CN220778425U - Robotic medical system - Google Patents

Abstract

A robotic medical system comprises: a column that is substantially vertical and connected to a base; a robotic drive having a socket for receiving the column; and at least one tapered interface that is shaped and oriented to engage with the socket to prevent the robotic drive from rotating about at least one axis.

Description

Robotic medical system

This application is a divisional application of the utility model patent application with the application date of August 1, 2022, application number 202222004390.2, and utility model name “Robotic Medical System”.

Technical Field

The utility model generally relates to the field of robotic medical surgery systems, and in particular to a robotic medical system.

Background technique

Catheters and other elongated medical devices (EMDs) can be used for minimally invasive medical procedures for diagnosing and treating various vascular system diseases, including neurovascular intervention (NVI) (also known as neurointerventional surgery), percutaneous coronary intervention (PCI) and peripheral vascular intervention (PVI). These surgeries generally involve guiding a guidewire through the vascular system and advancing the catheter via the guidewire to provide treatment. The catheterization procedure first uses a standard percutaneous technique to enter an appropriate blood vessel, such as an artery or vein, through an introducer sheath. Through the introducer sheath, the sheath or guide catheter is then advanced to a primary position, such as the internal carotid artery for NVI, the coronary artery ostium for PCI, or the superficial femoral artery for PVI, through a diagnostic guidewire. Then the guidewire suitable for the vascular system is guided through the sheath or guide catheter to the target position in the vascular system. In some cases, such as in a tortuous anatomical structure, a support catheter or microcatheter is inserted on the guidewire to help guide the guidewire. A physician or operator can use an imaging system (e.g., a fluoroscope) to obtain an image (cine) by contrast agent injection, and select a fixed frame as a roadmap to guide the guidewire or catheter to the target position, such as a lesion. Contrast-enhanced images are also obtained as the physician delivers the guidewire or catheter so that the physician can verify that the device is moving along the correct path to the target location. While viewing the anatomy using fluoroscopy, the physician manipulates the proximal end of the guidewire or catheter to direct the distal tip into the appropriate vessel toward the lesion or target anatomy and avoid advancement into side branches.

A surgical system based on a robotic catheter has been developed, which can be used to help physicians perform catheterization procedures, such as NVI, PCI and PVI. Examples of NVI surgery include coil embolization of aneurysms, liquid embolization of arteriovenous malformations, and mechanical thrombectomy of large vessel occlusions in the case of acute ischemic stroke. In NVI surgery, physicians use a robotic system to obtain a target lesion pathway by controlling the manipulation of a neurovascular guidewire and a microcatheter to provide treatment to restore normal blood flow. The target pathway is achieved by a sheath or a guide catheter, but an intermediate catheter may also be required for a more distant area or to provide sufficient support for the microcatheter and guidewire. Depending on the type of lesion and treatment, the distal tip of the guidewire is guided into or through the lesion. In order to treat an aneurysm, a microcatheter is advanced into the lesion and the guidewire is removed, and several embolic coils are deployed into the aneurysm by the microcatheter and used to block blood from flowing into the aneurysm. In order to treat an arteriovenous malformation, a liquid embolism is injected into the malformation site via a microcatheter. Mechanical thrombectomy can be achieved by suction and/or using a stent retriever to treat vascular occlusion. Depending on the location of the clot, aspiration can be performed through an aspiration catheter or, for smaller arteries, through a microcatheter. Once the aspiration catheter is at the lesion, negative pressure is applied to remove the clot through the catheter. Alternatively, the clot can be removed by deploying a stent retriever through the microcatheter. Once the clot is integrated into the stent retriever, the clot is retrieved by retracting the stent retriever and microcatheter (or intermediate catheter) into the guiding catheter.

In PCI, the physician uses a robotic system to gain access to the lesion by manipulating a coronary guidewire to provide treatment and restore normal blood flow. Access is achieved by placing a guide catheter in the coronary ostium. The distal tip of the guidewire is guided through the lesion, and for complex anatomies, a microcatheter can be used to provide adequate support for the guidewire. Blood flow is restored by delivering and deploying a stent or balloon at the lesion. The lesion may require preparation prior to stent implantation, by delivering a balloon for pre-dilation of the lesion, or by performing an atherectomy using, for example, a laser or rotational atherectomy catheter and a balloon over the guidewire. Diagnostic imaging and physiological measurements can be performed to determine appropriate treatment by using an imaging catheter or fractional flow reserve (FFR) measurements.

In PVI, the physician uses a robotic system to deliver treatment and restore blood flow using techniques similar to NVI. The distal tip of the guidewire is guided past the lesion, and for complex anatomy, a microcatheter may be used to provide adequate support for the guidewire. Blood flow is restored by delivering and deploying a stent or balloon to the lesion. As with PCI, lesion preparation and diagnostic imaging may also be used.

When support is required at the distal end of a catheter or guidewire, for example, when guiding in a curved or calcified vascular system to reach a distal anatomical location or traversing a hard lesion, an over-the-wire (OTW) catheter or coaxial system is used. An OTW catheter has a lumen for a guidewire that extends the entire length of the catheter. This provides a relatively stable system because the guidewire is supported along the entire length. However, compared to a rapid-change catheter, this system has some drawbacks, including higher friction and a longer total length (see below). Usually, to remove or replace an OTW catheter while maintaining the position of the indwelling guidewire, the exposed length of the guidewire (outside the patient's body) must be longer than that of the OTW catheter. A 300cm long guidewire is usually sufficient for this purpose and is generally referred to as a replacement length guidewire. Due to the length of the guidewire, two operators are required to remove or replace the OTW catheter. This becomes even more challenging if a triple coaxial, known in the art as a triaxial system, is used (it is also known to use a quadruple coaxial catheter). However, due to its stability, OTW systems are often used in NVI and PVI surgeries. On the other hand, PCI surgeries typically use rapid-change (or monorail) catheters. The guidewire lumen in a rapid-exchange catheter passes only through the distal section of the catheter, called the monorail or rapid-exchange (RX) section. With an RX system, the operator can manipulate interventional devices in parallel to each other (as opposed to an OTW system, where the devices are manipulated in a serial configuration), and the exposed length of the guidewire only needs to be slightly longer than the RX section of the catheter. Rapid-exchange-length guidewires are typically 180-200 cm long. Given the shorter guidewire and monorail length, RX catheters can be changed by a single operator. However, when more distal support is needed, RX catheters are often insufficient.

