• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    active positioning device of a surgical instrument for use in a robotic arm and surgical robotic system for performing surgery on a human body The present invention relates to an active positioning arrangement of a surgical instrument for use in a robotic arm, comprising a support plate (3, 33), which can be connected to a robotic arm (1, 31), a gate device (4, 34), which is arranged on the support plate (3, 33) and which is provided for accessing the interior of a body, at least one guide device (6, 36, 59) for guiding a surgical instrument (8, 38, 61) into the body, surgical instrument stem (8, 38, 6 1) extending through the guide device (6, 36, 59) and the variable guide device (6, 36, 59) connected to the device port (4, 34) by means of a compensating element (5 , 35), and an adjustment device (9, 10, 11, 12, 13, 14, 39, 40, 41, 42, 43, 44, 62, 63, 64, 65, 66, 67) for the deviceof guide (6, 36, 59) with respect to the port device (4, 34), which is mounted on the support plate (3, 33) and/or port device (4, 34) and at the other end on the device of guide (6, 36, 59) in such a way that the shank of the surgical instrument (8, 38, 6 1) can be displaced with respect to the initial position, wherein the longitudinal extension of the surgical instrument is parallel to the longitudinal extension of the device gate (4, 34), in the x direction as well as in the y direction.
    公开号:BR112015014299B1
    申请号:R112015014299-0
    申请日:2013-12-12
    公开日:2021-06-22
    发明作者:Hubertus von Grünberg
    申请人:avateramedical GmBH；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a device for retaining and positioning a surgical instrument and a surgical robotic system or telemanipulator for minimally invasive surgery and in particular laparoscopy.
    [0002] Robot systems or telemanipulators for minimally invasive surgery, especially for laparoscopic surgery, replace surgical instruments usually guided manually by the surgeon, for example, surgical instruments, the endoscope or the camera through a motorized positioning. Selected operating instruments are guided through one or more trocars into a patient. The instrument that assists the surgeon in minimally invasive surgery in accessing the patient's body cavity (usually the abdominal or thoracic cavity), in which the access is kept open through a tube, is called a trocar. The support of a movement mechanism and control logic provided in the robotic system allows the movement of surgical instruments around a pivotal point of about 2 degrees of freedom (x, y) and a translational movement of the surgical instruments along the instrument axis (z). The pivot point is the invariant point of movement in 2 degrees of freedom (x,y). This pivot point is ideally located within or near the intersection point of the trocar through the patient's abdominal wall. The control logic of a robot system must recognize the pivot point, or the pivot point will be defined by structurally executing the motion mechanism to limit the movement of the surgical instrument so that biomechanical tissue damage around the trocar is minimized.
    [0003] The existing technology known from robotic systems is based on robotic arms for the passive pre-positioning and active movement of an exploration instrument. A solution with robotic arms of the existing technology that performs a passive pre-positioning and an active movement of the operating instruments around the pivot point, which need, on the one hand, a large installation space and, on the other hand, can drive the robotic arms movements for a collision.
    [0004] During a minimally invasive surgical procedure, as a rule, at least two, three or four surgical instruments, such as forceps, scissors, needle holder, dissector, and a camera or an endoscope are used, each guided separately through a trocar into the patient's body. This means that for every surgical instrument used, a robot arm is present, which controls the positions of the robot arms and the active movement of the instrument.
    [0005] The disadvantage of prior art solutions is that the position of the patient from the start of the operation needs to be fixed and a repositioning of the patient during the operation is almost impossible.
    [0006] Another disadvantage already mentioned above is the large space that known robotic systems need.
    [0007] The purpose of the present invention is therefore an active positioning of a surgical instrument and a surgical robotic system that provide a high degree of variability and require only a smaller installation space and are lighter and smaller in their execution.
    [0008] Another objective of the present invention is to provide a robotic system that allows a patient rearrangement during surgery, in particular, without restricting the freedom of movement of the surgical instrument.
