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 - Instruments, dispositifs ou procédés chirurgicaux pour refermer les plaies ou les maintenir ferméesAccessoires utilisés en liaison avec ces opérations pour la suture des plaiesSupports ou emballages pour aiguilles ou matériaux de suture
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/06 - AiguillesSupports ou empaquetages pour aiguilles ou matériaux de suture
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 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
42 - Services scientifiques, technologiques et industriels, recherche et conception
44 - Services médicaux, services vétérinaires, soins d'hygiène et de beauté; services d'agriculture, d'horticulture et de sylviculture.
Produits et services
Computer hardware and recorded software for acquiring images and videos from digital microscopes and other medical imaging devices; recording of images and videos; 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.
9.
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 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 40/63 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement local
10.
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.
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 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par chauffage en faisant passer des courants à travers les tissus à chauffer, p. ex. des courants à haute fréquence
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
12.
ACTIVE ELECTROSURGICAL INSTRUMENT AND PROTECTIVE CAP, PARTICULARLY FOR MEDICAL-SURGICAL TELEOPERATION, AND RELATED ROBOTIC SYSTEM
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).
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
A61B 17/29 - Pinces pour la chirurgie faiblement invasive
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour l'introduction dans des incisions chirurgicales, p. ex. laparoscopes
A61B 10/04 - Instruments endoscopiques, p. ex. instruments de type cathéther
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/062 - Dispositifs pour manipuler les aiguilles
A61B 17/29 - Pinces pour la chirurgie faiblement invasive
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/20 - Microscopes chirurgicaux caractérisés par des aspects non optiques
B25J 3/04 - Manipulateurs de type à commande asservie, c.-à-d. manipulateurs dans lesquels l'unité de commande et l'unité commandée exécutent des mouvements correspondants dans l'espace comportant des servomécanismes
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
G05B 19/402 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour le positionnement, p. ex. centrage d'un outil par rapport à un trou dans la pièce à usiner, moyens de détection additionnels pour corriger la position
14.
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
15.
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.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
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.
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
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.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
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 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 46/13 - Draps de chirurgie spécialement adaptés aux instruments les draps pénétrant dans le corps du patient
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
19.
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.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
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 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
26.
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.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
31.
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.
G01P 15/18 - Mesure de l'accélérationMesure de la décélérationMesure des chocs, c.-à-d. d'une variation brusque de l'accélération dans plusieurs dimensions
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
32.
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 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
33.
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 - Pinces pour la chirurgie faiblement invasive
34.
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et 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
36.
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 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
37.
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
39.
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour l'introduction dans des incisions chirurgicales, p. ex. laparoscopes
A61B 10/04 - Instruments endoscopiques, p. ex. instruments de type cathéther
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/062 - Dispositifs pour manipuler les aiguilles
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/20 - Microscopes chirurgicaux caractérisés par des aspects non optiques
B25J 3/04 - Manipulateurs de type à commande asservie, c.-à-d. manipulateurs dans lesquels l'unité de commande et l'unité commandée exécutent des mouvements correspondants dans l'espace comportant des servomécanismes
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
G05B 19/402 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour le positionnement, p. ex. centrage d'un outil par rapport à un trou dans la pièce à usiner, moyens de détection additionnels pour corriger la position
41.
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 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
42.
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 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
43.
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, 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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour l'introduction dans des incisions chirurgicales, p. ex. laparoscopes
A61B 10/04 - Instruments endoscopiques, p. ex. instruments de type cathéther
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/062 - Dispositifs pour manipuler les aiguilles
A61B 17/29 - Pinces pour la chirurgie faiblement invasive
A61B 17/3211 - Scalpels chirurgicaux ou bistourisLeurs accessoires
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/20 - Microscopes chirurgicaux caractérisés par des aspects non optiques
B25J 3/04 - Manipulateurs de type à commande asservie, c.-à-d. manipulateurs dans lesquels l'unité de commande et l'unité commandée exécutent des mouvements correspondants dans l'espace comportant des servomécanismes
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
G05B 19/402 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour le positionnement, p. ex. centrage d'un outil par rapport à un trou dans la pièce à usiner, moyens de détection additionnels pour corriger la 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 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 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.