Utility Model Content

According to one embodiment, a robotic medical system includes a column that is substantially vertical and connected to a base; a robotic drive having a socket for receiving the column; and at least one tapered interface shaped and oriented to engage with the socket to prevent the robotic drive from rotating about at least one axis.

In one embodiment, the tapered interface includes at least two tapered keys.

In one embodiment, the post is substantially cylindrical and the tapered keys are positioned approximately 180 degree intervals along the circumference of the post.

In one embodiment, the socket includes a tapered cavity shaped and positioned to receive the tapered key and cause physical engagement of the post and the robotic driver.

In one embodiment, the post includes at least one insertion interface to facilitate insertion of the post into the socket.

In one embodiment, the post is a cylinder and the insertion interface includes at least one cylindrical portion along the length of the post that is configured to engage an inner bushing of the socket.

In one embodiment, the at least one cylindrical portion comprises a plurality of cylindrical portions spaced apart along the length of the column.

In one embodiment, the plurality of cylindrical portions have a gradually decreasing diameter along the length of the column.

In one embodiment, the insertion interface includes a male tip at the terminal end of the post.

In one embodiment, each tapered key extends from a conical portion of the post to an outer periphery of a base portion of the post.

In one embodiment, the pillar has a cross-sectional shape selected from one of circular, elliptical or polygonal.

In one embodiment, the tapered key includes an inclined surface and a non-inclined surface, wherein the inclined surface is non-perpendicular to the base and the non-inclined surface is substantially perpendicular to the base.

In one embodiment, a robotic medical system includes a positioning system coupled to a base, the positioning system including a substantially vertical column. A robotic actuator has a socket for receiving the column. The column includes at least two tapered keys to engage the socket, the tapered keys being positioned at a bottom end of the column and oriented in an opposite manner to prevent the robotic actuator from rotating about at least one axis.

In one embodiment, the socket includes a tapered cavity for receiving the tapered key to cause physical engagement of the post and the socket.

In one embodiment, the post includes at least one insertion interface to facilitate insertion of the post into the socket.

In one embodiment, the insertion interface includes at least one cylindrical portion along the length of the post configured to engage an internal bushing disposed in the socket.

In one embodiment, the insertion interface includes a male tip at the terminal end of the post.

In one embodiment, the tapered key includes an inclined surface and a non-inclined surface, wherein the inclined surface is non-perpendicular to the base and the non-inclined surface is substantially perpendicular to the base.

In one embodiment, a robotic medical system includes a positioning system coupled to a base. The positioning system includes a substantially vertical column including a receiving portion disposed at a top portion of the column. The robotic drive has an attachment interface for engaging the receiving portion of the column and the receiving portion includes a tapered interface and the attachment interface includes a tapered hook configured to engage the tapered interface of the receiving portion.

In one embodiment, the receiving portion further comprises a tapered cavity disposed orthogonally to the tapered interface, and wherein the attachment interface comprises a tapered protrusion for insertion into the tapered cavity.

In one embodiment, the engagement of the tapered interface and the tapered hook prevents yaw movement of the robotic actuator, and the engagement of the tapered cavity and the tapered protrusion prevents pitch movement of the robotic actuator.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be more fully understood from the following detailed description in conjunction with the accompanying drawings, wherein reference numerals designate similar parts, wherein:

FIG1 is a perspective view of an exemplary catheter-based surgical system according to an embodiment;

FIG2 is a schematic block diagram of an exemplary catheter-based surgical system according to an embodiment;

FIG3 is a side view of the exemplary catheter-based surgical system of FIG1 with certain components removed for clarity;

4 is a perspective view of an exemplary positioning system for a robotic actuator according to an embodiment;

FIG5 is a perspective view of an exemplary catheter-based surgical system with a robotic actuator attached to a positioning system;

6 is a perspective view illustrating an exemplary column of a positioning system and an exemplary robotic drive for attachment to the column according to an embodiment;

FIG. 7 is a detailed illustration of an exemplary column for attaching the positioning system of the robotic drive of FIG. 6 ;

FIG8 is a detailed exploded view illustrating the attachment of the robotic drive to the positioning system of FIGS. 6 and 7 ;

9A , 10A , and 11A illustrate the installation of an exemplary robotic drive for attachment to an exemplary positioning system according to an embodiment;

9B , 10B , and 11B are cross-sectional views of FIGS. 9A , 10A , and 11A , respectively;

12 is a perspective view illustrating an exemplary column of a positioning system and an exemplary robotic drive for attachment to the column according to an embodiment;

FIG13 is a detailed view illustrating the attachment of the robotic drive to the positioning system of FIG12;

FIG. 14 is a cross-sectional view of the attachment of FIG. 13 taken along 14-14 of FIG. 13;

Fig. 15 is a cross-sectional view of Fig. 13 attached and taken along 15-15 of Fig. 14;

16A is a perspective view of a column for mounting an exemplary robotic drive for attachment to an exemplary positioning system, according to an embodiment;

FIG. 16B is another perspective view of the column of FIG. 16A ; and

FIG. 17 is a socket receiving the post of FIG. 16A .

