Two-part endoscope surgical device

Abstract

The present invention provides a two-part robotic device for positioning of a hand tool, comprising: a. a fixed base unit constantly fix to its position; b. a detachable body unit reversibly coupled to said fixed base unit, coupled to said current medical instrument; wherein said fixed base unit is adapted to provide independent movement to said hand tool, said independent movement selected from the group consisting of rotation and translation, and further wherein said detachable body unit is removable and replaceable from said fixed base unit such that upon exchange of said hand tool for a second hand tool, said second hand tool is placed in substantially the same location as the location of said hand tool prior to said exchange.

1 - 42 . (canceled) 
     
     
         43 . A two-part robotic device for positioning of a hand tool, comprising:
 a. a fixed base unit constantly fix to its position;   b. a detachable body unit reversibly coupled to said fixed base unit, coupled to said current medical instrument;   wherein said fixed base unit is adapted to provide independent movement to said hand tool, said independent movement selected from the group consisting of rotation and translation, and further wherein said detachable body unit is removable and replaceable from said fixed base unit such that upon exchange of said hand tool for a second hand tool, said second hand tool is placed in substantially the same location as the location of said hand tool prior to said exchange.   
     
     
         44 . The two-part robotic device according to  claim 43 , wherein said hand tool is a medical instrument. 
     
     
         45 . The two-part robotic device according to  claim 44 , wherein said medical instrument is selected from the group consisting of endoscope, laparoscope, forceps, and any combination thereof. 
     
     
         46 . The two-part robotic device according to  claim 44 , wherein said detachable body unit is an endoscope positioning device comprising means for providing to said endoscope at least 7 degrees of freedom (DOF) selected from the group consisting of at least 6 rotation movements ( 1007 ,  1009 ,  1010 ,  1011 ,  1012 ,  1013 ,  1601 ,  1602 ), at least 1 translation movement ( 1008 ) and any combination thereof. 
     
     
         47 . The two-part robotic device according to  claim 43 , wherein said detachable body unit comprises:
 a. k consecutive arm sections, each comprising n coaxial input shafts adapted to be rotated around an input axis of rotation by m sources of torque, wherein n, m, and k are positive integers, and further wherein said hand tool is coupled to one of said k consecutive arm sections; and,   b. at least k-1 constant velocity couplers coupling each pair of said k consecutive arm sections together, each of said constant velocity couplers comprising:
 i. n coaxial input transmission means, each of which is coupled to one of said n input shafts, said input transmission means defining a first plane substantially perpendicular to said input axis of rotation; 
 ii. n coaxial second transmission means rotatably connected to said n input transmission means, said second transmission means rotating in a second plane, said second plane substantially perpendicular to said first plane; 
 iii. n coaxial output transmission means rotatably connected to said n second transmission means, said output transmission means rotating in a third plane; said third plane being substantially perpendicular to said second plane; and, iv. n coaxial output shafts, each of which is coupled to one of said n output transmission means, said n output shafts being adapted to rotate around an output axis of rotation such that (i) turning a given input shaft at a constant velocity will provide a constant velocity at the corresponding output shaft; and (ii) the angle between said input axis of rotation and said output axis of rotation varies in said second plane in an angular range of about 0 to about 360 degrees. 
   
     
     
         48 . The two-part robotic device according to  claim 43 , wherein said fixed base unit comprises:
 a. k consecutive arm sections, each comprising n coaxial input shafts adapted to be rotated around an input axis of rotation by m sources of torque, where n, m, and k are positive integers, wherein said current instrument is coupled to one of said k consecutive arm sections;   b. at least k-1 constant velocity couplers coupling each two of said k consecutive arm sections together, each of said constant velocity couplers comprising:
 i. n coaxial input transmission means, each of which is coupled to one of said n input shafts, wherein said input transmission means define a first plane substantially perpendicular to said input axis of rotation; 
 ii. n coaxial second transmission means rotatably connected to said n input transmission means, said second transmission means rotating in a second plane substantially perpendicular to said first plane; 
 iii. n coaxial output transmission means rotatably connected to said n second transmission means, said output transmission means rotating in a third plane substantially perpendicular to said second plane; 
   c. n coaxial output shafts, each of which is coupled to one of said n output transmission means, said n output shafts adapted to rotate around an output axis of rotation; such that (i) turning a given input shaft at a constant velocity will provide a constant velocity at the corresponding output shaft and (ii) the angle between said input axis of rotation and said output axis of rotation varies in said second plane in an angular range of about 0 to about 360 degrees.   
     
     
         49 . The two-part robotic device according to  claim 43 , wherein said input transmission means, second transmission means, and said output transmission means are selected from the group consisting of gearwheels, wheels, crown gears, bevel gears, spur gears, belts, and any combination thereof. 
     
