WO1995021046A1 - Device for spatially displacing and positioning an element - Google Patents

Device for spatially displacing and positioning an element Download PDF

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Publication number
WO1995021046A1
WO1995021046A1 PCT/FR1995/000120 FR9500120W WO9521046A1 WO 1995021046 A1 WO1995021046 A1 WO 1995021046A1 FR 9500120 W FR9500120 W FR 9500120W WO 9521046 A1 WO9521046 A1 WO 9521046A1
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WO
WIPO (PCT)
Prior art keywords
axis
rotation
arm
translation
orthogonal
Prior art date
Application number
PCT/FR1995/000120
Other languages
French (fr)
Inventor
François Danel
Original Assignee
Danel Technology Societe Anonyme
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Filing date
Publication date
Application filed by Danel Technology Societe Anonyme filed Critical Danel Technology Societe Anonyme
Publication of WO1995021046A1 publication Critical patent/WO1995021046A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints

Definitions

  • the invention relates to a device for moving and positioning an element intended to evolve in space in an operating field, of the type comprising at least three degrees of freedom in series, relative to a support.
  • Such a device generally consists of a carrying member mounted articulated on the support by one of its ends and carrying said element at its other end.
  • the carrying member has three main axes defining three degrees of freedom, and the orientation of said element is generally carried out by a wrist forming the articulation with respect to the carrying member, and which also comprises three degrees of freedom, generally rotations .
  • This concern for having a clear operating field around the hand and the tool of the device is particularly increased for applications in which the element is intended to operate in a well defined localized and circumscribed area, as well as in applications where the device is intended to evolve in direct cooperation with human operators to set up, for example, a robot to aid manipulation or human gestures. This is more particularly the case in the biomedical and surgical field, in particular neurosurgical.
  • the invention therefore generally aims to provide a device for moving and positioning an element in space of the type with at least three degrees of freedom in series, which does not include a sophisticated and bulky wrist.
  • the invention also aims to provide such a device whose end portion carrying the working tool is extremely simplified and compact.
  • the invention also aims to provide such a device that can be used in direct and permanent cooperation with human operators, for example for handling assistance.
  • Another object of the invention is to propose such a device making it possible to produce a robotic system intended for biomedical or surgical operations, and more particularly neurosurgical operations.
  • the invention provides such a device characterized in that the arm or the set of arms - carrier is mounted on the frame by a first rotation about a first axis oriented towards the operating field and by a translation d axis orthogonal to the axis of rotation.
  • the element is intended to evolve in a localized and circumscribed operating field in a predetermined manner and having at least one axis of symmetry, in particular in a biomedical, surgical or neurosurgical operating field, and the device is characterized in that the first axis of rotation is oriented along an axis of symmetry of the operating field. Said axis of translation is at least substantially orthogonal to the general direction between the frame and the operating field.
  • the invention also relates more particularly to a medical, biomedical, surgical or neurosurgical robot made up of such a device.
  • the invention also relates to such a device comprising in combination all or part of the characteristics mentioned above or below.
  • FIG. 1a is a diagram illustrating the kinematics of a first embodiment of a device according to the invention
  • FIG. 1b is a diagram illustrating the kinematics of a second embodiment of a device according to the invention.
  • FIGS. 2 and 3 are schematic perspective views of the embodiment of the device according to the invention in two different positions.
  • the invention relates to a device 1 for moving the positioning of an element 2 intended to evolve in the space of an operating field 3.
  • the device 1 is mounted by one of its end parts 4 on a frame 5.
  • the device comprises or supports the element 2 permanently or not, directly or indirectly, by means of removable fixing members, of a plate or any other support means 7.
  • the device 1 comprises, from its end part 4 and up to its opposite end part 6, the succession of members which is now described, these members being arranged together to define axes of movement such that the device 1 has at least three motorized degrees of freedom.
  • a plate 8 forming the end part 4 is mounted on the frame 5 so as to be able to pivot relatively around a first axis of rotation 9 (thus defining a first rotation RI).