Detailed ways

Fig. 1 is a perspective view of an exemplary catheter-based surgical system 10 according to an embodiment. The catheter-based surgical system 10 can be used to perform catheter-based medical procedures, such as percutaneous interventional procedures, such as percutaneous coronary intervention (PCI) (e.g., to treat STEMI), neurovascular interventional procedures (NVI) (e.g., to treat emergency large vessel occlusion (ELVO)), peripheral vascular interventional procedures (PVI) (e.g., for critical limb ischemia (CLI)), etc.). Catheter-based medical procedures may include diagnostic catheterization procedures, during which one or more catheters or other elongated medical devices (EMDs) are used to help diagnose a patient's disease. For example, during one embodiment of a catheter-based diagnostic procedure, a contrast agent is injected into one or more arteries through a catheter, and an image of the patient's vascular system is taken. Catheter-based medical procedures may also include catheter-based therapeutic procedures (e.g., angioplasty, stent placement, treatment of peripheral vascular disease, clot removal, arteriovenous malformation treatment, treatment of aneurysms, etc.), during which a catheter (or other EMD) is used to treat the disease. The therapeutic procedure can be enhanced by including an accessory device 54 (as shown in FIG. 2 ), such as, for example, intravascular ultrasound (IVUS), optical coherence tomography (OCT), fractional flow reserve (FFR), etc. It should be noted, however, that those skilled in the art will recognize that certain specific percutaneous interventional devices or components (e.g., type of guidewire, type of catheter, etc.) may be selected based on the type of procedure to be performed. The catheter-based surgical system 10 may perform any number of catheter-based medical procedures with only minor adjustments to accommodate the specific percutaneous interventional device used in the procedure.

The catheter-based surgical system 10 includes a bedside unit 20 and a control station (not shown) and other elements. The bedside unit 20 includes a robot drive 24 and a positioning system 22 positioned adjacent to the patient 12. The patient 12 is supported on a patient table 18. The positioning system 22 is used to position and support the robot drive 24. The positioning system 22 can be, for example, a robot arm, an articulated arm, a holder, etc. One end of the positioning system 22 can be attached to, for example, a patient table 18 (as shown in FIG. 1), a base or a cart. The other end of the positioning system 22 is attached to the robot drive 24. The positioning system 22 can be removed (together with the robot drive 24) to allow the patient 12 to be placed on the patient table 18. Once the patient 12 is positioned on the patient table 18, the positioning system 22 can be used to position or position the robot drive 24 relative to the patient 12 for surgery. In one embodiment, the patient table 18 is operably supported by a base 17 fixed to a floor and/or ground. The patient table 18 can move with multiple degrees of freedom relative to the base 17, such as rolling, pitching and yaw. The bedside unit 20 may also include a control and display 46 (shown in FIG. 2 ). For example, the control and display may be located on the housing of the robotic drive 24 .

Typically, the robotic drive 24 can be equipped with appropriate percutaneous interventional devices and accessories 48 (as shown in FIG. 2 ) (e.g., guidewires, various types of catheters, including balloon catheters, stent delivery systems, stent retrievers, embolic coils, liquid emboli, suction pumps, devices for delivering contrast agents, drugs, hemostatic valve adapters, syringes, stopcocks, inflatable devices, etc.) to allow a user or operator to perform catheter-based medical procedures via the robotic system by operating various controls (such as controls and inputs located at a control station). The bedside unit 20, in particular the robotic drive 24, can include any number and/or combination of components to provide the bedside unit 20 with the functionality described herein. The robotic drive 24 includes a plurality of device modules 32a-d mounted to a track or linear member. Each device module 32a-d can be used to drive an EMD, such as a catheter or a guidewire. For example, the robotic drive 24 can be used to automatically deliver a guidewire into a diagnostic catheter and into a guide catheter in an artery of the patient 12. One or more devices, such as an EMD, enter the body (e.g., a blood vessel) of the patient 12 at the insertion point 16 via, for example, an introducer sheath.

The bedside unit 20 communicates with a control station (not shown), thereby allowing signals generated by user inputs to the control station to be transmitted to the bedside unit 20 wirelessly or via hard wiring to control various functions of the bedside unit 20. As discussed below, the control station 26 may include a control computing system 34 (as shown in FIG. 2) or be connected to the bedside unit 20 through a control computing system 34. The bedside unit 20 may also provide feedback signals (e.g., load, speed, operating conditions, warning signals, error codes, etc.) to the control station, the control computing system 34 (as shown in FIG. 2), or both. Communication between the control computing system 34 and the various components of the catheter-based surgical system 10 may be provided via a communication link, which may be a wireless connection, a cable connection, or any other means that allows communication to occur between the components. The control station or other similar control system may be located at a local site (e.g., a local control station 38 shown in FIG. 2) or a remote site (e.g., a remote control station and computer system 42 shown in FIG. 2). The catheter surgical system 10 may be operated by a control station at a local site, by a control station at a remote site, or by both a local control station and a remote control station. At the local site, the user or operator and the control station are located in the same room or an adjacent room as the patient 12 and the bedside unit 20. As used herein, the local site is the location of the bedside unit 20 and the patient 12 or subject (e.g., an animal or a cadaver), and the remote site is the location of the user or operator and the control station for remotely controlling the bedside unit 20. For example, the control station (and control computing system) at the remote site and the bedside unit 20 and/or control computing system at the local site can communicate over the Internet using a communication system and server 36 (shown in FIG. 2 ). In an embodiment, the remote site and the local (patient) site are remote from each other, for example, in different rooms in the same building, different buildings in the same city, different cities, or other different locations where the remote site cannot physically access the bedside unit 20 and/or the patient 12 at the local site.

The control station typically includes one or more input modules 28 that are configured to receive user input to operate various components or systems of the catheter-based surgical system 10. In the illustrated embodiment, the control station allows a user or operator to control the bedside unit 20 to perform a catheter-based medical procedure. For example, the input module 28 can be configured to cause the bedside unit 20 to perform various tasks (e.g., advance, retract, or rotate a guidewire, advance, retract, or rotate a catheter, inflate or deflate a balloon located on a catheter, position and/or deploy a stent, position and/or deploy a stent retriever, position and/or deploy a coil, inject contrast media into a catheter, inject a liquid embolism into a catheter, inject a drug or saline into a catheter, aspirate on a catheter, or perform any other function that may be performed as part of a catheter-based medical procedure) using a percutaneous interventional device (e.g., EMD) connected to a robotic drive 24. The robotic drive 24 includes various drive mechanisms to cause movement (e.g., axial and rotational movement) of components of the bedside unit 20 including the percutaneous interventional device.

