ENERGY DELIVERY SYSTEM AND METHOD

Abstract

A system comprises a surgical robot comprising a moveable robotic arm; a radiating applicator positioned at a distal end of the robotic arm, wherein the robotic arm is configured to move the radiating applicator to a desired operational position; and an energy source positioned on a distal portion of the robotic arm, in proximity to the radiating applicator, wherein the energy source is configured to provide RF or microwave energy to the radiating applicator for radiation by the radiating applicator.

Claims

1. A system comprising: a surgical robot comprising a moveable robotic arm; a radiating applicator positioned at a distal end of the robotic arm, wherein the robotic arm is configured to move the radiating applicator to a desired operational position; and an energy source positioned on a distal portion of the robotic arm, in proximity to the radiating applicator, wherein the energy source is configured to provide RF or microwave energy to the radiating applicator for radiation by the radiating applicator.

2. The system according to claim 1, further comprising a coaxial cable connecting the energy source to the radiating applicator, wherein a length of the coaxial cable is less than 2 metres.

3. The system according to claim 1, wherein the distal portion of the robotic arm comprises an end-effector of the robot arm, and wherein the radiating applicator and energy source are positioned on the end-effector.

4. The system according to claim 1, wherein the distal portion of the robotic arm comprises an end-effector of the robot arm and a further link of the robotic arm, wherein the radiating applicator is positioned on the end-effector and the energy source is positioned on the further link.

5. The system according to claim 4, wherein the distal portion of the robotic arm is axially rotatable with respect to a preceding portion of the robotic arm, and the end-effector is axially rotatable with respect to the further link of the robotic arm, so as to provide rotation of the radiating applicator independently of rotation of the energy source.

6. The system according to claim 2, wherein the distal portion of the robotic arm is axially rotatable with respect to a preceding portion of the robotic arm, and the end-effector is axially rotatable with respect to the further link of the robotic arm, so as to provide rotation of the radiating applicator independently of rotation of the energy source, and the system further comprises a rotatable coaxial coupling between the coaxial cable and the energy source and/or a rotatable coaxial coupling between the coaxial cable and the radiating applicator.

7. The system according to claim 1, wherein at least one of a) or b): a) the radiating applicator comprises a directional antenna, and wherein robotic arm is configured to rotate the radiating applicator to provide a desired direction of radiation from the directional antenna; or b) the system further comprises a thermal interface between the energy source and robotic arm, wherein the thermal interface is configured to pass heat from the energy source into the robotic arm for the purpose of heat sinking, wherein the thermal interface comprises a high thermal conductivity material.

8. (canceled)

9. The system according to claim 1, wherein at least one of a), b) or c): a) the energy source comprises an energy generator configured to receive electrical energy and to generate RF or microwave energy; b) the energy source comprises an amplifier configured to receive lower-power RF or microwave energy and to generate higher-power RF or microwave energy; or c) the robotic arm comprises a power connection for powering peripheral devices and/or tools, and the energy source is configured to connect to the power connection.

10. (canceled)

11. (canceled)

12. The system according to claim 1, wherein the system further comprises a controller configured to control at least one parameter of the energy provided by the energy source.

13. The system according to claim 12, further comprising a communications device configured to obtain data relating to the energy provided by the energy source and/or an effect of the energy provided by the energy source, and to send the data to the controller; wherein the controller is configured to control the at least one parameter of the energy provided by the energy source based on the data sent by the communications device.

14. The system according to claim 13, wherein at least one of a) or b): a) the communications device comprises or is coupled to at least one sensor; or b) the data comprises at least one of a system temperature, an applicator temperature, forward power, reflected power, duty cycle, antenna direction, antenna rotational speed, advancement rate, or withdrawal rate.

15. (canceled)

16. The system according to claim 12, further comprising a position detector system configured to output position data that is representative of a position of the radiating applicator, wherein the controller is configured to control the energy source in dependence on the position data.

17. The system according to claim 16, wherein controlling the energy source in dependence on the position data comprises at least one of a) or b): a) controlling energy during applicator withdrawal to perform surgery tract ablation; or b) controlling energy delivered by the energy source based on volume data held in a planning system, the volume data comprising the desired operational position.

18. The system according to claim 1, wherein at least one of a) or b): a) the robotic arm comprises a mechanical mounting adapter configured for mounting at least one peripheral device and/or tool, and the energy source is mounted on the mechanical mounting adapter; or b) the system further comprises a cooling system positioned on the distal portion of the robotic arm, in proximity to the radiating applicator, wherein the cooling system is configured to cool the radiating applicator by circulation of a coolant fluid through at least one coolant channel.

