic system (100) for medical or surgical teleoperation comprising at least one mechanically ungrounded master controller device (110) with a support or handle (111) comprising a surface (112) for the palm of a surgeon's hand, a control gripper (113) mounted to the support (111) and comprising two opposite manipulation interfaces (115, 116) for the fingers of said surgeon's hand; and wherein the control gripper (113) comprises a first rigid part (117) and a second rigid part (118), placed side by side; said first rigid part (117) is constrained to rotate with respect to the support (111 ) about a first axis; said second rigid part (118) is constrained to rotate with respect to the support (111 ) about a second axis, coincident with or parallel to said first axis; said tracking system is configured to detect information on position and orientation of the first rigid part (117) and the second rigid part (118) of the control gripper (113), individually.
A master controller device (110) comprising a control gripper (10) to control at least the open/close degree of freedom of a slave surgical instrument (170), said control gripper (10) comprising a first interface portion (11) and a second interface portion (12) for the fingers (F1, F2) of a user (150), wherein the first interface portion (11) is opposite to the second interface portion (12), each interface portion (11, 12) comprises a cavity (13, 14) thereof formed by a respective conically-developing surface (15, 16); the device can further comprise a handle (20) which forms the handle of the master controller device (110), wherein the handle (20) comprises a body which forms at least one seat (25) with a surface (29) thereof to rest on the back (D) of the user's hand.
A robotic surgical assembly includes a slave manipulator with an actuator, a pushing device connected to the actuator, a sensor detecting a contact force on the pushing device, a position sensing system, and a control unit. A surgical instrument is detachable to the slave manipulator and separated from the slave manipulator by a sterile barrier. The surgical instrument includes a frame; an articulated link; a tendon associated with the actuator, having proximal and distal portions secured to the link. A transmission device in contact with the tendon proximal portion exerts a traction action. The transmission device has one degree of freedom of motion relative to the frame. The pushing device releasably and selectively connects with the transmission device to transmit a pushing action to the transmission device through the sterile barrier. An elastic device biases the transmission device to exert a traction action on the tendon.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 46/13 - Surgical drapes specially adapted for instruments the drapes entering the patient's body
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods
39.
ROBOTIC MICROSURGERY ASSEMBLY, OPERATING ARENA AND METHOD
Described herein is a robotic surgery assembly for robotic-aided microsurgery including a macro-positioning passive arm having a plurality of arm links connected one another in series and articulated through rotational joints. The assembly also includes two motorized manipulators both attached to a same link of the macro-positioning passive arm. The macro-positioning passive arm includes at least one handle for the hand manipulation of the macro-positioning arm by an operator.
A needle-holder/cutter type surgical instrument includes an articulated end-effector including a support structure including two prongs, a first tip link having an elongated body including an integral first proximal attachment root, a first distal free end and a first gripping surface therebetween. A second tip link has an elongated body including an integral second proximal attachment root, a second distal free end, and a second gripping surface therebetween. A blade link includes an integral third proximal attachment root, an elastically deformable bending body and a cutting edge. The blade link rotates with the first tip link. The first root, the second root, and the third root are arranged axially. A counter-blade surface rotates with the second tip link. The counter blade surface abuts against the cutting edge, bending the blade link axially, so the cutting edge and the counter-blade surface attain a mechanical interference contact to exert a cutting action.
An unconstrained master controller device for a robotic system for medical or surgical teleoperation includes at least one wearable portion having a pair of wearable elements for the fingers of a surgeon and a control gripper for controlling at least one degree of freedom of a slave surgical instrument associable with the master controller device. The master controller device includes at least one internal degree of freedom of orientation which allows reorienting at least one wearable element of the pair.
A method calibrates a surgical instrument of a teleoperated robotic surgery system. The surgical instrument has transmission elements associated with respective tendons and connected to an articulated end-effector connectable, to determine correlate movements between the transmission elements and articulated end-effector. Motorized actuators operatively connect to respective transmission elements to impart movement. The articulated end-effector is arranged and locked in a predetermined reference position univocally associated with a respective resulting position of each transmission element. The actuators are then actuated so each actuator contacts a respective transmission element and the position of the actuators when each actuator contacts a respective transmission element is stored, and the stored actuator reference positions are univocally associated with the end-effector reference position. A kinematic zero condition associates the stored actuator reference position with a virtual zero point. The actuating applies force less than or equal to a threshold force on the respective transmission element.
A method of teleoperation preparation in a teleoperated robotic surgery system is performed during a non-operating step. The applicable robotic system includes motorized actuators, and a surgical instrument. The surgical instrument includes an articulated end-effector having a degree/degrees of freedom. The surgical instrument includes a pair of antagonistic tendons, mounted in the surgical instrument operatively connected/connectable to the motorized actuators and to the respective end-effector links. The antagonistic tendons actuate degree/degrees of freedom associated therewith, between the degree/degrees of freedom thus determining antagonistic effects. The method includes establishing a univocal correlation motorized actuators' movements and articulated end-effector movements. A holding step includes tensile-stressing a pair of antagonistic tendons, and holding the tendons in a tensile-stressed state, by applying a holding force to the tendons, adapted to determine a loaded state of the tendons. A command is given to enter teleoperation. A corresponding teleoperated robotic surgery system performs the method.
METHOD OF MANUFACTURING ONE OR MORE SHARP BODIES BY WIRE ELECTRO-EROSION, SEMIFINISHED PRODUCT, FIXTURE, AND METHOD OF MANUFACTURING A SURGICAL CUTTING INSTRUMENT FOR ROBOTIC MICROSURGERY BY WIRE ELECTRO-EROSION
A method of manufacturing sharp bodies by wire electro-erosion includes providing a wire electro-erosion machine and a fixture mounted to the wire electro-erosion machine so that a portion thereof can rotate about a rotation axis which is transverse to a longitudinal extension of the cutting wire. At least one workpiece is mounted to the fixture. An edge to be sharpened of the at least one workpiece is sharpened by a sharpening through cut with the cutting wire on the at least one workpiece. The at least one workpiece is shaped by a shaping through cut with the cutting wire on the at least one workpiece. Between the sharpening and shaping, the portion of the fixture is rotated about the rotation axis thereof by a sharpening rotation angle other than 90°. The sharp bodies may be blades for a surgical cutting instrument for robotic microsurgery.
An unconstrained master controller device (110) for a robotic system for medical or surgical teleoperation, comprising at least one wearable portion (210) comprising a pair of wearable elements (211, 212) for the fingers (F1, F2) of a surgeon and a control gripper (220) for controlling at least one degree of freedom of a slave surgical instrument (170) associable with the master controller device, wherein the master controller device (110) comprises at least one internal degree of freedom of orientation which allows reorienting at least one wearable element (211, 212) of said pair.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 17/00 - Surgical instruments, devices or methods
47.
METHOD FOR CONDITIONING A SURGICAL INSTRUMENT OF A ROBOTIC SURGERY SYSTEM, WITH CYCLES OF PRE-ELONGATION OF MOVEMENT TRANSMISSION TENDONS, AND RELATED ROBOTIC SYSTEM
A method conditions a surgical instrument of a robotic surgery system prior to use. An articulated end-effector has degree(s) of freedom, and a tendon, operatively connects with a motorized actuator of the robotic surgery system. The tendon mounts to the surgical instrument to connect to both a respective motorized actuator, among transmission elements, and degree(s) of freedom of the end-effector. The degree(s) of freedom are activated by respective motorized actuator action by the connected tendon. The method includes locking a degree(s) of freedom of the end-effector; tensile-stressing the respective tendon, operatively connecting the locked degree of freedom, by applying force, according to a time cycle, to the tendon. The time cycle includes a low-load period, in which a low conditioning force Flow is applied, which results in a low tensile load on the tendon; and a high-load period, in which force is applied, which results in high tensile load.