In one embodiment, the input module 28 may include one or more touch screens, joysticks, scroll wheels and/or buttons. In addition to the input module 28, the control station 26 may also use additional user controls 44 (as shown in FIG. 2), such as a foot switch and a microphone for voice commands. The input module 28 may be configured to advance, retract or rotate various components and percutaneous interventional devices, such as, for example, guidewires, and one or more catheters or microcatheters. The buttons may include, for example, an emergency stop button, a multiplier button, a device selection button, and an automatic movement button. When the emergency stop button is pressed, the power (e.g., electrical power) of the bedside unit 20 is cut off or removed. When in speed control mode, the multiplier button is used to increase or decrease the speed at which the relevant components move in response to the manipulation of the input module 28. When in position control mode, the multiplier button changes the mapping between the input distance and the output command distance. The device selection button allows the user or operator to select which percutaneous interventional devices loaded into the robot drive 24 are controlled by the input module 28. The automatic movement button is used to enable the algorithm movement that the catheter-based surgical system 10 can perform on the percutaneous interventional device without direct commands from the user or operator 11. In one embodiment, the input module 28 may include one or more controls or icons (not shown) displayed on a touch screen (which may or may not be part of a display) that, when activated, cause operation of a component of the catheter-based surgical system 10. The input module 28 may also include a balloon or stent control that is configured to inflate or deflate a balloon and/or deploy a stent. Each input module 28 may include one or more buttons, scroll wheels, joysticks, touch screens, etc., which may be used to control one or more specific components dedicated to the control. In addition, one or more touch screens may display one or more icons (not shown) associated with various portions of the input module 28 or with various components of the catheter-based surgical system 10.

The catheter-based surgical system 10 also includes an imaging system 14. The imaging system 14 can be any medical imaging system that can be used in conjunction with a catheter-based medical procedure (e.g., non-digital X-ray, digital X-ray, CT, MRI, ultrasound, etc.). In an exemplary embodiment, the imaging system 14 is a digital X-ray imaging device that communicates with a control station. In one embodiment, the imaging system 14 can include a C-arm (as shown in FIG. 1 ) that allows the imaging system 14 to partially or completely rotate around the patient 12 so as to obtain images at different angular positions relative to the patient 12 (e.g., sagittal views, caudal views, anteroposterior views, etc.). In one embodiment, the imaging system 14 is a fluoroscopic system that includes a C-arm having an X-ray source 13 and a detector 15, also referred to as an image intensifier.

The imaging system 14 can be configured to take X-ray images of appropriate areas of the patient 12 during surgery. For example, the imaging system 14 can be configured to take one or more X-ray images of the head to diagnose neurovascular conditions. The imaging system 14 can also be configured to take one or more X-ray images (e.g., real-time images) during a catheter-based medical procedure to help a user or operator 11 at the control station 26 properly position a guidewire, guide catheter, microcatheter, stent retriever, coil, stent, balloon, etc. during surgery. The one or more images can be displayed on the display 30. For example, an image can be displayed on the display to allow the user or operator to accurately move a guide catheter or guidewire to the appropriate position.

In order to clarify the direction, a rectangular coordinate system with X, Y and Z axes is introduced. The positive X axis is oriented in the longitudinal (axial) distal direction, that is, in the direction from the proximal end to the distal end, in other words, from the proximal direction to the distal direction. The Y axis and the Z axis are located in the transverse plane of the X axis, the positive Z axis is oriented upward, that is, in the direction opposite to gravity, and the Y axis is automatically determined by the right-hand rule.

FIG. 2 is a block diagram of a catheter-based surgical system 10 according to an exemplary embodiment. The catheter surgical system 10 may include a control computing system 34. The control computing system 34 may be physically part of a control station, for example. The control computing system 34 may generally be an electronic control unit suitable for providing the various functions described herein for the catheter-based surgical system 10. For example, the control computing system 34 may be an embedded system, a dedicated circuit, a general-purpose system programmed with the functions described herein, etc. The control computing system 34 communicates with the bedside unit 20, a communication system and server 36 (e.g., the Internet, a firewall, a cloud server, a session manager, a hospital network, etc.), a local control station 38, an additional communication system 40 (e.g., a telepresence system), a remote control station and computing system 42, and a patient sensor 56 (e.g., an electrocardiogram (ECG) device, an electroencephalogram (EEG) device, a blood pressure monitor, a temperature monitor, a heart rate monitor, a respiratory monitor, etc.). The control computing system also communicates with the imaging system 14, the patient table 18, the additional medical system 50, the contrast agent injection system 52, and the accessory devices 54 (e.g., IVUS, OCT, FFR, etc.). The bedside unit 20 includes a robotic drive 24, a positioning system 22, and may include additional controls and a display 46. As described above, the additional controls and displays may be located on the housing of the robotic drive 24. Interventional devices and accessories 48 (e.g., guidewires, catheters, etc.) are connected to the bedside system 20. In an embodiment, the interventional devices and accessories 48 may include dedicated devices (e.g., IVUS catheters, OCT catheters, FFR wires, diagnostic catheters for angiography, etc.) that are connected to their respective accessory devices 54, i.e., IVUS systems, OCT systems, and FFR systems, etc.

In various embodiments, the control computing system 34 is configured to generate control signals based on user interaction with the input module 28 (e.g., of a control station such as a local control station 38 or a remote control station 42) and/or based on information accessible to the control computing system 34, so that a medical procedure can be performed using the catheter-based surgical system 10. The local control station 38 includes one or more displays 30, one or more input modules 28, and additional user controls 44. The remote control station and computing system 42 may include similar components to the local control station 38. The remote control station 42 and the local control station 38 may be different and may be customized based on their desired functions. The additional user controls 44 may include, for example, one or more foot input controls. The foot input controls may be configured to allow the user to select functions of the imaging system 14, such as turning on and off the X-ray and scrolling through different stored images. In another embodiment, the foot input device may be configured to allow the user to select which devices are mapped to the scroll wheel included in the input module 28. Additional communication systems 40 (eg, audio conferencing, video conferencing, telepresence, etc.) may be employed to assist the operator in interacting with the patient, medical personnel (eg, vascular suite personnel), and/or equipment near the bedside.