    [0009] These objectives are met by the invention, according to claim 1, by an active positioning of a surgical instrument, and according to claim 9, by a robotized surgical system.
    [00010] An object of the present invention relates to an active positioning of a surgical instrument for use in a robotic arm comprising a support plate, which can be connected to a robotic arm, a port device, which is disposed on the plate of support and which is provided for the passage into a body, at least one guide device for the bushing of a surgical instrument into the body, wherein the rod of the surgical instrument extends through the guide hole and where the guide devices are connected with the door of the gate device through a variable compensation element, and an adjustment device for the guide device with respect to the gate device which is connected to a support plate and/or device and to another guiding device, so that the surgical instrument rod can move in both the x- and y-directions with respect to the starting position, in which the longitudinal extension of the surgical instrument runs parallel to the longitudinal extension of the port device.
    [00011] In a preferred embodiment, the compensating element is so variable in its geometry that a freely selectable angle is adjustable in both x and y directions between the door device and the guide device with respect to the mutually congruent start position , where the compensating element is formed, in particular, from an elastic material.
    [00012] In another preferred embodiment, the adjustment device has at least two controllable actuators, which are, in particular, executed as mutually perpendicularly arranged actuators, in which a lever mechanism between the guide device and the support plate or the door device is provided in such a way that the guide device, by means of the actuators via the lever mechanism, is positioned in relation to the starting position in the x-direction and in the y-direction independently of each other.
    [00013] Likewise, in a preferred embodiment, a translation adjustment device is provided on the guide device, which is connected to the surgical instrument in such a way that the rod of the surgical instrument moves in the z-direction. Preferably, the translation adjustment device moves the surgical instrument rod in the z-direction by means of a telescopic system 20 and/or cable system.
    [00014] In another preferred embodiment, an instrument drive unit is provided in the instrument; which comprises a rotary actuator, through which the stem of the surgical instrument rotates in rotation with respect to the initial position around the z-direction. Preferably, the instrument drive unit has three instrument actuators whereby the unit connected to the distal end of the surgical instrument can be varied by three additional degrees of freedom. Particularly preferred, the instrument drive unit is disposed over a retaining device at the proximal end of the telescopic system.
    [00015] Another objective of the present invention relates to a surgical robotic system for performing surgery on the human body comprising a control device, which can be used by a user to perform surgery, a support structure in the which two or more robotic arms are mounted, which are mobilized through the control device, and where at least one robotic arm for active positioning of a surgical instrument is provided, a support plate, which is attached to a robotic arm, a door device which is arranged on the support plate and which is provided for passage through a body; at least one guide device for inserting a surgical instrument into the body, wherein the stem of the surgical instrument extends through the guide device and wherein said guide device is variably connected to the port device via an element of compensation, and an adjustment device for the guide device opposite the door device, which is, on the one hand, connected to the support plate and/or door device and, on the other hand, to the guide device, so that the surgical instrument shank moves, relative to the starting position, in both the X and Y directions, and where the longitudinal extension of the surgical instrument runs parallel to the longitudinal extension of the port device.
    [00016] In a preferred embodiment, the compensating element is so variable in its geometry that a freely selectable angle is adjustable in both x and y directions between the door device and the guide device with respect to the mutually congruent start position , where the compensating element is formed, in particular, from an elastic material.
    [00017] Other advantageous embodiments of the invention of the surgical robotic system are evident from dependent claims similar to active positioning of a surgical instrument. This is particularly evident from the fact that the active positioning of the present invention can be combined or adapted with a robotic system.
    [00018] According to the invention, the terms robotic system and telemanipulator are used interchangeably.