  • the axis 9 is oriented towards the operating field 3, in particular along its main axis or of symmetry.
  • a carriage 10 On the plate 8 is mounted a carriage 10 so as to be able to slide over a certain stroke and relatively along a first translation axis 11 (thus defining a first translation Tl).
  • the translation T1 is carried out by a combination of the first rotation RI and of a rotation R + in the opposite direction to the first rotation RI (FIG. 1b).
  • the axes 9 and 11 are perpendicular and intersecting.
  • the axis 11 extends essentially in a direction orthogonal or transverse to that defined by the element 2 and the frame 5.
  • the assembly 8, 9, 10, 11 forms an articulation of the device 1 to the frame 5.
  • a first arm 13 On the carriage 10, and in particular on an ear 12 thereof perpendicular to the axis 11, is mounted by its first end part, a first arm 13, so as to be able to pivot relatively around a second axis of rotation 14 (defining a second rotation R2).
  • the axis 14 is orthogonal to the axis 9.
  • the axes 9 and 14 are perpendicular and intersecting, the axis 14 being parallel to the axis 11.
  • a second arm 13 On the first arm 13 and at its second end part is mounted, by its first end part, a second arm
  • the axis 16 is parallel to the axis 14.
  • a first holding part 17 On the second end part of the second arm 15 is mounted a first holding part 17 so as to be able to pivot relatively around a fourth axis of rotation 18 (defining a fourth rotation R4).
  • Axis 18 is parallel to axes 14 and 16.
  • a second retaining part 19 On the first retaining part 17 is mounted a second retaining part 19 so as to be able to slide, over a certain stroke and in relative fashion, along a second translation axis 20 (defining a second translation T2).
  • the axis 20 is orthogonal, in particular perpendicular, to the axis 18.
  • a third holding part 21 On the second holding part 19 is mounted a third holding part 21, so as to be able to pivot, relatively around a fifth axis of rotation 22 (defining a fifth rotation R5).
  • the axis 22 is parallel to the axis 20 but spaced transversely from it.
  • the three holding pieces 17, 19, 21 together form a head shaken by the support means 7, therefore by the element 2.
  • the fifth rotation R5 corresponds to that specific to element 2. It is provided as far as necessary.
  • the invention is particularly advantageous and more specifically applicable in the case where the operating field 3 has a certain axial or spherical symmetry.
  • the axis 9 of the rotation RI is oriented to correspond to a main axis of symmetry of the operating field 3.
  • the displacements of the element 2 can thus be carried out symmetrically with great precision and make it possible to choose orientations of the arms 13, 15 and the support means 7 in order to optimize accessibility to the operating field.
  • Figures 2 and 3 show in two different directions an embodiment of the invention for a neurosurgical application.
  • the patient's head is inserted into a cylindrical flange 23 of revolution.
  • the axis 9 of the first rotation RI is aligned along the axis of symmetry of this flange 23.
  • This axis 9 is therefore generally oriented along the main axis of the patient's body to be operated, the latter being assumed to be extended horizontally.
  • the rotations RI, R2, R4, R5, and the translations T1 and T2 can be carried out in a manner known per se or within the reach of those skilled in the art by high-precision servomotors controlled by numerical control.
  • the architecture of the device according to the invention makes it possible in particular to use identical elements which are particularly simple, in particular for rotations R2, R3, R4.
  • the invention relates more particularly to a neurosurgical robot comprising carrying arms 13, 15 characterized in that the articulation of these carrying arms 13, 15 to the fixed frame 5 comprises a rotation RI of axis 9.
  • a neurosurgical robot comprising carrying arms 13, 15 characterized in that the articulation of these carrying arms 13, 15 to the fixed frame 5 comprises a rotation RI of axis 9.