The catheter-based surgical system 10 may be connected or configured to include any other systems and/or devices not explicitly shown. For example, the catheter-based surgical system 10 may include an image processing engine, a data storage and archiving system, an automatic balloon and/or stent inflation system, a drug injection system, a drug tracking and/or recording system, a user log, an encryption system, a system for limiting access to or use of the catheter-based surgical system 10, and the like.

As mentioned, the control computing system 34 communicates with the bedside unit 20, which includes the robotic drive 24, the positioning system 22, and may include additional controls and a display 46, and may provide control signals to the bedside unit 20 to control the operation of motors and drive mechanisms used to drive percutaneous interventional devices (e.g., guidewires, catheters, etc.). Various drive mechanisms may be provided as part of the robotic drive 24.

Referring now to FIG. 3 , a side view of the exemplary catheter-based surgical system 10 of FIG. 1 is shown with certain components (e.g., patient, C-arm) removed for clarity. As described above with reference to FIG. 1 , the patient table 18 is supported on the base 17, and the robotic drive 24 is mounted to the patient table via the positioning system 22. The positioning system 22 allows the robotic drive 24 to be manipulated relative to the patient table 18. In this regard, the positioning system 22 is securely mounted to the patient table 18 and includes various joints and linkages/arms to allow manipulation, as described below with reference to FIG. 4 .

4 is a perspective view of an exemplary positioning system 22 for a robotic drive according to an embodiment. The positioning system 22 includes a mounting arrangement 60 to securely mount the positioning system 22 to the patient table 18. The mounting arrangement 60 includes an engagement mechanism to engage a first engagement member with a first longitudinal track and a second engagement member with a second longitudinal track of the patient table 18 to removably secure the positioning system to the patient table 18.

The positioning system 22 includes various segments and joint couplings to allow the robotic drive 24 to be positioned as desired, such as relative to a patient. The positioning system 22 includes a first rotation joint 70 coupled to the mounting arrangement 60. The first rotation joint 70 allows a first arm 72 or link to rotate about an axis of rotation. In the example shown, the mounting arrangement 60 is in a substantially horizontal plane (e.g., the plane of the patient table 18), and the axis of rotation is substantially vertical and extends through the center of the first rotation joint 70. The first rotation joint 70 may include circuitry that allows a user to control the rotation of the first rotation joint 70.

In the example shown, the first arm 72 is substantially horizontal with a first end coupled to the first swivel joint 70. The second end of the first arm 72 is coupled to the second swivel joint 74. In addition, the second swivel joint 74 is also coupled to the first end of the second arm 76. Thus, the second swivel joint 74 allows the second arm 76 to rotate relative to the first arm 72. Like the first swivel joint 70, the second swivel joint 74 allows rotation about a substantially vertical axis extending through the center of the second swivel joint 74. In addition, the second swivel joint 74 may include circuitry that allows a user to control the rotation of the second swivel joint 74.

In the example shown, the second end of the second arm 76 is coupled to a third rotary joint 78. The third rotary joint 78 includes a post 80 to allow the robotic drive 24 to be mounted to the positioning system 22. Thus, the third rotary joint 78 allows the robotic drive 24 to rotate relative to the second arm 76. The third rotary joint 78 allows rotation about a substantially vertical axis extending through the center of the third rotary joint 78. In addition, the third rotary joint 78 may include circuitry that allows a user to control the rotation of the third rotary joint 78.

In one example, the second arm 76 includes a 4-arm linkage that can allow limited vertical movement of the third rotation joint 78 relative to the second rotation joint 74. In this regard, the 4-arm linkage can allow vertical movement of the third rotation joint 78 while maintaining a substantially vertical orientation of the third rotation joint 78 and the column 80.

FIG. 5 is a perspective view of a catheter-based surgical system 10 with a robotic drive 24 attached to a positioning system 22. In various examples, the robotic drive 24 is mounted to the positioning system 22 in a safe manner and without the use of any specific or dedicated tools. In addition, it is desirable that the connection of the robotic drive 24 to the positioning system 22 is rigid, with minimal or no recoil. In this regard, the stiffness of the connection is required in all six degrees of freedom. The six degrees of freedom include translation along or rotation around the three axes of the coordinate system shown in FIG. 5. The X-axis is longitudinally aligned with the length of the robotic drive, the Y-axis is a horizontal axis perpendicular to the X-axis, and the Z-axis is vertically aligned. As used herein, "roll" refers to the rotation of the robotic drive 24 around the X-axis, "pitch" refers to the rotation of the robotic drive 24 around the Y-axis, and "yaw" refers to the rotation of the robotic drive 24 around the Z-axis.

In various examples described herein, the robotic drive is provided with a socket 90 for receiving the column 80 of the positioning system 22, as more clearly illustrated in FIG. 6. As described above, the column 80 is substantially vertical and is coupled to a base such as the positioning system 22 or the patient table 18. Thus, when the robotic drive 24 is positioned on the positioning system 22, the socket 90 of the robotic drive 24 receives the column 80 therein. The weight of the robotic drive 24 provides sufficient downward force to secure the robotic drive 24 to the positioning system 22 to prevent any translation in the vertical direction (i.e., along the Z axis). The robotic drive may be equal to or approximately 222N (or approximately 50 pounds). The position of the column on the arm and the socket on the drive helps to keep the liquid out of the socket. However, it is also conceivable in one embodiment that the column is located on the robotic drive 24 and the socket is located on the arm.