     
         50 . The two-part robotic device according to  claim 43 , additionally comprising
 a. an axial support member ( 601 ) adapted to provide axial support to said n output shafts in said third plane; and,   b. a circular track ( 618 ) centered on the axis of rotation of said second transmission means, said axial support member being adapted to fit into said track and slide within it.   
     
     
         51 . The two-part robotic device according to  claim 43 , additionally comprising a radial support member ( 604 ) adapted to provide radial support to said n output shafts, said radial support member being adapted to rotate in said second plane. 
     
     
         52 . The two-part robotic device according to  claim 43 , wherein the gear ratio between said input and output shafts is between about 10 and about 0.1. 
     
     
         53 . The two-part robotic device according to  claim 43 , additionally comprising n coaxial auxiliary shafts in rotating communication with said n second transmission means, said n coaxial auxiliary shafts rotating in said second plane, and said n coaxial auxiliary shafts capable of either being driven by said input shafts or driving said input shafts. 
     
     
         54 . The two-part robotic device according to  claim 43 , additionally comprising locking means adapted for preventing relative movement between one or more of said input axis shafts and said constant velocity joint, wherein said constant velocity joint is caused to rotate as a body with said locked input axis shafts. 
     
     
         55 . The two-part robotic device according to  claim 43 , additionally comprising locking means for preventing relative movement between one or more of said output axis shafts and said constant velocity joint, wherein said constant velocity joint is caused to rotate as a body with said locked output axis shafts. 
     
     
         56 . The two-part robotic device according to  claim 44 , wherein said device is adapted for use in sinus surgery. 
     
     
         57 . The two-part robotic device according to  claim 56 , wherein said sinus surgery is FESS. 
     
     
         58 . A method for changing a medical instrument in use during performance of laparoscopic surgery, said method comprising steps of:
 a. providing a two-part robotic device comprising:
 i. a fixed base unit, constantly fix to its position; and, 
 ii. a detachable body unit reversibly coupled to said fixed base unit, comprising said medical instrument; 
   b. coupling said detachable body unit to said fixed base;   c. providing independent movements to said current medical instrument selected from the group consisting of rotation and translation; thereby performing said laparoscopic surgery;   d. detaching said detachable body unit from said fixed base unit; and,   e. replacing said medical instrument in said detachable body unit thereby changing said current medical instrument.   
     
     
         59 . The method according to  claim 58 , additionally comprising step of altering the modality of a laparoscopic surgery. 
     
     
         60 . The method according to  claim 59 , wherein said step of replacing additionally comprises steps of:
 a. providing a two-part robotic device comprising:
 i. a fixed base unit, constantly fix to its position; 
 ii. a first detachable body unit reversibly coupled to said fixed base unit, comprising said current medical instrument; said first detachable body unit is adapted for laparoscopic surgery of a first modality; 
   b. coupling said first detachable body unit to said fixed base;   c. providing independent movements to said current medical instrument selected from a group consisting of rotation and translation; thereby performing said laparoscopic surgery of said first modality with said first detachable body unit;   d. providing a second detachable body unit adapted for laparoscopic surgery of a second modality;   e. decoupling said first detachable body unit from said fixed base;   f. coupling said second detachable body unit for laparoscopic surgery of a second modality;   g. performing laparoscopic surgery of said second modality with said second detachable body unit; thereby altering the modality of said laparoscopic surgery.   
     
     
         61 . The two-part robotic device according to  claim 44 , additionally comprising an interface between a surgeon and an automated assistant, said interface comprising:
 a. at least one array comprising N RF transmitters, where N is a positive integer;   b. one RF receiver provided with at least one directional antenna;   c. means for attaching said RF transmitter array to at least one surgical tool; and, d. a computerized operating system adapted to record the received signal strength (RSS) received by each antenna of said RF receiver and to calculate therefrom the position of each of said N RF transmitters, and further adapted to provide automatically the results of said calculation to the human operator of said interface;   wherein said computerized operating system calculates at least one of the parameters chosen from the group consisting of (a) the angle from which the signal had been received; (b) the spatial location of said at least one surgical tool; (c) the path of said at least one surgical tool; (d) the spatial location of the point of insertion of said at least one surgical tool into the body of a patient; (e) the spatial location of the tip of said at least one surgical tool; (f) matching each RF transmitter code with each calculated spatial location of said at least one surgical tool and/or said tip of said at least one surgical tool, and further wherein said computerized operating system performs said calculations and provides automatically the results of said calculations to the human operator of said interface.   
     
     
         62 . The two-part robotic device of  claim 61 , additionally comprising an endoscopic device and an interface for locating said endoscopic device. 
     
