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DE-102024132852-A1 - Robot base and medical operating system

DE102024132852A1DE 102024132852 A1DE102024132852 A1DE 102024132852A1DE-102024132852-A1

Abstract

The present invention relates to a robot base (10) comprising a first robot arm interface (12) configured for coupling a first robot arm (14), and at least one second robot arm interface (16) configured for coupling a second robot arm (18), wherein the first robot arm interface (12) and the second robot arm interface (16) are each configured for coupling a software RCM robot arm (20). The present invention further relates to a robot base (10) with a holding arm (22) on which the first robot arm interface (12) and the second robot arm interface (16) are configured in a fixed relative position to each other.

Inventors

  • Martin Hoffmann

Assignees

  • KARL STORZ SE & CO. KG

Dates

Publication Date
20260513
Application Date
20241111

Claims (15)

  1. Robot base (10) comprising: - a first robot arm interface (12) which is configured for coupling a first robot arm (14), and - at least a second robot arm interface (16) which is configured for coupling a second robot arm (18), characterized in that the first robot arm interface (12) and the second robot arm interface (16) are each configured for coupling a software RCM robot arm (20).
  2. Robot base (10) after Claim 1 , characterized in that a position of the first robot arm interface (12) relative to the second robot arm interface (16) is fixed.
  3. Robot base (10) according to the general term of and in particular according to one of the Claims 1 or 2 , characterized by a holding arm (22) on which the first robot arm interface (12) and the second robot arm interface (16) are formed in a fixed relative position to each other.
  4. Robot base (10) after Claim 3 , characterized in that the first robot arm interface (12) and the second robot arm interface (16) are arranged side by side along a longitudinal axis (24) of the holding arm (22).
  5. Robot base (10) after Claim 3 or 4 , characterized by : - at least a third robot arm interface (26) which is designed for coupling a third robot arm (28), wherein the third robot arm interface (26) is formed in a fixed relative position to the first and second robot arm interfaces (12, 16) on the holding arm (22).
  6. Robot base (10) according to the Claims 4 and 5 , characterized in that the first robot arm interface (12), the second robot arm interface (16) and the third robot arm interface (26) are arranged equidistant to each other along the longitudinal axis (24) next to each other on the holding arm (22).
  7. Robot base (10) according to one of the Claims 3 until 6 , characterized in that the holding arm (22) can be arranged suspended above an operating table (30), in particular such that the robot arm interfaces (12, 16, 26) can be arranged in an imaginary space (32) extending vertically above the operating table (30) and bounded laterally by the operating table (30).
  8. Robot base (10) according to one of the Claims 3 until 7 , characterized by : - a mounting unit (34) for mounting on a floor, wherein the holding arm (22) is connected to the mounting unit (34) and has at least three and in particular exactly three degrees of freedom with respect to the mounting unit (34).
  9. Robot base (10) after Claim 8 , characterized in that the holding arm (22) is linearly movable in a vertical direction relative to the mounting unit (34), in particular along a vertical axis (40) which extends through the mounting unit (34).
  10. Robot base (10) after Claim 8 or 9 , characterized in that the holding arm (22) is rotatable about a vertical axis (40) relative to the mounting unit (34), which extends in particular through the mounting unit (34).
  11. Robot base (10) according to one of the Claims 3 until 10 , characterized in that the holding arm (22) is rotatable about its longitudinal axis (24), wherein the longitudinal axis (24) is in particular arranged perpendicular to a vertical axis (40) which extends through the mounting unit (24).
  12. Medical operating system (50) comprising: - a robot base (10) according to one of the preceding claims and - a first software RCM robot arm (14, 20) coupled to the first robot arm interface (12).
  13. Medical operating system (50) according to Claim 12 , characterized in that the software RCM robot arm (20) has at least seven degrees of freedom.
  14. Medical operating system (50) according to Claim 13 characterized in that six of the degrees of freedom are rotational degrees of freedom.
  15. Medical operating system (50) according to one of the Claims 12 until 14 , characterized by : - a second software RCM robot arm (18, 20) which is designed according to the first software RCM robot arm (14, 20) and is coupled to the second robot arm interface (16).