A surgical instrument includes an articulated end-effector including a support structure, first and second tips having a respective elongated body including a proximal attachment root and a distal free end. The first and second roots are axially adjacent and globally interposed with the support structure. The support structure, and first and second tips are mutually articulated in a common rotation axis defining an axial direction coincident/parallel to the common rotation axis, defining a relative degree of freedom of opening/closing between the first and second tips. The first tip body includes a blade portion with a cutting edge rotating with the first free end. The second tip includes a counter-blade portion rotating with the second free end. The counter-blade portion abuts the cutting edge, elastically axially bending the blade portion. The first and second roots each directly and intimately contact the support structure.
A surgical cutting instrument including a connection link connected to the distal end of a shaft having a body including integral convex ruled surfaces of connection, a first distal connecting portion; a support link articulated to the connection link and having convex ruled surfaces. A proximal connecting portion articulated to the first connection link defines a proximal rotational joint. A second distal connecting portion includes a blade holder link articulated to the support link. A blade holder link attachment root has a pulley portion, a drag portion, a blade link, a bendable cutting edge and a drag counter-portion. A reaction link articulates to the support link and to the blade/blade holder link, having a body including a pulley portion formed by convex ruled surfaces of the reaction link root. First and second distances between the first and second termination seats of the root are constant for any cutting condition.
A surgical instrument for robotic surgery includes a tendon-actuated articulating end, an actuating tendon, and a backend portion having an elongated transmission body movable along a longitudinal direction coinciding with or parallel to a longitudinal extension axis of the elongated body. A first resting wall forms a first resting part for a first transversal side of the elongated body. A second resting part is for a second transversal side, opposite to the first transversal side, of the elongated body. The actuating tendon is operatively connected to the elongated body and is operatively connected to a return element. The elongated body includes on the first side thereof a first lateral surface which slidably rests against the first resting wall; the elongated body includes on the second side a second lateral surface which slidably rests against the second resting part.
METHOD FOR VERIFYING THE INTEGRITY OF A MASTER DEVICE OF A MASTER-SLAVE ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION AND RELATED ROBOTIC SYSTEM
A method verifies functional/structural integrity of a hand-held unconstrained master device to control a robotic system for medical or surgical teleoperation. The master device includes a body having two rigid parts constrained to relatively rotate or translate on a common axis. Position vectors of two-plus points are measured and/or detected, each belonging to a respective one of the two rigid parts, and measuring and/or detecting evolution of the position vectors. An orientation of each of the points, and the evolution of the orientations are measured and/or detected. Constraints from constructional/structural features of the master device are defined, deriving from degrees of freedom. Mathematical relations associated with each of the defined constraints are calculated based on detected and/or measured position vectors, orientations and evolutions. A state of functional/structural integrity or non-integrity of the master device is determined, based on verification of the mathematical relations and degrees of freedom.
METHOD FOR DETECTING, BASED ON THE MEASUREMENT OR DETECTION OF ACCELERATIONS, OPERATING ANOMALIES OF AN UNCONSTRAINED MASTER DEVICE OF A MASTER-SLAVE ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION AND RELATED ROBOTIC SYSTEM
A method for identifies an anomaly condition in using a hand-held, mechanically unconstrained master device to control a robotic system for medical or surgical teleoperation. The method includes detecting and/or calculating, by sensors, the acceleration vector of a point belonging to or integral with a master device, or of a virtual point uniquely and rigidly associated with the master device; and then identifying a detectable anomaly condition based on a component or modulus of the detected and/or calculated acceleration vector. The detectable anomalies include one or more of the following: involuntary drop of the master device and/or excessive acceleration of the master device, and/or sudden and/or involuntary opening of the master device. Each of the detectable anomalies is associated with a system state change to be performed if the anomaly is detected. A master-slave robotic system for medical or surgical teleoperation is equipped to perform the method.
Method for detecting operating anomalies of an unconstrained master device of a master-slave robotic system for medical or surgical teleoperation and related robotic system
A method is for identifying at least one anomaly condition in using a hand-held, mechanically unconstrained master device to control a robotic system for medical or surgical teleoperation. The method includes detecting, by sensor(s), the position vector of a point belonging to or integral with the master device, or of a virtual point uniquely and rigidly associated with the master device. A detectable anomaly is identified based on the detected position vector, or based on a component of the detected position vector. The detectable anomalies include at least an incorrect positioning of the master device with respect to a predetermined workspace of the master device. Each of such detectable anomalies is associated with a system state change to be performed if the anomaly is detected, in which the state change includes exiting from the teleoperation state. A robotic system for medical or surgical teleoperation performs the method.
Method for detecting, based on the measurement or detection of velocities, operating anomalies of an unconstrained master device of a master-slave robotic system for medical or surgical teleoperation and related robotic system
A method identifies an anomaly condition in operating a hand-held, mechanically unconstrained master device for controlling a robotic system for medical or surgical teleoperation. The method includes detecting or calculating the velocity vector of a point belonging to or integral with the master device, or of a virtual point uniquely and rigidly associated with the master device. A detectable anomaly condition is identified and recognized and/or discriminated based on the detected velocity vector, or based on a vector component. The detectable anomalies include master device excessive angular or linear velocity, inability to follow by the slave device, excessive vibrations or involuntary or abnormal opening of the master device. Each detectable anomaly is associated with a system state change to be performed if the anomaly is detected. The state change includes exiting or suspension from the teleoperation state. A robotic system for medical or surgical teleoperation performs the method.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
55.
METHOD FOR CONTROLLING AN ARTICULATED END EFFECTOR ACTUATED BY ONE OR MORE ACTUATION TENDONS OF A SURGICAL INSTRUMENT OF A ROBOTIC SYSTEM FOR SURGERY, WITH COMPENSATION OF THE ELASTOPLASTIC ELONGATION OF THE TENDONS, AND RELATED ROBOTIC SYSTEM
METHOD FOR CONTROLLING AN ARTICULATED END EFFECTOR ACTUATED BY ONE OR MORE ACTUATION TENDONS OF A SURGICAL INSTRUMENT OF A ROBOTIC SYSTEM FOR SURGERY, WITH COMPENSATION OF THE ELASTOPLASTIC ELONGATION OF THE TENDONS, AND RELATED ROBOTIC SYSTEM
XXiii, due to plastic or elastoplastic elongation of the actuation tendon, as a compensation input for a control of the at least one motorized actuator 11, 12, 13, 14, 15, 16. A robotic system for surgery configured to carry out and/or to be controlled by the aforesaid method is further described.
A61B 17/29 - Forceps for use in minimally invasive surgery
57.
