-
公开(公告)号：WO2021161162A1
公开(公告)日：2021-08-19
申请号：PCT/IB2021/051029
申请日：2021-02-09
Applicant: MEDICAL MICROINSTRUMENTS S.P.A.
Inventor： BAGHERI GHAVIFEKR, Matteo , PINESCHI, Nicola , SIMI, Massimiliano , PRISCO, Giuseppe Maria
Abstract: Robotic surgery assembly (401) for robotc-aided microsurgery comprising at least one transmission component (410); at least one motorized manipulator (420, 520) comprising at least one motorized linear slider (423; 424; 425); at least one sterile adapter (430, 530), comprising a coupling device (433) suitable for connecting to a surgical instrument (440, 540); wherein said transmission component (410) is interposed between said at least one motorized manipulator (420, 520) and at least one sterile adapter (430, 530), so to rigidly determine at least the relative mutual position of said at least one motorized linear slider (423; 424; 425) of the motorized manipulator (420) and said coupling device (433) sterile adapter (430, 530).
-
公开(公告)号：WO2019220408A1
公开(公告)日：2019-11-21
申请号：PCT/IB2019/054097
申请日：2019-05-17
Applicant: MEDICAL MICROINSTRUMENTS S.P.A.
Inventor： SIMI, Massimiliano , PRISCO, Giuseppe Maria
Abstract: Master controller assembly (202) for a robotic surgery system further comprising at least one slave robot assembly (203) comprising a slave surgical grip device (217) able to provide a grip degree- of-freedom of motion lying in a predefined slave grip plane (218), and a control unit (205); wherein said master controller assembly (202) comprises at least a portable hand-held master input tool (206), said master controller assembly (202) is operatively connected to said slave robot assembly (203); said master input tool (206) comprises a master tool body (209); said master tool body (209) comprises a at least one manipulandum surface (210), designed to be hand-held by the surgeon's fingers (211, 212), said master input tool (206) is mechanically unconstrained from said slave robot assembly (203), said at least one manipulandum surface (210) is a convex surface, said master input tool (206) comprises a grip command detector device (213); comprising an operative portion (214) comprises at least one operative surface (215) suitable to face the surgeon's fingers (211, 212); said operative portion (214) being operable by said manual command, said manual command being a radially directed pressure action (216) exerted at any point of the operative surface (214); said master input tool (206) comprises at least one sensing assembly (222) detecting said radially directed pressure action (216), in such way that said radially directed pressure action (216) exerted at any point of said operative surface (215) determines a paired slave grip motion action (221) of said surgical slave grip device (217), said paired grip motion of said surgical grip device (217) being lying in said predefined slave grip plane (218).
-
公开(公告)号：WO2022175792A1
公开(公告)日：2022-08-25
申请号：PCT/IB2022/051226
申请日：2022-02-11
Applicant: MEDICAL MICROINSTRUMENTS S.P.A.
Inventor： TANZINI, Matteo , DI GUARDO, Antonio , RUFFALDI, Emanuele , SIMI, Massimiliano , PROCTOR, Michael John , PRISCO, Giuseppe Maria
Abstract: A method for initiating and/or preparing a teleoperation carried out by a robotic system for medical or surgical teleoperation is described. Said robotic system comprises at least one master device, which is hand-held, mechanically unconstrained and adapted to be moved by an operator, and at least one slave device comprising a microsurgical instrument adapted to be controlled by the master device. The master device body is ungrounded and is intended to be hand-held by the surgeon during the teleoperation. The master device can be wired for data connection with a portion of the robotic system. The robotic system further comprises teleoperation preparation first control means, comprising a man-machine interface which allows the operator to communicate the intention to enter into teleoperation to the robot. The method comprises the steps of initiating a teleoperation preparation step by operating the aforesaid teleoperation preparation first control means; then performing a step of alignment between master device and slave device, in which the slave device is enabled to move so as to align the orientation of the surgical instrument to an orientation of the master device; then entering teleoperation after the aforesaid alignment step between master device and slave device has been completed. During the preparation step and before the alignment step, the method includes carrying out one or more first checks for entering the alignment step, and enabling the start of the alignment step only if all the one or more first checks are successfully passed. Furthermore, before entering the teleoperation step, the method includes carrying out one or more second checks for enabling the alignment step, and enabling the entry into teleoperation only if all the one or more second checks are successfully passed.