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
51.
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.
B23H 9/00 - Usinage spécialement conçu pour le traitement d'objets métalliques particuliers ou pour obtenir des effets ou des résultats particuliers sur des objets métalliques
52.
Sterile master input handle assembly for a robotic surgery system and surgical drape for a sterile master input handle
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.
A61B 46/10 - Draps de chirurgie spécialement adaptés aux instruments
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
54.
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.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/20 - Microscopes chirurgicaux caractérisés par des aspects non optiques
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
56.
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 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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
58.
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; 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 - Draps de chirurgie spécialement adaptés aux instruments
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments
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 sterile console includes at least one master input tool mechanically ungrounded and suitable to be hand-held by a surgeon during surgery. A surgical chair has a seating surface to accommodate the surgeon during surgery. A tracking system detects position and orientation of the master input tool within a predefined tracking volume. A tool supporting element receives the master input tool. The consoles also includes a slave robot assembly has at least one surgical instrument designed to operate on a patient anatomy, and a control unit. A field generator of the tracking system is integral with a portion of the surgical chair so that, when the surgeon is seated and hand-holds the master input tool, the master input tool is located within the predefined tracking volume. The position and orientation of the master input tool are detected by the tracking system.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 46/10 - Draps de chirurgie spécialement adaptés aux instruments
A61B 90/60 - Supports pour chirurgiens, p. ex. chaises ou supports pour mains
A sterile console includes at least one master input tool mechanically ungrounded and suitable to be hand-held by a surgeon during surgery. A surgical chair has a seating surface to accommodate the surgeon during surgery. A tracking system detects position and orientation of the master input tool within a predefined tracking volume. A tool supporting element receives the master input tool. The consoles also includes a slave robot assembly has at least one surgical instrument designed to operate on a patient anatomy, and a control unit. A field generator of the tracking system is integral with a portion of the surgical chair so that, when the surgeon is seated and hand-holds the master input tool, the master input tool is located within the predefined tracking volume. The position and orientation of the master input tool are detected by the tracking system.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 46/10 - Draps de chirurgie spécialement adaptés aux instruments
A61B 90/60 - Supports pour chirurgiens, p. ex. chaises ou supports pour mains
A robotic surgical assembly includes a slave manipulator connected to a surgical instrument. A jointed subassembly includes at least first, second and third links. The first and second links are associated in a first joint providing a degree of freedom between the first link and the second link. The second and third links are associated in a second joint providing a degree of freedom between the second link and the third link. The surgical instrument includes a tendon for moving a degree of freedom; the tendon including a tendon distal portion secured to the third link. The first link and/or the second link includes a tendon contact surface on which the tendon slides remaining in contact with the tendon contact surface, defining one or more sliding paths on the tendon contact surface. The sum of all sliding paths defines a total winding angle of at least 120°.
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 46/13 - Draps de chirurgie spécialement adaptés aux instruments les draps pénétrant dans le corps du patient
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
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; surgical knives; medical and surgical
knives for cutting human or animal tissue and organs;
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; suturing
instruments; medical instruments for cutting tissue;
electronic medical instruments; surgical robots.
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 for use in closing wounds; surgical knives; medical and surgical knives for cutting human or animal tissue and organs; 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; suturing instruments; medical instruments for cutting tissue; electronic medical instruments for wound healing; surgical robots
67.
SURGICAL TOOL FOR ROBOTIC SURGERY AND ROBOTIC SURGICAL ASSEMBLY
A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/20 - Microscopes chirurgicaux caractérisés par des aspects non optiques
B25J 3/04 - Manipulateurs de type à commande asservie, c.-à-d. manipulateurs dans lesquels l'unité de commande et l'unité commandée exécutent des mouvements correspondants dans l'espace comportant des servomécanismes
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
A61B 17/062 - Dispositifs pour manipuler les aiguilles
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 1/313 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour l'introduction dans des incisions chirurgicales, p. ex. laparoscopes
A61B 10/04 - Instruments endoscopiques, p. ex. instruments de type cathéther
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
G05B 19/402 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour le positionnement, p. ex. centrage d'un outil par rapport à un trou dans la pièce à usiner, moyens de détection additionnels pour corriger la position
A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.