CONTROL METHOD FOR THE MOVEMENT OF A ROBOTIC SURGICAL INSTRUMENT EXITING OR ENTERING THE FIELD OF VIEW OF A VIEWING SYSTEM, AND RELATED ROBOTIC SYSTEM FOR SURGERY
A method for controlling a slave device of a robotic system for medical or surgical teleoperation is described. The robotic system, to which the method is applied, comprises at least one master device 110 adapted to be moved by an operator 150, at least one slave device comprising a surgical instrument 170 adapted to be controlled by the master device, and further comprises viewing means configured to display to the operator 150 images and/or videos of a viewing space associated with a teleoperation area in which the surgical instrument 170 operates. The method first comprises the entire step of defining a safety volume VS, included in the slave workspace but outside the viewing space, in accordance with the criterion that a safety level of the movement of the surgical instrument 170 is ensured in the safety volume VS limiting or eliminating risks of contact of the surgical instrument 170 with anatomical parts of a patient or elements supporting the surgical activity. The method then includes determining a position of the surgical instrument 170, to establish whether the surgical instrument 170 is inside the viewing space, or outside the viewing space but inside the safety volume VS, or outside the safety volume VS. The method then comprises the step of controlling the movement of the slave device in a manner dependent on the determined position of the surgical instrument 170, so that a movement of the surgical instrument 170 is allowed, in a limited operating mode, even when the surgical instrument 170 is outside the viewing space but inside the safety volume VS. A robotic system for medical or surgical teleoperation adapted to be controlled by the aforesaid control method is further described.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
41 - Education, entertainment, sporting and cultural services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Lancing devices for surgical use; Lasers for use in surgery; Apparatus for non-invasive surgery; Apparatus and instruments for microsurgery; Surgical apparatus and instruments for medical use; Electronic apparatus for medical purposes, namely, electronic apparatus for use in microsurgery; Medical apparatus for use in cardiac surgery; Surgical knives; Scalpels emitting electromagnetic rays; Electric scalpels for surgical purposes; Laser scalpels for medical use; Medical and surgical knives for cutting human or animal tissue and organs; Surgical cutlery; Ophthalmic microsurgical knives; Surgical staplers; Staplers for surgical purposes; Medical devices for closing wounds; Surgical retractors; Tissue expanders for use in surgery; Medical scissors; Medical and surgical laparoscopes; Pliers for surgical use; Probes connected to microprocessing apparatus for medical diagnosis; Surgical cutting instruments; Suturing instruments; Medical instruments for cutting tissue; Electronic medical instruments, namely, electronic instruments for use in microsurgery; Ultrasonic cleaning instruments for surgical use; Stapling presses for surgical use; Surgical stitch cutters Production of podcasts; Entertainment services, namely, providing podcasts in the field of microsurgery; providing online educational classes in the field of microsurgery via a live video chat; medical education services in the nature of medical schools; publication of medical texts; advisory services relating to medical training; computer-based simulation training services in the field of medical technology; training in the use of surgical, medical, dental and veterinary instruments and apparatus; audio, video and multimedia program production; Education services, namely, providing classes, seminars, workshops in the field of microsurgery; arranging and conducting of colloquia, conferences, congresses, seminars or symposiums in the field of microsurgery; arranging events in the field of microsurgery for educational purposes; Educational services, namely, providing classes in the field of health; computer-based simulation training services in the field of medical science Electronic storage of digital images; Testing of new products for others; Consultancy in the field of design and development of medical equipment; Consultancy relating to research and development in the field of microsurgery; Advisory services relating to scientific research; Professional consultancy relating to technology in the field of microsurgery; Testing the functionality of apparatus and instruments; Writing of computer programs for medical applications; Writing of computer programs for biotechnological applications; Providing information in the field of product development; Information and data in relation to medical research and development; Medical research laboratories; Electronic storage of medical records; Computer design services; Design of diagnostic apparatus and equipment; Design of electronic systems for medical use; Design and testing for new product development; Design and development of diagnostic apparatus; Design and development of software for database management; Design and development of testing and analysis methods; Design and development of computer software for use with medical technology; Design and development of medical technology; Design and development of new products; Biological research, clinical research and medical research; Scientific research for medical purposes; Biomedical research services
59.
METHOD FOR CONTROLLING A LIMITED TELEOPERATION, OVER A SUBSET OF DEGREES OF FREEDOM, OF A MASTER-SLAVE ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION AND RELATED ROBOTIC SYSTEM
A method controls a robotic system for medical or surgical teleoperation. The robotic system includes a hand-held master device, mechanically unconstrained to the ground and moveable by an operator; and a slave device including a surgical instrument adapted to be controlled by the master device, so that movements of the slave device, or of the surgical instrument of the slave device, referred to one or more of a plurality of controllable degrees of freedom are controlled by respective movements of the master device, according to a master-slave control architecture. The method firstly includes the steps of defining a first enslaved state of the system and a second decoupled state of the system. A controller controls transitions between the first and second states. The controllable degrees of freedom include degrees of freedom of translation and of orientation. A master-slave robotic system for medical or surgical teleoperation performs the method.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
60.
METHOD FOR INITIATING A TELEOPERATION CARRIED OUT BY A ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION, HAVING A MECHANICALLY UNCONSTRAINED MASTER DEVICE BEING MOVABLE BY AN OPERATOR AND RELATED ROBOTIC SYSTEM
A method initiates and/or prepares a teleoperation by a robotic system for medical or surgical teleoperation. A hand-held master device is mechanically unconstrained and moved by an operator. A slave device includes a microsurgical instrument controlled by the master device. The robotic system includes a man-machine interface allowing the operator to communicate the intention to teleoperate to the robot. The method includes initiating teleoperation preparation; then performing alignment between master device and slave device, in which the slave device moves to align orientation of the surgical instrument to the master device. Teleoperation is entered after the alignment master and slave devices has been completed. First checks are conducted for entering the alignment, and enabling start of the alignment only if all first checks are passed. Before entering the teleoperation, second checks are conducted for enabling alignment, and enabling entry into teleoperation only if all second checks are passed.
METHOD FOR CONTROLLING A ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION, HAVING A MECHANICALLY UNCONSTRAINED MASTER DEVICE BEING MOVABLE BY AN OPERATOR, WITH CONTROL OF LOCAL REFERENCE COORDINATE FRAMES AND ROBOTIC SYSTEM USING THE METHOD
A method initiates and/or prepares and/or conducts teleoperation by a robotic system for medical or surgical teleoperation. The robotic system includes a master device, which is hand-held, mechanically unconstrained and moveable by an operator, and a slave device including a surgical instrument controlled by the master device. The master device is functionally symmetrical with respect to a predeterminable single, longitudinal axis of the master device. A local reference frame of the master device and the related longitudinal axis is detected, with respect to a main reference frame of the master device workspace; then, functionally equivalent local reference frames are detected. A corresponding target reference frame is mapped in a workspace of the slave device. An operating reference frame is detected according to criteria for optimization of the trajectory of the slave device. A robotic system for medical or surgical teleoperation is control led by the control method.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
62.
MASTER CONTROL DEVICE FOR SURGICAL TELEOPERATION, SYSTEM FOR TELEOPERATION AND CONTROL METHOD, ALSO FOR SIMULATIONS
A robotic system (100) for medical or surgical teleoperation, comprising a master control device (110) for controlling at least the degree of freedom of opening/closing (GR) of the slave surgical instrument (170) with a first tracking sensor (31) and a second tracking sensor (32), in which the system further comprises at least one control unit (104), configured to detect a first variation of the geometric relationship between the first tracking sensor (31) and the second tracking sensor (32) of the master control device (110) along a first direction (X1), based on the first variation of the detected geometric relationship, move a slave surgical instrument (170) to open/close; detect a second variation of the geometric relationship between the first tracking sensor (31) and the second tracking sensor (32) of the master control device (110) along a second direction (X2), based on the second variation of the detected geometric relationship, vary the closing/gripping/cutting force of the enslaved slave surgical instrument (170).
A robotic surgical assembly (100) includes a support (104), one macro-positioning arm (30), connected to the support (104) and having a plurality of degrees of freedom. The macro-positioning arm (30) includes a support member (38), at least two micro-positioning devices (41, 141, 241, 341), each having a plurality of motorized degrees of freedom, connected in cascade to the support member (38) of the macro-positioning arm (30), and at least two medical instruments (60, 160, 260, 360). Each instrument is connected in cascade to each of the micro-positioning device and includes a jointed device (70, 170, 270) having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments (60, 160, 260, 360) has a shaft (65), suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
A61B 10/04 - Endoscopic instruments, e.g. catheter-type instruments
A61B 17/00 - Surgical instruments, devices or methods
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/20 - Surgical microscopes characterised by non-optical aspects
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
G05B 19/402 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
64.
ARTICULATED SURGICAL MICRO-INSTRUMENT FOR SURGICAL TELEOPERATION
A surgical instrument comprising an articulated end effector (3) with a support structure, a first link (10) articulated to the structure, a second link (20) articulated to the first link; and an actuation tendon (33 or 34) for moving the first link (10) with respect to the support structure, the first link comprises an attachment root (13) having a winding pulley portion (18) with radius (R1) centered on the first rotation axis (Y-Y), the actuation tendon (33 or 34) for moving the first link is wound around said winding pulley portion of the attachment root (13) of the first link; and wherein the surgical instrument comprises an actuation tendon (32) for moving the second link with respect to the first link in the closing direction of the degree of freedom of opening/closing (G), the second link (20) comprises a circumferential actuation portion (28; 142) having a working radius (R2) centered in the second rotation axis (G-G); the working radius (R2) of the circumferential actuation portion (28; 128) of the second link (20) is greater than the radius (R1) of the winding pulley portion of the attachment root (13) of the first link (10).