Abstract

Device for spatially displacing and positioning an element (2) at the site of an operative incision (3), of the type comprising at least three successive degrees of freedom in relation to a support (5), a carrying arm or a carrying arm assembly (13, 15) being articulated to the support (5) by means of one of its most remote parts (4) and carrying the element (2) at its other remote part (6). According to the invention, the carrying arm or carrying arm assembly (13, 15) is mounted on the support (5) by means of a first rotation (R1) about a first axis (9) oriented towards the operative incision site (3) and by the translation (T1) of the axis (11) perpendicular to the axis of rotation (9).

Description

DISPOSITIF DE DEPLACEMENT ET DE POSITIONNEMENT D'UN ELEMENT DANS L'ESPACE DEVICE FOR MOVING AND POSITIONING AN ELEMENT IN SPACE
L'invention concerne un dispositif pour le déplacement et le positionnement d'un élément destiné à évoluer dans l'espace dans un champ opératoire, du type comprenant au moins trois degrés de liberté en série, par rapport à un support.The invention relates to a device for moving and positioning an element intended to evolve in space in an operating field, of the type comprising at least three degrees of freedom in series, relative to a support.
On connaît déjà de nombreux dispositifs de ce type, par exemple les bras de robots industriels. Un tel dispositif est généralement constitué d'un membre porteur monté articulé sur le support par une de ses extrémités et portant ledit élément à son autre extrémité. En général, le membre porteur comporte trois axes principaux définissant trois degrés de liberté, et l'orientation dudit élément est généralement réalisé par un poignet formant l'articulation par rapport au membre porteur, et qui comporte également trois degrés de liberté, généralement des rotations.Numerous devices of this type are already known, for example the arms of industrial robots. Such a device generally consists of a carrying member mounted articulated on the support by one of its ends and carrying said element at its other end. In general, the carrying member has three main axes defining three degrees of freedom, and the orientation of said element is generally carried out by a wrist forming the articulation with respect to the carrying member, and which also comprises three degrees of freedom, generally rotations .
Dans cette configuration classique d'un bras de robot articulé, généralement calqué sur la morphologie humaine, le poignet porté par le membre porteur est extrêmement complexe, onéreux et généralement encombrant du seul fait de la présence indispensable des trois degrés de liberté localisés à cet endroit. Or, l'encombrement dans l'espace du poignet et de la main limite les possibilités de travail et, plus généralement les performances du dispositif. Dans le même sens, une masse importante portée à l'extrémité libre de ce dispositif en forme de bras articulé limite les performances en vitesse et en accélération.In this classic configuration of an articulated robot arm, generally modeled on human morphology, the wrist worn by the carrying member is extremely complex, expensive and generally bulky simply because of the essential presence of the three degrees of freedom located at this location . However, the space in the space of the wrist and hand limits the possibilities of work and, more generally, the performance of the device. In the same direction, a large mass carried at the free end of this device in the form of an articulated arm limits the performance in speed and in acceleration.
Ce souci de disposer d'un champ opératoire dégagé autour de la main et de l'outil du dispositif se présente de façon particulièrement accrue pour les applications dans lesquelles l'élément est destiné à évoluer dans une zone localisée et circonscrite bien définie, ainsi que dans les applications où le dispositif est destiné à évoluer en coopération directe avec des opérateurs humains pour constituer par exemple un robot d'aide à la manipulation ou aux gestes humains. Tel est plus particulièrement le cas dans le domaine biomédical et chirurgical, notamment neuro- chirurgical.This concern for having a clear operating field around the hand and the tool of the device is particularly increased for applications in which the element is intended to operate in a well defined localized and circumscribed area, as well as in applications where the device is intended to evolve in direct cooperation with human operators to set up, for example, a robot to aid manipulation or human gestures. This is more particularly the case in the biomedical and surgical field, in particular neurosurgical.
L'invention vise donc de façon générale à proposer un dispositif de déplacement et de positionnement d'un élément dans l'espace du type à moins trois degrés de liberté en série, qui ne comporte pas de poignet sophistiqué et encombrant.The invention therefore generally aims to provide a device for moving and positioning an element in space of the type with at least three degrees of freedom in series, which does not include a sophisticated and bulky wrist.