19. (canceled)

20. A system comprising: a surgical robot comprising a moveable robotic arm; a radiating applicator positioned at a distal end of the robotic arm, wherein the robotic arm is configured to move the radiating applicator to a desired operational position; and a cooling system positioned on a distal portion of the robotic arm, in proximity to the radiating applicator, wherein the cooling system is configured to cool the radiating applicator by circulation of a coolant fluid through at least one coolant channel.

21. The system according to claim 20, wherein a length of the coolant channel is less than 3 metres.

22. The system according to claim 20 wherein the distal portion of the robotic arm comprises an end-effector of the robot arm, and wherein the radiating applicator is positioned on the end-effector; and the distal portion of the robotic arm further comprises a further link of the robotic arm, wherein the radiating applicator is positioned on the end-effector and at least part of the cooling system is positioned on the further link, the end-effector is axially rotatable with respect to the further link of the robotic arm, so as to provide rotation of the radiating applicator independently of rotation of the at least part of the cooling system; and the system comprises a rotatable coupling configured to connect the at least one coolant channel to the at least part of the cooling system.

23. The system according to claim 22, wherein the at least part of the cooling system comprising a pump and a coolant reservoir.

24. A method comprising: moving, by a robotic arm of a surgical robot, a radiating applicator to a desired operational position, wherein the radiating applicator is positioned at a distal end of the robotic arm; and providing, by an energy source, RF or microwave energy to the radiating applicator for radiation by the radiating applicator, wherein the energy source is positioned on a distal portion of the robotic arm, in proximity to the radiating applicator.

25. A method comprising: moving, by a robotic arm of a surgical robot, a radiating applicator to a desired operational position, wherein the radiating applicator is positioned at a distal end of the robotic arm; and cooling, by a cooling system, the radiating applicator by circulation of a coolant fluid through at least one coolant channel, wherein the cooling system is positioned on a distal portion of the robotic arm, in proximity to the radiating applicator.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0070] Embodiments of the invention are now described, by way of non-limiting example, and are illustrated in the following figures, in which:—

[0071] FIG. 1 is a diagrammatic illustration of an electromagnetic energy generator used with a surgical robot to place an applicator;

[0072] FIG. 2 is a diagrammatic illustration of a variation of an electromagnetic energy generator used with a surgical robot to place an applicator;

[0073] FIG. 3 is a diagrammatic illustration of an energy generator located on a robotic limb in accordance with an embodiment;

[0074] FIG. 4 is a diagrammatic illustration of an energy generator and cooling system located on a robotic limb in accordance with an embodiment;

[0075] FIG. 5 is a detailed diagrammatic illustration of an energy generator and cooling system located on a robotic limb in accordance with an embodiment;

[0076] FIG. 6 is a detailed diagrammatic illustration of an energy generator and cooling system located on a rotating limb in accordance with an embodiment; and

[0077] FIG. 7 is a variant of detailed diagrammatic illustration of an energy generator and cooling system located on a robotic limb with connection to a rotating end effector in accordance with an embodiment.

DESCRIPTION OF THE INVENTION

[0078] An embodiment is shown in FIG. 3 which describes a compact electromagnetic energy source 9 located on or near to the end effector limb of a surgical robot 100.

[0079] The surgical robot 100 comprises a main body 102 and a moveable robotic arm 104. The robotic arm 104 may also be referred to as a robotic actuator or manipulator. The robotic arm 104 comprises a plurality of links 106 which are coupled by joints 108. Each joint 108 provides relative motion of two links coupled by the joint, for example rotational motion and/or linear motion. At the end of the robotic arm 104 is an end effector 112.

[0080] The link adjacent to the end effector 112 may be referred to as the terminal limb 110. In the present embodiment, the end effector 112 is coupled to the terminal limb 110 by a rotatable joint. In other embodiments, the end effector 112 may be coupled to the terminal limb 110 by a fixed coupling that does not rotate. In further embodiments, the end effector 112 is incorporated into the terminal limb 110.

[0081] A radiating applicator 15 is mounted to the end effector 110. In the present embodiment, the radiating applicator 15 is a single-use, disposable device. The radiating applicator comprises a monopole antenna that is configured to radiate microwave energy into tissue. In other embodiments, the radiating applicator 15 may comprise any suitable antenna that is configured to radiate RF or microwave energy into tissue. The radiating applicator 15 may also be referred to as an energy delivery probe.