A61B 1/313 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour l'introduction dans des incisions chirurgicales, p. ex. laparoscopes
A61B 10/04 - Instruments endoscopiques, p. ex. instruments de type cathéther
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/062 - Dispositifs pour manipuler les aiguilles
A61B 17/29 - Pinces pour la chirurgie faiblement invasive
A61B 17/3211 - Scalpels chirurgicaux ou bistourisLeurs accessoires
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/20 - Microscopes chirurgicaux caractérisés par des aspects non optiques
B25J 3/04 - Manipulateurs de type à commande asservie, c.-à-d. manipulateurs dans lesquels l'unité de commande et l'unité commandée exécutent des mouvements correspondants dans l'espace comportant des servomécanismes
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
G05B 19/402 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour le positionnement, p. ex. centrage d'un outil par rapport à un trou dans la pièce à usiner, moyens de détection additionnels pour corriger la position
A master controller assembly for a robotic surgery system has a slave robot assembly, a slave surgical instrument and a control unit. The master controller assembly has a master input tool and a convex manipulandum surface to be hand-held by surgeon's fingers. The master input tool is mechanically unconstrained from the slave robot assembly, naturally movable, rotatable and spinnable by the surgeon. The master input tool includes first and second elongated elements having respectively a first element elongated body and a second element elongated body. A tool joint connects and articulates the first and second element elongated bodies. A sensing assembly detects mutual position of the first and second element elongated bodies, so that a gripping pressure action exerted by the surgeon's fingers on the master input tool moves the first and second element elongated bodies closer and determines a paired grip motion of a surgical grip device.
B25J 3/00 - Manipulateurs de type à commande asservie, c.-à-d. manipulateurs dans lesquels l'unité de commande et l'unité commandée exécutent des mouvements correspondants dans l'espace
A method of manufacturing a jointed device of a medical instrument includes providing a machining fixture on a wire electrical discharge machine having an electrical discharge wire.
The fixture includes member holes each adapted to accommodate at least one workpiece, the workpiece being adapted to form a portion of the jointed device of the medical instrument. At least two workpieces each include a first workpiece and a second workpiece, accommodated within at least two member holes of the member holes. The fixture is associated with the wire electrical discharge machine so that the electrical discharge wire can cut at most one workpiece at a time. The machining fixture is rotated around a fixture rotation axis at a predetermined angle, which is chosen to provide that the electrical discharge wire can cut only one workpiece at a time. The workpieces are cut by the electrical discharge wire.
A method of manufacturing a jointed device of a medical instrument includes providing a machining fixture on a wire electrical discharge machine having an electrical discharge wire. The fixture includes member holes each adapted to accommodate at least one workpiece, the workpiece being adapted to form a portion of the jointed device of the medical instrument. At least two workpieces each include a first workpiece and a second workpiece, accommodated within at least two member holes of the member holes. The fixture is associated with the wire electrical discharge machine so that the electrical discharge wire can cut at most one workpiece at a time. The machining fixture is rotated around a fixture rotation axis at a predetermined angle, which is chosen to provide that the electrical discharge wire can cut only one workpiece at a time. The workpieces are cut by the electrical discharge wire.
A method of manufacturing a jointed device of a medical instrument includes providing a machining fixture on a wire electrical discharge machine having an electrical discharge wire. The fixture includes member holes each adapted to accommodate at least one workpiece, the workpiece being adapted to form a portion of the jointed device of the medical instrument. At least two workpieces each include a first workpiece and a second workpiece, accommodated within at least two member holes of the member holes. The fixture is associated with the wire electrical discharge machine so that the electrical discharge wire can cut at most one workpiece at a time. The machining fixture is rotated around a fixture rotation axis at a predetermined angle, which is chosen to provide that the electrical discharge wire can cut only one workpiece at a time. The workpieces are cut by the electrical discharge wire.