-
公开(公告)号：WO2022264078A1
公开(公告)日：2022-12-22
申请号：PCT/IB2022/055576
申请日：2022-06-16
Applicant: MEDICAL MICROINSTRUMENTS S.P.A.
Inventor： TANZINI, Matteo , SIMI, Massimiliano , PRISCO, Giuseppe Maria , PROCTOR, Michael John
IPC: A61B34/00 , A61B34/37 , A61B2034/715 , A61B2560/0223 , A61B34/71
Abstract: A method is described for conditioning a surgical instrument 20 of a robotic surgery system 1, which can be carried out before using the surgical instrument 20. The method is applied to a surgical instrument 20 comprising an articulated end-effector 40 having at least one degree of freedom (P, Y, G), and further comprises at least one tendon 31, 32, 33, 34, 35, 36, operatively connectable with a respective at least one motorized actuator 1 1, 12, 13, 14, 15, 16 of the robotic surgery system 1. The at least one tendon 31, 32, 33, 34, 35, 36 is mounted to the surgical instrument 20 so as to be operatively connectable to both a respective motorized actuator, among the aforesaid at least one transmission element, and to at least one degree of freedom of the aforesaid at least one degree of freedom P, Y, G of the articulated end-effector 40. The aforesaid at least one degree of freedom P, Y, G operatively connectable to the at least one tendon is adapted to be mechanically activated by an action of the at least one respective motorized actuator 11, 12, 13, 14, 15, 16 by means of the aforesaid at least one tendon 31, 32, 33, 34, 35, 36 which is operatively connectable thereto. The method comprises the following steps: (i) locking at least one degree of freedom of the aforesaid at least one degree of freedom P, Y, G of the end-effector 40; (ii) tensile-stressing the respective at least one tendon, operatively connected to the aforesaid at least one locked degree of freedom, by applying a conditioning force (Fref), according to at least one time cycle, to the respective at least one tendon to be stressed under tensile load; The aforesaid at least one time cycle comprises: - at least one low-load period, in which a low conditioning force Flow is applied to the aforesaid respective tendon, which results in a respective low tensile load on the respective tendon; - at least one high-load period, in which a high conditioning force Fhigh is applied to the aforesaid respective tendon, which results in a respective high tensile load on the respective tendon.
-
公开(公告)号：WO2022175795A1
公开(公告)日：2022-08-25
申请号：PCT/IB2022/051244
申请日：2022-02-11
Applicant: MEDICAL MICROINSTRUMENTS S.P.A.
Inventor： DI GUARDO, Antonio , TANZINI, Matteo , SIMI, Massimiliano , RUFFALDI, Emanuele , PROCTOR, Michael John , PRISCO, Giuseppe Maria
Abstract: A method for initiating and/or preparing and/or conducting a teleoperation carried out by a robotic system for medical or surgical teleoperation is described. The aforesaid robotic system comprises at least one master device, which is hand-held, mechanically unconstrained and adapted to be moved by an operator, and at least one slave device comprising a surgical instrument adapted to be controlled by the master device. The master device is functionally symmetrical with respect to a predeterminable single, longitudinal axis (X) of the master device. The method comprises the steps of detecting a local reference frame (MF) of the master device and the related longitudinal axis (X), with respect to a main reference frame (MFO) of the master device workspace; then, defining a plurality of local reference frames which are functionally equivalent to the detected local reference frame, in which such local reference frames are rotated by a respective angle about said longitudinal axis (X) of the master device. Subsequently, the method includes mapping a corresponding target reference frame in a workspace of the slave device for each of the aforesaid local reference frames of the master device of the aforesaid plurality of local reference frames, functionally equivalent to the local reference frame detected. Finally, the method comprises the step of selecting an operating reference frame, among the aforesaid plurality of local reference frames functionally equivalent to the local reference frame detected, according to criteria for optimization of the trajectory of the slave device. A robotic system for medical or surgical teleoperation is further described, configured to be controlled by means of the aforesaid control method.
-
Patent Agency Ranking
公开(公告)号：WO2018189721A1
公开(公告)日：2018-10-18
申请号：PCT/IB2018/052590
申请日：2018-04-13
Applicant: MEDICAL MICROINSTRUMENTS S.P.A.