L'invention a également pour objet de proposer un tel dispositif dont la portion d'extrémité portant l'outil de travail est extrêmement simplifiée et peu encombrante.The invention also aims to provide such a device whose end portion carrying the working tool is extremely simplified and compact.
L'invention a également pour objet de proposer un tel dispositif susceptible de pouvoir être utilisé en coopération directe et permanente avec les opérateurs humains, par exemple pour l'aide à la manipulation.The invention also aims to provide such a device that can be used in direct and permanent cooperation with human operators, for example for handling assistance.
L'invention a également pour objet de proposer un tel dispositif permettant de réaliser un système robotisé destiné aux opérations biomédicales ou chirurgicales, et plus particulièrement neuro-chirurgicales.Another object of the invention is to propose such a device making it possible to produce a robotic system intended for biomedical or surgical operations, and more particularly neurosurgical operations.
Pour ce faire, l'invention propose un tel dispositif caractérisé en ce que le bras ou l'ensemble de bras - porteur est monté sur le bâti par une première rotation autour d'un premier axe orienté vers le champ opératoire et par une translation d'axe orthogonal à l'axe de rotation.To do this, the invention provides such a device characterized in that the arm or the set of arms - carrier is mounted on the frame by a first rotation about a first axis oriented towards the operating field and by a translation d axis orthogonal to the axis of rotation.
On a constaté, contrairement aux configurations généralement utilisées et au préjugé général antérieur, que le seul fait de prévoir un tel premier axe de rotation et un axe de translation orthogonal au premier axe de rotation entre le ou les bras et le bâti, permet de s'affranchir de l'utilisation d'un poignet conventionnel, c'est à dire d'une liaison à au moins trois degrés de liberté en rotation. Dès lors, l'extrémité libre du ou des bras porteur et son association avec les moyens support de l'élément peuvent être simplifiées évitant ainsi les fausses manipulations, diminuant les imprécisions et augmentant la rigidité générale de l'ensemble, le tout avec un encombrement largement diminué par rapport à l'art antérieur.It has been found, contrary to the generally used configurations and to the previous general prejudice, that the mere fact of providing such a first axis of rotation and a translation axis orthogonal to the first axis of rotation between the arm (s) and the frame, makes it possible to s free from the use of a conventional wrist, that is to say a connection with at least three degrees of freedom in rotation. Therefore, the free end of the arm (s) carrier and its association with the support means of the element can be simplified thereby avoiding false handling, reducing inaccuracies and increasing the general rigidity of the assembly, all with a greatly reduced bulk compared to the prior art.
Selon l'invention, l'élément est destiné à évoluer dans un champ opératoire localisé et circonscrit de façon prédéterminée et présentant au moins un axe de symétrie, notamment dans un champ opératoire biomédical, chirurgical ou neuro-chirurgical, et le dispositif est caractérisé en ce que le premier axe de rotation est orienté selon un axe de symétrie du champ opératoire. Ledit axe de translation est au moins sensiblement orthogonal à la direction générale entre le bâti et le champ opératoire.According to the invention, the element is intended to evolve in a localized and circumscribed operating field in a predetermined manner and having at least one axis of symmetry, in particular in a biomedical, surgical or neurosurgical operating field, and the device is characterized in that the first axis of rotation is oriented along an axis of symmetry of the operating field. Said axis of translation is at least substantially orthogonal to the general direction between the frame and the operating field.
L'invention concerne également plus particulièrement un robot médical, biomédical, chirurgical ou neuro¬ chirurgical constitué d'un tel dispositif.The invention also relates more particularly to a medical, biomedical, surgical or neurosurgical robot made up of such a device.
L'invention concerne également un tel dispositif comportant en combinaison tout ou partie des caractéristiques mentionnées ci-dessus ou ci-après.The invention also relates to such a device comprising in combination all or part of the characteristics mentioned above or below.