    [00019] The present invention is implemented, purely by way of example, by the accompanying figures. They show:
    [00020] Figure 1 is a schematic presentation, according to the invention, of the active positioning equipment of a surgical instrument, which is installed in a robotic arm;
    [00021] Figure 2 is a partial schematic view of the active positioning device of the present invention with the possibility of connection for the introduction of insufflation gas, in general CO2;
    [00022] Figure 3 is a plan view of the active positioning device according to Figure 1;
    [00023] Figure 4 is a schematic cross-sectional view of the robotic surgical system of the present invention during an operation on the human body;
    [00024] Figure 5 is a schematic view of a robotic arm according to the invention;
    [00025] Figure 6 is a schematic view of a surgical instrument, which can form part of the invention;
    [00026] Figure 7 is a schematic view of a robotic system that includes a robotic arm and active positioning devices according to the invention; and
    [00027] Figure 8 is a schematic view of a robotic system with 4 robotic arms and active positioning devices according to the invention.
    [00028] Figure 9 is a schematic view of the active positioning device of the present invention for two surgical instruments and a common port, which is connected to a robotic arm; and
    [00029] Figure 10 is a plan view of the active positioning device according to Figure 9.
    [00030] The present invention relates, in one aspect, to a surgical robotic system or tele-manipulators, in which a passive trocar pre-positioning or active positioning device can be combined with an active control or with the motor of the trocar for moving an operating instrument. Such a trocar, according to the invention: "active trocar", can move the instrument of operation around the pivotal point in at least two degrees of freedom (Direction 101 and 102), as shown in Figure 6. The instruments of operation of the present invention have a total of 7 degrees of freedom: 3 degrees of freedom (degrees of freedom 101, 102, and 103 shown in Figure 6) are performed by a motorized coupling of the surgical instrument inserted into the trocar with the corresponding drive units , another 4 degrees of freedom (degrees of freedom 104, 105, 106 and 107 shown in Figure 6) are realized by a drive unit at the end of each operating instrument used.
    [00031] Since the pivot point is defined by the active trocar itself, the position of the pivot point before the operation will be defined by the pre-positioning of the active trocar. In this way, a rearrangement of the patient is possible after the start of surgery, since the pivot point is structurally connected with the positioning device of the present invention or active trocar and will maintain the positioning device during a rearrangement, i.e., the point pivotal position always remains in relation to the instrument and the support plate as well as the guide device.
    [00032] In addition, by dispensing with robotic arms for active instrument placement, the system can run significantly smaller and lighter. Thus, it is possible to transfer the entire system easier, for example to another operating room, and thus there is greater flexibility of use.
    [00033] The present invention is described below in detail with reference to the figures:
    [00034] Figure 1 shows an active positioning device of the present invention of a surgical instrument, which is connected to a robotic arm. During minimally invasive laparoscopic surgery, 4 operating instruments are usually used, among these three surgical instruments and a camera or endoscope that are controlled through the tele-manipulator system by the surgeon. Therefore, 4 bushings of an active trocar or a positioning device are available in the system. It is understood, however, that the embodiments are also provided with 1 to 3 or more than 4 active trocars, in accordance with the scope of the invention. Each active trocar is arranged on a robotic arm 1, which can be arranged free of weight with two joints 2. This support mechanism is considered necessary for each active trocar. All support mechanisms can be fixed to a common support (see Figure 4) or separate supports. A fixture for separate supports can be useful, for example, if the placement of the trocars for the surgical procedure so requires.
    [00035] An active trocar support plate 3 is rigidly attached to a robotic arm. This support plate 3 is in turn firmly fixed to a door device 4. The door device is, in turn, connected to a compensating element 5 with the guide device 6. Via the compensating element 5, it is A movement (tilt) of the guide device relative to the door device 4 is possible. By this movement, the pivotal movement of the surgical instrument 8 is performed. The guide device 6 takes over the surgical instrument 8. By means of a sealing ring 7 there is a gas-tight seal of the surgical instrument 8 in relation to the guide device 6. In laparoscopy, the abdominal cavity is "inflated" by introducing a gas (carbon dioxide, CO2) to allow the surgeon greater freedom of movement for the surgery. In order that the gas cannot escape, the seal 7 is necessary.