Inventor： SIMI, Massimiliano , PRISCO, Giuseppe Maria
Abstract: Robotic microsurgery assembly (1) comprising at least one master tool (2), suitable to detect a manual command; at least one slave manipulator (3); at least one surgical instrument (70) operated on by said one slave manipulator (3); at least one control unit (4) configured to receive at least a first command signal comprising information about said manual command and to send a second command signal to at least one actuator to control said slave manipulator (3); wherein said surgical instrument comprises at least one jointed subassembly (5); and wherein said jointed subassembly (5) comprises a first link (6), a second link (7), and a third link (8); and wherein said first link structural body (9) and said second link structural body (10) comprise at least one tendon contact surface (18), avoiding that said at least one tendon contact surface (18) is a hole surface.
-
7.发明申请
公开(公告)号：WO2022264080A1
公开(公告)日：2022-12-22
申请号：PCT/IB2022/055584
申请日：2022-06-16
Applicant: MEDICAL MICROINSTRUMENTS S.P.A.
Inventor： TANZINI, Matteo , PROCTOR, Michael John , PRISCO, Giuseppe Maria , SIMI, Massimiliano
IPC: A61B34/00 , A61B34/37 , B25J9/16 , A61B2017/00477 , A61B2034/715 , A61B2090/065 , A61B2560/0223 , A61B34/71 , B25J9/1692
Abstract: A method for calibrating a surgical instrument 20 of a teleoperated robotic surgery system 1 is described. The surgical instrument 20 comprises a plurality of transmission elements 21, 22, 23, 24, 25, 26 associated with a respective plurality of tendons 31, 32, 33, 34, 35, 36, and a articulated end-effector device 40, which is mechanically connectable through respective tendons to the transmission elements, so as to determine a unique correlation between a set of movements of the transmission elements and a respective movement or pose of the articulated end-effector device 40. The teleoperated robotic surgery system 1 comprises, in addition to the aforesaid surgical instrument 20, a plurality of motorized actuators 11, 12, 13, 14, 15, 16 and control means 9. The motorized actuators 11, 12, 13, 14, 15, 16 are operatively connectable to respective transmission elements 21, 22, 23, 24, 25, 26 to impart movement to the transmission elements under control of the control means. The method first comprises a step of arranging and locking the articulated end-effector device 40 in a predetermined known position, considered as the reference position of the articulated end-effector device 40. Such a reference position of the articulated end-effector device 40 is univocally associated with a respective resulting position of each of the transmission elements 21, 22, 23, 24, 25, 26. The method then provides the steps of actuating the motorized actuators 11, 12, 13, 14, 15, 16 so that each of the motorized actuators comes into contact with a respective transmission element 21, 22, 23, 24, 25, 26, and storing the position of the motorized actuators 11, 12, 13, 14, 15, 16 when each motorized actuator comes into contact with a respective transmission element, and considering the set of stored positions of the motorized actuators as a reference position of the motorized actuators univocally associated with the reference position of the end-effector device. The method then provides defining a kinematic zero condition, associating the aforesaid stored reference position of the motorized actuators a virtual zero point with respect to which the movements imparted by the control means 9 to the motorized actuators 11, 12, 13, 14, 15, 16 are to be referred. The aforesaid actuating step comprises controlling the motorized actuators 11, 12, 13, 14, 15, 16 so that they apply a force greater than zero and less than or equal to a threshold force on the respective transmission element of the surgical instrument.
-
公开(公告)号：WO2022175798A1
公开(公告)日：2022-08-25
申请号：PCT/IB2022/051279
申请日：2022-02-14
Applicant: MEDICAL MICROINSTRUMENTS S.P.A.
Inventor： TANZINI, Matteo , RUFFALDI, Emanuele , SIMI, Massimiliano , PRISCO, Giuseppe Maria
Abstract: A method for controlling a robotic system for medical or surgical teleoperation is described. The robotic system comprises at least one master device, which is hand-held, mechanically unconstrained to the ground and adapted to be moved by an operator; and at least one slave device comprising 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 N controllable degrees of freedom are controlled by respective movements of the master device, according to a master-slave control architecture. The method firstly comprises the steps of defining a first state of the system and a second state of the system. The first state of the system corresponds to a state of teleoperation with fully enslaved following, in which the surgical instrument of the slave device (i.e., at least one control point, belonging to or integral with the surgical instrument of the slave device) is enslaved and follows the master device in each of the degrees of freedom of said plurality of N controllable degrees of freedom. The second state of the system corresponds to a limited teleoperation state, in which the surgical instrument of the slave device, or at least the aforesaid control point of the surgical instrument of the slave device, is decoupled from the master device with reference to at least one decoupled degree of freedom, and is enslaved to the master device only in a subset of said plurality of N controllable degrees of freedom which excludes said at least one decoupled degree of freedom. The method then includes providing, in the aforesaid robotic system, a control means for controlling system state transitions, and controlling transitions between the aforesaid first state of the system and second state of the system, by the operator, by actuating the aforesaid means for controlling state transitions. The plurality of controllable degrees of freedom comprises degrees of freedom of translation and degrees of freedom of orientation. The aforesaid second limited teleoperation state is a state of repositioning of the master device, in which the aforesaid at least one decoupled degree of freedom comprises all the degrees of freedom of translation. A master-slave robotic system for medical or surgical teleoperation equipped to perform the above method is also described.
