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

IPC: A61B34/37 ,  A61B34/35 ,  A61B34/00

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：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：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

IPC: A61B34/00 ,  A61B34/37 ,  B25J13/02 ,  A61B90/00

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.

公开(公告)号：WO2022264075A2

公开(公告)日：2022-12-22

申请号：PCT/IB2022/055572

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 ,  A61B34/35 ,  A61B34/30 ,  A61B2034/715 ,  A61B2090/064 ,  A61B34/71

Abstract: A method of teleoperation preparation in a teleoperated robotic surgery system 1 is described, to be performed during a non-operating step, in which the system is not performing a teleoperation. The aforesaid robotic system 1, to which the method is applicable, comprises a plurality of motorized actuators 11, 12, 13, 14, 15, 16, and at least one surgical instrument 20. The surgical instrument 20 further comprises an articulated end-effector 40 having at least one degree of freedom (P, Y, G). The surgical instrument 20 further comprises at least one pair of antagonistic tendons (31, 32), (33, 34), (35, 36), mounted in the aforesaid surgical instrument 20 so as to be operatively connected or connectable to both the motorized actuators and to the respective links (or rigid connection elements) of the end-effector 40. The tendons of the aforesaid pair of antagonistic tendons are configured to actuate at least one degree of freedom associated therewith, between the aforesaid at least one degree of freedom P, Y, G, thus determining antagonistic effects. The method comprises the following steps: (i) establishing a univocal correlation between a set of movements of the motorized actuators 11, 12, 13, 14, 15, 16 of the robotic system 1 and a respective movement of the articulated end-effector 40 of the surgical instrument 20; (ii) performing a holding step, which in turn comprises: tensile-stressing at least one pair of antagonistic tendons (31, 32), (33, 34), (35, 36) and holding such tendons in a tensile-stressed state, by applying a holding force Fhold to the tendons, adapted to determine a loaded state of the tendons; providing a command indicating the will to enter teleoperation; enabling the entry of the surgical instrument (20) in a teleoperation state. Moreover, a corresponding teleoperated robotic surgery system is described.