7 and 8 provide detailed illustrations of an exemplary column 80 of the positioning system 22 and detailed exploded views illustrating the socket 90 of the robot drive 24 attached to the socket 90 of the positioning system 22. In various examples, the column 80 is provided with at least one tapered interface to engage the socket 90. The tapered interface is oriented to prevent the robot drive 24 from rotating around at least one axis. In addition, the tapered key is also constrained in the vertical direction (Z axis). In the example shown in FIGS. 7 and 8, the column 80 is provided with a set of tapered interfaces or keys 82a, 82b to engage the socket 90 of the robot drive 24. The column has a top end and a bottom end. The bottom end is adjacent to the base, and the top end is opposite to the bottom end. The tapered keys 82a, 82b are positioned at the bottom end of the column 80 and are oriented in opposite ways to prevent the robot drive from rotating around at least one axis. In the example shown, the tapered keys 82a, 82b are located on opposite sides of the column 80, or are spaced about 180 degrees apart along the circumference of the column 80. In other examples, the tapered keys 82a, 82b can be positioned at positions other than about 180 degrees, but are spaced sufficiently apart so that the tapering of the tapered keys 82a, 82b prevents rotation of the robot drive. Referring to FIG. 7 , FIG. 16A and FIG. 16B , the first tapered key 82a includes an inclined surface 232c and a non-inclined surface 232g, and the second tapered key 82b includes an inclined surface 232d and a non-inclined surface 232f. The inclined surface and the non-inclined surface extend upward from the base along the length of the column. The key can be attached to the base or column. The inclined surfaces 232c and 232d have an inclined portion that is not perpendicular to the upper surface of the base portion or base portion 234a. The non-inclined surface is perpendicular or substantially perpendicular to the ground plane and/or the upper surface of the base portion or base portion. The tapered keys 82 and 82b each have a height extending from the upper surface of the base in a direction parallel to the longitudinal axis of the column 80. The height and width of the tapered keys 82 and 82b are sufficient to resist the torque applied to the socket 236 by the column around the vertical or longitudinal axis to ensure that the socket 236 does not climb up the inclined surfaces 232c and 232d of the tapered keys 82 and 82b, respectively. The geometry of the tapered keys 82 and 82b can also be applied to the columns 80 and 110 described herein. In the embodiment shown in Figure 8, the tapered keys 82a, 82b have the same shape and are in the same orientation, 180 degrees apart from each other. Similarly, the corresponding tapered cavities 92 have the same shape and are in the same orientation, 180 degrees apart from each other, corresponding to the positions of the tapered keys 82a, 82b. In the examples of Figures 7 and 8, the group of tapered keys 82a, 82b includes two keys. In other examples, the number of keys may not be two. For example, additional tapered keys may be provided to increase resistance to rotation of the robot drive. In one embodiment, a single key has two opposing tapered surfaces.

The taper angle of the tapered keys 82a, 82b is selected to prevent the robotic drive from rotating. In this regard, the taper of the tapered keys 82a, 82b should be steep enough so that the weight of the robotic drive prevents the drive from climbing up the steepness of the tapered keys 82a, 82b. On the other hand, the steepness of the taper of the tapered keys 82a, 82b should be limited to allow installation and removal of the robotic drive without excessive resistance.

The socket 90 of the robotic drive 24 is provided with a tapered cavity 92 for receiving the tapered keys 82a, 82b to cause physical engagement of the column and the robotic drive. In this regard, the tapered keys 82a, 82b of the column 80 and the corresponding tapered cavities 92 of the socket 90 are positioned to engage each other and orient the robotic drive 24 in a desired orientation in the X-Y plane relative to the positioning system 22. In various examples, the size of the tapered keys 82a, 82b is large enough to at least allow the tapered surface of the cavity 92 to make firm contact with the tapered keys 82a, 82b.

In addition, the tapered keys 82a, 82b of the post 80 and the corresponding cavity 92 of the socket 90 are formed to face the same direction and thus rotate relative to each other. In this regard, the tapering of the tapered keys 82a, 82b in opposite rotational directions along the circumference of the post 80 prevents or minimizes rotation or deflection about the Z axis.

In the example of FIGS. 7 and 8 , the post 80 includes at least one insertion interface to facilitate insertion of the post 80 into the socket 90. In this regard, the post 80 is provided with cylindrical portions 84a, 84b. The cylindrical portions 84a, 84b are formed along the vertical length of the post 80. In the example shown in FIGS. 7 and 8 , the post 80 is provided with two cylindrical portions 84a, 84b that are spaced apart along the vertical length of the post 80.

Correspondingly, the socket 90 is provided with internal bushings 94a, 94b, which are positioned along the vertical length of the cavity of the socket 90. In the example of Figure 8, the bushings are shown as separate bushings, which are positioned in various areas of the socket 90 to correspond to the positions of the cylindrical portions 84a, 84b of the post 80. In other examples, multiple bushings 94a, 94b can be formed as part of a single integrated piece in the socket. A single integrated piece can provide a smoother surface with minimal discontinuities or protrusions. When the post 80 is received in the socket 90, the cylindrical portions 84a, 84b engage the corresponding bushings 94a, 94b. The size of the bushings 94a, 94b is designed to fit securely around the cylindrical portions 84a, 84b, thereby preventing any lateral movement of the robot drive 24 relative to the positioning system 22 in the X-Y plane. Additionally, the secure fit of the cylindrical portions 84a, 84b with the bushings 94a, 94b and the cavity of the socket 90 along the vertical length of the column 80 minimizes or prevents rotation of the robotic drive 24 about the X-axis (roll) and Y-axis (pitch) relative to the positioning system 22.

To facilitate insertion of the column 80 into the socket 90, the cylindrical portions 84a, 84b have gradually decreasing diameters along the length of the column. In this regard, the first cylindrical portion 84a, measured from the bottom of the column, has a larger diameter than the second cylindrical portion 84b. Thus, during insertion, the second cylindrical portion 84b passes through the bushing 94a corresponding to the first cylindrical portion 84a without resistance. Using multiple cylindrical portions with sufficient tolerances provides stability and resistance to rotation about the X-axis (roll) and about the Y-axis (pitch).

Various embodiments may include an electrical connection between the positioning system 22 and the robotic drive 24. In this embodiment, the electrical pins and sockets would be integrated into the post 80 and the mating socket 90, and when the mechanical connection is made, the electrical connection would be made at the same time.