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
65.
METHOD FOR CONTROLLING A SLAVE DEVICE, CONTROLLED BY A MASTER DEVICE IN A ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION, TAKING INTO ACCOUNT LIMITS OF A FIELD OF VIEW, AND RELATED ROBOTIC SYSTEM
METHOD FOR CONTROLLING A SLAVE DEVICE, CONTROLLED BY A MASTER DEVICE IN A ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION, TAKING INTO ACCOUNT LIMITS OF A FIELD OF VIEW, AND RELATED ROBOTIC SYSTEM
A method for controlling a slave device of a robotic system for medical or surgical teleoperation is described. The robotic system, to which the method is applied, comprises at least one master device 110 adapted to be moved by an operator 150, at least one slave device comprising a surgical instrument 170 adapted to be controlled by the master device, and further comprises viewing means configured to display to the operator 150 images and/or videos of a viewing space associated with a teleoperation area in which the surgical instrument 170 operates. The method first comprises a step of determining a position of the surgical instrument 170 with respect to said viewing space, to determine whether the surgical instrument 170 is located inside or outside an allowed space correlated to the viewing space. The method then provides controlling the movement of the slave device in a manner dependent on the determined position of the surgical instrument 170 with respect to the allowed space correlated to the viewing space, and so that the movement of the surgical instrument 170 is allowed only if the surgical instrument 170 is located inside the viewing space. A robotic system for medical or surgical teleoperation is further described, adapted to be controlled by the aforesaid control method.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
67.
ARTICULATED SURGICAL INSTRUMENT FOR ROBOTIC SURGERY OR MICROSURGERY, MANUFACTURING METHOD AND ASSEMBLY METHOD
A surgical instrument (1) comprising an articulated end (10) comprising a first support link (11), a second link (12) articulated with respect to the support link about a rotation axis (Y-Y), a transmission cable (15, 16) fixed to the second link (12); wherein the first support link comprises at least a first convex ruled surface (17, 19) with straight generator lines all parallel to each other; at least a second convex ruled surface (18) with straight generator lines all parallel to each other; the transmission cable (15, 16) is configured to slide on both said at least a first surface (17, 19) and said second surface (18) of the first support link (11) when the second link (12; 13) rotates with respect to the support link; the straight generator lines of the at least a first convex ruled surface (17, 19) are orthogonal to the straight generator lines of the second convex ruled surface (18).
A surgical instrument includes an articulated end having a first support link, a second link articulated with respect to the first support link about a rotation axis, and a transmission cable fixed to the second link. The first support link has at least one first convex ruled surface with straight generator lines all parallel to each other, and a second convex ruled surface with straight generator lines all parallel to each other. The transmission cable is configured to slide on both the at least one first convex ruled surface and the second convex ruled surface of the first support link when the second link rotates with respect to the first support link. The straight generator lines of the at least one first convex ruled surface are orthogonal to the straight generator lines of the second convex ruled surface.
A surgical instrument (1) comprising an articulated end (10) comprising a first support link (11), a second link (12) articulated with respect to the support link about a rotation axis (Y-Y), a transmission cable (15, 16) fixed to the second link (12); wherein the first support link comprises at least a first convex ruled surface (17, 19) with straight generator lines all parallel to each other; at least a second convex ruled surface (18) with straight generator lines all parallel to each other; the transmission cable (15, 16) is configured to slide on both said at least a first surface (17, 19) and said second surface (18) of the first support link (11) when the second link (12; 13) rotates with respect to the support link; the straight generator lines of the at least a first convex ruled surface (17, 19) are orthogonal to the straight generator lines of the second convex ruled surface (18).
A robotic surgical assembly includes a support, one macro-positioning arm, connected to the support and having a plurality of degrees of freedom. The macro-positioning arm includes a support member, at least two micro-positioning devices, each having a plurality of motorized degrees of freedom, connected in cascade to the support member of the macro-positioning arm, and at least two medical instruments. Each instrument is connected in cascade to each of the micro-positioning devices and includes a jointed device having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments has a shaft, suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
A61B 10/04 - Endoscopic instruments, e.g. catheter-type instruments
A61B 17/00 - Surgical instruments, devices or methods
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/20 - Surgical microscopes characterised by non-optical aspects
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
G05B 19/402 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
A control method usable in any robotic system for medical or surgical teleoperation having at least one master device, at least one slave device configured to be moved by an actuator and to be controlled by the master device, a central microprocessor unit configured to control the slave device and a display configured to visualize in its central portion a surgical site in which the slave device operates, comprises the operations of; determining with the central unit the spatial orientations of the master and slave devices; when the central unit receives an help-alignment request signal, generating a graphical user interface on the display comprising at least one help-alignment graphic element visually representing a relative spatial orientation of the master device with respect to the slave device; modifying at least one graphical aspect of the help-alignment graphic element in a manner corresponding to the relative spatial orientation of the master device with respect to the slave device.
A control method usable in any robotic system for medical or surgical teleoperation having at least one master device, at least one slave device configured to be moved by an actuator and to be controlled by the master device, a central microprocessor unit configured to control the slave device and a display configured to visualize in its central portion a surgical site in which the slave device operates, comprises the operations of; determining with the central unit the spatial orientations of the master and slave devices; when the central unit receives an help-alignment request signal, generating a graphical user interface on the display comprising at least one help-alignment graphic element visually representing a relative spatial orientation of the master device with respect to the slave device; modifying at least one graphical aspect of the help-alignment graphic element in a manner corresponding to the relative spatial orientation of the master device with respect to the slave device.
A method for controlling a slave device of a robotic system for medical or surgical teleoperation is described, wherein said robotic system comprises at least one hand-held master device adapted to be moved by an operator, and at least one slave device adapted to be controlled by the at least one master device. The method controls the movement of the at least one slave device so that: - a) if a nominal target pose (180) having a respective orientation in a rotational space of the at least one slave device (170) is outside a working region (174) belonging to the rotational space of the at least one slave device, and the nominal target pose (180) and a modified target pose (184), defined so that it is inside the working region (174) of the at least one slave device, are inside said departure region (192), the orientation of the at least one slave device (170) is controlled to converge to the modified target pose (184); - b) if at least one of the nominal target pose (180) and the modified target pose (184) is outside said departure region (192), the rotational movement of the at least one slave device is blocked until both the nominal target pose (180) and the modified target pose (184) enter into said reentry region (196); - c) when, after exiting the working region, both the nominal target pose (180) and the modified target pose (184) return to the reentry region (196), the orientation of the at least one slave device is controlled to converge to the modified target pose (184), through a slowed teleoperation phase, the slowed teleoperation phase ending when the orientation of the at least one slave device converges to the modified target pose (184).
A method for controlling a slave device of a robotic system for medical or surgical teleoperation is described, wherein said robotic system comprises at least one hand-held master device adapted to be moved by an operator, and at least one slave device adapted to be controlled by the at least one master device. The method controls the movement of the at least one slave device so that: - a) if a nominal target pose (180) having a respective orientation in a rotational space of the at least one slave device (170) is outside a working region (174) belonging to the rotational space of the at least one slave device, and the nominal target pose (180) and a modified target pose (184), defined so that it is inside the working region (174) of the at least one slave device, are inside said departure region (192), the orientation of the at least one slave device (170) is controlled to converge to the modified target pose (184); - b) if at least one of the nominal target pose (180) and the modified target pose (184) is outside said departure region (192), the rotational movement of the at least one slave device is blocked until both the nominal target pose (180) and the modified target pose (184) enter into said reentry region (196); - c) when, after exiting the working region, both the nominal target pose (180) and the modified target pose (184) return to the reentry region (196), the orientation of the at least one slave device is controlled to converge to the modified target pose (184), through a slowed teleoperation phase, the slowed teleoperation phase ending when the orientation of the at least one slave device converges to the modified target pose (184).