     
         63 . The two-part robotic device of  claim 61 , additionally comprising an interface for locating the endoscope, wherein said endoscopic device comprises optical imaging means, and further wherein said computerized operating system calculates at least one of the parameters chosen from the group consisting of (a) the spatial location of said at least one surgical tool; (b) the path of said at least one surgical tool; (c) the spatial location of the point of insertion of said at least one surgical tool into the body of a patient; (d) the spatial location of the tip of said at least one surgical tool; (e) matching each RF transmitter code with each calculated spatial location of said at least one surgical tool and/or said tip of said at least one surgical tool; (f) the predicted appearance of said at least one surgical tool within said optical image; and (g) distinguishing among at least two surgical tools appearing in said optical image in the case that more than one surgical tool appears in said optical image; and further wherein said computerized operating system provides automatically the results of said calculation to the human operator of said interface. 
     
     
         64 . The two-part robotic device of  claim 61 , additionally comprising an interface for locating said endoscope, further comprising:
 a. an automated assistant for said endoscopic device; and,   b. means for interfacing said computerized operating system to said automated assistant;   wherein said computerized operating system calculates at least one of the parameters chosen from the group consisting of (a) the spatial location of said at least one surgical tool; (b) the path of said at least one surgical tool; (c) the spatial location of the point of insertion of said at least one surgical tool into the body of a patient; (d) the spatial location of the tip of said at least one surgical tool; (e) matching each RF transmitter code with each calculated spatial location of said at least one surgical tool and/or said tip of said at least one surgical tool; (f) a desired new location for said endoscopic device; (g) command protocol means for directing said automated assistant via said interface to maneuver said endoscopic device to a desired new location, and further wherein said computerized operating system provides automatically the results of said calculation to the human operator of said interface.   
     
     
         65 . The two-part robotic device of  claim 47 , additionally comprising an interface for locating the endoscope, wherein said endoscopic device comprises optical imaging means, and further wherein said computerized operating system calculates at least one of the parameters chosen from the group consisting of (a) the spatial location of said at least one surgical tool; (b) the path of said at least one surgical tool; (c) the spatial location of the point of insertion of said at least one surgical tool into the body of a patient; (d) the spatial location of the tip of said at least one surgical tool; (e) matching each RF transmitter code with each calculated spatial location of said at least one surgical tool and/or said tip of said at least one surgical tool; (f) the predicted appearance of said at least one surgical tool within said optical image; (g) if more than one of said at least one surgical tools appears simultaneously in said optical image, distinguishing among said more than at least surgical tools appearing in said optical image; (h) a desired new location for said optical imaging means; (i) a command protocol for directing said automated assistant via said interface to maneuver said endoscopic device to a desired new location, and further wherein said computerized operating system provides automatically the results of said calculation to the human operator of said interface. 
     
     
         66 . The two-part robotic device of  claim 47 , additionally comprising an interface for locating the endoscope, wherein said computer controller additionally transmits a command protocol to said automated assistant via said interface to maneuver said endoscopic device to a desired new location. 
     
     
         67 . The two-part robotic device of  claim 43 , additionally comprising an interface for locating the endoscope, wherein said interface is adapted for manual operation, whereby each of said N transmitters transmits in response to a command signal from the human operator of the interface. 
     
     
         68 . The two-part robotic device of  claim 43 , additionally comprising an interface for locating the endoscope, wherein said interface is adapted for automatic operation, whereby each of said N transmitters transmits continuously. 
     
     
         69 . The two-part robotic device of  claim 43 , additionally comprising an interface for locating the endoscope, wherein said interface is adapted for automatic operation, whereby each of said N transmitters transmits continuously, and further wherein said computer transmits said calculated parameters for each of said N transmitters in response to a command signal from the human operator of the interface. 
     
     
         70 . The two-part robotic device of  claim 43 , additionally comprising an interface for locating the endoscope, wherein said antenna array comprises at least one directional antenna. 
     
     
         71 . The two-part robotic device of  claim 43 , additionally comprising an interface for locating the endoscope, wherein said receiver array is adapted to determine the angle whose vertex is the location of said antenna array and which is subtended by the line connecting any two of said N transmitters. 
     
     
         72 . The two-part robotic device of  claim 43 , additionally comprising an interface for locating the endoscope, wherein said interface comprises M receivers, M is an integer higher than  1 ; and further wherein said M receivers are adapted to determine the location of each of said N transmitters by triangulation. 
     
     
         73 . The two-part robotic device of  claim 43 , additionally comprising an interface for locating the endoscope, wherein said transmitters transmit in the 430 MHz ISM band. 
     
     
         74 . The two-part robotic device of  claim 43 , additionally comprising an interface for locating the endoscope, wherein said transmitters transmit a modulated signal, said modulation chosen from the group consisting of (a) frequency modulation, (b) amplitude modulation. 
     