FIG. 9A, FIG. 10A and FIG. 11A illustrate an installation of an exemplary robot drive for attaching to an exemplary positioning system according to another embodiment, and FIG. 9B, FIG. 10B and FIG. 11B are cross-sectional views of FIG. 9A, FIG. 10A and FIG. 11A, respectively. FIG. 9A-FIG. 11B illustrate the attachment 100 of the post 110 of the positioning system being inserted into the socket 120 of the robot drive. The post 110 and the socket 120 of FIG. 9A-FIG. 11B are similar to the post 80 and the socket 90 described above with reference to FIG. 5-FIG. 8, respectively. In this regard, the post 110 is provided with a tapered interface or key 112a, 112b at the bottom of the post 110. As described above, the tapered keys 112a, 112b are positioned on opposite sides of the post (i.e., about 180 degrees apart) and are oriented in the same direction (i.e., relatively rotated). The socket 120 is provided with a cavity 122 to receive the tapered keys 112a, 112b therein. The engagement of the tapered keys 112a, 112b of the post 110 and the cavity 122 of the socket 120 minimizes or prevents (yaw) rotation of the robotic drive relative to the positioning system about the Z-axis.

In addition, the column 110 is provided with cylindrical portions 114a, 114b. Correspondingly, the socket 120 is provided with bushings 124a, 124b, which are located along the vertical length of the cavity of the socket 120. When the column 110 is received in the socket 120 as shown in FIG. 11B, the cylindrical portions 114a, 114b engage the corresponding bushings 124a, 124b. The engagement of the cylindrical portions 114a, 114b with the bushings 124a, 124b prevents any lateral movement of the robot drive relative to the positioning system in the X-Y plane. In addition, the tight fit of the cylindrical portions 114a, 114b with the bushings 124a, 124b and the cavity of the socket 120 along the vertical length of the column 110 minimizes or prevents the robot drive from rotating around the X-axis (roll) and Y-axis (pitch) relative to the positioning system.

In the example shown in FIG. 9A-FIG. 11B, the column 110 is provided with an insertion interface in the form of a convex tip 116 at the top of the column 110, which can be located at or near the top of the column. The convex tip 116 facilitates the insertion of the column 110 into the cavity of the socket 120. As shown in FIG. 10A and FIG. 10B, the convex tip 116 can be used as a guide for inserting the column 110 into the socket 120. In addition, the use of the convex tip 116 prevents the top of the column 110 from being stuck on the feature of the socket 120, thereby ensuring that the column 110 is inserted into the socket 120 to ensure the engagement of the socket 120 and the column 110. In the example shown in FIG. 9A-FIG. 11B, the convex tip 116 is a spherical tip. In other examples, the convex tip 116 can have any one of a variety of convex forms. The design of the column and the socket is such that when the column and the socket are connected, the misalignment of the deflection direction can be adjusted by manually moving the column and the socket relative to each other until the socket is correctly set on the column. This is achieved by the flat portion at the bottom of the socket.

Referring to FIGS. 16A, 16B and 17, another exemplary attachment of a column and a robotic drive 204 of a base (e.g., a positioning system) according to an embodiment is illustrated. In one embodiment, the column 230 includes a cylindrical base portion 234a, a transition cylindrical portion 234b, a frustoconical portion 234c, and a top cylindrical portion 234d. In this embodiment, a first tapered interface or key 232a and a second tapered interface or key 232b are integrally formed with the base portion 234a and extend the entire distance between the outer periphery of the transition cylindrical portion 234b and the outer periphery of the base portion 234a. In other words, the radial outer surfaces of the tapered keys 232a and 232b, respectively, measured from the longitudinal axis of the column 230, are adjacent to the radial outer periphery of the base portion 234a. In one embodiment, the tapered keys 232a and 232b are integrally formed with the base portion 234a, the transition cylindrical portion 234b, the frustoconical portion 234c, and the top cylindrical portion 234d. In one embodiment, the tapered keys 232a and 232b, the base portion 234a, the transition cylindrical portion 234b, the frustoconical tapered portion 234c, and the top cylindrical portion 234d have a hard black anodized surface.

The first tapered key 232a includes an inclined surface 232c and a substantially vertical surface 232g, and the second tapered key 232b includes an inclined surface 232d and a substantially vertical surface 232f. The inclined surfaces 232c and 232d have an inclined portion that is not perpendicular to the upper surface of the base portion 234a. The tapered keys 232a and 232b each have a height extending from the upper surface of the base portion 234a in a direction parallel to the longitudinal axis of the column 230. The tapered key 232a includes an upper surface 232h, and the tapered key 232b includes an upper surface 232i. The height and width of the tapered keys 232a and 232b are sufficient to resist the torque applied to the socket 236 by the column around the vertical or longitudinal axis to ensure that the socket 236 does not climb up the inclined surfaces 232c and 232d of the tapered keys 232a and 232ab, respectively. The geometry of the tapered keys 232a and 232b can also be applied to the column 80 and the column 110 described herein. The axial length of the cylindrical interface is short enough that a single interface can never react to pitch or roll moments, they always have to react between 2 different cylindrical segments. If a single cylindrical interface could react to these moments, the point loads would be very high and then loading and removing the drive would be very difficult.

17, the socket 236 includes a cavity for receiving the post 230. The socket 236 includes a first key receiving portion 238a and a second key receiving portion 238b, each of which has an inclined surface that aligns with the tapered key inclined surfaces 232c and 232d, respectively, in the installed position. In one embodiment, the first key receiving portion 238a and the second key receiving portion 238b are formed of a copper material.

Referring now to FIGS. 12-15 , another exemplary attachment 200 of a column 202 and a robotic drive 204 of a base (e.g., a positioning system) according to an embodiment is illustrated. FIG. 12 is a perspective view illustrating an exemplary column 202 and an exemplary attachment interface 220 of the robotic drive 204 for attaching the robotic drive 204 to the column 202. FIG. 13 illustrates the attachment 200 of the robotic drive 204 to the column 202.