Apparatus and instruments for microsurgery; surgical robots;
lancing devices for surgical use; lasers for use in surgery;
apparatus for non-invasive surgery; surgical knives;
electric scalpels [for surgical purposes]; laser scalpels
for medical use; surgical cutlery; 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; surgical cutting instruments; suturing
instruments; medical instruments for cutting tissue;
stapling presses for surgical use; stitch cutters
[surgical].
A sterile console includes at least one master input tool mechanically ungrounded and suitable to be hand-held by a surgeon during surgery. A surgical chair has a seating surface to accommodate the surgeon during surgery. A tracking system detects position and orientation of the master input tool within a predefined tracking volume. A tool supporting element receives the master input tool. The consoles also includes a slave robot assembly has at least one surgical instrument designed to operate on a patient anatomy, and a control unit. A field generator of the tracking system is integral with a portion of the surgical chair so that, when the surgeon is seated and hand-holds the master input tool, the master input tool is located within the predefined tracking volume. The position and orientation of the master input tool are detected by the tracking system.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/60 - Supports pour chirurgiens, p. ex. chaises ou supports pour mains
A61B 46/10 - Draps de chirurgie spécialement adaptés aux instruments
75.
Master controller assembly for a robotic surgery system and method
A master controller assembly for a robotic surgery system has a slave robot assembly having a slave surgical grip device providing a grip degree-of-freedom of motion lying in a predefined slave grip plane and a control unit. The master controller assembly has a portable hand-held master input tool operatively connected to the slave robot assembly. The master input tool has a master tool body having a manipulandum surface, to be hand-held by the surgeon's fingers. The master input tool is mechanically unconstrained from the slave robot assembly and has a grip command detector device having an operative portion. The operative portion is manually operable by radially directed pressure action exerted at an operative surface. A sensing assembly detects the radially directed pressure action so that the radially directed pressure action exerted at the operative surface determines a paired slave grip motion action of the surgical slave grip device.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 50/30 - Récipients spécialement adaptés à l'emballage, la protection, la distribution, la collecte ou l'élimination des appareils ou des instruments chirurgicaux ou de diagnostic
A61B 90/60 - Supports pour chirurgiens, p. ex. chaises ou supports pour mains
Surgical and medical apparatus and instruments for use in microsurgery; surgical robots; lancing devices for surgical use; lasers for use in surgery; apparatus for non-invasive surgery; surgical knives; electric scalpels; laser scalpels for medical use; surgical cutlery; 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; surgical cutting instruments; suturing instruments; medical instruments for cutting tissue; stapling presses for surgical use; surgical apparatus and instruments, namely, stitch cutters
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 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 46/13 - Draps de chirurgie spécialement adaptés aux instruments les draps pénétrant dans le corps du patient
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A robotic surgical assembly includes a slave manipulator connected to a surgical instrument. A jointed subassembly includes at least a first, second and third links. The first and second links are associated in a first joint providing a degree of freedom between the first link and the second link. The second and third links are associated in a second joint providing a degree of freedom between the second link and the third link. The surgical instrument includes a tendon for moving a degree of freedom; the tendon including a tendon distal portion secured to the third link. The first link and/or the second link includes a tendon contact surface on which the tendon slides remaining in contact with the tendon contact surface, defining one or more sliding paths on the tendon contact surface. The sum of all sliding paths defines a total winding angle of at least 120°.
A robotic microsurgery assembly (1) includes at least one master tool (2) to detect a manual command; at least one slave manipulator (3); and at least one surgical instrument (70) operated on by the one slave manipulator (3). At least one control unit (4) receives at least a first command signal including information about the manual command and sends a second command signal to at least one actuator to control the slave manipulator (3). The surgical instrument includes at least one jointed subassembly (5). The jointed subassembly (5) includes a first link (6), a second link (7), and a third link (8). The first link structural body (9) and the second link structural body (10) have at least one tendon contact surface (18), avoiding the at least one tendon contact surface (18) being a hole surface.