METHOD FOR CONTROLLING, BY DECREASING THE IMPARTED SPEED OR POWER, A SLAVE DEVICE CONTROLLED BY A MASTER DEVICE IN A ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION, AND RELATED ROBOTIC SYSTEM
A method for controlling a slave device during a teleoperation performed by means of a robotic system 100 for medical or surgical teleoperation is described. The aforesaid robotic system comprises at least one master device 110 adapted to be moved by an operator 150, and at least one slave device comprising a surgical instrument 170 adapted to be controlled by the master device. The method comprises the steps of defining a nominal target pose in a workspace of the slave device (corresponding to a respective pose of the master device in a workspace of the master device), modifying the nominal target pose to obtain a modified target pose of the slave device, and controlling the motion of the slave device in the slave device workspace so that the slave device is configured to follow the aforesaid modified target pose during a teleoperation. The aforesaid step of modifying the nominal target pose to obtain the modified target pose comprises decreasing the translational speed module of the modified target pose, with respect to the speed of the nominal target pose, and/or decreasing the instantaneous power or energy imparted by the master device to the slave device, according to a respective transfer function. Such a transfer function depends on the instantaneous speed of the master device and/or the instantaneous power or energy of the master device and/or the distance between a current position of the slave device and the nominal target pose of the slave device. There is further described a robotic system 100 for medical or surgical teleoperation for which the aforesaid control method is provided.
METHOD FOR CONTROLLING A SLAVE DEVICE, CONTROLLED BY A MASTER DEVICE MOVABLE BY AN OPERATOR IN A ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION, CLOSE TO MOTION LIMITS OF THE SLAVE DEVICE, AND RELATED ROBOTIC SYSTEM
A method for controlling a slave device of a robotic system for medical or surgical teleoperation, close to physical motion limits of the slave device, is described. The robotic system, to which the method applies, comprises at least one master device 110e adapted to be moved by an operator 150, and further comprises at least one slave device comprising a surgical instrument (170) adapted to be controlled by the master device. The method comprises the steps of determining, for each master trajectory of the master device, a respective slave target trajectory of the slave device, and controlling the slave device so that it follows and moves along said slave trajectory. The aforesaid step of determining comprises determining, for each master trajectory of the master device, a respective slave target trajectory of the slave device, in a slave reference coordinate system of the slave device, in which the slave device movements are reduced by a scale factor Fs with respect to the master device movements, and in which the slave device pose has a translational offset OFF, which can be zero or non-zero, with respect to the master device pose. Said slave trajectory, for each master device movement, is contained in a predetermined convex volume in the slave reference coordinate system. The aforesaid step of determining the slave trajectory comprises defining an edge region of said convex volume, close to the boundaries of the convex volume, and an inner region of the convex volume, which is internal with respect to the edge region and thus far from the boundaries of the convex volume. The method provides, when a slave device nominal target trajectory, corresponding to the master device trajectory mapped in the slave reference coordinate system, is outside said inner region of the convex volume, dynamically varying the aforesaid scale factor Fs to obtain a dynamically variable modified scale factor Fm(t), thus modifying the slave trajectory with respect to a nominal slave trajectory which would be obtained with a constant scale factor, so that the target slave trajectory remains within the aforesaid predetermined convex volume. The method further provides, when the modified scale factor Fm(t) is greater than a predetermined maximum scaling factor Fmax, dynamically modifying the aforesaid translational offset OFF(t) as well, so that the slave device still remains within the aforesaid predetermined convex volume. A robotic system for medical or surgical teleoperation is further described, adapted to be controlled by means of the aforesaid control method.
METHOD FOR CONTROLLING A SLAVE DEVICE, CONTROLLED BY A MASTER DEVICE MOVABLE BY AN OPERATOR IN A ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION, CLOSE TO MOTION LIMITS OF THE SLAVE DEVICE, AND RELATED ROBOTIC SYSTEM
A method for controlling a slave device of a robotic system for medical or surgical teleoperation, close to physical motion limits of the slave device, is described. The robotic system, to which the method applies, comprises at least one master device 110e adapted to be moved by an operator 150, and further comprises at least one slave device comprising a surgical instrument (170) adapted to be controlled by the master device. The method comprises the steps of determining, for each master trajectory of the master device, a respective slave target trajectory of the slave device, and controlling the slave device so that it follows and moves along said slave trajectory. The aforesaid step of determining comprises determining, for each master trajectory of the master device, a respective slave target trajectory of the slave device, in a slave reference coordinate system of the slave device, in which the slave device movements are reduced by a scale factor Fs with respect to the master device movements, and in which the slave device pose has a translational offset OFF, which can be zero or non-zero, with respect to the master device pose. Said slave trajectory, for each master device movement, is contained in a predetermined convex volume in the slave reference coordinate system. The aforesaid step of determining the slave trajectory comprises defining an edge region of said convex volume, close to the boundaries of the convex volume, and an inner region of the convex volume, which is internal with respect to the edge region and thus far from the boundaries of the convex volume. The method provides, when a slave device nominal target trajectory, corresponding to the master device trajectory mapped in the slave reference coordinate system, is outside said inner region of the convex volume, dynamically varying the aforesaid scale factor Fs to obtain a dynamically variable modified scale factor Fm(t), thus modifying the slave trajectory with respect to a nominal slave trajectory which would be obtained with a constant scale factor, so that the target slave trajectory remains within the aforesaid predetermined convex volume. The method further provides, when the modified scale factor Fm(t) is greater than a predetermined maximum scaling factor Fmax, dynamically modifying the aforesaid translational offset OFF(t) as well, so that the slave device still remains within the aforesaid predetermined convex volume. A robotic system for medical or surgical teleoperation is further described, adapted to be controlled by means of the aforesaid control method.
METHOD FOR CONTROLLING, BY DECREASING THE IMPARTED SPEED OR POWER, A SLAVE DEVICE CONTROLLED BY A MASTER DEVICE IN A ROBOTIC SYSTEM FOR MEDICAL OR SURGICAL TELEOPERATION, AND RELATED ROBOTIC SYSTEM
A method for controlling a slave device during a teleoperation performed by means of a robotic system 100 for medical or surgical teleoperation is described. The aforesaid robotic system comprises at least one master device 110 adapted to be moved by an operator 150, and at least one slave device comprising a surgical instrument 170 adapted to be controlled by the master device. The method comprises the steps of defining a nominal target pose in a workspace of the slave device (corresponding to a respective pose of the master device in a workspace of the master device), modifying the nominal target pose to obtain a modified target pose of the slave device, and controlling the motion of the slave device in the slave device workspace so that the slave device is configured to follow the aforesaid modified target pose during a teleoperation. The aforesaid step of modifying the nominal target pose to obtain the modified target pose comprises decreasing the translational speed module of the modified target pose, with respect to the speed of the nominal target pose, and/or decreasing the instantaneous power or energy imparted by the master device to the slave device, according to a respective transfer function. Such a transfer function depends on the instantaneous speed of the master device and/or the instantaneous power or energy of the master device and/or the distance between a current position of the slave device and the nominal target pose of the slave device. There is further described a robotic system 100 for medical or surgical teleoperation for which the aforesaid control method is provided.
41 - Education, entertainment, sporting and cultural services
44 - Medical, veterinary, hygienic and cosmetic services; agriculture, horticulture and forestry services
Goods & Services
Production of podcasts; podcast entertainment; providing online educational classes via a live video chat; medical education services; publication of medical texts; advisory services relating to medical training; computer-based simulation training services in the field of medical technology; training in the use of surgical, medical, dental and veterinary instruments and apparatus; audio, video and multimedia program production; educational services; arranging and conducting of colloquia, conferences, congresses, seminars or symposiums; arranging events for educational purposes; health education; computer-based simulation training services in the field of medical science. Medical assistance; medical consultations; surgery; health counselling; advisory services relating to medical apparatus and instruments.
