U.S. patent application number 17/748794 was filed with the patent office on 2022-09-01 for sterile console for robotic surgery.
This patent application is currently assigned to MEDICAL MICROINSTRUMENTS S.P.A.. The applicant listed for this patent is MEDICAL MICROINSTRUMENTS S.P.A.. Invention is credited to Giuseppe Maria PRISCO, Massimiliano SIMI.
Application Number | 20220273380 17/748794 |
Document ID | / |
Family ID | 1000006344800 |
Filed Date | 2022-09-01 |
United States Patent
Application |
20220273380 |
Kind Code |
A1 |
SIMI; Massimiliano ; et
al. |
September 1, 2022 |
STERILE CONSOLE FOR ROBOTIC SURGERY
Abstract
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.
Inventors: |
SIMI; Massimiliano; (Calci,
IT) ; PRISCO; Giuseppe Maria; (Calci, IT) |
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Applicant: |
Name |
City |
State |
Country |
Type |
MEDICAL MICROINSTRUMENTS S.P.A. |
Calci |
|
IT |
|
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Assignee: |
MEDICAL MICROINSTRUMENTS
S.P.A.
Calci
IT
|
Family ID: |
1000006344800 |
Appl. No.: |
17/748794 |
Filed: |
May 19, 2022 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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17056341 |
Nov 17, 2020 |
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PCT/IB2019/054099 |
May 17, 2019 |
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17748794 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 34/37 20160201;
A61B 90/60 20160201; A61B 34/20 20160201; A61B 2034/2068 20160201;
A61B 46/10 20160201; A61B 2034/2046 20160201; A61B 34/74
20160201 |
International
Class: |
A61B 34/37 20060101
A61B034/37; A61B 34/20 20060101 A61B034/20; A61B 34/00 20060101
A61B034/00; A61B 46/10 20060101 A61B046/10; A61B 90/60 20060101
A61B090/60 |
Foreign Application Data
Date |
Code |
Application Number |
May 17, 2018 |
IT |
102018000005471 |
Claims
1. A method for master slave robotic surgery comprising: seating on
a seating surface of a chair of a master console, the chair
comprising at least one field generator generating a tracking
volume; hand-holding at least one mechanically ungrounded master
input tool within the tracking volume, to enable detection of
position and orientation of the at least one master input tool;
defining a safety sub-volume within the tracking volume; if the at
least one mechanically ungrounded master input tool is detected
within the safety sub-volume, then uncoupling a slave robot from
the master input tool.
2. The method of claim 1, wherein the step of uncoupling comprises
automatically uncoupling.
3. The method of claim 1, comprising the further steps of: moving
the least one mechanically ungrounded master input tool to a
location out of the safety sub-volume and within the tracking
volume; and sending command signals to control the slave robot.
4. The method of claim 1, comprising the further step of dropping
the at least one mechanically ungrounded master input tool when not
hand-held in a tool supporting element located within said safety
sub-volume.
5. The method of claim 4, comprising the step of moving said master
input tool from said tool supporting element, to a location out of
the safety sub-volume and within the tracking volume, and sending
command signals to control the slave robot.
6. A method for master-slave robotic surgery comprising: seating on
a seating surface of a chair of a master console, the chair
comprising at least one field generator generating a tracking
volume; hand-holding at least one mechanically ungrounded master
input tool within the tracking volume, to enable detection of
position and orientation of the at least one master input tool;
defining within the tracking volume an operation sub-volume; if the
at least one mechanically ungrounded master input tool is detected
within the operation sub-volume, then sending command signals to
control a slave robot.
7. The method of claim 6, comprising the further step of uncoupling
automatically the slave robot, if the at least one master input
tool is detected out of the operation sub-volume.
8. The method according to claim 6, wherein the step of
hand-holding comprises moving the at least one ungrounded master
input tool to the operation sub-volume.
9. The method according to claim 6, comprising dropping the at
least one ungrounded master input tool within a tool supporting
element located out of the operation sub-volume.
10. The method according to claim 6, further comprising the steps
of: defining a safety sub-volume out the sub-volume and within said
tracking volume; if the at least one mechanically ungrounded master
input tool is detected within the safety sub-volume, then
automatically uncoupling the slave robot.
11. The method according to claim 10, wherein the step of
hand-holding comprises moving the at least one ungrounded master
input tool from the safety sub-volume to the operation
sub-volume.
12. A master console for controlling a slave robot having a
surgical instrument comprising: a control unit; a chair comprising
a seating surface for a surgeon to sit thereon during surgery; at
least one mechanically ungrounded master input tool; and at least
one field generator integral with a portion of the chair for
generating a tracking volume to detect position and orientation of
the at least one master input tool; wherein the control unit
defines a safety sub-volume located in the tracking volume
generated by the at least one field generator, so that when the
master input tool is detected as being located within said safety
sub-volume, the control unit prevents actuation of the surgical
instrument.
13. The master console of claim 12, comprising at least one tool
supporting element comprising a cup, to support the at least one
mechanically ungrounded master input tool when not hand-held,
wherein said at least one tool supporting element is located within
the safety sub-volume.
14. A master console for controlling a slave robot having a
surgical instrument comprising: a control unit; a chair comprising
a seating surface for a surgeon to sit thereon during surgery; at
least one mechanically ungrounded master input tool; and at least
one field generator, integral with a portion of the chair, for
generating a tracking volume to detect position and orientation of
the at least one master input tool; wherein the control unit
defines an operation sub-volume within the tracking volume, so that
when the mechanically ungrounded master input tool is detected as
being located within said operation sub-volume, then the control
unit sends a command signal to actuate the slave surgical
instrument.
15. The master console of claim 14, wherein the control unit sends
the command signal to actuate the paired slave surgical instrument
only when the mechanically ungrounded master input tool is detected
as being located within said operation sub-volume.
16. The master console of claim 14, wherein the control unit
further defines a safety sub-volume located out the operation
sub-volume and within the tracking volume, so that when the
mechanically ungrounded master input tool is detected as being
located within said safety sub-volume, then the control unit
prevents the actuation of the surgical instrument.
17. The master console of claim 14, comprising at least one tool
supporting element comprising a cup, to support the at least one
mechanically ungrounded master input tool when not hand-held,
wherein said at least one tool supporting element is located out of
the operation sub-volume.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a Continuation of U.S. patent
application Ser. No. 17/056,341, filed 17 Nov. 2020, which is a
National Stage Application of PCT/IB2019/054099, filed 17 May 2019,
which claims benefit of Patent Application Serial No.
102018000005471, filed 17 May 2018 in Italy and which applications
are incorporated herein by reference. To the extent appropriate, a
claim of priority is made to each of the above-disclosed
applications.
FIELD OF THE INVENTION
[0002] It is an object of the present invention a sterile
console.
[0003] In particular, said sterile console is suitable for robotic
surgery.
[0004] The present invention also relates to a robotic surgery
system as well as an operating arena comprising said sterile
console.
[0005] Further, it is an object of the present invention a method
for performing surgery.
BACKGROUND
[0006] Robotic surgery assemblies comprising a master interface and
a slave surgical tool are generally known in the art. Specifically,
robotic surgery assemblies of the known type comprise a control
station comprising a display and connected to the master interface,
as shown for example in document WO-2016-201207, wherein an
appendices of the control station acts as master input tool to
control the slave surgical instrument operating on a patient
anatomy.
[0007] For example, document US-2008-177285 shows a master console
station equipped with armrests attached to a seating element,
wherein from each armrest a mechanically constrained appendix
protrudes forming a free end comprising a metallic wearable ring
designed to fit over a surgeon's finger, to detect manual commands
provided by the surgeon wearing such a ring. The master control
appendix is directly connected to an articulated lever assembly to
transmit a command to the slave part of the robot.
[0008] The surgical master control station disclosed in the above
mentioned document forces the surgeon's arm and hands to have an
uncomfortable posture of during surgery due to the encumber of such
a wearable mechanical appendix.