A robotic surgery assembly includes a medical instrument having a frame, a jointed device having a degree of freedom with respect of the frame, and at least one tendon made of polymer fibers configured for actuating the degree of freedom. The tendon includes a tendon endpoint connected to the medical instrument to exert a tensile load for actuating the degree of freedom.
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour l'introduction dans des incisions chirurgicales, p. ex. laparoscopes
A61B 10/04 - Instruments endoscopiques, p. ex. instruments de type cathéther
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/062 - Dispositifs pour manipuler les aiguilles
A61B 17/29 - Pinces pour la chirurgie faiblement invasive
A61B 17/3211 - Scalpels chirurgicaux ou bistourisLeurs accessoires
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/20 - Microscopes chirurgicaux caractérisés par des aspects non optiques
B25J 3/04 - Manipulateurs de type à commande asservie, c.-à-d. manipulateurs dans lesquels l'unité de commande et l'unité commandée exécutent des mouvements correspondants dans l'espace comportant des servomécanismes
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
G05B 19/402 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour le positionnement, p. ex. centrage d'un outil par rapport à un trou dans la pièce à usiner, moyens de détection additionnels pour corriger la position
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et 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; surgical knives; medical and surgical
knives for cutting human or animal tissue and organs;
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; suturing
instruments; medical instruments for cutting tissue;
electronic medical instruments; surgical robots. Demonstration of goods for promotional purposes; exhibitions
(conducting -) for advertising purposes; arranging of
exhibitions for business purposes; arranging of exhibitions
for business purposes; organisation of trade fairs for
commercial or advertising purposes; providing consumer
product advice; market research and business analyses;
market research and marketing studies; wholesaling and
retailing in relation to medical apparatus; sales promotion;
opinion polling; market canvassing; market studies. Electronic storage of digital images; new products (testing
of -); technological consultancy in the field of medical
equipment; consultancy relating to research and development
in the field of microsurgery; advisory services relating to
science; professional consultancy relating to technology;
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; 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.
A medical instrument may include multiple joint members and at least two pairs of tendons connected with the joint members and adapted to move at least one of the joint members relative to at least one other joint member. Each joint member may include a main structural body that may be a single piece and includes at least one convex contact surface. A main portion of each tendon contacts the medical instrument only on the convex contact surfaces.
A medical instrument may include multiple joint members and at least two pairs of tendons connected with the joint members and adapted to move at least one of the joint members relative to at least one other joint member. Each joint member may include a main structural body that may be a single piece and includes at least one convex contact surface. A main portion of each tendon contacts the medical instrument only on the convex contact surfaces.
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; surgical knives; medical and surgical
knives for cutting human or animal tissue and organs;
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; suturing
instruments; medical instruments for cutting tissue;
electronic medical instruments; surgical robots.
Apparatus and instruments for microsurgery; surgical robots;
lancing devices for surgical use; lasers for use in surgery;
apparatus for non-invasive surgery; surgical apparatus and
instruments for medical use; electronic apparatus for
medical purposes; surgical knives; electric scalpels [for
surgical purposes]; laser scalpels for medical use; surgical
cutlery; 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; surgical cutting
instruments; suturing instruments; medical instruments for
cutting tissue; electronic medical instruments; stapling
presses for surgical use; stitch cutters [surgical].
(1) Lancing devices for surgical use; lasers for use in surgery; robotically-assisted apparatus for non-invasive surgery; surgical apparatus and instruments for microsurgery; surgical apparatus and instruments for medical use, namely robotic arms for surgical purposes and surgical robots; surgical knives; medical and surgical knives for cutting human or animal tissue and organs; staplers for surgical purposes; medical devices for closing wounds, namely staplers and hemostatic suture instruments; 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; suturing instruments; medical instruments for cutting tissue; surgical robots.