    [00036] Actuators or linear actuators 9, I2 are arranged perpendicular to each other. In the lever mechanism 10, 11 as well as 13 and 14, forces are exerted on the upper end of the guide device 6, so that it moves relative to the door device 4 in 2 axes (x, y) independently. each other.
    [00037] Another actuator 15 is mounted on the upper end of the guide device 6. On the actuator mechanism consisting of clamp 16, deflection drum 17, clamp 18 and corresponding cables, the translation movement of the instrument in z-direction is performed.
    [00038] A telescopic system 20 is connected through the support device 21 with an instrument drive unit 22, in such a way that a rotational movement of the surgical instrument 8 around the z-axis is prevented. The rotational movement of the surgical instrument 8 is connected by a rotary actuator 23 which is connected to the stem of the surgical instrument 8. The instrument actuators 24, 25 and 26 perform the movements of the surgical instrument 8 in degrees of freedom 105, 106 and 107, see Figure 6.
    [00039] Figure 2 shows an active positioning device of the present invention as shown in Figure 1, provided with an inflation connection composed of a supply tube (29), which opens under the seal (7) in the cavity of the trocar (6) and a ventilation and connection module (30). An insufflation device is conveniently connected to the ventilation and connection module. It pumps a gas, usually CO2 through the ventilation module (30) and the supply tube connected to it (29) into the patient's abdominal cavity. The seal (7) prevents an unintended escape of gas from the patient's abdominal cavity into the environment. The seal (7) is conveniently designed in such a way that upon complete removal of the instrument (8) from the trocar (6), it closes gas-tight, i.e., even when removing the instrument, no gas escapes into the environment. environment.
    [00040] Figure 3 shows a plan view of the active positioning device according to Figure 1;
    [00041] Figure 4 shows a schematic view of a section of the robotic surgical system of the present invention during an operation on the human body; the detailed robotic arms depicted in Figure 5 are supported here, for example, 300a, 300b and 300c, such that this base support is supported on a sharply curved guide track 311 together with the link 312 and 313 and can be positioned independently of each other. On the coupling surface 310 of the robotic arm, the active positioning device is mounted on the module 3 according to Figure 1 or 2. The preferably arcuate shape of the guide has the advantage of pre-positioning the robotic arms according to typical anatomy of a patient in an arch over the abdominal wall 27.
    [00042] Figure 5 shows a schematic view of a robotic arm of the present invention; the robotic arm consists of several elements 303, 306 and 309, which are mutually connected by means of hinges so that a coupling surface arrangement 310 for an active positioning device according to Figure 1 or 2 is possible.
    [00043] The robotic arm itself is on a joint 301, which enables a rotation movement around the rotation axis 302 of ± 90°, connected to a base support 300. The first element 303 of the robotic arm leads to another joint 304, which has an axis of rotation 305, preferably perpendicular to the axis of rotation 302. An element 306 of the robotic arm is connected to a joint 304, which enables a rotational movement 308 about the joint 307, preferably , perpendicular to the axis of rotation 302 and perpendicular to the axis of rotation 305. The third element 309 of the robotic arm has at its distal end a coupling surface 310, on which, by preparing an appropriate force, preferably a positive connection, the positioning device can be fixed on module 3, according to Figure 1 or 2. Joints 301, 304, 307 can be executed either actively, that is, provided with actuators, or passively. The joints 301, 304, 307 are provided with absolute position sensors so that the position or orientation of the robotic arms and the coupled positioning device is recognized. The signals from the absolute position sensor can preferably be compensated for each other in the control unit 202, so that with knowledge of the geometry and location of the active positioning device according to Figure 1 or 2, the collision of one robotic arm with the active positioning device of another arm and a collision warning to the user can be issued in the control and visualization unit. In another embodiment, the control unit 202 can actively prevent potential collision of different robotic arms with each other, or collision of one robotic arm with an active positioning device of another robotic arm, by changing the preset command by the control and display unit 200.