[0009] For example, document EP-2845556 shows a master console
station for remote robotic surgery equipped with a display and a
control chair, said control chair comprising mechanical appendices
protruding from a frame structure integral with the chair armrests,
said mechanical appendices acting as master input tool to control a
slave surgical robotic arm. Such master input appendices are
connected to force/torque detectors and force compensators for
detect the intended surgeon's manual command and to transmit such
information to the slave surgical tool through a data processing
unit.
[0010] This remote console station forces the surgeon to operate
while seating in a dedicated control room as the remote console
station is unsuitable to be sterilized and placed within the
sterile operatory arena, i.e. around the operating table, and at
the same time such a console station is designed to be unmovable,
in other words is designed not to be easily relocated in various
locations of the remote control room.
[0011] Moreover, such a remote console station forces the surgeon
to operate inserting his/her arms within a metallic frame to access
the master control appendices. Although satisfactory in reducing
the noise mainly due to mechanical vibration transmittal from the
surgeon to the master mechanical appendices provided with
force/torque detectors, this solution forces the surgeon to operate
while assuming an uncomfortable position and posture, particularly
during long-lasting surgical operations. While using such a remote
console station to perform robotic surgery, the surgeon's
perception of the surgery is unrealistic, as surgeon seats in an
unmovable console placed in a room that ideally can be located far
away from the operating arena and handles master control appendices
provided with force/torque detectors and having the appearance of
control levers.
[0012] Is therefore felt the need to improve the surgeon's comfort
during robotic surgery and at the same time to make the surgeon in
condition to handle familiar master controllers.
[0013] For example, documents WO-2017-064303 and WO-2017-064306, in
the name of the same Applicant, show a master interface having a
control tool which replicates the aspect of a pair of ordinary
surgical tweezers, these tweezers being equipped with sensors to
suitably detect a tracking field generated by a tablet, connected
to the tweezers. Although partially satisfactory and specifically
for shortening the surgeon's training period for performing robotic
surgery due to the familiarity of handling such pair of ordinary
surgical tweezers, these solutions are prone to drawbacks.
[0014] In particular, in such known solutions, the volume detected
by the tracking tablet is restricted to a portion of the space
located above the tracking tablet. Therefore, the surgeon is not
allowed to move the master input tool below master tracking tablet,
limiting the range of motion of the surgeon during operation and
its comfort as well. In other words, as the surgeon moves the
master controller below master tracking tablet, the latter is
unable to detect the motion of the master controller and to
accordingly transmit the motion to the slave robotic end
effector.
[0015] Therefore, the need is felt to improve the freedom of
movements of the surgeon during robotic surgery and at the same
time to make the surgeon in condition to handle familiar master
controllers.
[0016] Document US-2014-0018960 discloses a master interface
comprising a remote console linked to a control system for
actuating a tele-operated slave robotic arm operating on a patient.
The console is equipped with a mechanically ungrounded master tool
grip device defining a body-centric frame of reference, in other
words a frame of reference centered on the surgeon handling such a
mechanically unconstrained master tool grip device. In that way,
that the control unit detecting the body-centric frame of reference
acquires information about position and orientation of said master
tool grip device and send a command signal to the slave robot arm
to actuate the end-effector thereto. Other examples of remote
console are shown in documents US-2018-0078319 and
US-2018-0092706.
[0017] A solution for laparoscopic surgery is known from document
WO-2014-151621 showing a master platform comprising a display,
suitable to show the laparoscopic view, a wired or wireless master
controller optically- or electromagnetically-tracked, and a resting
bar suitable for the standing surgeon's forearm to rest thereon.
Main advantage of this solution is the capability of tracking the
motion of the master controller in a volume extending both above
and below the resting bar, resulting in an extended range of motion
for the surgeon during laparoscopic surgery and allowing the
surgeon to rest his forearm on said resting bar. Furthermore, such
solution also allows the surgeon to simultaneously employ a master
controller for operating through the end-effector of the robot
together with a habitual surgical tool suitable to operate directly
on a living anatomy, providing the surgeon with a wide range of
possible surgical therapies.
[0018] Despite the advantage described above, the disclosed
solution fails to provide the surgeon with a comfortable yet
reliable posture during robotic surgery. Due to the inherent
uncomfortable surgeon posture forced by this master platform
solution, the optical tracking of the master controller disclosed
herein permits the surgeon to walk around the operating arena
during surgery, but that often result in a loss of focus by the
surgeon and/or the surgical team, particularly for long-lasting
operations, and as well unwanted accidental collisions with the
robotic assembly can easily arise.
[0019] The need is felt to provide a sterile console solution for
robotic surgery allowing the surgeon to operate while is in a
comfortable posture and at the same time suitable to improve the
safety of the patient and of the robot parts during robotic
surgery.
[0020] The need is felt to provide a sterile console solution
allowing the surgeon to safely operate while is in a comfortable
posture, avoiding for that reason to limit the range of motion
allowed.
[0021] The need is felt to provide a sterile console for robotic
surgery suitable for improving the precision, the focus and
therefore the reliability of robotic surgery and at the same time
suitable for long-lasting operation, without for that reason
resulting highly uncomfortable or unfamiliar for the surgeon.
SUMMARY OF THE INVENTION
[0022] It is a scope of the present invention to overcome the
drawbacks mentioned with reference to the known art.
[0023] It is a scope of the present invention to provide a sterile
console for robotic surgery system, designed to improve the comfort
of the surgeon during robotic surgery, avoiding resulting for that
reason the reliability of robotic surgery.
[0024] These and other scopes are achieved by a sterile console, a
robotic surgery system, an operating arena and a method for
performing surgery.
[0025] Some preferred embodiments are also described.
[0026] According to an aspect of the invention, a sterile console
for a robotic surgery system comprises at least one master input
tool mechanically ungrounded and suitable to be hand-held by a
surgeon during surgery, at least one surgical chair comprising at
least one seating surface for the surgeon to seat thereon during
surgery, at least one tracking system, suitable to detect position
and orientation of said at least one master input tool within a
predefined tracking volume, and at least one tool resting element
providing a support for said at least one master input tool to rest
thereon when the surgeon does not hand-hold said at least one
master input tool.
[0027] Said at least one master input tool defines at least one
first frame of reference attached thereto, and said tracking system
comprising a field generator defines a second frame of reference
attached thereto, and said tracking volume is integral with said
field generator of the tracking system, and the position and
orientation detected by said tracking system is the position and
orientation of said at least one first frame of reference with
respect of the second frame of reference, so that a control unit of
the robotic surgery assembly is suitable for receiving information
about said position and orientation of said at least one master
input tool within said tracking volume and is suitable for
transmitting a command signal to the slave robot assembly in order
to actuate said at least one surgical instrument.
[0028] The field generator of the tracking system, for example a
magnetic field generator, is integral with a portion of the
surgical chair so that, when the surgeon seats onto said seating
surface of the surgical chair and hand-holds said at least one
master input tool, said master input tool is located within said
tracking volume and the position and orientation thereof can be
detected by the tracking system.
[0029] The seating surface of the surgical chair may pivot about a
substantially vertical roll axis, and said field generator of the
tracking system is integral with said seating surface so that that
the tracking volume is integral with the seating surface of the
surgical chair of the sterile console during pivoting of the
seating surface around the substantially vertical roll axis.
[0030] The surgical chair may comprise a seating lower support
portion integral with said seating surface and a chair base
structure providing structural support to a seating lower portion
and said seating lower support portion may pivot around a
substantially vertical roll axis with respect of said seat base
structure, and the field generator may be integral with said
seating lower support portion, so that the tracking volume is
integral with the seating surface of the surgical chair of the
sterile console during rolling around the substantially vertical
roll axis.
[0031] The sterile console may comprise a sterile drape covering at
least said seating surface of the surgical chair, and preferably
covering also the armrest surfaces of the armrest assembly of the
surgical chair, and preferably covering also the back seat portion
of the surgical chair. The sterile drape may comprise a plastic
lining or the like.