D'autres avantages et caractéristiques de l'invention apparaîtront à la lecture de la description suivante d'un mode de réalisation préférentiel de l'invention qui se réfère aux figures annexées dans lesquelles :Other advantages and characteristics of the invention will appear on reading the following description of a preferred embodiment of the invention which refers to the appended figures in which:
La figure la est un schéma illustrant la cinématique d'un premier mode de réalisation d'un dispositif selon l'invention ;FIG. 1a is a diagram illustrating the kinematics of a first embodiment of a device according to the invention;
La figure lb est un schéma illustrant la cinématique d'un second mode de réalisation d'un dispositif selon l'invention ;FIG. 1b is a diagram illustrating the kinematics of a second embodiment of a device according to the invention;
- Les figures 2 et 3 sont des vues schématiques en perspective du mode de réalisation du dispositif selon l'invention selon deux positions différentes. L'invention concerne un dispositif 1 de déplacement de positionnement d'un élément 2 destiné à évoluer dans l'espace d'un champ opératoire 3.- Figures 2 and 3 are schematic perspective views of the embodiment of the device according to the invention in two different positions. The invention relates to a device 1 for moving the positioning of an element 2 intended to evolve in the space of an operating field 3.
Le dispositif 1 est monté par une de ses parties extrêmes 4 sur un bâti 5.The device 1 is mounted by one of its end parts 4 on a frame 5.
A son autre partie extrême opposée 6, le dispositif comporte ou supporte l'élément 2 à demeure ou non, directement ou indirectement, au moyen d'organes de fixation amovibles, d'une platine ou tout autre moyen de support 7.At its other opposite extreme part 6, the device comprises or supports the element 2 permanently or not, directly or indirectly, by means of removable fixing members, of a plate or any other support means 7.
Le dispositif 1 comprend, à partir de sa partie extrême 4 et jusqu'à sa partie extrême opposée 6, la succession d'organes qui est maintenant décrite, ces organes étant agencés entre eux pour définir des axes de déplacement tels que le dispositif 1 présente au moins trois degrés de liberté motorisés.The device 1 comprises, from its end part 4 and up to its opposite end part 6, the succession of members which is now described, these members being arranged together to define axes of movement such that the device 1 has at least three motorized degrees of freedom.
Une platine 8 formant la partie extrême 4 est montée sur le bâti 5 de manière à pouvoir pivoter de façon relative autour d'un premier axe de rotation 9 (définissant ainsi une première rotation RI) .A plate 8 forming the end part 4 is mounted on the frame 5 so as to be able to pivot relatively around a first axis of rotation 9 (thus defining a first rotation RI).
L'axe 9 est orienté vers le champ opératoire 3, notamment selon son axe principal ou de symétrie.The axis 9 is oriented towards the operating field 3, in particular along its main axis or of symmetry.
Sur la platine 8 est monté un chariot 10 de manière à pouvoir coulisser sur une certaine course et de façon relative le long d'un premier axe de translation 11 (définissant ainsi une première translation Tl) .On the plate 8 is mounted a carriage 10 so as to be able to slide over a certain stroke and relatively along a first translation axis 11 (thus defining a first translation Tl).
Selon un mode de réalisation de l'invention, la translation Tl est réalisée par une combinaison de la première rotation RI et d'une rotation R+ de sens opposé à la première rotation RI (figure lb) .According to one embodiment of the invention, the translation T1 is carried out by a combination of the first rotation RI and of a rotation R + in the opposite direction to the first rotation RI (FIG. 1b).
Les axes 9 et 11 sont perpendiculaires et sécants. L'axe 11 s'étend essentiellement dans une direction orthogonale ou transversale à celle définie par l'élément 2 et le bâti 5. L'ensemble 8, 9, 10, 11 forme une articulation du dispositif 1 au bâti 5.The axes 9 and 11 are perpendicular and intersecting. The axis 11 extends essentially in a direction orthogonal or transverse to that defined by the element 2 and the frame 5. The assembly 8, 9, 10, 11 forms an articulation of the device 1 to the frame 5.