    [00044] In a passive execution, the joints 301, 304, 307 are secured with a device to prevent unintentional adjustments of the joint position.
    [00045] Figure 6 shows a surgical instrument as a possible component of the invention.
    [00046] Overall, the arrangement has seven degrees of freedom. This can be accomplished by a translation movement of the instrument rod 120 in the 101 x-direction and in the 102 y-direction. These movements bring an inclination of the instrument around the pivot point. In addition, the instrument shaft 120 can be moved in the z-direction 103. The instrument shaft 120 can be rotatably moved around its own instrument axis 110 in the direction of movement 104. The instrument tip is made of fur. minus 3 mobile modules each other. A first module 121 is movably arranged around the axis of rotation 111 in the direction of rotation 105 inclined towards the instrument shaft 120.
    [00047] This module 121 carries two modules 122, 123, which are arranged on each other independently and tiltable around the axis of rotation 122 in the direction of rotation 106. By the rotational movement of module 122 with respect to the module 123, the angle 107 between the two modules 122, 123 about the axis of rotation 112 is changed. Thereby, a squeezing, gripping or cutting movement can be performed, depending on how the modules 122, 123 are mechanically designed.
    [00048] Figure 7 and Figure 8 show embodiments of the robotic system of the present invention with a robotic arm 4 and with a 212a and 4 212a-d, active positioning device of the present invention. The explanations here refer to an embodiment with a robotic arm according to Figure 7. The active positioning device 212a is connected to a pre-positioning device composed of modules 210 and 211 with a curved guide 209. The pre-positioning device can be performed passively, that is, by manual adjustment or, preferably, also actively, that is, by functionalities of the joints 211 with active actuators. The pre-positioning device itself can be supported by means of a suitable support, for example a curved guide 209. This curved guide 209 can by means of the joint 208 be positioned for the patient. The boom 207 is connected to the mobile support system 205, thus allowing a positioning of the entire support system (which consists of 205, 207..212a) in relation to the operating table 206. Through the operating and display unit 200, the user is given the current status of the pre-positioning device 210, 211. By means of the operating and display unit 200, the user can input commands, which are sent to an appropriate display unit (201) for the display unit. control 202 and from there to the active positioning device 212a in the presetting device 210, 211 as well as to the curved guide (209) for processing. The control unit 202 is linked to the support system via an appropriate data link 203. The operating table 206 can be technically controlled linked to the control unit 202 via the data link 204, and by changing the position of the operating table, for example height, one can process this position change in the control unit and achieve a tracking of the active positioning device 212a on the pre-positioning device 210, 211 and/or the position of the curved guide 209. In this way, changes in the patient's position due to a change in position of the operating table (206) can be balanced out.
    [00049] Figure 9 and Figure 10 show an active positioning device of the present invention for two surgical instruments in a single port, which is mounted on a robotic arm.
    [00050] During a minimally invasive laparoscopic surgery, usually 4 operating instruments are used, among these three surgical instruments and a camera or endoscope that are controlled through the tele-manipulator system by the surgeon. Thus, by the present invention, two surgical instruments can be introduced into the patient's body through a common port (single port) through two separate guide devices and be controlled independently of each other by surgical instrument through each device. active positioning. Therefore, preferably 2 bushings of an active trocar are provided for a single port access or for an active positioning device. It is understood, however, that also embodiments with 1 or more than 2 active trocars for a single port access or an active positioning device are within the scope of the invention. Each active trocar is arranged on a robotic arm 31, which can be arranged free of weight with two joints 32. This support mechanism is considered necessary for each active trocar. All support mechanisms can be fixed to a common support (see Figure 4) or separate supports. A fixture for separate supports can be useful, for example, if the placement of the trocars for the surgical procedure so requires.