[0032] Thanks to the proposed solutions, it is provided a sterile
console for robotic surgery suitable for being located within an
operating arena surrounding a patient anatomy during surgery and
suitable for being moved during surgery without for this reason
resulting in the transmission of unwanted command signals to the
surgical end effector.
[0033] An operating arena may comprise at least one of said sterile
console, and at least one slave robot assembly comprising at least
one surgical instrument designed to operate on a patient anatomy,
and a patient supporting structure, for example an operatory bed or
the like, forming a support for a patient anatomy to rest thereon
during surgery and located within the operating arena.
[0034] The sterile console may be placed inside the operating arena
near the operatory bed without for this reason requiring a single
use only.
[0035] A robotic surgery system may comprise at least one of said
sterile console and at least one slave robot assembly comprising at
least one surgical instrument designed to operate on a patient
anatomy, and a control unit, suitable for receiving information
about said position and orientation of said at least one master
input tool within said tracking volume and is suitable for
transmitting a command signal to the slave robot assembly in order
to actuate said at least one surgical instrument. The robotic
surgery system in its entirety may be located within the operating
arena.
BRIEF DESCRIPTION OF THE DRAWINGS
[0036] Further characteristics and advantages of the invention will
appear from the description reported below of preferred
embodiments, which are given as examples and are not meant to be
limiting, which makes reference to the attached figures, in
which:
[0037] FIG. 1 is a top view showing diagrammatically a sterile
console within an operating arena, according to an embodiment;
[0038] FIG. 2 is a top view showing diagrammatically a remote
non-sterile console;
[0039] FIG. 3 is an axonometric view showing a robotic surgery
system comprising a sterile console within an operating arena,
according to an embodiment;
[0040] FIG. 4 is an axonometric view showing a sterile console,
according to an embodiment;
[0041] FIG. 5 is an axonometric view of a sterile console,
according to an embodiment, wherein seating detector is shown;
[0042] FIG. 6 is an axonometric view showing a sterile console,
according to an embodiment, wherein seating detector and sterile
display are shown;
[0043] FIG. 7 is an axonometric view showing a sterile console,
according to an embodiment, wherein predefined tracking volume is
shown;
[0044] FIG. 8 is an axonometric view showing a sterile console,
according to an embodiment;
[0045] FIGS. 9 and 10 are axonometric views showing a robotic
surgery system, according to some embodiments, comprising a sterile
console;
[0046] FIG. 11 is an axonometric view showing a sterile console
tools, according to an embodiment, wherein tool wireless connection
is shown;
[0047] FIG. 12 is an axonometric view showing a sterile console,
according to an embodiment;
[0048] FIG. 13 is an axonometric view showing a robotic surgery
system comprising a sterile console within an operating arena,
according to an embodiment, wherein chair wireless connection is
shown;
[0049] FIGS. 14 and 15 are perspective views showing a sterile
console, according to an embodiment, wherein each armrest assembly
associated to a field generator is shown;
[0050] FIG. 16 is a sketch of a robotic surgery system, according
to an embodiment;
[0051] FIG. 17 is a sketch of a robotic surgery system, according
to an embodiment;
[0052] FIG. 18 is a side elevation view showing diagrammatically a
sterile console according to an embodiment, within an operating
arena, wherein a sterile drape is provided covering the surgical
chair;
[0053] FIG. 19 is a perspective view showing a sterile console,
according to an embodiment;
[0054] FIG. 20 is an axonometric view showing a surgical chair
covered by a sterile drape, according to an embodiment.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
[0055] According to a general embodiment, a sterile console 302 for
a robotic surgery system 301 is provided.
[0056] According to a general embodiment, a robotic surgery system
301 is provided comprising at least one of said sterile console
302.
[0057] According to a preferred embodiment, said robotic surgery
system 301 comprises at least one master input tool 306.
[0058] Said master input tool 306 is mechanically ungrounded and
suitable to be hand held by a surgeon 332. Preferably, with the
terminology "mechanically ungrounded" master input tool 306 is
intended a master input tool that is mechanically unconstrained
with respect to possible position and orientation motion in a
predefined working volume. For example, a predefined working volume
is a volume that permits tracking of position motions within arm's
length of the surgeon 332 and tracking all orientations.
[0059] According to an embodiment, said robotic surgery system 301
comprises said at least one sterile console 302, suitable to detect
a manual command 348, and at least one slave robot assembly 303,
wherein said sterile console 302 comprises said master input tool
306, and wherein said slave robot assembly 303 comprises at least
one surgical instrument 304, designed to operate on a patient
anatomy 337. Preferably, said at least one surgical instrument 304
forms a tele-operated end-effector of the slave robot assembly 303
paired along a master-slave pair with said master input tool
306.
[0060] According to an embodiment, said mechanically ungrounded
master input tool 306 is unconstrained from the slave robot
assembly 303 for both position and orientation motions within a
surgeon's reachable workspace and/or a hand-tracking a transmitters
workspace (for example sway, heave, surge, pitch, yaw, and roll in
a Cartesian coordinate system, and the like). Preferably, said
master input tool 306 is an ungrounded master input tool.
[0061] According to a preferred embodiment, said at least one
master input tool 306 is suitable to be hand-held and manipulated
by a surgeon 332 from various locations of an operating arena 333
during surgery. According to a preferred embodiment, the
terminology "operating arena" refers to a portion of space at least
partially surrounding a patient anatomy 337. Preferably, within the
operating arena 333 are comprised various locations beside the
patient anatomy. Preferably, the terminology "operating arena 333"
does exclude remote locations, such as remote consoles 358, in
tele-communication with a surgical robot placed beside the patient
anatomy, for examples comprising visualization screens. Preferably,
the terminology "operating arena" refers to locations in the same
room of the patient during surgery from where the surgeon may
directly see the patient anatomy 337.
[0062] According to a preferred embodiment shown for example in
FIG. 1, the sterile console 302 is located within the operating
arena 333.
[0063] According to a preferred embodiment, said sterile console
302 comprises a sterile drape 361 covering said seating surface 310
of the surgical chair 309. Thanks to the provision of said sterile
drape 361, a biological separation is provided from the seating
surface 310 of the surgical chair 309 of the sterile console 302
and the patient anatomy 337, thereby reducing the risk of
contamination. Furthermore, in this way the surgical chair 309 does
not need to undertake sterilization before each surgery, and can be
placed within the operating arena 333.
[0064] According to a variation, as shown for example in FIG. 2,
the surgeon 332 may operate from a remote location 358 and is
unable to directly see the patient anatomy 337 and therefore is
forced to use a remote visualization means 359, 360, such as a
remote screen 359 and/or remote eyeglasses 360. Preferably, the
remote location 358 is separated from the operating arena 333 by
means of a wall 362 or barrier 362.
[0065] According to a preferred embodiment, the term "manipulated"
referred to said master input tool 306 indicates that the master
input tool can be treated or operated with or as if with hands.
According to a preferred embodiment, the term "hand-held" referred
to said master input tool 306 indicates that the master input tool
is designed to be operated while held in a hand, for example the
surgeon's hand 356. According to an embodiment, said master input
tool 306 is a portable master input tool 306, According to a
preferred embodiment, the term "portable" referred to said master
input tool 306 indicates that the master input tool is capable to
be carried or moved about.
[0066] According to an embodiment, said slave robot assembly 303
comprises at least one surgical arm 334 manipulating said surgical
instrument 304. According to an embodiment, said salve robot
assembly 303 comprises at least one micromanipulator 335
manipulating said surgical instrument 304. Preferably, said at
least one micromanipulator 335 is directly connected in series to
said surgical arm 334 forming a kinematic chain with said surgical
arm 334 and manipulates said surgical instrument 304. According to
an embodiment, at least two micromanipulators 335 are directly
connected in series to said surgical arm 334 forming an at least
two-branched kinematic chain with said surgical arm 334.
