Restoring instrument control input position/orientation during midprocedure restart

• US 10,085,811 B2
• Filed: 03/17/2015
• Issued: 10/02/2018
• Est. Priority Date: 03/17/2014
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Weir, David W., Smaby, Niels, Arsanious, Joseph M., Brisson, Gabriel F.
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/125,075
• Publication Number:
  US 20170020617A1
• Time in Patent Office: 1,295 Days
• Field of Search: 700245-264, 31856811-56822, 606 1, 606130, 901 2, 901 14, 901 41
• CPC Class Codes: A61B 2090/0814 Preventing re-use
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 90/08 Accessories or related features not otherwise provided for
• CPC Class Codes: B25J 9/1689 Teleoperation

Abstract

A telesurgery system having a surgical assembly with a motor and a surgical instrument. The surgical assembly has at least one drive mechanism driven by the motor. A sensor assembly is coupled to non-volatile memory, and is for recording position of the at least one rotatable mechanism to the non-volatile memory. A controller is communicatively coupled to the sensor assembly. The controller a processor configured to execute a method. In the method, rotational position of the a drive mechanism is recorded to the non-volatile memory during use of the surgical assembly. A mid-procedure shut-down of the surgical assembly is then initiated. A request is then received to initiate a mid-procedure restart of the surgical assembly. It is then determined whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position to allow the mid-procedure restart to complete.

Claims

1. A telesurgery system comprising:

a surgical assembly comprising a motor, the surgical assembly having at least one drive mechanism driven by the motor;

a sensor assembly coupled to non-volatile memory, the sensor assembly for recording position of the at least one drive mechanism to the non-volatile memory; and

a controller communicatively coupled to the sensor assembly, the controller having at least one processor configured to execute a method comprising;

recording a position of the at least one drive mechanism to the non-volatile memory during use of the surgical assembly;

initiating a mid-procedure shut-down of the surgical assembly;

receiving a request to initiate a mid-procedure restart of the surgical assembly;

determining whether a post-shutdown position of the at least one drive mechanism is within an accepted tolerance with respect to a pre-shutdown position of the at least one drive mechanism to allow the mid-procedure restart to complete; and

preventing or allowing further use of the surgical assembly based on determining whether the post-shutdown position of the at least one drive mechanism is within the accepted tolerance with respect to the pre-shutdown position of the at least one drive mechanism.

2. The telesurgery system of claim 1, wherein determining whether the post-shutdown position of the at least one drive mechanism is within the accepted tolerance includes validating authenticity of the post-shutdown position.

3. The telesurgery system of claim 2, wherein the surgical assembly further comprises a surgical instrument, and wherein validating the pre-shutdown position comprises checking identity of the surgical instrument.

4. The telesurgery system of claim 1, wherein the accepted tolerance is +/−

90 degrees.

5. The telesurgery system of claim 1, further comprising a motor assembly comprising the motor and a gearbox, wherein the motor is configured to drive the gearbox, and wherein the sensor assembly comprises a first sensor configured to record a first rotational position of the motor assembly at a location before the gearbox and a second sensor configured to record a second rotational position of the motor assembly at a location after the gearbox.

6. The telesurgery system of claim 5, wherein determining whether the post-shutdown position of the at least one drive mechanism is within the accepted tolerance includes comparing a ratio of turns from the first rotational position to the second rotational position.

7. The telesurgery system of claim 1, wherein the surgical assembly further comprises a surgical instrument, and wherein the at least one drive mechanism is coupled to a rotatable instrument shaft of the surgical instrument.

8. The telesurgery system of claim 1, wherein the controller prevents further use of the surgical assembly in response to determining that the post-shutdown position of the at least one drive mechanism is not within the accepted tolerance.

9. The telesurgery system of claim 1, wherein, in response to determining that the post-shutdown position of the at least one drive mechanism is not within the accepted tolerance, the controller prevents further use of the surgical assembly until a surgical instrument is demounted and remounted to the surgical assembly or until the surgical instrument is demounted and a replacement surgical instrument is mounted to the surgical assembly.