    [00051] A support plate 33 of the active trocar is rigidly attached to a robotic arm 31. This support plate 33 is in turn firmly attached to a port device 34. The port device 34 is, in turn, connected to a compensating element 35 with guide devices 36 and 59. Through the compensating element 35, a movement (inclination) of the guide devices 36 and 59 with respect to the gate device 34 is possible. of the surgical instruments 38 and 61. The guide devices 36 and 59 take the surgical instruments 38 and 61. By means of the sealing rings 37 and 60 there is a gas-tight seal of the surgical instruments 38 and 60 in relation to the guide devices 36 and 59. In laparoscopy, the abdominal cavity is “inflated” by introducing a gas (carbon dioxide, CO2) to allow the surgeon greater freedom of movement for surgery. In order that the gas cannot escape, the seal 37 or 60 is necessary.
    [00052] Actuators or linear actuators 39, 42 as well as 62, 65 are arranged perpendicular to each other. In the lever mechanisms 40, 41, 43, 44 as well as 63, 64, 66, 67, forces are exerted on the upper end of the guide devices 36 or 59, so that it moves relative to the door device 34 at 2 axes (x, y) independently of each other.
    [00053] Other actuators 45, 69 are at the upper ends of the guide devices 36 and 59. Through consistent actuator mechanisms of clamp 46, deflection drum 47, clamp 48 and corresponding cables 49, the translation movement of the instrument is performed in the z-direction. Through consistent actuating mechanisms of clamp 69, deflection drum 70, clamp 71 and corresponding cables 72, the translation movement of the instrument in the z-direction is performed.
    [00054] A telescopic system 50 is connected through support devices 51 with an instrument drive unit 52, in such a way that a rotational movement β of the surgical instrument 38 is prevented around the z-axis. The β rotation movement of the surgical instrument 38 is performed by a rotary actuator 53, which is connected to the stem of the surgical instrument 38. The instrument actuators 54, 55 and 56 perform the movements of the surgical instrument 38 in degrees of freedom 105, 106 and 107, see Fig. 6.
    [00055] A telescopic system 73 is connected in such a way through the holding device 74 with an instrument drive unit 75, that a rotational movement ϒ of the surgical instrument 61 around the z axis is prevented. The rotational movement ϒ of the surgical instrument 61 is performed by a rotary actuator 76, which is connected to the stem of the surgical instrument 61. The instrument actuators 77, 78 and 79 perform the movements of the surgical instrument 61 in degrees of freedom 105, 106 and 107, see Fig. 6.
    [00056] Figure 10 shows a plan view of the active positioning device according to figure 9, from which it can be seen that the two guide devices 36, 59 pass through the common compensating element 35. In particular It can be seen from Figure 10 that the first adjustment device 39, 40, 41, 42, 43, 44 for the first guide device 36 and the second adjustment device 62, 63, 64, 65, 66, 67 of the second guide device 59 to the two surgical instruments are arranged in such a way that an obstacle or limitation of the two respective adjustment devices is avoided.
    [00057] In general, the present invention thus relates to an active positioning device in which one or more surgical instruments can be used through a trocar for minimally invasive surgery.
    权利要求:
    Claims (16)
    [0001]
    1. Active positioning device of a surgical instrument for use in a robotic arm, characterized in that it comprises: - a support plate (3, 33) which is connected to a robotic arm (1.31), - a device port (4, 34) which is arranged on the support plate (3, 33) and which is provided for passage into a body, - at least one guide device (6, 36, 59) for the introduction of a surgical instrument (8, 38, 61) into the body, where the rod of the surgical instrument (8, 38, 61) extends by means of the guide device (6, 36, 59) and where the means of the device guide (6, 36, 59) is variably connected with the gate device (4, 34) by means of a compensating element (5, 35), and - an adjustment device (9, 10, 11, 12, 13, 14, 39, 40, 41, 42, 43, 44, 62, 63, 64, 65, 66, 67) for the guide device (6, 36, 59) with respect to the door device (4, 34 ), which is connected in such a way to the support plate (3, 33) and/or to the device. the port (4, 34) and the other guiding device (6, 36, 59) such that the surgical instrument rod (8, 38, 61) is movable about a pivot point (28) in both the x- and in the y-direction, which is orthogonal to the initial position in which the longitudinal extension of the surgical instrument, which defines the z-direction situated orthogonal to the y-direction, runs parallel to the longitudinal extension of the port device (4, 34), with the adjustment device (9, 10, 11, 12, 13, 14, 39, 40, 41, 42, 43, 44, 62, 63, 64, 65, 66, 67) having two controllable actuators (9, 12, 39, 42, 62, 65), which are designed as actuators (9, 12, 39, 42, 62, 65) arranged perpendicular to each other where a spherical lever mechanism (10, 11, 13) , 14, 40, 41, 43, 44, 63, 64, 66, 67) is provided between the guide device (6, 36, 59) and the support plate (3, 33) or the door device (4 , 34) so that the guide device (6, 36) can be positioned, relative to the initial position in the direction. ion-x and y-direction independently of the other by the actuators (9, 12, 39, 42) by means of the spherical lever mechanism (10, 11, 13, 14, 40, 41, 43, 44).