[0067] According to an embodiment, said robotic surgery system 301
comprises a control unit 305, suitable for receiving at least a
position and orientation associated to said master input tool 306
and suitable for transmitting a command signal to the slave robot
assembly 303 in order to actuate said surgical instrument 304.
[0068] According to a preferred embodiment, said control unit 305
is suitable for receiving a first command signal 349 containing
information about said manual command 348 and to transmit a second
command signal 350 containing information about said manual command
348 to the slave robot assembly 303 in order to actuate said
surgical instrument 304.
[0069] According to an embodiment, said slave robot assembly 303
comprises at least one surgical arm 334 manipulating said surgical
instrument 304. According to an embodiment, said salve robot
assembly 303 comprises at least one micromanipulator 335
manipulating said surgical instrument 304. Preferably, said at
least one micromanipulator 335 is directly connected in series to
said surgical arm 334 forming a kinematic chain with said surgical
arm 334 and manipulates said surgical instrument 304. According to
an embodiment, at least two micromanipulators 335 are directly
connected in series to said surgical arm 334 forming an at least
two-branched kinematic chain with said surgical arm 334.
[0070] According to a preferred embodiment, said robotic surgery
system 301, and preferably said sterile console 302 of said robotic
surgery system 301, further comprises at least one tracking system
comprising a field generator 307 or base component 307, suitable to
detect within a predefined tracking volume 308 position and
orientation of said master input tool 306.
[0071] According to a preferred embodiment, said at least one
tracking system generates said predefined tracking volume 308, for
example by means of a field generator, for example a magnetic field
generator. According to an embodiment, said field generator 307 of
the tracking system comprises a magnetic field generator and/or an
optical field generator. According to a preferred embodiment, said
base component 307 generates a field that defines said predefined
tracking volume 308.
[0072] Said master input tool 306 defines a first frame of
reference X1,Y1,Z1; X2,Y2,Z2 attached thereto. In other words, said
robotic surgery system 301 comprises a first frame of reference
X1,Y1,Z1; X2,Y2,Z2 attached to said master input tool 306.
[0073] Said sterile console 302 comprises at least one surgical
chair 309 comprising at least one seating surface 310 for the
surgeon to seat thereon during surgery. According to an embodiment,
said surgical chair 309 is a stool. Preferably, said sterile
console 302 comprises said surgical chair 309 and said at least one
master input tool 306.
[0074] Said field generator 307 of the tracking system defining a
second frame of reference X0,Y0,Z0 attached thereto. In other
words, said robotic surgery system 301 comprises a second frame of
reference X0,Y0,Z0 attached to said field generator 307 of the
tracking system.
[0075] Said field generator 307 of the tracking system is designed
to detect within said predefined tracking volume 308 position and
orientation of said master input tool 306.
[0076] Preferably, said predefined tracking volume 308 is fixed in
space with respect to said field generator 307. In other words,
said tracking volume 308 is integral with said field generator 307
of the tracking system.
[0077] Advantageously, said position and orientation of the master
input tool 306 detected by said field generator 307 of the tracking
system is a position and orientation of said first frame of
reference X1,Y1,Z1;X2,Y2,Z2 with respect to said second frame of
reference X0,Y0,Z0 within said tracking volume 308.
[0078] According to an embodiment, said robotic surgery system 301
comprises a control unit 305, suitable for receiving at least a
position and orientation associated to said master input tool 306
and suitable for transmitting a command signal to the slave robot
assembly 303 in order to actuate said surgical instrument 304.
[0079] According to a preferred embodiment, said control unit 305
is suitable for receiving a first command signal 349 containing
information about said manual command 348 and to transmit a second
command signal 350 containing information about said manual command
348 to the slave robot assembly 303 in order to actuate said
surgical instrument 304.
[0080] According to an embodiment, said slave robot assembly 303
comprises at least one surgical arm 334 manipulating said surgical
instrument 304. According to an embodiment, said salve robot
assembly 303 comprises at least one micromanipulator 335
manipulating said surgical instrument 304. Preferably, said at
least one micromanipulator 335 is directly connected in series to
said surgical arm 334 forming a kinematic chain with said surgical
arm 334 and manipulates said surgical instrument 304. According to
an embodiment, at least two micromanipulators 335 are directly
connected in series to said surgical arm 334 forming an at least
two-branched kinematic chain with said surgical arm 334.
[0081] Advantageously, said field generator 307 of the tracking
system is integral with a portion of the surgical chair 309 so
that, when the surgeon seats onto said seating surface 310 of the
surgical chair 309 and hand-holds said at least one master input
tool 306, said master input tool 306 is located within said
tracking volume 308 and the position and orientation thereof can be
detected by the tracking system. Moreover, in this way, the
tracking volume 308 can be moved and/or relocated along with said
portion of the surgical chair 309 integral thereto.
[0082] According to a preferred embodiment, said field generator
307 of the tracking system is integral to said seating surface 310
of the surgical chair 309.
[0083] According to a preferred embodiment, said surgical chair 309
comprises at least one seating detector 328 detecting when the
surgeon 332 is seated on said surgical chair 309. For example, said
seating detector 328 comprises at least one load cell located onto,
or within, or underneath said seating surface 310. Preferably, said
seating detector 328 is operatively connected to said control unit
305.
[0084] According to a preferred embodiment, said master input tool
306 is designed to be hand-held by the surgeon 332 within said
tracking volume 308 when said surgeon 332 seats onto said seating
surface of said surgical chair 309. Preferably, said master input
tool 306 is designed to be hand-held by the surgeon 332 within said
tracking volume 308 exclusively when said surgeon 332 seats onto
said seating surface of said surgical chair 309.
[0085] According to a preferred embodiment, said robotic surgery
system 301 comprises at least one master input tool supporting
element 324, or tool supporting element 324, providing a support
for the master input tool 324, preferably for the master input tool
306 to rest thereon, when the surgeon does not hand-hold said at
least one master input tool 306.
[0086] According to a preferred embodiment, said tool supporting
element 324 is integral with a portion of said surgical chair 309
so that when the surgeon 332 seats onto said seating surface 310 of
the surgical chair 309 the surgeon 332 itself can manually laid
down said at least one master input tool 306 onto said tool
supporting element 324.
[0087] Thanks to the provision of such a tool supporting element
324 integral with a portion of said surgical chair 309, the
position and orientation of said master input tool 306 detected by
the tracking system, when said tool supporting element 324 supports
said master input tool 306, can remain unchanged also if the
surgical chair 309 is moved in respect of said slave robot assembly
303.
[0088] Preferably, said master input tool 306 is suitable to be
laid down on said tool supporting element 324 by said surgeon 332
when seats onto said surgical chair 309. In other words, during
surgery, said master input tool 306 can be manually laid down onto
said tool supporting element 324 by the surgeon 332.
[0089] According to a preferred embodiment, a predefined tracking
sub-volume 329 is defined within said tracking volume 308. In other
words, said tracking volume 308 comprises at least one tracking
sub-volume 329. Preferably, said tracking sub-volume is contained
in its entirety within said tracking volume 308. Preferably, said
field generator 307 of the tracking system generates said tracking
sub-volume 329 Preferably, said control unit 305 defines the extent
of said tracking sub-volume 329.
[0090] According to an embodiment, if the master input tool 306 is
detected as being located within said tracking sub-volume 329, then
the control unit 305 sends command signal to actuate said slave
surgical instrument 304, and wherein if the master input tool 306
is detected as being located within said tracking volume 308 but
outside said tracking sub-volume 329 (e.g., within said safety
tracking volume portion 354), then the control unit 305 disables
the paired actuation of said surgical instrument 304.