10. A method for controlling a telesurgery system comprising:

providing a surgical assembly comprising a motor and a surgical instrument, the surgical assembly having at least one drive mechanism driven by the motor, the surgical assembly further comprising a sensor assembly coupled to non-volatile memory, the sensor assembly for recording position of the at least one drive mechanism to the non-volatile memory,

recording position of at least one drive mechanism to the non-volatile memory;

initiating a mid-procedure shut-down of the surgical assembly;

receiving a request to initiate a mid-procedure restart of the surgical assembly;

determining whether a post-shutdown position of the at least one drive mechanism within an accepted tolerance with respect to a pre-shutdown position of the at least one drive mechanism to allow the mid-procedure restart to complete; and

preventing or allowing further use of the surgical assembly based on determining whether the post-shutdown position of the at least one drive mechanism is within an accepted tolerance with respect to the pre-shutdown position, of the at least one drive mechanism.

11. The method of claim 10, wherein determining whether the post-shutdown position of the at least one drive mechanism is within the accepted tolerance includes validating authenticity of the post-shutdown position.

12. The method of claim 11, wherein validating authenticity comprises checking an identity of the surgical instrument.

13. The method of claim 10, wherein the accepted tolerance is +/−

90 degrees.

14. The method of claim 10, wherein the telesurgery system further comprises a motor assembly comprising the motor and a gearbox, wherein the motor drives the gearbox, and wherein the sensor assembly comprises a first sensor configured to record a first rotational position of the motor assembly at a location before the gearbox and a second sensor configured to record a second rotational position of the motor assembly at a location after the gearbox.

15. The method of claim 14, wherein determining whether the post-shutdown position of the at least one drive mechanism is within the accepted tolerance includes comparing a ratio of turns from the first rotational position to the second rotational position.

16. The method of claim 10, wherein the at least one drive mechanism comprises at least one drive mechanism coupled to a rotatable instrument shaft of the surgical instrument.

17. The method of claim 10, wherein preventing or allowing further use of the surgical assembly based on determining whether the post-shutdown position of the at least one drive mechanism is within the accepted tolerance comprises:

preventing further use of the surgical assembly in response to determining that the post-shutdown position of the at least one drive mechanism is not within the accepted tolerance.

18. The method of claim 10, preventing or allowing further use of the surgical assembly based on determining whether the post-shutdown position of the at least one drive mechanism is within the accepted tolerance comprises:

in response to determining that the post-shutdown position of the at least one drive mechanism is not within the accepted tolerance, preventing further use of the surgical assembly until the surgical instrument is demounted and remounted to the surgical assembly or until the surgical instrument is demounted and a replacement surgical instrument is mounted to the surgical assembly.

19. A telesurgery system comprising:

a surgical assembly comprising a motor, the surgical assembly having at least one drive mechanism driven by the motor;

a sensor assembly coupled to non-volatile memory, the sensor assembly for recording position of the at least one drive mechanism to the non-volatile memory; and

a controller communicatively coupled to the sensor assembly, the controller having at least one processor configured to execute a method comprising;

recording a position of the at least one drive mechanism to the non-volatile memory during use of the surgical assembly;

initiating a mid-procedure shut-down of the surgical assembly;

receiving a request to initiate a mid-procedure restart of the surgical assembly;

determining whether a post-shutdown position of the at least one drive mechanism is within an accepted tolerance with respect to a pre-shutdown position of the at least, one drive mechanism to allow the mid-procedure restart to complete, wherein the determining comprises checking an identity of a surgical instrument and validating authenticity of the post-shutdown position; and

preventing or allowing further use of the surgical assembly based on determining whether the post-shutdown position of the at least one drive mechanism is within the accepted tolerance with respect to the pre-shutdown position of the at least one drive mechanism.

20. The telesurgery system of claim 19, wherein

the surgical assembly further comprises the surgical instrument;

and

in response to determining that the post-shutdown position of the at least one drive mechanism is not within the accepted tolerance, the controller prevents further use of the surgical assembly until a surgical instrument is demounted and remounted to the surgical assembly or until the surgical instrument is demounted and a replacement surgical instrument is mounted.