[0082] In the present embodiment, energy source 9 is mounted on the terminal limb 110 near the end effector 112. In other embodiments, the energy source 9 may be positioned in any suitable location on or near the end effector 112, for example on any link 106 of the robotic arm 104 that is near to the distal end of the robotic arm 104.

[0083] In some embodiments, the energy source 9 is configured to interface with existing mechanical and/or electrical connections on the surgical robot 100, for example connections that are designed to interface with a camera or endoscope. A form factor of the energy source 9 may be designed to fit to an existing connection or housing on the surgical robot 100.

[0084] The energy source 9 comprises an electromagnetic generator. The energy source 9 is configured to supply microwave energy to the radiating applicator 15 through a coaxial cable 114. The length of the coaxial cable 114 may be much shorter than the coaxial cables 3, 8 shown in the examples of FIGS. 1 and 2. For example, a length of the coaxial cable may be 2 metres or under. In other embodiments, the length of the coaxial cable may be 1 metre or under, or 0.5 metres or under. In further embodiments, the electromagnetic generator may join directly to the antenna probe.

[0085] In this location on the terminal limb 110 as shown in FIG. 3, the electromagnetic energy source 9 can be designed to produce a much reduced level of energy in order to deliver an energy level 116 that equates with the energy previously delivered 6 in the system of FIG. 2.

[0086] The system of FIG. 3 is configured to apply radiation to a patient 116 or other subject, who in FIG. 3 is depicted as lying on a bed 118.

[0087] In use, the robot 100 positions the end effector 112 such that the radiating applicator 15 is positioned in a desired operational position relative to the patient. The desired operational position is a three dimensional physiological location within the patient 116.

[0088] In the present embodiment, a planning system (not shown) stores volume data that is representative of a volume to be treated. For example, the volume data may comprise a tumour volume that has been identified within the patient 116. The robot 100 identifies the desired operational position using the volume data, and positions the end effector 112 such that the radiation applicator is positioned to deliver microwave energy to the tumour volume.

[0089] The radiating applicator 15 may be positioned interstitially or via a catheter or by any other suitable method.

[0090] In the present embodiment, a position detection system (not shown) of the surgical robot 100 is used to determine the position of the radiating applicator 15, for example a position of the radiating applicator 15 relative to the desired three dimensional physiological location. The position detection system may be used via computer numerical control to locate the effector and probe in x,y,z space, Cartesian space or in any relative coordinate system. In other embodiments, any method of position detection may be used.

[0091] The energy source 9 generates microwave energy which is supplied to the radiating applicator 15 via the coaxial cable 114. In the present embodiment, the microwave energy has a frequency between 900 MHz and 30 GHz, for example 915 MHz or 2.54 GHz. In other embodiments, the energy source may generate energy at any suitable RF or microwave frequency, for example any suitable frequency between 1 KHz and 300 GHz. The microwave energy supplied may be amplitude-modulated or pulse width-modulated.

[0092] The radiating applicator 15 radiates microwave energy into the tissue of the patient 116. The microwave energy heats the tissue into which it is radiated, and may thereby perform ablation or tissue heating of a target region of tissue.

[0093] The embodiment of FIG. 3 may be considered to provide an improvement relative to the examples illustrated in FIG. 1 and FIG. 2. The method of FIG. 3 may provide an improved method of use of an energy generator via robotic placement. Energy losses may be reduced. A risk of the cabling tangling or breaking may be reduced. There may be less risk of crushing or kinking of the cable, which may lead to reflection or absorption of energy. The cable arrangement may not limit the robot's freedom of movement. Less cooling may be used when compared to the examples of FIG. 1 and FIG. 2, which may also reduce the system's complexity and/or expense.

[0094] In a further embodiment illustrated in FIG. 4 a cooling system 10 is incorporated into a system similar to that of FIG. 3. In the embodiment of FIG. 4, the cooling system 10 is positioned adjacent to the electromagnetic source 9, mounted on the terminal limb 110 near the end effector 112. In other embodiments, the cooling system 10 may be positioned in any suitable location on or near to the end effector 112.