[0091] Thanks to said tracking sub-volume 329, an operation
workspace can be defined, wherein the master input tool 306 when is
detected as being located within said sub-tracking volume 329
transmits through said control unit 305 command signal to said
slave robot 303 in order to actuate the paired slave surgical
instrument 304. At the same time, the provision of said tracking
sub-volume defines by contrast within said tracking volume 308 at
least one safety tracking volume portion 354, wherein if the master
input tool 306 is detected as being located within said safety
tracking volume, then the control unit 305 is prevented from
sending command signal to actuate said surgical instrument 304. The
provision of such a safety tracking volume portion 354 improves the
safety of the patient during surgery, as is reduced to minimum the
risk of transmission of unwanted command potentially able for
actuating said surgical instrument 304 dangerously in an
uncontrolled manner.
[0092] According to an embodiment, said at least one master input
tool 306 comprises at least one sensing device 311 detecting at
least the position, preferably at least the position and the
orientation, of said master input tool 306 within said predefined
tracking volume 308. Preferably, said sensing device 311 is
integral with said master input tool 306.
[0093] According to an embodiment, said sensing device 311 being
operatively connected to said field generator 307. Preferably, said
sensing device 311 being operatively connected to said field
generator 307 by means of electromagnetic communication. According
to an embodiment, said sensing device 311 comprises at least one
sensor integral with at least a portion of the master input tool
306 and at least a wired connection to said field generator 307.
According to an embodiment, said sensing device 311 comprises at
least one sensor integral with at least a portion of the master
input tool 302 and at least a wireless connection to said field
generator 307.
[0094] According to a preferred embodiment, said surgical chair 309
is mechanically unconstrained from the slave robot assembly 303, so
as to prevent the propagation by mechanical contact of vibrational
motion from the surgical chair 309 to the slave robot assembly 303.
In this way, is reduced the risk of unwanted commands transmittal
to the slave surgical robot 303, and particularly to said slave
surgical instrument 304.
[0095] According to an embodiment, said sterile console 302
comprising said surgical chair 309 is operatively connected to said
slave surgical assembly 303, preferably by means of electromagnetic
communication. According to an embodiment, said sterile console 302
comprising said surgical chair 309 is operatively connected to said
slave surgical assembly 303 by means of a chair wired connection
312. According to an embodiment, said sterile console 302
comprising said surgical chair 309 is operatively connected to said
slave surgical assembly 303 by means of a chair wireless connection
313. According to an embodiment, said chair wired connection 312
and/or said chair wireless connection 313 provides power supply to
said sterile console 302.
[0096] According to an embodiment, said field generator 307 defines
said second frame of reference X0,Y0,Z0 integral with said field
generator 307, and wherein said at least one sensing device 311,
detecting first frame of reference X1,Y1,Z1;X2,Y2,Z2, determines at
least the position of said sensing device 311 within said tracking
volume 308. In this way, sensing device 311 determines at least the
position of said master tool assembly 306 integral with said
sensing device 311 within said predefined tracking volume 308.
[0097] According to a preferred embodiment, a sterile console 302
is defined, wherein said sterile console 302 comprises at least
said at least one master input tool 306, said at least one surgical
chair 309 and said at least one tool supporting element 324, and
wherein said sterile console 302 cooperates with said slave robot
assembly 303 for controlling said surgical instrument 304.
[0098] According to an embodiment, the sterile console 302
comprises at least a pair of master input tools 306.
[0099] Preferably, each master input tool 306 comprises, preferably
integral thereto, at least one sensing device 311, wherein said
sensing devices 311 cooperate to detect at least the mutual
position of said pair of master input tool 306.
[0100] According to an embodiment, said sensing device 311
comprises at least one sensor detecting the local magnetic field
generated by said field generator 308.
[0101] According to an embodiment, said sterile console 302
comprising said surgical chair 309 is located within said operating
arena 333. In this way, communication among surgical team members
is enhanced. According to an embodiment, said operating arena 333
is all contained in a single operating room.
[0102] Therefore, in said robotic surgery system 301, said surgical
chair 309 is not located outside the operating arena 333 such as in
a remote location 358.
[0103] According to a preferred embodiment, said robotic surgery
system 301 further comprises a patient supporting structure 336,
for example an operating table 336 or the like, forming a support
for the patient anatomy 337 to rest thereon during surgery and
located within the operating arena 333.
[0104] According to a preferred embodiment, said robotic surgery
system 301 further comprises a surgery vision assembly 338 showing
the surgery to the surgeon 332. According to an embodiment, said
surgery vision assembly 338 comprises at least one image
acquisition device 340, suitable for acquiring real-time images of
the on-going surgery, and at least one image showing device, for
example a display 321 and/or a microscope ocular device 339.
[0105] According to an embodiment, said surgery vision assembly 338
comprises at least a 3D-eyeglasses cooperating with a display 321,
preferably a 3D-display, for showing the surgery to the surgeon 332
placed at said sterile console 302 within the operating arena
333.
[0106] Thanks to the provision of such a surgery vision assembly
338 and said sterile console 302 located within the operating arena
333, the surgeon may alternate hand surgery with robotic surgery in
the same intervention.
[0107] According to an embodiment, said robotic surgery system 301
comprises at least one robot cart 342 comprising at least one cart
ground contact unit 351 and a cart handle 343, said cart handle 343
being suitable for moving at least a portion of the robotic surgery
system 301, preferably said slave robot assembly 303, at least
within the operating arena 333. Preferably, said robot cart 342
forms a mechanical and structural support, preferably a movable
mechanical and structural support, for the slave robot assembly
303.
[0108] According to an embodiment, said robot cart 342 is connected
to a power supply cable 344.
[0109] According to an embodiment, said robot cart 342 comprises
said control unit 305.
[0110] According to an embodiment, said surgical chair 309
comprises said control unit 305. Preferably, said control unit 305
is integral with said field generator 307.
[0111] According to an embodiment, said surgical chair 309
comprises a chair base structure 314 providing structural support
to a seating lower portion 315. In this way, the chair base
structure 314 provides, through said seating lower portion 315,
structural support to said seating surface 310.
[0112] Preferably, said chair base structure 314 comprises ground
contact units 323 such as wheels.
[0113] According to an embodiment, said chair base structure 314
comprises said field generator 307 so that said tracking volume 308
is integral with said chair base structure 314.
[0114] According to an embodiment, said surgical chair 309
comprises a seating lower support portion 315 integral with said
seating surface 310. Preferably, said seating lower support portion
315 is located under said seating surface 310.
[0115] According to an embodiment, said surgical chair 309
comprises a seating element body 346. According to an embodiment,
said seating element body 346 comprises said seating surface 310.
According to an embodiment, said seating element body 346 comprises
a lower seating body portion 347 facing the ground 355. Preferably,
said seating element body 346 is integral with said lower seating
support portion 315.
[0116] According to an embodiment, said seating lower support
portion 315 comprises said field generator 307 so that said
tracking volume 308 is integral with said seating surface 310.
[0117] According to an embodiment, said seating lower support
portion 315 is telescopically connected to said chair base
structure 314. In this way, the height from soil of the seating
surface 310 of said seating lower support portion 315 is
telescopically adjustable.
[0118] According to an embodiment, said surgical chair 309
comprises a seatback portion 316. In this way, the surgeon can lean
back against said seatback portion during surgery.
[0119] According to an embodiment, said surgical chair 309
comprises a seat adjustment device 322 providing the surgical chair
309, and preferably said seating lower support portion 315 of the
surgical chair 309, with the capability of rolling around a
substantially vertical roll axis V-V.
[0120] According to a preferred embodiment, said seating lower
support portion 315 may pivot around a vertical axis V-V with
respect of said seat base structure 314. Preferably, the filed
generator 307 is integral with said seating lower support portion
315. Thereby, the tracking volume 308 is integral with the seating
surface of the surgical chair 309 of the sterile console 302 during
the rolling around the substantially vertical roll axis V-V. In
this way, it is allowed for the surgeon while seated on the
surgical chair 309 to pivot during surgery, without losing control
over the surgical instrument 306, that is to say without for this
reason transmit unwanted commands to the slave surgical instrument
306.
