CPC A61B 34/37 (2016.02) [A61B 1/3132 (2013.01); A61B 10/04 (2013.01); A61B 17/00234 (2013.01); A61B 17/062 (2013.01); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/71 (2016.02); A61B 34/72 (2016.02); A61B 90/20 (2016.02); A61B 90/25 (2016.02); A61B 90/361 (2016.02); B25J 3/04 (2013.01); B25J 9/1015 (2013.01); B25J 9/1669 (2013.01); B25J 15/0052 (2013.01); G05B 19/402 (2013.01); A61B 2017/00345 (2013.01); A61B 17/29 (2013.01); A61B 17/320016 (2013.01); A61B 17/3211 (2013.01); A61B 17/34 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/301 (2016.02); A61B 2034/715 (2016.02); A61B 2090/061 (2016.02); A61B 2090/064 (2016.02); G05B 2219/45117 (2013.01)] | 15 Claims |
1. A robotic assembly for surgery and/or micro-surgery comprising at least one control device to at least partially form a master interface of a master-slave pair for a robotic assembly, wherein said at least one control device comprises:
at least one control instrument, mobile in space, of a shape and size adapted for being hand-held and handled like a conventional surgical instrument,
at least one detection device, suitable to detect a position of said control instrument in at least a portion of space;
wherein:
said at least one control instrument comprises at least one position sensor, which cooperates with said detection device, to sense at least the position of said control instrument;
said detection device generates an electromagnetic field to detect at least the position of said control instrument by detecting a position of said at least one position sensor;
said control instrument comprises at least one forceps articulation, effective in a tip portion of said control instrument, to allow said tip portion a grasping or cutting movement;
said robotic assembly further comprises at least one surgical micro-instrument comprising at least one terminal portion; and
wherein said control instrument of the at least one control device is adapted to cooperate with said at least one surgical micro-instrument such that when in operating conditions:
a first 3D movement of said control instrument with respect to said detection device of the control device corresponds to a second 3D movement of said surgical micro-instrument;
a first translational movement of said control instrument corresponds to a second translational movement of said surgical micro-instrument equal to a fraction of an amplitude of said first movement of said control instrument;
a first angular movement of said forceps articulation of said control instrument corresponds to a second angular movement of an articulation situated on said terminal portion of said surgical micro-instrument, an amplitude of said second movement being substantially equal to said first angular movement of said forceps articulation of said control instrument.
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