-
9.发明申请
公开(公告)号：WO2019220407A1
公开(公告)日：2019-11-21
申请号：PCT/IB2019/054095
申请日：2019-05-17
Applicant: MEDICAL MICROINSTRUMENTS S.P.A.
Inventor： SIMI, Massimiliano , PRISCO, Giuseppe Maria
Abstract: Master controller assembly (102) for a robotic surgery system (101) comprising at least one slave robot assembly (103), comprising a slave surgical instrument (104), a control unit (105); wherein said master controller assembly (102) comprises at least one portable hand-held master input tool (106), at least one manipulandum surface (109, 110), designed to be hand-held by the surgeon's fingers (111, 112); said master input tool (106) is mechanically unconstrained from said slave robot assembly (103), in such way that said master input tool (106) being naturally movable, rotatable and spinnable by a surgeon; said at least one manipulandum surface (109, 110) is a convex surface; and wherein said master input tool (106) comprises a first elongated element (113) having an first element elongated body (114), wherein said first element elongated body (114) is a rigid body; said master input tool (106) comprises a second elongated element (115) having an second element elongated body (116), wherein said second element elongated body (116) is a rigid body; said master input tool (106) comprises a tool joint (118) connecting and articulating said first element elongated body (114) and said second element elongated body (116); said master controller assembly (102) comprises at least one sensing assembly (119) detecting at least the mutual position of said first element elongated body (114) and said second element elongated body (116), so that a gripping pressure action exerted by the surgeon's fingers (111, 112) on said master input tool (106) moving said first element elongated body (114) and said second element elongated body (116) close one another other determines a paired grip motion of said surgical grip device (117).
-
公开(公告)号：WO2018189729A1
公开(公告)日：2018-10-18
申请号：PCT/IB2018/052626
申请日：2018-04-16
Applicant: MEDICAL MICROINSTRUMENTS S.P.A.
Inventor： SIMI, Massimiliano , PRISCO, Giuseppe Maria , STEFANINI, Cesare
Abstract: Robotic surgical assembly (1) comprising a slave manipulator (3) comprising an actuator (25); pushing device (53), connected to said actuator (25) a sensor (71, 72) detecting a contact force on said pushing device (53); a position sensing system; a sterile barrier (55); at least one control unit (4) configured to receive information about said sensor to control said actuator (25); a surgical instrument (70) operated on by said slave manipulator (3) and detachably attached to said slave manipulator and separated from said slave manipulator (3) by said sterile barrier (55); said surgical instrument (70) further comprising: a frame (52); a link (6; 7; 8; 43) articulating in a joint (14, 17) with respect to said frame (52); a tendon (19), associated to said actuator (25), having a tendon proximal portion (26), and a tendon distal portion (27), secured to said link (6; 7; 8; 43); transmission device (54), in contact with said tendon proximal portion (26), in order to exert a traction action on said tendon (19); said transmission device (54) being constrained by coupling device to have a single degree of freedom of motion with respect to said frame (52); elastic device (56) attached to said transmission device (54); and wherein, whenever said surgical instrument (70) is attached to said slave manipulator: said pushing device (53) being releasably and selectively connected with said transmission device (54) to transmit a pushing action to said transmission device (54) through said sterile barrier (55); said sensor (71, 72) detects a contact force between said pushing device (53) and said transmission device (54); said elastic device (53) bias said transmission device (54) away from said pushing device (53), so as to exert a traction action on said tendon (19).
-
-
-
-
-
-
-
-
-
Search Results
14
records
(took 0.026 seconds)