[0121] According to an embodiment, said seat adjustment device 322
provides the capability of adjust the height form soil of the
seating surface 310.
[0122] According to a preferred embodiment, said surgical chair 309
is movable, preferably movable at least within said operating arena
333, in at least one direction co-planar with the seating surface
310. According to a preferred embodiment, said seating surface 310
of the surgical chair 309 can pivot about a vertical axis V-V.
According to a preferred embodiment, said seating surface 310 of
the surgical chair 309 can be adjusted in height.
[0123] According to a preferred embodiment, said seating surface
310 of the surgical chair 309 can be rotated about a vertical axis
V-V.
[0124] According to a preferred embodiment, said seating surface
310 of the surgical chair 309 can be adjusted in height in respect
of the floor, for example the floor of the operating arena 333.
[0125] Thanks to the provision of said field generator 307 of the
tracking system integral with said surgical chair 309, the
detection of position and orientation of the master input tool 306
is achieved regardless of the position of the seating surface 310
within the operating arena 333. In other words, as the tracking
volume 308 and the tracking sub-volume 329 are integral with said
field generator 307 associated to said surgical chair 309, the
detection of the first frame of reference X1,Y1,Z1,X2,Y2,Z2 is
unrelated to the position of the surgical chair 309 within the
operating arena 333. That allows the surgeon 332 the faculty to
choose, either real-time choice or planned choice, the best place
for locating the surgical chair 309 for seating thereto during
surgery.
[0126] According to an embodiment, said surgical chair 309
comprises at least one ground contacting wheel 323. The provision
of said at least one ground contacting wheel 323 allows to move the
surgical chair 309 and thus the field generator 307 and the
predetermined filed volume 308 integral thereto at least within the
operating arena 333. Preferably, said ground contacting wheel are
connected to said chair base structure 314.
[0127] According to a preferred embodiment, said surgical chair 309
comprises at least one armrest assembly 317L; 317R comprising an
armrest surface 318, designed to form a resting surface for at
least a portion of a surgeon's forearm.
[0128] According to a preferred embodiment, said at least one of
said armrest assemblies 317L; 317R has a rounded shape, so that to
allow the surgeon to rest only the elbow providing enhanced range
of movement for the surgeon's forearms. In other words, said
armrest surface 318 is substantially round. Preferably, the armrest
has a substantially cylindrical volume. Preferably, said armrest
surface 318 forms a bulge.
[0129] Preferably, said surgical chair 309 comprises a pair of
opposite armrest assemblies 317L, 317R, located opposite to one
another in respect of said seating surface 310. In this way, the
surgical chair 309 comprises a first armrest assembly 317L, or left
armrest assembly 317L, and a second armrest assembly 317R, or right
armrest assembly 317R.
[0130] According to an embodiment, at least one of said armrest
assemblies 317L; 317R comprises said field generator 307 of the
tracking system so that the second frame of reference X0,Y0,Z0 is
integral with at least a portion of said at least one armrest
assemblies 317L; 317R.
[0131] According to an embodiment, at least one of said armrest
assemblies 317L; 317R comprises a display 321 showing a portion of
a user interface or touch screen. According to an embodiment, said
at least one display 321 showing a portion of the slave surgical
instrument 304 during surgery.
[0132] According to an embodiment, at least one of said armrest
assemblies 317L; 317R comprises said at least one tool supporting
element 324 providing a support for the master input tool 306,
preferably a support for the master input tool 306 to rest thereon,
wherein said tool supporting element 324 is connected integral to
said armrest element 320.
[0133] According to an embodiment, said armrest assembly 317L; 317R
is connected to said seating lower support portion 315 by means of
at least one connecting structure 352, for example a tubular
connecting element. In this way, at least a portion of the armrest
assembly 317L; 317R can be integral with the seating surface
310.
[0134] According to an embodiment, said armrest assembly 317L; 317R
comprises at least one armrest element 320 having an armrest body
comprising said at least one armrest surface 318.
[0135] According to an embodiment, said at least one armrest
assembly 317L; 317R comprises an armrest adjustment device 319,
suitable to adjust at least the height of the armrest surface 318
in respect of the height of said seating surface 310.
[0136] According to an embodiment, said armrest adjustment device
319 comprises a telescopically extending portion 353,
telescopically movable in respect of said seating lower support
portion 315. Preferably, said telescopically extending portion 353
is telescopically extendable in respect of said connecting
structure 352.
[0137] According to an embodiment, said armrest adjustment device
319 comprises at least a spherical joint connected to said armrest
element 320, so as to be suitable for adjust the spatial
orientation of said armrest element 320.
[0138] Thanks to said armrest adjustment device 319, it is allowed
to select a suitably height from the seating surface 310 of said
armrest surface 318, as well as suitably move the pitch and/or yaw
and/or roll degree-of-freedom of said armrest element 320.
[0139] According to an embodiment, each of said pair of armrest
assemblies 317L; 317R comprises one field generator 307. In this
way, two predetermined tracking volumes 308L, 308R are defined,
wherein a first predefined tracking volume 308L is integral with at
least a portion of said left armrest assembly 317L and a second
tracking volume 308R is integral with at least a portion of said
right armrest assembly 317R. According to an embodiment, said two
predetermined tracking volumes 308L, 308R are connected together.
Preferably, a left master input tool 306L position and orientation
is detected within said first tracking volume 3008L and a right
master input tool 306R position and orientation is detected within
said second tracking volume 308R.
[0140] According to an embodiment, each of said armrest assemblies
317L; 317R of said pair of armrest assemblies comprises said
armrest adjustment device 319, so that each of said armrest
assemblies 317L; 317R is adjustable independently from the other.
In this way, the surgeon 332 can adjust the height from seating
surface 310 of said armrest surface 318 of said left armrest
assembly 317L independently from the right armrest assembly 317R,
and vice versa.
[0141] According to an embodiment, said armrest assembly 317L; 317R
comprises said tool supporting element 324 providing a support for
the master input tool 306 to rest thereon. The provision of said
tool supporting element 324 makes the sterile console 302 suitable
to safely comprise a master input tool 306 mechanically
unconstrained from both said surgical chair 309 and said slave
robot assembly 303, as well as from said robot cart 342 and other
portions of said robotic surgery system 301. Moreover, in this way
the surgeon's comfort is greatly enhanced, as the surgeon 332 can
drop the master input tool 306 while not in use, avoiding to
holding the master input tool in hand while not in use.
[0142] According to an embodiment, said tool supporting element 324
comprises a cup-shaped body defining a tool receptacle 325.
According to an embodiment, said tool supporting element 324
comprises a cup bottom wall 326 and at least one cup lateral wall
327. According to an embodiment, said tool supporting element 324
is connected integral to said armrest element 320.
[0143] According to an embodiment, said tool supporting element 324
comprises a hook-shaped body for the master input tool to be hung
thereto.
[0144] According to a preferred embodiment, said surgical chair 309
comprises at least one seating detector 328 detecting when the
surgeon is seated on said surgical chair 309.
[0145] Preferably, said seating detector 328 cooperates with said
control unit 305 for transmitting a predefined command signal to
said slave robot assembly 303 in order to actuate said surgical
instrument 304 when the surgeon is seated on said surgical chair
309 and/or in order to avoid actuating said surgical instrument 304
when the surgeon 332 is not seated on said surgical chair 309.
[0146] According to a preferred embodiment, said surgical chair 309
further comprises at least one locking device suitable to
selectively block at least one degree of freedom of motion of said
surgical chair 309, said at least one locking device cooperating
with said at least one seating detector 328 to block said at least
one degree of freedom of motion of said surgical chair 309 when
said seating detector 328 detects the surgeon as being seated on
said surgical chair 309, preferably on said seating surface 310.
Preferably, said locking device provides a mechanical action of
locking said at least one degree of freedom of motion of said
surgical chair 309 within the operating arena 333.