    [0002]
    2. Active positioning device according to claim 1, characterized in that the compensation element (5, 35) is variable in its geometry, so that a freely selectable angle can be adjusted in both the x- and the y-direction between the door device (4, 34) and the guide device (6, 36, 59) with respect to the initial position congruently to each other, and where the compensating element (5, 35) is particularly Formed from elastic material.
    [0003]
    3. Active positioning device according to claims 1 or 2, characterized in that the translation adjustment device (15, 16, 17, 18, 19) is provided on the guide device (6,36, 59). , 20, 45, 46, 47, 48, 49, 50, 68 69, 70, 71, 72, 73) which is connected to the surgical instrument (8, 38, 61) in such a way that the stem of the surgical instrument is mobile in the z-direction.
    [0004]
    4. Active positioning device according to claim 3, characterized in that the translation adjustment device (15, 16, 17, 18, 19, 20, 45, 46, 47, 48, 49, 50, 68 69, 70, 71, 72, 73) move the surgical instrument rod (8, 38, 61) in the z-direction by means of a telescopic system (20, 50, 73) and/or a cable system (15, 16, 17, 18, 19, 45, 46, 47, 48, 49, 68, 69, 70, 71, 72).
    [0005]
    5. Active positioning device according to any one of claims 1 to 4, further comprising a surgical instrument (8, 38, 61), characterized in that it is provided on the surgical instrument (8, 38, 61) an instrument drive unit (22, 52, 75) comprising a rotary actuator (23) whereby the surgical instrument rod (8) is rotatably variable with respect to the initial position around the z-direction.
    [0006]
    6. Active positioning device according to claim 5, characterized in that the instrument drive unit (22, 52, 75) has three instrument actuators (24, 25, 26, 54, 55, 56, 77 , 78, 79) whereby the surgical instrument unit (8, 38, 61) connected at the distal end is variable by three additional degrees of freedom.
    [0007]
    7. Active positioning device according to any one of claims 5 or 6, characterized in that the instrument drive unit (22, 52, 75) is arranged through a support device (21, 51, 78 ), at the proximal end of the telescopic system (20, 50, 73).
    [0008]
    8. Active positioning device according to any one of claims 1 to 7, characterized in that two guide devices (36, 59) are provided for the introduction of two surgical instruments (38, 61) by means of a compensating element (35), where the adjustment device (39, 40, 41, 42, 43, 44) of the first guide device (36) is arranged essentially mirror-like with respect to the longitudinal axis of the two guide devices ( 36, 59) relating to the adjustment device (62, 63, 64, 65, 66, 67) of another guide device (59).
    [0009]
    9. Surgical robotic system for performing surgery on the human body, characterized in that it comprises: - a control device (200, 202) which is used by the user to perform surgery, - a support structure (207, 208 209) to which two or more robotic arms are connected which can be moved through the control device, and where an active positioning device as defined in claim 1 is provided in at least one robotic arm.
