Medical robotic system with coupled control modes

• US 10,188,472 B2
• Filed: 04/08/2016
• Issued: 01/29/2019
• Est. Priority Date: 06/13/2007
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Diolaiti, Nicola, Larkin, David Q., Mohr, Catherine J.
• Primary Examiner(s): To, Toan C
• Application Number:
  US15/094,721
• Publication Number:
  US 20160242860A1
• Time in Patent Office: 1,026 Days
• Field of Search: 700245, 700248, 700247, 700249, 700256, 700258, 700259, 700264
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 2017/00278 Transorgan operations, e.g. transgastric
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/3447 Linked multiple cannulas
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 Micromanipulators
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system'"'"'s usability is enhanced by reducing the surgeon'"'"'s need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.

Claims

1. A system comprising:

an imaging system having a field of view;

a slave manipulator adapted to manipulate a device when the device is coupled to the slave manipulator; and

a device controller automatically commanding the slave manipulator to move a working end of the device until the working end is within the field of view of the imaging system, after receiving an indication to do so.

2. The system according to claim 1, further comprising:

an input device;

a plurality of slave manipulators adapted to manipulate a plurality of devices when the plurality of devices are coupled to the plurality of slave manipulators, wherein the plurality of slave manipulators includes the slave manipulator, and wherein the plurality of devices includes the device;

a guide tube manipulator adapted to manipulate a guide tube when the guide tube is coupled to the guide tube manipulator, the guide tube having a proximal end and a distal end, wherein the guide tube defines a longitudinal axis between the proximal end and the distal end, and wherein distal ends of the plurality of devices are extendable through the guide tube and beyond the distal end of the guide tube;

a plurality of device controllers, each device controller of the plurality of device controllers configured to control operation of a corresponding slave manipulator of the plurality of slave manipulators, wherein the plurality of device controllers includes the device controller; and

a guide tube controller configured to;

control movement of the guide tube by the guide tube manipulator in a plurality of degrees-of-freedom including rotation around an axis orthogonal to the longitudinal axis of the guide tube, movement along an axis orthogonal to the guide tube, and rotation around the longitudinal axis of the guide tube,

receive a command from the input device,

conditioned upon the command being associated with movement in a first one or more of the plurality of degrees-of-freedom, control movement of the guide tube by the guide tube manipulator in the first one or more of the plurality of degrees-of-freedom, and

conditioned upon the command being associated with movement along the longitudinal axis of the guide tube, command the plurality of device controllers to control movement of proximal ends of the plurality of devices by the plurality of slave manipulators, in a direction that is parallel to the longitudinal axis of the guide tube.

3. The system according to claim 2, further comprising:

a memory in which joint positions of the plurality of slave manipulators are stored for an operational configuration for each of the plurality of devices;

wherein each device controller of the plurality of device controllers is configured to;

conditioned upon the guide tube controller commanding the plurality of device controllers to control movement of the proximal ends of the plurality of devices by the plurality of slave manipulators, in the direction that is parallel to the longitudinal axis of the guide tube, command its corresponding slave manipulator of the plurality of slave manipulators to place its corresponding device in the operational configuration defined by the joint positions.

4. The system according to claim 1, further comprising:

an input device; and

an imaging system controller configured to;

control movement of an image capturing end of the imaging system in response to movement of the input device; and

provide the indication to the device controller to automatically command the slave manipulator to move the working end of the device until the working end is within the field of view of the imaging system, upon determining that the imaging capturing end has reached a desired position.

5. A method comprising:

a device controller automatically commanding a slave manipulator to move a working end of a device until the working end is within a field of view of an imaging system, after receiving an indication to do so.

6. The method according to claim 5,

wherein the device controller is one of a plurality of device controllers, the slave manipulator is one of a plurality of slave manipulators, and the device is one of a plurality of devices;

the method further comprising;

the plurality of device controllers automatically commanding corresponding ones of the plurality of slave manipulators to place distal ends of corresponding ones of the plurality of devices to be within the field of view of the imaging system, after receiving the indication to do so.

7. The method according to claim 6:

wherein the distal ends of the plurality of devices are extendable through a guide tube and beyond a distal end of the guide tube, and wherein the guide tube defines a longitudinal axis between a proximal end of the guide tube and the distal end of the guide tube;

the method further comprising;

a guide tube controller receiving a command from an input device;

conditioned upon the command being a pitch or yaw command, the guide tube controller controlling movement of the guide tube by commanding a guide tube manipulator to rotate the guide tube about an axis orthogonal to the longitudinal axis of the guide tube; and

conditioned upon the command being an insertion command, the guide tube controller generating and transmitting a second insertion command to the plurality of device controllers, so that each of the plurality of device controllers commands a corresponding one of the plurality of slave manipulators to move a proximal end a corresponding one of the plurality of devices in a direction that is parallel to the longitudinal axis of the guide tube.