[0147] According to an embodiment, said locking device selectively
blocks at least the degree of freedom of motion provided by said at
least one ground contacting wheel 323. In this way, when the
surgeon 332 seats, i.e. during surgery, on said surgical chair 309,
the latter cannot be relocated within the operating arena 333,
improving the safety of the whole surgical team during surgery.
[0148] According to an embodiment, said locking device selectively
blocks at least the degree of freedom of motion provided by said
seat adjustment device 322. In other words, said locking device
blocks the roll around a vertical axis V-V degree-of-freedom and/or
the height from soil of said seating surface 310. In this way, the
surgical chair 309 cannot be adjusted when the surgeon seats, i.e.
during surgery, on said surgical chair.
[0149] According to an embodiment, said locking device selectively
blocks at least the degree of freedom of motion provided by said
armrest adjustment device 319. This feature is particularly
advantageous when provided in combination with the embodiment
wherein each of said pair of armrest assemblies 317L; 317R
comprises one field generator 307.
[0150] According to an embodiment, said seating detector 328
comprises at least one load cell. In this way the load cell senses
the surgeon's load on at least a portion of said surgical chair
309.
[0151] According to an embodiment, said seating detector 328 is
associated to said seating surface 310, for detecting the surgeon's
load carried onto said seating surface 310. In other words, said
seating surface 310 comprises said seating detector 328.
[0152] According to an embodiment, said seating detector 328 is
associated to said seating element body 346, for detecting the
surgeon's load carried onto said seating element body 346. In other
words, said seating element body 346 comprises said seating
detector 328.
[0153] According to an embodiment, said seating detector 328 is
associated to said seating lower support portion 315, for detecting
the surgeon's load carried onto said seating lower support portion
315. In other words, said seating lower support portion 315
comprises said seating detector 328.
[0154] According to an embodiment, said seating detector 328 is
associated to said seatback portion 316, for detecting the
surgeon's contact onto said seatback portion 316. In this way, said
seating detector 328 detects when the surgeon's back 357 rest on
said seatback portion 316.
[0155] According to an embodiment, said seating detector 328 is
associated to said armrest surface 318, for detecting the surgeon's
contact onto said seatback portion 316. In other words, said
armrest surface 318 comprises said seating detector 328.
[0156] According to an embodiment, said seating detector 328 is
associated to said armrest surface 318 of both said pair of armrest
assemblies 317L, 317R. In other words, said armrest surface 318 of
each armrest assembly 317L; 317R of said pair of armrest assemblies
317L, 317R comprises said seating detector 328.
[0157] According to an embodiment, said seating detector 328
comprises a plurality of seating detector sensing elements, for
examples load cells.
[0158] According to an embodiment, said field generator 307 is
detachably connected to the surgical chair 309, in such way that
the surgical chair devoid of said field generator 307 can be
sterilized. That allows the use of said surgical chair within
sterile environment, for example the operatory room.
[0159] According to an embodiment, said sterile console 302
comprises a clutch device 345 that, when in activated condition,
prevents the slave robot assembly 303 to receive any command signal
containing a manual command detected by said sterile console 302.
In this way, the clutch device 345 prevents unintended motion
transmittal to the slave surgical instrument 304.
[0160] According to an embodiment, said clutch device 345 is
operatively connected to said surgical chair 309, preferably to
said field generator 307, by means of a wired or wireless
connection.
[0161] According to an embodiment, said master input tool 306 is
mechanically unconstrained from both said surgical chair 309 and
said slave robot assembly 303, in such way that said master input
tool 306 being naturally movable, rotatable and spinnable,
preferably multiple times, by the surgeon within said predefined
tracking volume 308.
[0162] According to an embodiment, said master input tool 306 is
operatively connected to said field generator 307 by means of a
tool wired connection 330.
[0163] According to an embodiment, said master input tool 306 is
operatively connected to said field generator 307 by means of a
tool wireless connection 331.
[0164] According to an embodiment, said surgical chair 309 is
operatively connected to said slave surgical assembly 303 by means
of a chair wired connection 312.
[0165] According to an embodiment, said surgical chair 309 is
operatively connected to said slave surgical assembly 303 by means
of a chair wireless connection 313.
[0166] According to an embodiment, said control unit 305 is located
in its entirety within said seat body 314.
[0167] According to an embodiment, said control unit is located in
its entirety within said seating lower support portion 315.
[0168] Said robotic surgery system 301 associable with said sterile
console 302 comprises at least one slave robot assembly 303
comprising at least one surgical instrument 304, designed to
operate on a patient anatomy, and a control unit 305.
[0169] Said sterile console 303 for a robotic surgery system 301
comprises: [0170] at least one master input tool 306 mechanically
ungrounded and suitable to be hand-held by a surgeon during
surgery; [0171] at least one surgical chair 309 comprising at least
one seating surface 310 for the surgeon 332 to seat thereon during
surgery; [0172] at least one tracking system, suitable to detect
position and orientation of said at least one master input tool 306
within a predefined tracking volume 308; [0173] at least one tool
resting element 324 providing a support for said at least one
master input tool 306 to rest thereon when the surgeon does not
hand-hold said at least one master input tool 306.
[0174] According to a preferred embodiment, said at least one
master input tool 306 defines at least one first frame of reference
X1,Y1,Z1; Y2,Y2,Z2 attached thereto;
[0175] According to a preferred embodiment, said tracking system
comprises a field generator 307 defining a second frame of
reference X0,Y0,Z0 attached thereto.
[0176] According to a preferred embodiment, said tracking volume
308 is integral with said field generator 307 of the tracking
system.
[0177] Advantageously, the position and orientation detected by
said tracking system is the position and orientation of said at
least one first frame of reference X1,Y1,Z1; X2,Y2,Z2 with respect
of the second frame of reference X0,Y0,Z0, so that said control
unit 305 of the robotic surgery assembly 301 is suitable for
receiving information about said position and orientation of said
at least one master input tool 306 within said tracking volume 308
and is suitable for transmitting a command signal to the slave
robot assembly 303 in order to actuate said at least one surgical
instrument 304.
[0178] Advantageously, said field generator 307 of the tracking
system is integral with a portion of the surgical chair 309 so
that, when the surgeon seats onto said seating surface 310 of the
surgical chair 309 and hand-holds said at least one master input
tool 306, said master input tool 306 is located within said
tracking volume 308 and the position and orientation thereof can be
detected by the tracking system.
[0179] According to a preferred embodiment, said tool resting
element 324 is integral with a portion of said surgical chair 309
so that when the surgeon seats onto said seating surface 310 of the
surgical chair 309 the surgeon itself can manually laid down said
at least one master input tool 306 onto said tool resting element
324.
[0180] According to a preferred embodiment, the position and
orientation of said master input tool 306 detected by the tracking
system, when said tool resting element 324 supports said master
input tool 306, can remain unchanged also if the surgical chair 309
is moved in respect of said slave robot assembly 303.
[0181] According to an embodiment, said surgical chair 309
comprises said control unit 305.
[0182] According to a preferred embodiment, said sterile console
302 is defined according to any one of the embodiments described
above.
[0183] According to a general embodiment, it is provided an
operating arena 333 comprising a sterile console 302 according to
any of the embodiments described above.
[0184] Said operating arena 333 further comprises at least one
slave robot assembly 303 comprising at least one surgical
instrument 304 designed to operate on a patient anatomy 337 and
preferably also a patient supporting structure 336 forming a
support for a patient anatomy 337 to rest thereon during surgery
and located within the operating arena 333. Preferably, said
patient supporting structure 336 comprises an operatory bed or the
like.
[0185] According to an embodiment, said operating arena 333
comprises a robotic surgery assembly 301 according to any one of
the embodiments described above.
[0186] According to an embodiment, said operating arena 333
comprises a surgery vision assembly 338 showing the surgery to the
surgeon 332. Preferably, said surgery vision assembly 338 comprises
at least one image acquisition device 340, suitable for acquiring
real-time images of the on-going surgery, and at least one image
showing device, for example a display 321 and/or a microscope
ocular device 339.