80.
TIP PROTECTOR FOR A SURGICAL INSTRUMENT, ASSEMBLY AND METHOD
A tip protector, for a surgical instrument having a shaft and an instrument tip near a distal portion of the shaft, includes a tip housing for releasably receiving the instrument tip; a clamp system suitable for gripping a portion of the surgical instrument to position the tip protector; and a distal through opening at or near the distal end of the tip housing. The distal through opening has an opening size that is adjustable.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
81.
METHOD OF MANUFACTURING A GRIPPING SURFACE FOR AN END EFFECTOR AND SURGICAL INSTRUMENT COMPRISING A GRIPPING END EFFECTOR
A manufacturing method by wire electro-erosion comprising the following steps of providing a wire electro-erosion machine (2) having a cutting wire (3); mounting at least one workpiece (11) to the wire electro-erosion machine; making a surface micro-topography by wire electro-erosion; performing a first through cut on the workpiece (11) according to a cutting path (21) comprising peaks (12) and valleys (13), thus exposing an exposed portion (14) on the workpiece (11) comprising reliefs (15) and recesses (16) corresponding to said peaks and valleys of the first cutting path (21). A surgical instrument comprises at least one gripping surface comprising a surface micro-topography.
A manufacturing method by wire electro-erosion comprising the following steps of providing a wire electro-erosion machine (2) having a cutting wire (3); mounting at least one workpiece (11) to the wire electro-erosion machine; making a surface micro-topography by wire electro-erosion; performing a first through cut on the workpiece (11) according to a cutting path (21) comprising peaks (12) and valleys (13), thus exposing an exposed portion (14) on the workpiece (11) comprising reliefs (15) and recesses (16) corresponding to said peaks and valleys of the first cutting path (21). A surgical instrument comprises at least one gripping surface comprising a surface micro-topography.
A sterile master input handle assembly includes a non-sterile manipulandum; a sterile surgical drape draping the non-sterile manipulandum; and at least one sterile accessory, suitable to form a sterile interface of the sterile master input handle assembly for the surgeon's fingers. The at least one sterile accessory mechanically engages with the non-sterile manipulandum across the sterile surgical drape, the at least one sterile accessory covers at least one portion of the outer surface of the surgical drape, and the at least one sterile accessory includes at least one surface forming the sterile interface for the surgeon's fingers to manipulate the non-sterile manipulandum across the sterile surgical drape.
A method for controlling an articulated end effector 40 actuated by means of one or more actuation tendons of a surgical instrument 20 of a robotic system for surgery is described. The method is advantageously executable during an operating phase of the surgical instrument. The method is applied to a surgical instrument 20 comprising an articulated end effector 40 and at least one actuation tendon 31, 32, 33, 34, 35, 36, configured to actuate the articulated end effector 40. The method is applied to a robotic system for surgery comprising, in addition to said surgical instrument 20, control means 9 and at least one motorized actuator 11, 12, 13, 14, 15, 16, operatively connectable to a respective said at least one actuation tendon 31, 32, 33, 34, 35, 36 to impart an action, controlled by the control means 9, to the respective actuation tendon, so as to determine a univocal correlation between at least one movement of one or more motorized actuators 11, 12, 13, 14, 15, 16 and a respective at least one movement of the articulated end effector 40. The method first comprises the step of detecting the force Fm exerted by at least one of the aforesaid one or more motorized actuators 11, 12, 13, 14, 15, 16, during the aforesaid operating step of the surgical instrument. The method then comprises the steps of estimating, by means of a predefined mathematical model, based on the detected force Fm, a length variation of at least one of the one or more actuation tendons 31, 32, 33, 34, 35, 36, due to elastic elongation of the actuation tendon; and then using the estimated length variation for a position control of the one or more motorized actuators 11, 12, 13, 14, 15, 16. Such a position control comprises imparting a movement on the aforesaid at least one motorized actuator 11, 12, 13, 14, 15, 16, taking into account the estimated length variation of said at least one actuation tendon 31, 32, 33, 34, 35, 36, so as to reduce or cancel the error introduced by said elastic elongation between the position reached by the articulated end effector 40 and a desired nominal position of the articulated end effector 40. A robotic system for surgery adapted to be controlled by the aforesaid method, and/or configured to carry out the aforesaid method, is further described.
A surgical instrument for robotic surgery comprises a tendon-actuated articulating end, an actuating tendon, and a backend portion comprising an elongated transmission body movable along a longitudinal direction which is parallel to a longitudinal extension axis of the elongated body, a first resting wall forming a first resting part for a first transversal side of the elongated body, a second resting part for a second opposite transversal side of the elongated body, a return element for the actuating tendon, wherein the actuating tendon is operatively connected to said elongated body and is operatively connected to said return element; the elongated body comprises on the first side thereof a first lateral surface which slidably rests against said first resting wall; the elongated body comprises on the second side a second lateral surface which slidably rests against said second resting part.
A method for controlling an articulated end effector 40 actuated by means of one or more actuation tendons of a surgical instrument 20 of a robotic system for surgery is described. The method is advantageously executable during an operating phase of the surgical instrument. The method is applied to a surgical instrument 20 comprising an articulated end effector 40 and at least one actuation tendon 31, 32, 33, 34, 35, 36, configured to actuate the articulated end effector 40. The method is applied to a robotic system for surgery comprising, in addition to said surgical instrument 20, control means 9 and at least one motorized actuator 11, 12, 13, 14, 15, 16, operatively connectable to a respective said at least one actuation tendon 31, 32, 33, 34, 35, 36 to impart an action, controlled by the control means 9, to the respective actuation tendon, so as to determine a univocal correlation between at least one movement of one or more motorized actuators 11, 12, 13, 14, 15, 16 and a respective at least one movement of the articulated end effector 40. The method first comprises the step of detecting the force Fm exerted by at least one of the aforesaid one or more motorized actuators 11, 12, 13, 14, 15, 16, during the aforesaid operating step of the surgical instrument. The method then comprises the steps of estimating, by means of a predefined mathematical model, based on the detected force Fm, a length variation of at least one of the one or more actuation tendons 31, 32, 33, 34, 35, 36, due to elastic elongation of the actuation tendon; and then using the estimated length variation for a position control of the one or more motorized actuators 11, 12, 13, 14, 15, 16. Such a position control comprises imparting a movement on the aforesaid at least one motorized actuator 11, 12, 13, 14, 15, 16, taking into account the estimated length variation of said at least one actuation tendon 31, 32, 33, 34, 35, 36, so as to reduce or cancel the error introduced by said elastic elongation between the position reached by the articulated end effector 40 and a desired nominal position of the articulated end effector 40. A robotic system for surgery adapted to be controlled by the aforesaid method, and/or configured to carry out the aforesaid method, is further described.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
87.
TRANSMISSION SYSTEM OF A SURGICAL INSTRUMENT FOR ROBOTIC SURGERY
A surgical instrument (1) for robotic surgery comprises a tendon-actuated articulating end (2), and at least one actuating tendon (3), and a backend portion (4) comprising at least one elongated transmission body (5) movable along a longitudinal direction (X-X) which is coinciding with or parallel to a longitudinal extension axis of said at least one elongated body (5), at least a first resting wall (6) forming a first resting part for a first transversal side (51) of the at least one elongated body (5), at least a second resting part (7) for a second transversal side (52), opposite to said first transversal side (51), of the at least one elongated body (5), at least one return element (8) for the at least one actuating tendon (3), wherein said at least one actuating tendon (3) is operatively connected to said elongated body (5) and is operatively connected to said at least one return element (8); the at least one elongated body (5) comprises on the first side (51) thereof a first lateral surface (11) which slidably rests against said at least a first resting wall (6); the at least one elongated body (5) comprises on the second side (52) a second lateral surface (12) which slidably rests against said second resting part (7).