Sur le chariot 10, et notamment sur une oreille 12 de celui-ci perpendiculaire à l'axe 11, est monté par sa première partie extrême, un premier bras 13, de manière à pouvoir pivoter de façon relative autour d'un deuxième axe de rotation 14 (définissant une deuxième rotation R2) .On the carriage 10, and in particular on an ear 12 thereof perpendicular to the axis 11, is mounted by its first end part, a first arm 13, so as to be able to pivot relatively around a second axis of rotation 14 (defining a second rotation R2).
L'axe 14 est orthogonal à l'axe 9. En particulier, les axes 9 et 14 sont perpendiculaires et sécants, l'axe 14 étant parallèle à l'axe 11.The axis 14 is orthogonal to the axis 9. In particular, the axes 9 and 14 are perpendicular and intersecting, the axis 14 being parallel to the axis 11.
Sur le premier bras 13 et à sa seconde partie extrême est monté, par sa première partie extrême, un second brasOn the first arm 13 and at its second end part is mounted, by its first end part, a second arm
15 de manière à pouvoir pivoter, de façon relative, autour d'un troisième axe de rotation 16 (définissant une troisième rotation R3) .15 so as to be able to pivot, relatively, around a third axis of rotation 16 (defining a third rotation R3).
L'axe 16 est parallèle à l'axe 14.The axis 16 is parallel to the axis 14.
Sur la seconde partie extrême du second bras 15 est montée une première pièce de maintien 17 de manière à pouvoir pivoter de façon relative, autour d'un quatrième axe de rotation 18 (définissant une quatriere rotation R4) .On the second end part of the second arm 15 is mounted a first holding part 17 so as to be able to pivot relatively around a fourth axis of rotation 18 (defining a fourth rotation R4).
L'axe 18 est parallèle aux axes 14 et 16.Axis 18 is parallel to axes 14 and 16.
Sur la première pièce de maintien 17 est montée une deuxième pièce de maintien 19 de manière à pouvoir coulisser, sur une certaine course et de façonn relative, le long d'un deuxième axe de translation 20 (définissant une deuxième translation T2) .On the first retaining part 17 is mounted a second retaining part 19 so as to be able to slide, over a certain stroke and in relative fashion, along a second translation axis 20 (defining a second translation T2).
L'axe 20 est orthogonal, notamment perpendiculaire, à l'axe 18.The axis 20 is orthogonal, in particular perpendicular, to the axis 18.
Sur la deuxième pièce de maintien 19 est montée une troisième pièce de maintien 21, de manière à pouvoir pivoter, de façon relative autour d'un cinquième axe de rotation 22 (définissant une cinquière rotation R5) .On the second holding part 19 is mounted a third holding part 21, so as to be able to pivot, relatively around a fifth axis of rotation 22 (defining a fifth rotation R5).
L'axe 22 est parallèle à l'axe 20 mais écarté transversalement de lui. Les trois pièces de maintien 17, 19, 21 forment, ensemble, une tête treminée par les moyens support 7 donc par l'élément 2.The axis 22 is parallel to the axis 20 but spaced transversely from it. The three holding pieces 17, 19, 21 together form a head shaken by the support means 7, therefore by the element 2.
La cinquième rotation R5 correspond à celle propre de l'élément 2. Elle est prévue pour autant que nécessaire.The fifth rotation R5 corresponds to that specific to element 2. It is provided as far as necessary.
L'invention est particulièrement avantageuse et plus spécifiquement applicable dans le cas où le champ opératoire 3 présente une certaine symétrie axiale ou sphérique. Dans ce cas, l'axe 9 de la rotation RI est orienté pour correspondre à un axe de symétrie principal du champ opératoire 3. Les déplacements de l'élément 2 peuvent être ainsi réalisés de façon symétrique avec une grande précision et permettent de choisir des orientations des bras 13, 15 et des moyens support 7 en vue d'optimiser l'accessibilité au champ opératoire.The invention is particularly advantageous and more specifically applicable in the case where the operating field 3 has a certain axial or spherical symmetry. In this case, the axis 9 of the rotation RI is oriented to correspond to a main axis of symmetry of the operating field 3. The displacements of the element 2 can thus be carried out symmetrically with great precision and make it possible to choose orientations of the arms 13, 15 and the support means 7 in order to optimize accessibility to the operating field.
