US 10,092,365 B2 · Apparatus and method for robot-assisted surgery

Abstract

An apparatus for robot-assisted surgery as well as a method for assisting the positioning of a manipulator arm of an apparatus for robot-assisted surgery. An instrument unit is connected to a coupling unit of the manipulator arm. The instrument unit has a surgical instrument with an instrument shaft, the proximal end of which is passable through a body orifice of a patient to a target area. When connecting the instrument unit to the coupling unit the distance vector (V), which is orthogonal to the longitudinal axis of the instrument shaft of the surgical instrument, between the longitudinal axis and the target area defined by the coordinates (xz, yz, zz) is determined. A first control information is generated when the amount of the determined distance vector (V) has and/or falls below a first preset value. An output unit outputs a signal dependent on the first control information.

Claims16

Dependent claims

An apparatus for robot-assisted surgery, comprising

an instrument unit having a surgical instrument with an instrument shaft, the proximal end of which is passable through a body orifice of a patient to a target area defined by coordinates (xz, yz, zz) of a coordinate system (X, Y, Z) of the apparatus,
at least one coupling unit of a manipulator arm, to which optionally the instrument unit is connectable,
a control unit,
which, when the instrument unit is connected to the coupling unit, determines the distance vector (V), which is orthogonal to the longitudinal axis of the instrument shaft of the surgical instrument, between the longitudinal axis and the target area defined by the coordinates (xz, yz, zz),
which generates a first control information when the amount of the determined distance vector (V) has and/or falls below a first preset value, and
comprising an output unit which outputs a signal dependent on the first control information.

3 more elements

A method for positioning a manipulator arm in a coordinate system (X, Y, Z) of an apparatus for robot-assisted surgery, comprising:

in which the coordinates (xz, yz, zz) of a target area in a patient are determined,
in which for positioning a manipulator arm an instrument unit is connected to a coupling unit of the manipulator arm,
wherein the instrument unit comprises a surgical instrument having an instrument shaft with a longitudinal axis,
in which, when the instrument unit is connected to the coupling unit, the distance vector (V), which is orthogonal to the longitudinal axis, between the longitudinal axis and the target area defined by the coordinates (xz, yz, zz) is determined by means of a control unit, and
in which a first optical and/or acoustic signal is output by means of an output unit when the amount of the determined distance vector (V) has and/or falls below a first preset value.

2 more elements

Dependencies are inferred from the claim text.

Apparatus and method for robot-assisted surgery

Life of this patent

Apparatus and method for robot-assisted surgery

Life of this patent

Abstract

Claims16