The attachment interface 220 is formed as a socket for receiving therein at least a portion of the substantially vertical column 202. The column 202 is provided with a tapered interface 212 to engage the attachment interface 220. In this regard, the attachment interface 220 is provided with a tapered hook 222 to engage the column's tapered interface 212. The tapered interface 212 is oriented to prevent the robot drive 204 from rotating about at least one axis.

The tapered hook 222 of the attachment interface 220 is formed at a top portion of the attachment interface 220. The tapered interface 212 of the column 202 is formed in a receiving portion 210 provided on a top surface of the column 202. As shown in FIG. 13 , when the robot drive 204 is attached to the column 202, the tapered hook 222 of the attachment interface 220 is positioned above and around the tapered interface 212 of the column 202, as more clearly illustrated in the cross-sectional view provided in FIG.

The tapered interface 212 formed in the receiving portion 210 tapers downwardly. Thus, when the corresponding tapered hook 222 is positioned on the receiving portion 210, the tapered surface of the tapered hook 222 engages the tapered surface of the tapered interface 212. This tapered engagement, together with the downward force of the robot drive's weight, prevents vertical movement (along the Z axis) of the robot drive.

The receiving portion 210 of the exemplary column 202 further includes a tapered cavity 214 within the vertical plane of the receiving portion 210. The tapered cavity 214 is formed on a side of the receiving portion facing the robot drive 204. Correspondingly, the attachment interface 220 of the robot drive 204 is provided with a tapered protrusion 224 on a side surface of the attachment interface 220. The tapered protrusion 224 is formed on a side surface of the attachment interface 220 facing the receiving portion 210, and is thus positioned to be received by the tapered cavity 214 of the receiving portion 210, as shown in the cross-sectional views of FIG. 13 and FIG. 15. The engagement of the tapered cavity 214 and the tapered protrusion 224 minimizes or prevents (pitch) rotation of the robot drive around the Y axis.

The taper of the tapered protrusion 224 and the tapered cavity 214 is orthogonal to the taper of the tapered hook 222 and the tapered interface 212. In particular, when the tapered hook 222 and the tapered interface 212 taper downward in the vertical plane (X-Z plane), the tapered protrusion 224 and the tapered cavity 214 taper in the horizontal plane (X-Y plane). The engagement of the tapered protrusion 224 with the tapered cavity 214 minimizes or prevents (yaw) rotation of the robot drive around the Z axis. The combination of the engagement of the hook 222 with the tapered interface 212 and the engagement of the tapered protrusion 224 with the tapered cavity 214 minimizes or prevents (roll) rotation of the robot drive 24 around the X axis. Therefore, the combination of the engagement of the various tapered surfaces provides the stiffness of the attachment in the required six degrees of freedom. It should be noted that the lower tapered interface relies on the rolling moment of the drive mass to maintain its secure engagement.

This written description uses examples to disclose the utility model, including the best mode, and also enables any person skilled in the art to make and use the utility model. The patentable scope of the utility model is defined by the claims, and may include other examples that occur to those skilled in the art. If these other examples have structural elements that are not different from the literal language of the claims, or if they include equivalent structural elements that are not substantially different from the literal language of the claims, these other examples are intended to be included within the scope of the claims. According to alternative embodiments, the order and sequence of any process or method steps may be changed or reordered.

Without departing from the spirit of the present invention, many other changes and modifications may be made to the present invention. The scope of these and other changes will become apparent in the appended claims.

Claims (11)

1. A robotic medical system, the robotic medical system comprising:

a positioning system coupled to the base, the positioning system comprising a substantially vertical column (202), the column (202) comprising a receiver (210) disposed at a top portion of the column (202); and

-a robot driver (204), the robot driver (204) having an attachment interface (220) for engaging a receiving portion (210) of the column (202);

wherein the receiving portion (210) comprises a tapered interface (212), and the attachment interface (220) comprises a tapered hook (222) configured to engage the tapered interface (212) of the receiving portion (210).

2. The robotic medical system according to claim 1, wherein the tapered hook (222) and the tapered interface (212) taper downward in a vertical plane.

3. The robotic medical system according to claim 1, wherein the tapered hooks (222) of the attachment interface (220) are formed at a top portion of the attachment interface (220).

4. The robotic medical system according to claim 1, wherein a tapered interface (212) formed in the receiving portion (210) tapers downward, the downward tapered interface (212) and the downward gravitational force of the robotic driver preventing vertical movement of the robotic driver.

5. The robotic medical system according to claim 1, wherein the receiving portion (210) further comprises a tapered cavity (214) disposed orthogonal to the tapered interface (212), and wherein the attachment interface (220) comprises a tapered protrusion (224) for insertion into the tapered cavity (214), wherein engagement of the tapered interface (212) and the tapered hook (222) prevents yaw movement of the robotic driver (204), and engagement of the tapered cavity (214) and the tapered protrusion (224) prevents pitch movement of the robotic driver (204).

6. The robotic medical system according to claim 5, wherein the tapered protrusion (224) and the tapered cavity (214) taper in a horizontal plane.

7. The robotic medical system according to claim 5, wherein the receiving portion (210) is provided on a top surface of the column (202).

8. The robotic medical system according to claim 5, wherein the tapered hooks (222) of the attachment interface (220) are positioned over and around the tapered interface (212) of the post (202) when the robotic driver (204) is attached to the post (202).

9. The robotic medical system according to claim 5, wherein the tapered cavity (214) of the receiving portion (210) of the post (202) is formed on a side of the receiving portion facing the robotic driver (204), and the tapered protrusion (224) is formed on a side surface of the attachment interface (220) facing the receiving portion (210).

10. The robotic medical system according to claim 5, wherein a combination of engagement of the hook (222) with the tapered interface (212) and engagement of the tapered protrusion (224) with the tapered cavity (214) minimizes rolling rotation of the robotic driver (204).

11. The robotic medical system according to claim 5, wherein the combination of engagement of the hook (222) with the tapered interface (212) and engagement of the tapered protrusion (224) with the tapered cavity (214) provides for an attached stiffness in six degrees of freedom.