A robotic surgery assembly for robotic-aided microsurgery includes at least one transmission component; at least one motorized manipulator including at least one motorized linear slider; and at least one sterile adapter including a coupling device suitable for connecting to a surgical instrument. The transmission component is interposed between the at least one motorized manipulator and at least one sterile adapter, so to rigidly determine at least the relative mutual position of the at least one motorized linear slider of the motorized manipulator and the coupling device sterile adapter.
A sterile adapter for a robotic surgery system includes a frame, a proximal coupling device suitable to form a connection with a non-sterile robotic manipulator system, a distal cavity suitable to form a connection with a surgical instrument suitable to perform robotic surgery to a patient anatomy, and a membrane having a proximal non-sterile side and a distal sterile side opposite to the proximal non-sterile side. The membrane is between the proximal coupling device and the distal cavity, and membrane is stretchable to transmit a plurality of pushing actions from the proximal non-sterile side to the distal sterile side. The frame is rigid to transmit a roll action.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
90.
MASTER WORKSTATION FOR ROBOTIC SURGERY, STERILE OPERATORY FIELD, SURGICAL ROBOTIC SYSTEM AND METHOD
A master workstation for a surgical robotic system suitable for being located within a sterile operatory field includes an ungrounded master input handle, suitable for being hand held by a surgeon during surgery for controlling a slave robotic assembly of the surgical robotic system; a console including at least one convex body; a sterile drape draping at least a portion of the console; at least one sterile holder having at least one cavity; at least one resting element within the cavity suitable for the master input handle to rest thereon; and at least one positioning clip engaged with the at least one convex body of the console across and through the sterile drape while preserving the integrity of the sterile drape. The positioning clip is suitable for positioning the cavity of the sterile holder at a desired location near the console and within the sterile operatory field.
A master workstation for a surgical robotic system suitable for being located within a sterile operatory field includes an ungrounded master input handle suitable for being hand held by a surgeon during surgery for controlling a slave robotic assembly of the surgical robotic system; a console; a sterile drape draping at least a portion of the console; and at least one sterile holder, wherein the at least one sterile holder includes at least one cavity and at least one resting element within the cavity suitable for the master input handle to rest thereon when the master input handle is not hand held.
A robotic surgery system includes at least one sterile barrier assembly, at least one non-sterile robotic manipulator including a case and at least one roll motor, and at least one rolling body suitable to pivot relative to the case. At least one connector of a surgical drape of the sterile barrier assembly is coupled with the case, and at least one sterile adapter of the sterile barrier assembly is coupled with at least one rolling body of the non-sterile robotic manipulator. The at least one roll motor is suitable to move at least one rolling body together with the at least one sterile adapter in a pivoting movement with respect to the case. A gap between the at least one connector of the surgical drape and the at least one sterile adapter forms a rotatable seal, which prevents the non-sterile robotic manipulator from contaminating a sterile operatory field.
A61B 46/10 - Surgical drapes specially adapted for instruments
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
93.
METHOD OF MANUFACTURING ONE OR MORE SHARP BODIES BY WIRE ELECTRO-EROSION, SEMI-FINISHED PRODUCT, FIXTURE, AND METHOD OF MANUFACTURING A SURGICAL CUTTING INSTRUMENT FOR ROBOTIC MICROSURGERY BY WIRE ELECTRO-EROSIO
A method of manufacturing one or more sharp bodies by wire electro-erosion comprises the steps of: providing a wire electro-erosion machine and a fixture mounted to the wire electro- erosion machine so that at least one portion thereof can rotate about a rotation axis which is transverse to the longitudinal extension of the cutting wire; mounting at least one workpiece to the fixture; sharpening at least one edge to be sharpened of the at least one workpiece by performing a sharpening through cut with the cutting wire on the at least one workpiece; shaping the at least one workpiece by performing a shaping through cut with the cutting wire on the at least one workpiece, in which between the sharpening step and the shaping step the further step of rotating the at least one portion of the fixture about the rotation axis thereof by a sharpening rotation angle other than 90° is performed. For example, the sharp bodies are blades for a surgical cutting instrument for robotic microsurgery.
B23H 1/00 - Electrical discharge machining, i.e. removing metal with a series of rapidly recurring electrical discharges between an electrode and a workpiece in the presence of a fluid dielectric
A surgical cutting instrument comprising a connection link (90) connected to the distal end (8) of the shaft (7) having a body comprising in a single piece one or more convex ruled surfaces of connection links (97, 99) with parallel generator lines, a first distal connecting portion (13); a support link (2) articulated to the connection link (90) and having a body comprising in a single piece: one or more convex ruled surfaces of support links (96, 98) with parallel generator lines; a proximal connecting portion articulated to the first distal connecting portion of the first connection link (90), defining a proximal rotational joint (509) for the connection link (90) and the support link (2) so that they can relatively rotate about a common proximal rotation axis (P-P); a second distal connecting portion (17); a blade holder link (50) articulated to the support link (2) having a body comprising in a single piece: a blade holder link attachment root (51 ) having a pulley portion formed by one or more convex ruled surfaces (79) of blade holder root with parallel generator lines, a drag portion (57), a blade link (30), integral in rotation with said blade holder link (50), having a body comprising in a single piece a cutting edge (34) and a drag counter-portion (37) engaged with said drag portion of the blade holder link (50); a reaction link (20) articulated to the support link (2) and to the group formed by the blade link (30) and by the blade holder link (50), having a body comprising in a single piece an attachment root (21 ) having a pulley portion formed by one or more convex ruled surfaces (80) of reaction link root, with parallel generator lines; the cutting edge (34) of the blade link (30) is elastically bendable in a direction parallel to the common distal rotation axis (Y-Y); a first distance (Y5) in a direction parallel to the common distal rotation axis (Y-Y) between the first termination seat (15) of the root (51 ) of the blade holder link (50) and a surface (96) of said one or more convex ruled surfaces (96, 98) of the support link (2) is constant for any cutting condition; a second distance (Y5') in a direction parallel to the common distal rotation axis (Y-Y) between the second termination seat (25) of the root (21 ) of the further link (20) and a surface (98) of said one or more convex ruled surfaces (96, 98) of the support link (2) is constant for any cutting condition.
A surgical instrument (1) comprising an articulated end-effector (9) comprising a support structure, a first tip (10) having an elongated body comprising a first proximal attachment root (11) and a first distal free end (12), a second tip (20) having an elongated body comprising a second proximal attachment root (21) and a second distal free end (22); wherein the first root (11) and the second root (21) are axially next to each other and globally interposed with the support structure; the support structure, the first tip (10) and the second tip (20) are mutually articulated in a common rotation axis (Y-Y) defining an axial direction coincident with or parallel to the common rotation axis (Y-Y), defining a relative degree of freedom of opening/closing (G) between the first tip (10) and the second tip (20); the body of said first tip (10) comprises a blade portion (14) with a cutting edge (34) integral in rotation with the first free end (12); said blade portion (14) of the body of the first tip (10) is elastically bendable in the axial direction; said second tip (20) comprises a counter-blade portion (24) integral in rotation with the second free end (22); said counter-blade portion (24) is adapted to abut against said cutting edge (34) elastically axially bending said blade portion (14) of the first tip (10); the first root (11) of the first tip (10) is in direct and intimate contact with the support structure and the second root (21) of the second tip (20) is in direct and intimate contact with the support structure.