Les figures 2 et 3 représentent selon deux orientations différentes un mode de réalisation de l'invention pour une application neuro-chirurgicale. La tête du patient est insérée dans une bride 23 cylindrique de révolution. L'axe 9 de la première rotation RI est aligné selon l'axe de symétrie de cette bride 23. Cet axe 9 est donc globalement orienté suivant l'axe principal du corps du malade à opérer, celui-ci étant supposé allongé horizontalement. Les rotations RI, R2, R4, R5, et les translations Tl et T2 peuvent être réalisées de façon connue en soi ou à la portée de l'homme du métier par des servo-moteurs de haute précision commandés par commande numérique. L'architecture du dispositif selon l'invention permet en particulier d'utiliser des éléments identiques particulièrement simples, notamment pour les rotations R2, R3, R4.Figures 2 and 3 show in two different directions an embodiment of the invention for a neurosurgical application. The patient's head is inserted into a cylindrical flange 23 of revolution. The axis 9 of the first rotation RI is aligned along the axis of symmetry of this flange 23. This axis 9 is therefore generally oriented along the main axis of the patient's body to be operated, the latter being assumed to be extended horizontally. The rotations RI, R2, R4, R5, and the translations T1 and T2 can be carried out in a manner known per se or within the reach of those skilled in the art by high-precision servomotors controlled by numerical control. The architecture of the device according to the invention makes it possible in particular to use identical elements which are particularly simple, in particular for rotations R2, R3, R4.
Ainsi, l'invention concerne plus particulièrement un robot neuro-chirurgical comprenant des bras porteurs 13, 15 caractérisé en ce que l'articulation de ces bras porteurs 13, 15 au bâti fixe 5 comporte une rotation RI d'axe 9. Un tel robot facilite et sécurise grandement le travail du chirurgien dans les opérations complexes requérant à la fois une grande précision et une accessibilité permanente du champ opératoire 3. Thus, the invention relates more particularly to a neurosurgical robot comprising carrying arms 13, 15 characterized in that the articulation of these carrying arms 13, 15 to the fixed frame 5 comprises a rotation RI of axis 9. Such a robot greatly facilitates and secures the surgeon's work in complex operations requiring both high precision and permanent accessibility to the operating field 3.

Claims

REVENDICATIONS
1. Dispositif de déplacement et de positionnement d'un élément (2) destiné à évoluer dans l'espace dans un champ opératoire (3) , du type comprenant au moins trois degrés de liberté en série par rapport à un bâti (5) , un ou un ensemble de bras porteurs (13, 15) monté articulé sur le bâti (5) par une de ses parties extrêmes (4) et portant l'élément (2) à son autre partie extrême (6) , caractérisé en ce que le bras ou l'ensemble de bras-porteur (13, 15) est monté sur le bâti (5) par une première rotation (RI) autour d'un premier axe (9) orienté vers le champ opératoire (3) , par une translation (Tl) d'axe (11) orthogonal à l'axe de rotation (9) , et par une seconde rotation (R2) autour d'un second axe de rotation (14) orthogonal au premier axe de rotation (9) .1. A device for moving and positioning an element (2) intended to move in space in an operating field (3), of the type comprising at least three degrees of freedom in series with respect to a frame (5), one or a set of support arms (13, 15) mounted articulated on the frame (5) by one of its end parts (4) and carrying the element (2) to its other end part (6), characterized in that the arm or the arm-carrier assembly (13, 15) is mounted on the frame (5) by a first rotation (RI) around a first axis (9) oriented towards the operating field (3), by a translation (Tl) of axis (11) orthogonal to the axis of rotation (9), and by a second rotation (R2) around a second axis of rotation (14) orthogonal to the first axis of rotation (9).
