Surgery – Instruments
Reexamination Certificate
1999-08-17
2001-03-06
Philogene, Pedro (Department: 3732)
Surgery
Instruments
C606S130000, C606S131000, C414S005000, C414S730000
Reexamination Certificate
active
06197017
ABSTRACT:
BACKGROUND OF THE INVENTION
The invention generally relates to robotics and particularly relates to telerobotic surgery.
Telerobotic surgical devices are well suited for use in performing endoscopic (or minimal access) surgery, as opposed to conventional surgery where the patient's body cavity is open to permit the surgeon's hands access to internal organs. Endoscopic techniques involve performing an operation through small (about 5 mm to 10 mm) skin incisions through which instruments are inserted for performing the surgical procedure. A video camera may also be inserted into the patient in the area of the surgical site to view the procedure. Endoscopic surgery is typically less traumatic than conventional surgery, in part, due to the significantly reduced size of the incision. Further, hospitalization periods are shorter and recovery periods may be quicker when surgery is performed endoscopically rather than conventionally.
It is, of course, important that the surgeon have some feedback from the surgical site, e.g., visual feedback either through a camera and fiber optic cable, or through real-time computerized tomography scan imagery. Even with good visualization, however, the surgeon's tactile and position senses are physically removed from the operative site rendering the endoscopic procedure slow and clumsy. Current instrumentation, with forceps, scissors, etc., inserted into the body at the end of long slender push rods is not fully satisfactory. The use of such conventional instrumentation may result in longer operative time, and potentially higher risks, for example if a ruptured artery cannot be quickly closed off then significant blood loss may occur. Moreover, there are limitations on the type and complexity of procedures that can be performed endoscopically due, in part, to the limitations on the instruments that may be employed.
Limited development work has been undertaken to investigate the use of robots in surgery. The robot at the surgical site, however, must be small and light enough that it may be easily manipulated around and inside of the patient, yet strong enough to perform effective surgery. The controls for the robot must also be precise and not sloppy. Presently existing telerobotic systems, using manipulators both with and without haptic feedback, are generally too bulky and heavy for many endoscopic techniques, or are too weak and imprecise for surgery.
There is a need, therefore, for a micro-manipulator that is strong and precise in its movements, yet is small, light and easily manipulated.
SUMMARY OF THE INVENTION
The invention provides an articulated apparatus including a plurality of link members each in communication with and rotatably moveable with respect to at least one other adjacent link member about an associated joint between the adjacent link members. The plurality of link members include a first link member that extends in a first direction and is associated with a first joint having an axis of rotation in a second direction that is different than the first direction, and a second link member that extends in a third direction and is associated with a second joint having an axis of rotation in a fourth direction that is substantially coplanar with the third direction. The apparatus also includes a base portion including a drive assembly for controlling the movement of each of the link members with respect to other link members about the joints via tendons that control the rotational movement of the link members about the joints responsive to the drive assembly. At least some of the tendons extend through at least some of the joints including the first and second joints such that the movement of the link members about the joints through which the tendons extend, does not cause significant attendant movement of the tendons extending through the joints.
Although articulated mechanical devices of the invention are well suited for use in endoscopic surgery, they may also be employed for conventional surgery, or in any other application where articulated mechanical devices of employing the benefits of the invention are desired.
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Brock David L.
Lee Woo-jin
Brock Rogers Surgical, Inc.
Philogene Pedro
Samuels Gauthier & Stevens
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