Surgical system for microsurgical techniques
This system is composed by mechanical telemanipulators, with master-slave configurations, working together with suitable solutions for image acquisition and display, which are able to transmit, with optional magnification, images from the surgical area to the surgeon. Therefore, the surgeon's capacities and comfort are increased by enhancing the surgeon's motor and visual skills as well as the ergonomics while doing different surgical tasks through access incisions on the patient body. Aside from offering improved performance during procedures involving microsurgical techniques, this system also brings safety, intuitiveness, and cost-effectiveness advantages over current alternatives. Due to the compatibility with current visualization systems for microsurgery, together with the light weight and the compact configuration of the mechanical telemanipulator, this surgical system can be very easily brought to and removed from the surgical area, which enables its intermittent use on several surgical procedures requiring microsurgical techniques. Therefore, it does not require drastic changes in the workflow and setup of current operating rooms and can be more easily adopted by several surgical teams.
1. A surgical system for use by a surgeon to perform microsurgical techniques in a surgical area, the system comprising:
a first telemanipulator having a first proximal end and a first distal end, a first master unit having a first handle coupled to the first proximal end, and a first slave unit having a first end-effector coupled to the first distal end, the first master unit comprising first master links coupled to first slave links of the first slave unit, whereby movement of the first master unit via the first handle by the surgeon is reproduced by the first slave unit to move the first end-effector;
a second telemanipulator having a second proximal end and a second distal end, a second master unit having a second handle coupled to the second proximal end, and a second slave unit having a second end-effector coupled to the second distal end, the second master unit comprising second master links coupled to second slave links of the second slave unit, whereby movement of the second master unit via the second handle by the surgeon is reproduced by the second slave unit to move the second end-effector; and
a visualization system configured to provide the surgeon a free line of sight between the first and second telemanipulators to the surgical area.
2. The surgical system of claim 1 , wherein the visualization system includes an image acquisition unit and an image display.
3. The surgical system of claim 2 , wherein the image acquisition unit comprises a microscope.
4. The surgical system of claim 2 , wherein the image acquisition unit comprises an endoscopic camera.
5. The surgical system of claim 2 , wherein the image acquisition unit comprises a system with at least one digital camera.
6. The surgical system of claim 1 , further comprising a support structure that supports the first and second telemanipulators.
7. The surgical system of claim 2 , wherein the image display comprises a video display screen.
8. The surgical system of claim 2 , wherein the image display comprises components that provide a different stereoscopic image to each eye of the surgeon.
9. The surgical system of claim 2 , wherein the visualization system comprises a magnifying loupe that allows the surgeon to visualize the surgical area through the free line of sight between the eyes of the surgeon and the surgical area.
10. The surgical system of claim 6 , wherein the support structure enables the first and second telemanipulators to be precisely and stably positioned over a patient.
11. The surgical system of claim 10 , wherein the support structure is mounted on a wheeled base, enabling the system to be easily brought to and removed from the surgical area during a surgical procedure.
12. The surgical system of claim 1 , wherein the amplitude of the movement of the first and second handles by the surgeon is reproduced by the first and second end-effectors at the surgical area at a predetermined scaled down ratio.
13. The surgical system of claim 1 , wherein the first telemanipulator comprises a first cable-driven articulated transmission system extending between the first handle and the first end-effector, whereby movement of the first handle by the surgeon is reproduced by the first end-effector at the surgical area, and wherein the second telemanipulator comprises a second cable-driven articulated transmission system extending between the second handle and the second end-effector, whereby movement of the second handle by the surgeon is reproduced by the second end-effector at the surgical area.
14. The surgical system of claim 1 , wherein the first and second master links of the first and second master units of the first and second telemanipulators each are connected by respective first and second master joints, wherein the first and second slave links of the first and second slave units of the first and second telemanipulators each are connected by respective first and second slave joints, wherein a number of links and joints in each of the first and second slave units corresponds to a number of links and joints in each of the first and second master units, and wherein motion applied at a particular link or joint in the first or second master unit is reproduced at a corresponding link or joint in the respective first or second slave unit.
15. The surgical system of claim 1 , wherein the first and second telemanipulators each further comprises one or more constraints applied to each of the first and second slave units, thus creating a remote center of motion whereby rotation about a predetermined point in the first or second master unit produces rotation about a predetermined point in the respective first or second slave unit.
16. The surgical system of claim 13 , wherein the movement of the first handle by the surgeon comprises a movement in at least one of seven degrees of freedom, and wherein the movement of the second handle by the surgeon comprises a movement in at least one of seven degrees of freedom.