Robotic surgical system with selective motion control decoupling

• US 10,251,716 B2
• Filed: 12/19/2016
• Issued: 04/09/2019
• Est. Priority Date: 12/19/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Overmyer, Mark D.
• Primary Examiner(s): Oh, Harry Y
• Application Number:
  US15/383,017
• Publication Number:
  US 20180168754A1
• Time in Patent Office: 841 Days
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 2017/00115 with audible or visual output
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2034/743 Keyboards
• CPC Class Codes: A61B 2034/744 Mouse
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: B25J 9/1689 Teleoperation

Abstract

Robotic surgical systems are provided for control of an end effector in response to actuation of a user interface device based upon different control states. In each control state, selected movement directions of the user interface device are either coupled to or decoupled from corresponding movements directions of the end effector. Decoupled movement directions can be recoupled by positioning the user interface device within a range of where the user interface device and the end effector were decoupled. To assist with such recoupling, a graphical image estimating a position of the end effector that would be achieved, based upon a current position of the user interface device, if the decoupled movement direction was recoupled can be overlaid upon a current position of the end effector.

Claims

1. A surgical system, comprising:

an electromechanical tool including an instrument shaft and an end effector formed on the instrument shaft, wherein the end effector is configured to perform a plurality of surgical functions on tissue of a patient;

an electromechanical arm configured for movement with respect to multiple axes, wherein the electromechanical tool is configured to be mounted on, and move relative to, the electromechanical arm; and

a control system configured to control movement and surgical functions of the end effector according to at least two control states in response to actuation of a user interface device, wherein;

in a first control state, a movement of the user interface device in a first selected direction effects a corresponding movement of the end effector in the first selected direction; and

in a second control state, a movement of the user interface device in the first selected direction does not effect a corresponding movement of the end effector in the first selected direction and the end effector performs a first surgical function in response to receipt of a first surgical function input by the user interface device; and

the control system enters the second control state from the first control state in response to receipt of a first transition input by the user interface device.

2. The system of claim 1, wherein the control system enters the first control state from the second control state when a second transition input is received by the user interface device and a current position of the user interface device with respect to the first selected direction during the second control state is within a tolerance of a prior position of the user interface device with respect to the first selected direction when the second control state was entered from the first control state.

3. The system of claim 1, further comprising a vision system configured to display a current end effector position and a graphical representation of an estimated end effector position according to the current position of the user interface device.

4. The system of claim 1, wherein, in the first control state, movement of the end effector corresponds to movement of the user interface device in any direction.

5. The system of claim 2, wherein the control system is configured to control movements and surgical functions of the end effector according to a third control state in response to receipt of a third transition input by the user interface device, and wherein, in the third control state, movement of the user interface device in a second selected direction, different from the first selected direction, does not result in a corresponding movement of the end effector in the second selected direction and the end effector performs a second surgical function, different from the first surgical function, in response to receipt of a second surgical function input by the user interface device.

6. The system of claim 5, wherein the control system is configured to prohibit entry of the third control state from the second control state prior to performance of the second surgical function.

7. The system of claim 5, wherein the control system enters the second control state from the third control state when a fourth transition input is received by the user interface device and a current position of the user interface device during the third control state is within a tolerance of a prior position of the user interface device with respect to the second selected direction when the third control state was entered from the second control state.

8. The system of claim 7, wherein the second surgical function comprises at least two sequentially performed surgical functions and wherein the control system is configured to prohibit transition from the third control state to the second control state until each of the at least two surgical functions of the second surgical function is performed.

9. The system of claim 5, wherein the first surgical function comprises clamping the tissue and the second surgical function comprises deploying a plurality of staples to the tissue.

10. The system of claim 5, wherein the control system is configured to prohibit entry of the first control state from the third control state.

11. The system of claim 7, wherein the second transition input, the third transition input and the fourth transition input comprise modulation of the first transition input.

12. A method of controlling a surgical robot, the method comprising:

receiving, by a computing device, an actuation signal corresponding to actuation of a user interface device;

generating, by the computing device, a plurality of command signals in response to receipt of the actuation signal according to a first control state and a second control state, the plurality of command signals configured to control a surgical robot comprising an electromechanical arm, an electromechanical tool mounted to the electromechanical arm including an instrument shaft, and an end effector formed on the instrument shaft configured to perform a plurality of surgical functions on tissue of a patient, wherein;

in the first control state, a movement of the user interface device in a first selected direction affects a corresponding movement of the end effector in the first selected direction;

in the second control state, a movement of the user interface device in the first selected direction does not affects a corresponding movement of the end effector in the first selected movement direction and the end effector is configured to perform a first surgical function in response to receipt of a first surgical function input by the user interface device; and

entering, by the computing device, the second control state from the first control state in response to receipt of a first transition input by the user interface device.

13. The method of claim 12, further comprising:

storing, by the computing device, a first position representing a position of the user interface device with respect to the first selected direction at the time the second control state is entered; and

entering, by the computing device, the first control state from the second control state when a second transition input is received by the user interface device and a current position of the user interface device with respect to the first selected direction is within a tolerance of the stored first position.

14. The method of claim 12, further comprising, by the computing device, generating a graphical representation of an estimated end effector position according the actuation signal that suitable for overlay upon an image of a current end effector position.

15. The method of claim 12, wherein, in the first control state, movement of the end effector corresponds to movement of the user interface device in any direction, including rotational movement.

16. The method of claim 12, wherein the computing device is configured to control movements and surgical functions of the end effector according to a third control state in response to receipt of a third transition input by the user interface device, and wherein, in the third control state, movement of the user interface device in a second selected direction, different from the first selected direction, does not result in a corresponding movement of the end effector in the second selected direction and the end effector performs a second surgical function, different from the first surgical function, in response to receipt of a second surgical function input by the user interface device.

17. The method of claim 16, wherein the plurality of command signals prohibit entry of the third control state from the second control state prior to performance of the second surgical function.

18. The method of claim 16, wherein the computing device is further configured to:

store a second position representing a position of the user interface device with respect to the second selected direction at the time the third control state is entered from the second control state; and

enter the second control state from the third control state when a fourth transition input is received by the user interface device and a current position of the user interface device with respect to the second selected direction is within a tolerance of the stored second position.

19. The method of claim 18, wherein the second surgical function comprises at least two sequentially performed surgical functions and wherein the plurality of command signals prohibit entry of the second control state from the third control state until each of the at least two surgical functions of the second surgical function is performed.

20. The method of claim 16, wherein the first surgical function comprises clamping the tissue and the second surgical function comprises deploying a plurality of staples to the tissue.

21. The method of claim 16, wherein the plurality of command signals prohibit entry of the first control state from the third control state.

22. The method of claim 18, wherein the second transition input, the third transition input, and the fourth transition input comprise modulation of the first transition input.