Robotic surgical assembly
A robotic surgical assembly ( 100 ) includes a support ( 104 ), one macro-positioning arm ( 30 ), connected to the support ( 104 ) and having a plurality of degrees of freedom. The macro-positioning arm ( 30 ) includes a support member ( 38 ), at least two micro-positioning devices ( 41, 141, 241, 341 ), each having a plurality of motorized degrees of freedom, connected in cascade to the support member ( 38 ) of the macro-positioning arm ( 30 ), and at least two medical instruments ( 60, 160, 260, 360 ). Each instrument is connected in cascade to each of the micro-positioning device and includes a jointed device ( 70, 170, 270 ) having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments ( 60, 160, 260, 360 ) has a shaft ( 65 ), suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).
1. A robotic surgical assembly comprising:
a support;
a macro-positioning arm, connected to said support and having a plurality of degrees of freedom, said macro-positioning arm comprising a support member;
at least two micro-positioning devices comprising a first micro-positioning device and a second micro-positioning device, each of said at least two micro-positioning devices having a plurality of motorized degrees of freedom, said at least two micro-positioning devices being connected in cascade to said support member of said macro-positioning arm;
wherein each of said micro-positioning device comprises: a first motorized slide movable in a first slide rail along a first slide direction;
a second motorized slide movable in a second slide rail along a second slide direction;
a third motorized slide movable in a third slide rail along a third slide direction;
wherein said slides are orthogonally connected to each other;
at least two medical instruments comprising a first medical instrument and a second medical instrument, said first medical instrument being connected in cascade to said first micro-positioning device, said second medical instrument being connected in cascade to said second micro-positioning device;
wherein:
each of said at least two medical instruments comprises a jointed device, having a plurality of motorized degrees of freedom including a plurality of rotational joints and a shaft for distancing said jointed device from said micro-positioning devices by a predetermined distance in a shaft direction; and
said first micro-positioning device provides at least three motorized degrees of freedom of translational motion to said shaft of said first medical instrument;
said second micro-positioning device provides at least three motorized degrees of freedom of translational motion to said shaft of said second medical instrument;
said robotic surgical assembly rigidly couples said shaft direction of the shaft of said first medical instrument and said shaft direction of the shaft of said second medical instrument; and
the shaft angle between the shaft direction of the shaft of said first medical instrument and the shaft direction of the shaft of said second medical instrument is constant during any motion of any of said plurality of motorized degrees of freedom of said micro-positioning devices.
2. The robotic surgical assembly according to claim 1 , wherein said at least two micro-positioning devices are rigidly attached to said support member so that said first medical instrument and said second medical instrument both reach a common workspace volume.
3. The robotic surgical assembly according to claim 1 , wherein said first micro-positioning device rigidly blocks the shaft direction of said first medical instrument and said second micro-positioning device rigidly blocks the shaft direction of said first medical instrument.
4. The robotic surgical assembly according to claim 1 , wherein said predetermined distance is equal to at least five times the longitudinal extension of said jointed device.
5. The robotic surgical assembly according to claim 1 , wherein said medical instrument comprises a motor compartment suitable to accommodate at least one driving means of at least said jointed device of said medical instrument.
6. The robotic surgical assembly according to claim 1 , comprising at least two control devices suitable to determine actuation of said micro-positioning devices and said medical instrument, according to a master-slave type communication.
7. The robotic surgical assembly according to claim 1 , wherein said macro-positioning arm comprises:
a first arm member, connected to said support and movable with respect to said support along a linear sliding guide;
a second arm member, connected to said first arm member and movable with respect to said first arm member around a first arm movement axis.
8. The robotic surgical assembly according to claim 7 , wherein said macro-positioning arm further comprises a third arm member, connected to said second arm member and movable with respect to said second arm member around a second arm movement axis; and/or
wherein said macro-positioning arm further comprises a fourth arm member, connected to said third arm member and movable with respect to said third arm member around a third arm movement axis; and/or
wherein said first arm movement axis, said second arm movement axis and said third arm movement axis, are substantially parallel to each other.
9. The robotic surgical assembly according to claim 8 , wherein said macro-positioning arm comprises at least one locking system, suitable to prevent relative movement of at least two of said first arm member, said second arm member, said third arm member, and said fourth arm member.
10. The robotic surgical assembly according to claim 1 , wherein said macro-positioning arm is a passive robot.
11. The robotic surgical assembly according to claim 1 , wherein said macro-positioning arm includes motorized degrees of freedom.
12. The robotic surgical assembly according to claim 1 , wherein said macro-positioning arm is an active anthropomorphic robot.
13. The robotic surgical assembly according to claim 1 , wherein said first slide direction, said second slide directions and said third slide direction are orthogonal directions.
14. The robotic surgical assembly according to claim 1 , wherein at least one of said micro-positioning devices comprises a motorized rotary joint, suitable to move the medical instrument around a longitudinal axis of rotation.
15. The robotic surgical assembly according to claim 14 , wherein said longitudinal axis of rotation is substantially coincident with said direction of the shaft of the respective medical instrument.
16. The robotic surgical assembly according to claim 1 , wherein the end portions of said first medical instrument and said second medical instrument reach the common workspace volume having a predetermined fixed size, and wherein said macro-positioning arm allows repositioning said common workspace volume in a desired position over patient anatomy.
17. The robotic surgical assembly according to claim 1 , wherein said robotic surgical assembly is suitable to cooperate with a vision system, associated with said robotic surgical assembly.
18. The robotic surgical assembly according to claim 17 , wherein said vision system is removably attached to said support member.
19. The robotic surgical assembly according to claim 17 , wherein said vision system comprises a digital camera, and/or
wherein said vision system comprises a digital microscope; and/or wherein said vision system comprises an endoscope; and/or
wherein said endoscope is suitable to be used as a microscope; and/or
wherein said vision system includes 3D digital microscope.
20. The robotic surgical assembly according to claim 17 , wherein the common working volume is within a viewing field of said at least one vision system.
21. The robotic surgical assembly according to claim 17 , wherein said vision system is integral with said support member.
22. The robotic surgical assembly according to claim 1 , wherein said support member comprises a vision system seat suitable to house at least a vision system associated to said robotic surgical assembly.
23. The robotic surgical assembly according to claim 22 , wherein the spatial orientation of said vision system seat of said support member is rigidly locked with respect to the spatial orientation of said at least two micro-positioning devices.
24. The robotic surgical assembly according to claim 1 , wherein said macro-positioning arm comprises at least one unlocking button, the at least one unlocking button being switchable between a brake or locked position and a release or unlocked position.
25. The robotic surgical assembly according to claim 1 , wherein said macro-positioning arm further comprises at least one rotation dial nut, said dial nut being movable around an arm movement axis and suitable to be manipulated for moving said support member around said arm movement axis.