Description

The present invention relates to a robot base and a medical operating system. Robot bases for medical operating systems, which support multiple robotic arms, are known from the prior art. A medical instrument, such as an endoscope, a surgical tool, or the like, is attached distally to each robotic arm, enabling minimally invasive surgical procedures. To perform the minimally invasive procedure using such a medical operating system, the patient is secured to an operating table. The operating system is positioned next to the operating table, and the robotic arms are individually aligned and adjusted for the patient. Such state-of-the-art medical operating systems typically feature a so-called "hardware remote center of motion" (hardware RCM). A hardware RCM describes a virtual pivot point around which a robotic arm or a medical instrument attached to the robotic arm moves. This pivot point remains stationary during movement. The hardware RCM is achieved using a specially designed mechanical structure and is based, for example, on the kinematics of a parallelogram. Parallel kinematic robots are used, for example, in the... US 5 697 939 A , the US 5 817 084 A , the US 6 902 560 B1 and the US 2016/0100900 A1 described. A medical instrument attached to the robot and inserted into the patient's body for the procedure is moved around this hardware RCM and, in a preparatory procedure, positioned so that it lies at the medical instrument's access point into the body. This ensures precise control of the medical instrument fixed to the respective robotic arm, minimizing forces exerted on the patient's skin or tissue. The present invention is based on the understanding that conventional medical operating systems are bulky and heavy due to the necessary mechanics for providing the hardware RCM (Remote Control Module). This makes the use of known medical operating systems in relatively small operating rooms sometimes impossible and also requires a high minimum load-bearing capacity for the floor on which the system is to be placed. Furthermore, the size of the system also makes it difficult for a surgeon to access the patient, even in larger operating rooms. This is particularly disadvantageous for anesthesia. The inventors also recognized that when converting to open surgery, which may be necessary due to a complication, for example, the time required to remove a conventional medical operating system from the patient is too long due to the system's size. Based on the prior art, the invention aims to provide a compact medical operating system. The problem is solved according to the invention by a robot base and a medical operating system as described herein and defined in the claims. The present invention provides for a robot base, in particular for a medical operating system. This base comprises a first robot arm interface, which is configured for coupling a first robot arm, and at least a second robot arm interface, which is configured for coupling a second robot arm. According to one aspect of the invention, the first robot arm interface and the second robot arm interface are each configured for coupling a software RCM robot arm. According to a further aspect of the invention, the robot base, in particular in addition to the features of the aspect described above, comprises a holding arm on which the first robot arm interface and the second robot arm interface are formed in a fixed relative position to each other. The present invention further provides for the provision of a medical operating system. This system comprises a robot base according to the invention and a first software RCM robot arm, which is coupled to the first robot arm interface. These features enable the provision of a compact medical operating system. The robot base according to the invention is small and space-saving, particularly compared to conventional robot bases for hardware RCM robot arms. This results in weight savings, both absolute and relative to the footprint of a mounting unit used to position the robot base on the floor of an operating room. The robot base according to the invention and the Talking medical operating systems that utilize this robotic base can therefore be used in a wider range of operating rooms. In other words, the robotic base and operating system require less space and less floor load-bearing capacity in the operating room compared to conventional operating systems. Furthermore, the use of software-controlled robotic arms offers the advantage of greater flexibility in the movement of the robotic arms and their adaptation to the patient. This, combined with the compact design of the robotic base and operating system, allows a surgeon to reach the patient more quickly in an emergency, for example, to initiate life-saving measures. Additionally, the robotic base can be positioned more flexibly within the operating room, and the operating system can be set up quickly. A medical operating system can be a medical operating