    [0010]
    10. Surgical robotic system, according to claim 9, characterized in that the compensation element (5, 35) is variable in its geometry in such a way that a freely selectable angle both in the y-direction and in the x-direction between the door device (4, 34) and the guide device (6, 36, 59) are congruently adjustable with respect to one another in the initial position, where the compensating element (5, 35) is particularly formed from of elastic material.
    [0011]
    11. Surgical robotic system according to any one of claims 9 or 10, characterized in that a translation adjustment device (15, 16, 17, 18, 19) is provided on the guide device (6, 36, 59). , 20, 45, 46, 47, 48, 49, 50, 68, 69, 70, 71, 72, 73) which is connected to the surgical instrument (8, 38, 61) in such a way that the shank of the surgical instrument is mobile in the z-direction.
    [0012]
    12. Surgical robotic system according to claim 11, characterized in that the translation adjustment device (15, 16, 17, 18, 19, 20, 45, 46, 47, 48, 49, 50, 68, 69, 70, 71, 72, 73) move the surgical instrument rod (8, 38, 61) in the z-direction by means of a telescopic system (20, 50, 73) and/or cable system (15, 16 , 17, 18, 19, 45, 46, 47, 48, 49, 68, 69, 70, 71, 72).
    [0013]
    13. Surgical robotic system according to any one of claims 9 to 12, further comprising a surgical instrument (8, 38, 61), characterized in that a surgical instrument (8, 38, 61) is provided on the surgical instrument. instrument drive unit (22, 52, 75) which comprises a rotary actuator (23) by which the surgical instrument rod (8) is rotatably variable around the z-direction with respect to the initial position.
    [0014]
    14. Surgical robotic system according to claim 13, characterized in that the instrument drive unit (22, 52, 75) has three instrument actuators (24, 25, 26, 54, 55, 56, 77, 78, 79), whereby the operating unit of the surgical instrument (8, 38, 61) attached to the distal end is variable by three additional degrees of freedom.
    [0015]
    15. Surgical robotic system according to claim 13 or 14, characterized in that an instrument drive unit (22, 52, 75) is arranged through a support device (21, 51, 78) at the proximal end of the telescopic system (20, 50, 73).
    [0016]
    16. Surgical robotic system, according to any one of claims 9 to 15, characterized in that two guide devices (36, 59) are provided to introduce two surgical instruments (38, 61) through a compensation element (35 ), where the adjustment device (39, 40, 41, 42, 43, 44) of the first guide device (36) is arranged essentially mirror-like with respect to the longitudinal extent of both guide devices (36, 59) to the adjusting device (62, 63, 64, 65, 66, 67) of the other guide device (59).
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    同族专利:
    公开号 | 公开日
    US9480531B2|2016-11-01|
    WO2014094719A1|2014-06-26|
    CN104869936A|2015-08-26|
    HK1211823A1|2016-06-03|
    EP2934362B1|2019-05-01|
    JP2016505316A|2016-02-25|
    RU2015129339A|2017-01-25|
    US20140180308A1|2014-06-26|
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    JP6385361B2|2018-09-05|
    CN104869936B|2018-02-16|
    BR112015014299A2|2017-07-11|
    DE102012025101A1|2014-06-26|
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    法律状态:
    2018-11-21| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-12-10| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-05-04| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-05-04| B15K| Others concerning applications: alteration of classification|Free format text: A CLASSIFICACAO ANTERIOR ERA: A61B 19/00 Ipc: A61B 90/11 (2016.01), A61B 34/30 (2016.01) |
    2021-06-22| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 12/12/2013, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102012025101.7A|DE102012025101A1|2012-12-20|2012-12-20|Active positioning device of a surgical instrument and a surgical robotic system comprising it|
    DE102012025101.7|2012-12-20|
    PCT/DE2013/000806|WO2014094719A1|2012-12-20|2013-12-12|Active positioning arrangement of a surgical instrument and robotic surgical system comprising same|
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