     
         75 . The method according to  claim 58 , additionally comprising an interface for locating the endoscope, wherein said modulation occurs at a frequency of about 1.5 kHz. 
     
     
         76 . The method according to  claim 58 , wherein each of said N RF transmitters is modulated at a different frequency. 
     
     
         77 . The two-part robotic device of  claim 60 , additionally comprising an interface for locating the endoscope, wherein said N modulation frequencies are chosen from the band of frequencies spanning the range of from about 1.0 kHz to about 1.5 kHz. 
     
     
         78 . The two-part robotic device of  claim 43 , additionally comprising an interface for locating the endoscope, wherein said receiver is a single conversion receiver. 
     
     
         79 . The method according to  claim 58 , additionally comprising step of calculating positional parameters of a laparoscopic surgical tool. 
     
     
         80 . The method according to  claim 79 , wherein said step of calculating additionally comprises steps of:
 a. obtaining an interface for a laparoscope, said interface comprising (i) at least one array comprising N RF transmitters, where N is a positive integer, (ii) one RF receiver provided with at least one directional antenna; (iii) a computerized operating system adapted to record the received signal strength RSS received by each antenna of said RF receiver and to calculate therefrom the position of each of said N RF transmitters, and further adapted to provide automatically the results of said calculation to the human operator of said interface;   b. obtaining a surgical tool;   c. attaching said RF transmitter array to said surgical tool;   d. measuring the received signal strength (RSS) from said N RF transmitters received at each of said directional antenna of said RF receivers;   e. calculating spatial parameters relating to each of said N transmitters according to a predetermined protocol;   wherein said step of calculating said parameters of each of said N transmitters yields positional parameters of said laparoscope surgical tool, said positional parameters is selected from a group consisting of (a) the angle from which the signal had been received; (b) the spatial location of said at least one surgical tool; (c) the path of said at least one surgical tool; (d) the spatial location of the point of insertion of said at least one surgical tool into the body of a patient; (e) the spatial location of the tip of said at least one surgical tool; (f) matching each RF transmitter code with each calculated spatial location of said at least one surgical tool and/or said tip of said at least one surgical tool, and further wherein said computerized operating system provides automatically the results of said calculation to the human operator of said interface.   
     
     
         81 . The method according to  claim 80 , for controlling the position of an endoscopic device, additionally comprising the steps of:
 a. obtaining an interface between a surgeon and an automated assistant, said interface comprising (i) at least one array comprising N RF transmitters, where N is a positive integer, (ii) one RF receiver provided with at least one directional antenna; (iii) a computerized operating system adapted to record the received signal strength RSS received by each antenna of said RF receiver and to calculate therefrom the position of each of said N RF transmitters, and further adapted to provide automatically the results of said calculation to the human operator of said interface; (iv) an automated assistant for said endoscopic device; and, (v) means for interfacing said computerized operating system to said automated assistant;   b. obtaining a surgical tool;   c. attaching said RF transmitter array to said surgical tool;   d. measuring the received signal strength (RSS) from said N RF transmitters received at each of said directional antenna of said RF receivers;   e. calculating spatial parameters relating to each of said N transmitters according to a predetermined protocol;   f. calculating a desired new position for said endoscopic device;   g. sending a command from said computerized operating system to said automated assistant via said interfacing means to maneuver said endoscopic device to said desired new location; and,   h. maneuvering said endoscopic device to said desired new location;   wherein said step of calculating said parameters of each of said N transmitters yields positional parameters of said laparoscope surgical tool, said positional parameters is selected from a group consisting of (a) the angle from which the signal had been received; (b) the spatial location of said at least one surgical tool; (c) the path of said at least one surgical tool; (d) the spatial location of the point of insertion of said at least one surgical tool into the body of a patient; (e) the spatial location of the tip of said at least one surgical tool; (f) matching each RF transmitter code with each calculated spatial location of said at least one surgical tool and/or said tip of said at least one surgical tool, and further wherein said computerized operating system provides automatically the results of said calculation to the human operator of said interface.   
     
     
         82 . The method of  claim 81 , wherein said endoscopic device comprises optical imaging means, and further comprising additional steps of
 a. determining said position of said surgical tool relative to the image frame according to a predetermined protocol; and,   b. maneuvering said optical imaging means such that said surgical tool appears at a predetermined location within said image frame.   
     
     
         83 . The method of  claim 78 , wherein each of said N transmitters transmits in response to a signal from the human operator of said interface. 
     
     
         84 . The method of  claim 78 , wherein each of said N transmitters transmits continuously. 
     
     
         85 . The two-part robotic device of  claim 61 , additionally comprising an interface for locating the endoscope, wherein said receiver is a single conversion receiver.