2. Dispositif selon la revendication 1 caractérisé en ce que l'axe de translation (11) est perpendiculaire au premier axe de rotation (9) . 2. Device according to claim 1 characterized in that the translation axis (11) is perpendicular to the first axis of rotation (9).
3. Dispositif selon l'une des revendications 1 et 2 caractérisé en ce que le premier axe de rotation (9) est orienté selon un axe de symétrie du champ opératoire (3) .3. Device according to one of claims 1 and 2 characterized in that the first axis of rotation (9) is oriented along an axis of symmetry of the operating field (3).
4. Dispositif selon l'une des revendications 1 à 3 caractérisé en ce que l'axe de translation (11) est porté par le premier axe de rotation (9) .4. Device according to one of claims 1 to 3 characterized in that the translation axis (11) is carried by the first axis of rotation (9).
5. Dispositif selon l'une des revendications 1 à 4 caractérisé en ce que la translation (Tl) est réalisée par une combinaison de la première rotation (Ri) et d'une rotation (R+) de sens opposé à la première rotation (RI) . 5. Device according to one of claims 1 to 4 characterized in that the translation (Tl) is achieved by a combination of the first rotation (Ri) and a rotation (R +) in the opposite direction to the first rotation (RI ).
6. Dispositif selon l'une des revendications 1 à 5 caractérisé en ce que le bras ou l'ensemble de bras porteurs (13, 15) comporte des moyens supports (7) portant l'élément (2) , qui sont articulés au bras ou l'ensemble de bras porteur (13, 15) par une rotation (R4) d'axe (18) orthogonal au premier axe de rotation (9) .6. Device according to one of claims 1 to 5 characterized in that the arm or the set of carrying arms (13, 15) comprises support means (7) carrying the element (2), which are articulated on the arm or all of support arm (13, 15) by a rotation (R4) of axis (18) orthogonal to the first axis of rotation (9).
7. Dispositif selon la revendication 6 caractérisé en ce que les moyens supports (7) comportent un axe de translation (20) de l'élément (2) orthogonal à l'axe de rotation (18) .7. Device according to claim 6 characterized in that the support means (7) comprise a translation axis (20) of the element (2) orthogonal to the axis of rotation (18).
8. Dispositif selon l'une des revendications 1 à 7 caractérisé en ce qu'il comporte un premier bras (13) articulé au bâti (5) , et un second bras (15) articulé au premier bras (13) et aux moyens support (7) portant l'élément (2) .8. Device according to one of claims 1 to 7 characterized in that it comprises a first arm (13) articulated to the frame (5), and a second arm (15) articulated to the first arm (13) and to the support means (7) carrying the element (2).
9. Dispositif selon la revendication 8 caractérisé en ce que les deux bras (13, 15) sont articulés entre eux par une rotation (R3) d'axe (16) orthogonal au premier axe de rotation (9) .9. Device according to claim 8 characterized in that the two arms (13, 15) are hinged together by a rotation (R3) of axis (16) orthogonal to the first axis of rotation (9).
10. » Dispositif selon l'une quelconque des revendications 1 à 9, caractérisé en ce que les axes de rotation 9, 14, 16 et 18 sont parallèles.10. »Device according to any one of claims 1 to 9, characterized in that the axes of rotation 9, 14, 16 and 18 are parallel.
11. Robot médical, biomédical ou chirurgical, notamment neuro-chirurgical, caractérisé en ce qu'il est constitué d'un dispositif selon l'une des revendications 1 à 10. 11. Medical, biomedical or surgical robot, in particular neurosurgical, characterized in that it consists of a device according to one of claims 1 to 10.
PCT/FR1995/000120 1994-02-02 1995-02-01 Device for spatially displacing and positioning an element WO1995021046A1 (en)

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FR9401163A FR2715597B1 (en) 1994-02-02 1994-02-02 Device for moving and positioning an element in space.
FR94/01163 1994-02-02

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FR2715597B1 (en) 1996-04-12

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