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; surgical knives; medical and surgical knives for cutting human or animal tissue and organs; 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; suturing instruments, namely, needle holders for microsurgery, forceps for microsurgery, nasal dilators, vaginal dilators, uterine dilators, urethral dilators; medical instruments for cutting tissue; surgical robots
Apparatus and instruments for microsurgery; surgical robots; lancing devices for surgical use; lasers for use in surgery; apparatus for non-invasive surgery; surgical apparatus and instruments for medical use; surgical knives; electric scalpels for surgical purposes; laser scalpels for medical use; surgical cutlery; 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; surgical cutting instruments; suturing instruments, namely, needle holders for microsurgery, forceps for microsurgery, nasal dilators, vaginal dilators, uterine dilators, urethral dilators; medical instruments for cutting tissue; stapling presses for surgical use; stitch cutters for surgical use
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 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/20 - Microscopes chirurgicaux caractérisés par des aspects non optiques
B25J 3/04 - Manipulateurs de type à commande asservie, c.-à-d. manipulateurs dans lesquels l'unité de commande et l'unité commandée exécutent des mouvements correspondants dans l'espace comportant des servomécanismes
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
A61B 17/062 - Dispositifs pour manipuler les aiguilles
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 1/313 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour l'introduction dans des incisions chirurgicales, p. ex. laparoscopes
A61B 10/04 - Instruments endoscopiques, p. ex. instruments de type cathéther
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
G05B 19/402 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour le positionnement, p. ex. centrage d'un outil par rapport à un trou dans la pièce à usiner, moyens de détection additionnels pour corriger la position
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/29 - Pinces pour la chirurgie faiblement invasive
A method of manufacturing a jointed device of a medical instrument includes providing a machining fixture on a wire electrical discharge machine having an electrical discharge wire. The fixture includes member holes each adapted to accommodate at least one workpiece, the workpiece being adapted to form a portion of the jointed device of the medical instrument. At least two workpieces each include a first workpiece and a second workpiece, accommodated within at least two member holes of the member holes. The fixture is associated with the wire electrical discharge machine so that the electrical discharge wire can cut at most one workpiece at a time. The machining fixture is rotated around a fixture rotation axis at a predetermined angle, which is chosen to provide that the electrical discharge wire can cut only one workpiece at a time. The workpieces are cut by the electrical discharge wire.
A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/20 - Microscopes chirurgicaux caractérisés par des aspects non optiques
B25J 3/04 - Manipulateurs de type à commande asservie, c.-à-d. manipulateurs dans lesquels l'unité de commande et l'unité commandée exécutent des mouvements correspondants dans l'espace comportant des servomécanismes
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
A61B 17/062 - Dispositifs pour manipuler les aiguilles
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 1/313 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour l'introduction dans des incisions chirurgicales, p. ex. laparoscopes
A61B 10/04 - Instruments endoscopiques, p. ex. instruments de type cathéther
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
G05B 19/402 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour le positionnement, p. ex. centrage d'un outil par rapport à un trou dans la pièce à usiner, moyens de détection additionnels pour corriger la position
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/29 - Pinces pour la chirurgie faiblement invasive
Medical instrument (60, 160, 260, 360) comprising at least one first, second and third joint member (71, 72, 73), at least two pairs of tendons (90, 190, 191, 192) connected with the same joint member and adapted to move said third member (73) with respect to said second member (72), pulling it; and wherein each of said joint member (71, 72, 73) comprises a main structural body comprising in a single piece one or more convex contact surfaces (40, 80, 86, 140, 180), all said convex contact surfaces (40, 80, 86, 140, 180) defining with their prolongations thereof at least partially a single convex volume for each joint member; and wherein the main portion of each tendon is in contact with said jointed device (70, 170, 270) only on said convex contact surfaces; and wherein at least two tendons of said at least two pairs of tendons (90, 190, 191, 192) are in contact with a same convex contact surface.