A surgical instrument of the needle-holder/cutter type (1) comprising a articulated end-effector (9) comprising a support structure comprising two prongs (3, 4), a first tip link (10) having an elongated body comprising in a single piece a first proximal attachment root (11), a first distal free end (12) and a first gripping surface (13) therebetween, a second tip link (20) having an elongated body comprising in a single piece a second proximal attachment root (21), a second distal free end (22), and a second gripping surface (23) therebetween; a blade link (30) comprising in a single piece a third proximal attachment root (31), an elastically deformable bending body and a cutting edge (34); the blade link (30) is integral in rotation with said first tip link (10); the first root (11) of the first tip link (10), the second root (21) of the second tip link (20) and the third root (31) of the blade link (30) are axially placed side by side; a counter-blade surface (24) is provided, which is integral in rotation with the second tip link (20); said counter blade surface (24) is adapted to abut against said cutting edge (34) of the blade link (30), elastically bending said blade link (30) axially, so that said cutting edge (34) of the blade link (30) and said counter-blade surface (24) reach a mechanical interference contact condition to exert a cutting action.
A61B 17/04 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for suturing woundsHolders or packages for needles or suture materials
A method for calibrating a surgical instrument 20 of a teleoperated robotic surgery system 1 is described. The surgical instrument 20 comprises a plurality of transmission elements 21, 22, 23, 24, 25, 26 associated with a respective plurality of tendons 31, 32, 33, 34, 35, 36, and a articulated end-effector device 40, which is mechanically connectable through respective tendons to the transmission elements, so as to determine a unique correlation between a set of movements of the transmission elements and a respective movement or pose of the articulated end-effector device 40. The teleoperated robotic surgery system 1 comprises, in addition to the aforesaid surgical instrument 20, a plurality of motorized actuators 11, 12, 13, 14, 15, 16 and control means 9. The motorized actuators 11, 12, 13, 14, 15, 16 are operatively connectable to respective transmission elements 21, 22, 23, 24, 25, 26 to impart movement to the transmission elements under control of the control means. The method first comprises a step of arranging and locking the articulated end-effector device 40 in a predetermined known position, considered as the reference position of the articulated end-effector device 40. Such a reference position of the articulated end-effector device 40 is univocally associated with a respective resulting position of each of the transmission elements 21, 22, 23, 24, 25, 26. The method then provides the steps of actuating the motorized actuators 11, 12, 13, 14, 15, 16 so that each of the motorized actuators comes into contact with a respective transmission element 21, 22, 23, 24, 25, 26, and storing the position of the motorized actuators 11, 12, 13, 14, 15, 16 when each motorized actuator comes into contact with a respective transmission element, and considering the set of stored positions of the motorized actuators as a reference position of the motorized actuators univocally associated with the reference position of the end-effector device. The method then provides defining a kinematic zero condition, associating the aforesaid stored reference position of the motorized actuators a virtual zero point with respect to which the movements imparted by the control means 9 to the motorized actuators 11, 12, 13, 14, 15, 16 are to be referred. The aforesaid actuating step comprises controlling the motorized actuators 11, 12, 13, 14, 15, 16 so that they apply a force greater than zero and less than or equal to a threshold force on the respective transmission element of the surgical instrument.
METHOD FOR CONDITIONING A SURGICAL INSTRUMENT OF A ROBOTIC SURGERY SYSTEM, WITH CYCLES OF PRE-ELONGATION OF MOVEMENT TRANSMISSION TENDONS, AND RELATED ROBOTIC SYSTEM
A method is described for conditioning a surgical instrument 20 of a robotic surgery system 1, which can be carried out before using the surgical instrument 20. The method is applied to a surgical instrument 20 comprising an articulated end-effector 40 having at least one degree of freedom (P, Y, G), and further comprises at least one tendon 31, 32, 33, 34, 35, 36, operatively connectable with a respective at least one motorized actuator 1 1, 12, 13, 14, 15, 16 of the robotic surgery system 1. The at least one tendon 31, 32, 33, 34, 35, 36 is mounted to the surgical instrument 20 so as to be operatively connectable to both a respective motorized actuator, among the aforesaid at least one transmission element, and to at least one degree of freedom of the aforesaid at least one degree of freedom P, Y, G of the articulated end-effector 40. The aforesaid at least one degree of freedom P, Y, G operatively connectable to the at least one tendon is adapted to be mechanically activated by an action of the at least one respective motorized actuator 11, 12, 13, 14, 15, 16 by means of the aforesaid at least one tendon 31, 32, 33, 34, 35, 36 which is operatively connectable thereto. The method comprises the following steps: (i) locking at least one degree of freedom of the aforesaid at least one degree of freedom P, Y, G of the end-effector 40; (ii) tensile-stressing the respective at least one tendon, operatively connected to the aforesaid at least one locked degree of freedom, by applying a conditioning force (Fref), according to at least one time cycle, to the respective at least one tendon to be stressed under tensile load; The aforesaid at least one time cycle comprises: - at least one low-load period, in which a low conditioning force Flow is applied to the aforesaid respective tendon, which results in a respective low tensile load on the respective tendon; - at least one high-load period, in which a high conditioning force Fhigh is applied to the aforesaid respective tendon, which results in a respective high tensile load on the respective tendon.
A method of teleoperation preparation in a teleoperated robotic surgery system 1 is described, to be performed during a non-operating step, in which the system is not performing a teleoperation. The aforesaid robotic system 1, to which the method is applicable, comprises a plurality of motorized actuators 11, 12, 13, 14, 15, 16, and at least one surgical instrument 20. The surgical instrument 20 further comprises an articulated end-effector 40 having at least one degree of freedom (P, Y, G). The surgical instrument 20 further comprises at least one pair of antagonistic tendons (31, 32), (33, 34), (35, 36), mounted in the aforesaid surgical instrument 20 so as to be operatively connected or connectable to both the motorized actuators and to the respective links (or rigid connection elements) of the end-effector 40. The tendons of the aforesaid pair of antagonistic tendons are configured to actuate at least one degree of freedom associated therewith, between the aforesaid at least one degree of freedom P, Y, G, thus determining antagonistic effects. The method comprises the following steps: (i) establishing a univocal correlation between a set of movements of the motorized actuators 11, 12, 13, 14, 15, 16 of the robotic system 1 and a respective movement of the articulated end-effector 40 of the surgical instrument 20; (ii) performing a holding step, which in turn comprises: tensile-stressing at least one pair of antagonistic tendons (31, 32), (33, 34), (35, 36) and holding such tendons in a tensile-stressed state, by applying a holding force Fhold to the tendons, adapted to determine a loaded state of the tendons; providing a command indicating the will to enter teleoperation; enabling the entry of the surgical instrument (20) in a teleoperation state. Moreover, a corresponding teleoperated robotic surgery system is described.
A method of teleoperation preparation in a teleoperated robotic surgery system 1 is described, to be performed during a non-operating step, in which the system is not performing a teleoperation. The aforesaid robotic system 1, to which the method is applicable, comprises a plurality of motorized actuators 11, 12, 13, 14, 15, 16, and at least one surgical instrument 20. The surgical instrument 20 further comprises an articulated end-effector 40 having at least one degree of freedom (P, Y, G). The surgical instrument 20 further comprises at least one pair of antagonistic tendons (31, 32), (33, 34), (35, 36), mounted in the aforesaid surgical instrument 20 so as to be operatively connected or connectable to both the motorized actuators and to the respective links (or rigid connection elements) of the end-effector 40. The tendons of the aforesaid pair of antagonistic tendons are configured to actuate at least one degree of freedom associated therewith, between the aforesaid at least one degree of freedom P, Y, G, thus determining antagonistic effects. The method comprises the following steps: (i) establishing a univocal correlation between a set of movements of the motorized actuators 11, 12, 13, 14, 15, 16 of the robotic system 1 and a respective movement of the articulated end-effector 40 of the surgical instrument 20; (ii) performing a holding step, which in turn comprises: tensile-stressing at least one pair of antagonistic tendons (31, 32), (33, 34), (35, 36) and holding such tendons in a tensile-stressed state, by applying a holding force Fhold to the tendons, adapted to determine a loaded state of the tendons; providing a command indicating the will to enter teleoperation; enabling the entry of the surgical instrument (20) in a teleoperation state. Moreover, a corresponding teleoperated robotic surgery system is described.