[0187] According to a preferred embodiment, said operating arena
333 comprises a sterile volume and said sterile console 302 is
located within the sterile volume of the operating arena 333 and
protected by means of covering of a sterile drape 361.
[0188] It follows a description of a method to perform surgery.
[0189] According to a general embodiment, a method to perform
surgery comprises the following steps: [0190] seating on said
surgical chair 309; [0191] hand-holding said master input tool 306;
[0192] bringing said master input tool within a predefined tracking
volume 308; [0193] sending said command to a control unit 305 to
activate a slave robot 303;
[0194] According to a preferred mode of operation, said method
comprises the following further step of controlling the motion of
said slave robot 303 by handling said master input tool 306.
[0195] According to a preferred embodiment, said method comprises
the following further step of providing a robotic surgery system
301 according to any one of the embodiments previously
described.
[0196] According to a preferred mode of operation, said method
comprises the following further step of activating said seating
detector 328. Preferably, this step of activating is carried out
before the step of sending said command to a control unit 305 to
activate a slave robot 303.
[0197] According to a preferred mode of operation, the step of
seating is carried out preferably by seating onto said seating
surface 310 of the surgical chair 309.
[0198] According to a preferred mode of operation, the step of
hand-holding comprises the sub-step of getting hold in hand said
master input tool 306 from said tool supporting element 324.
[0199] According to a preferred mode of operation, the step of
bringing is carried out by moving said master input tool 306 from
said tool supporting element 324, which is preferably located
within said safety tracking volume portion 354, to said
sub-tracking volume 329.
[0200] According to a preferred mode of operation, the step of
sending a command, preferably is carried out by sending a user
command to the control unit 305 to activate said slave robot 303.
According to a mode of operation, said user command is a foot pedal
command. According to a mode of operation, said user command is a
manual command provided to said master input tool 306.
[0201] According to a preferred mode of operation, the step of
controlling is carried out by moving said slave robot 303 in
response to said master input tool 306 motion. Preferably, this
step comprises the further step of moving said surgical instrument
304 of the slave robot 303 in response to said master input tool
306 motion. In other words, controlling the motion of said at least
one surgical instrument 304 of the slave robot 303 by handling said
master input tool 306. According to a preferred mode of operation,
each master input tool 306 controls a single surgical instrument
304 of the slave robot 303. In other words, according to a
preferred mode of operation a single surgical instrument 304 is
paired along a master-slave pair to one master input tool 306.
[0202] According to a mode of operation, said method comprises the
further step of deactivating said slave robot 303. In other words,
according to a mode of operation, said method comprises the further
step of uncoupling said slave robot 303 from said master input tool
306. Preferably, said step is carried out by the control unit 305
either by sending a command signal to the slave robot 303 for the
purpose of locking the motion of at least said surgical instrument
304 or by interrupting the communication towards said surgical
instrument 304.
[0203] According to a preferred mode of operation, said step of
uncoupling said slave robot 303 from said master input tool 306 is
performed by sending a foot pedal command. For example, said foot
pedal command is transmitted by means of a deadman's foot-operated
clutch device 345 or the like.
[0204] According to a preferred mode of operation, said step of
uncoupling said slave robot 303 from said master input tool 306 is
automatically carried out when the seating detector 328 detects the
surgeon's detachment from the seating surface 310 of the surgical
chair 309 for the purpose of standing up. Preferably, said seating
detector 328 transmits a command signal to said control unit 305
for the purpose of uncouple said slave robot 303 from said master
input tool 306.
[0205] According to a preferred mode of operation, said step of
uncoupling said slave robot 303 from said master input tool 306 is
automatically carried out by the robotic surgery system 301 when
the master input tool 306 is detected as being located within said
safety tracking volume portion 354. In other words, said step of
uncoupling said slave robot 303 from said master input tool 306 is
automatically carried out by the robotic surgery system 3 when the
master input tool 306 is detected as being located outside said
tracking sub-volume 329.
[0206] According to a preferred mode of operation, the method
comprises the further step of pivoting around a substantially
vertical roll axis (V-V) while seating on a seating surface (310)
of the surgical chair (309) thereby pivoting around the same
substantially vertical roll axis (V-V) the predefined tracking
volume (308). In this way, no unwanted command are transmitted to
the slave robot during pivoting.
[0207] According to a mode of operation, a surgeon 332 performs
said method.
[0208] By virtue of the features described above, provided either
separately or in combination, where applicable, in particular
embodiments, it is possible to satisfy the sometimes contrasting
needs disclosed above, and to obtain the aforesaid advantages, and
in particular: [0209] it is provided a robotic surgery system, as
well as a sterile console, as well an operating arena, that
increases the comfort of the surgeon during robotic surgery without
for this reason resulting in a reduced precision of detection of
input commands; [0210] the surgeon when performing robotic surgery,
as well as robotic microsurgery, can seat close to, and at the same
time can move around, the patient anatomy; [0211] the comfort of
the surgeon during surgery is enhanced, and consequently the risk
of focus loss is reduced to minimum, also during long-lasting
surgical operations on a patient anatomy; [0212] the surgeon can
drop the master input tool in a safe and sterile place reducing the
risk to transmit unwanted command to the slave surgical instrument
even during pivoting of the chair about a vertical axis; [0213] the
surgeon can see the patient anatomy with the naked eye during
surgery, if needed.
[0214] Those skilled in art may make many changes and adaptations
to the embodiments described above or may replace elements with
others which are functionally equivalent in order to satisfy
contingent needs without however departing from the scope of the
appended claims.
LIST OF REFERENCES
[0215] 301 Robotic surgery system [0216] 302 Sterile console [0217]
303 Slave robot assembly, or slave robot [0218] 304 Slave surgical
instrument, or surgical instrument [0219] 305 Control unit [0220]
306 Master input tool [0221] 306L Left master input tool [0222]
306R Right master input tool [0223] 307 Field generator [0224] 308
Tracking volume [0225] 308L First tracking volume [0226] 308R
Second tracking volume [0227] 309 Surgical chair [0228] 310 Seating
surface of the surgical chair [0229] 311 Sensing device of the
master input tool [0230] 312 Chair wired connection [0231] 313
Chair wireless connection [0232] 314 Chair base structure [0233]
315 Seating lower support portion [0234] 316 Seatback portion
[0235] 317L;R) Armrest assembly (left; right) [0236] 318 Armrest
surface [0237] 319 Armrest adjusting device [0238] 320 Armrest
element [0239] 321 Display [0240] 322 Seating adjustment device
[0241] 323 Ground contacting wheel [0242] 324 Tool supporting
element or tool holding element [0243] 325 Tool receptacle [0244]
326 Cup bottom wall [0245] 327 Cup lateral wall [0246] 328 Seating
detector [0247] 329 Tracking sub-volume [0248] 330 Master wired
connection [0249] 331 Master wireless connection [0250] 332 Surgeon
[0251] 333 Operating arena [0252] 334 Surgical arm [0253] 335
Micromanipulator [0254] 336 Operating table [0255] 337 Patient
anatomy [0256] 338 Vision assembly [0257] 339 Microscope ocular
device [0258] 340 Image acquisition device [0259] 342 Robot cart
[0260] 343 Cart handle [0261] 344 Power supply cable [0262] 345
Clutch device [0263] 346 Seating element body [0264] 347 Lower
seating body portion [0265] 348 Manual command or user command
[0266] 349 First command signal [0267] 350 Second command signal
[0268] 351 Cart ground contacting unit [0269] 352 Connecting
element [0270] 353 Telescopically extendable portion [0271] 354
Safety tracking volume [0272] 355 Ground or soil [0273] 356
Surgeon's hand [0274] 357 Surgeon's back [0275] 358 Remote location
[0276] 359 Remote screen [0277] 360 Remote eyeglasses [0278] 361
Sterile drape of the sterile console [0279] 362 Wall or barrier
[0280] V-V Vertical axis
* * * * *