[0095] In general, cooling systems may have issues with cabling where a cooled fluid or gas is supplied to the applicator so it may be advantageous to minimise these cable runs to reduce complexity, avoid damage and to promote a more compact tool manageable solution for the robot. In some embodiments, the cooling cabling, medium (e.g. fluid water/saline or gas CO2 or N) and applicator 15 form a single replaceable item.

[0096] A more detailed description of the arrangement of FIG. 4 is presented in FIG. 5. The cooling system 10 comprises a pump 11. The cooling system 10 further comprises a reservoir 12, which may also be referred to as a tank or coolant container. The cooling system 10 further comprises cooling cabling which transfers coolant between the pump 11 and reservoir 12, and around the radiating applicator 15 to provide cooling of the radiating applicator 15. A path taken by coolant through cooling cabling is shown by dotted lines 120.

[0097] The energy system 9 is seated on a robotic limb 110 on a pedestal or interfacing plate 14. The treatment applicator 15 is cooled via the pump 11 which supplies a cooling medium taken from a reservoir or tank 12 to the applicator 15, thereby cooling a treatment site. The cooling medium is then returned to the coolant container 12 in a closed loop cycle shown by dotted lines 120. The interfacing plate 14 in addition to providing mechanical connection may be designed to be a thermal conduit for the energy system 9 to assist with sinking of excess heat created as a result of inefficiency in the energy generation circuitry. In further embodiments, a further thermal conduit may be used to sink heat from the energy source 9 and/or radiating applicator 15.

[0098] Providing a cooling system 10 that is located on a distal portion of the robotic arm 104 near to the radiating applicator 15 may reduce complexity and/or provide a more efficient cooling method.

[0099] In a further embodiment illustrated in FIG. 6 the robotic surgical system 100 is configured to provide rotational control 17 of a directional antenna 19 where the energy source 9 is located close to the treatment site. The directional antenna 19 has a radiation pattern that depends on an angle around the longitudinal axis of the directional antenna 19. Therefore, rotating the directional antenna 19 may allow higher (or lower) amounts of energy to be radiated into certain areas of tissue.

[0100] In this configuration the limb 110 that contains the energy source 9 (and alternatively or additionally the cooling system 10) may be entirely rotated. This means that the terminal limb 110 may have a fixed direction 16 that the end effector limb 112 initially shares.

[0101] A rotational angle of the terminal limb 110 is represented by arrow 16 in FIG. 6. A rotational angle of the end effector 112 is shown by an arrow 18 and a rotational angle of the directional antenna 19 is shown by an arrow 20. In FIG. 6, the terminal limb 110, end effector 112 and directional antenna 19 have a common angle and may be rotated together.

[0102] In some embodiments, the end effector 112 may have a rotational freedom that permits axial rotation to a new location 20 that is also shared with the directional antenna 18.

[0103] In an embodiment depicted in FIG. 7 only the end effector 22 rotates to change the axial position 25 of a directional antenna 19 to a new location 24 different to the starting location 23. This places a torque 21 on the applicator cabling which can be accommodated by using a rotating coaxial coupling (not shown) between the applicator cabling 115 and the energy source 9. Examples of such rotating connector families include, for example, SNP, SMA, BMA, N-type.

[0104] In embodiments described above, the energy source 9 is an energy generator configured to generate microwave energy from electrical energy. In other embodiments, the energy source 9 may comprise an amplifier which is configured to convert a low-energy microwave signal into a higher-energy microwave signal. A microwave generator positioned further from the end effector (for example, on the main body of the robot 100 or external to the robot 100) may produce the low-energy signal. By passing a low-energy signal through a longer cable and then passing a higher-energy signal only through a shorter length of cable from the amplifier, cable losses may be reduced.

[0105] In embodiments described above, the location of an energy source is described to improve efficiency in robotic applications. The method includes a robotic surgical device or system, electromagnetic energy generator/amplifier system, cabling and applicator used to deliver energy from a generator/amplifier system to a recipient device, for example a radiating applicator or antenna that transfers the energy into biological tissue for treatment purposes.

[0106] Energy is delivered to a radiating element from a compact electromagnetic energy source/amplifier mounted close to the end of a robotic actuator/manipulator. The purpose is to generate and deliver RF/microwave energy (1 KHz to 300 GHz) in close proximity to the point of treatment to minimise energy loss.

[0107] It may be understood that the present invention has been described above purely by way of example, and that modifications of detail can be made within the scope of the invention.

[0108] Each feature disclosed in the description and (where appropriate) the claims and drawings may be provided independently or in any appropriate combination.