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EP-4740889-A1 - ROBOT BASE AND MEDICAL OPERATION SYSTEM

EP4740889A1EP 4740889 A1EP4740889 A1EP 4740889A1EP-4740889-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

  • HOFFMANN, MARTIN

Assignees

  • Karl Storz SE & Co. KG

Dates

Publication Date
20260513
Application Date
20251030

Claims (15)

  1. Robot base (10) comprising: - a first robot arm interface (12) which is set up for coupling a first robot arm (14), and - at least a second robot arm interface (16) which is set up for coupling a second robot arm (18), characterized by the fact that the first robot arm interface (12) and the second robot arm interface (16) are each set up for coupling a software RCM robot arm (20).
  2. Robot base (10) according to 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 preamble of and in particular according to one of 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) according to 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) according to claim 3 or 4, characterized by: - at least a third robot arm interface (26) which is set up 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 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 claims 3 to 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 claims 3 to 7, characterized by: - a mounting unit (34) for placement 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) according to 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) according to 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 claims 3 to 10, characterized in that the holding arm (22) is rotatable about its longitudinal axis (24), wherein the longitudinal axis (24) is arranged in particular 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) which is 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 claims 12 to 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 these conventional medical operating systems are inadequate due to the necessary mechanics for The hardware RCM system is bulky and heavy. This makes the use of conventional surgical 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 system's size makes it difficult for a surgeon to access the patient, even in larger operating rooms. This is particularly problematic for anesthesia. The inventors also recognized that, in the event of conversion to open surgery, which may be necessary due to complications, the time required to remove a conventional surgical system from the patient is too great 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 operating room floor. The robot base according to the invention and the corresponding medical operating system that utilizes this robot base can therefore be used in a wider range of operating rooms. In other words, the robot base and operating system place lower demands on the operating room in terms of spatial size and floor load-bearing capacity compared to conventional operating systems. Furthermore, the use of software RCM robot arms offers the advantage of greater flexibility in the operating system with regard to the movement of the robot arms and their adaptation to the patient. This, combined with the compact design of the robot base and the operating system, allows a physician to reach the patient more quickly in an emergency, for example, to initiate life-saving measures. Furthermore, the robot base can be set up more flexibly in the operating room, and the operating system can be set up quickly. The medical operating system can be a medical opera