Method and system for performing medical procedure
View Patent ↗The present application describes a method and system for performing medical procedures. The system includes a robotic arm assembly, an end effector assembly and a set of transducers. The system further includes a cable element that is used to control the movement of the robotic arm assembly and the end effector assembly. The cable element is also connected to the set of transducers, which measure the force imparted on the robotic arm assembly and the end effector assembly during the medical procedures.
1. A system for performing a medical procedure, the system comprising:
at least one robotic arm having one or more joints;
at least one end effector for performing the medical procedure, the end effector being connected to the robotic arm assembly;
a first set of actuators for driving the one or more joints;
a second set of actuators for driving the end effector; and
a cable element connecting the first set of actuators to the one or more joints and connecting the second set of actuators to the end effector, the cable element being configured to control the movement of the robotic arm and the end effector and to provide a force feedback signal to a user operating the system, the force feedback signal being generated on the basis of forces acting on the robotic arm and the end effector, and the force feedback signal configured to generate a vibration at a hand unit.
2. The system according to claim 1 further comprising one or more transducers for measuring the forces acting on the robotic arm and the end effector, the one or more transducers being connected to the cable element.
3. The system according to claim 1 further comprising a signal filter for filtering an unwanted signal from the force feedback signal.
4. The system according to claim 3 wherein the signal filter is a high pass filter.
5. The system according to claim 3 wherein the signal filter is a band-pass filter.
6. The system according to claim 1 , wherein the movement of the robotic arm is controlled by driving the one or more joints.
7. The system according to claim 5 , wherein the one or more joints are driven by the first set of actuators through the cable element.
8. The system according to claim 1 , wherein the cable element connects the first set of actuators to the one or more joints of the robotic arm through one or more pulleys.
9. The system according to claim 1 , wherein the cable element connects the second set of actuators to the end effector through one or more pulleys.
10. The system according to claim 1 , wherein the first and second set of actuators are linear actuators.
11. The system according to claim 1 , wherein the first and second set of actuators are motors.
12. The system according to claim 1 wherein the end effector is one of forceps, scissors, a needle driver, and an imaging device.
13. A system for performing a medical procedure, the system comprising:
a robotic arm comprising one or more joints;
at least one end effector for performing the medical procedure, the end effector being connected to the robotic arm assembly;
a first set of actuators for driving to the one or more joints;
a second set of actuators for driving the end effector;
a cable element connecting the first set of actuators to the one or more joints and connecting the second set of actuators to the end effector, the cable element being configured to control the movement of the robotic arm and the end effector, the cable element also being configured to provide a force feedback signal to an operator operating the system, the force feedback signal being generated on the basis of forces acting on the robotic arm assembly and the end effector assembly, and the force feedback signal configured to generate a vibration at a hand unit;
one or more transducers for measuring the forces acting on the robotic arm and the end effector assembly, the one or more transducers being connected to the cable element; and
a signal filter for filtering an unwanted signal from the force feedback signal.
14. A method for operating a robotic manipulator assembly comprising:
controlling the robotic manipulator assembly through a cable element, the robotic manipulator assembly being controlled for performing a medical procedure;
measuring the force imparted on the robotic manipulator assembly during the medical procedure, the force being measured by a set of transducers connected to the cable element; and
providing a force feedback signal to a user operating the robotic manipulator assembly, the force feedback signal being based on the measured force, and the force feedback signal configured to generate a vibration at a hand unit.
15. The method according to claim 14 , wherein the robotic manipulator assembly is controlled by:
a robotic arm assembly comprising
a robotic arm comprising one or more joints;
a first set of actuators for driving to the one or more joints;
an end effector assembly comprising:
at least one end effector for performing the medical procedure, the end effector being connected to the robotic arm assembly;
a second set of actuators for driving the end effector; and
the cable element connecting the first set of actuators to the one or more joints and connecting the second set of actuators to the end effector.
16. The method according to claim 14 wherein controlling the robotic manipulator assembly further comprises:
controlling a robotic arm of the robotic manipulator assembly, the robotic arm being controlled through the cable element; and
controlling an end effector of the robotic manipulator assembly, the end effector being controlled through the cable element.
17. The method according to claim 14 wherein the force is measured by one or more transducers connected to the cable element.
18. The method according to claim 14 further comprising filtering an unwanted signal from the force feedback signal.
19. The method according to claim 18 wherein the filtering is done using a high pass filter.
20. The method according to claim 18 wherein the filtering is done using a band-pass filter.