Limited movement of a surgical mounting platform controlled by manual motion of robotic arms

• US 10,285,764 B2
• Filed: 02/19/2015
• Issued: 05/14/2019
• Est. Priority Date: 02/20/2014
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Griffiths, Paul G., Mohr, Paul W., Swarup, Nitish, Costa, Michael, Larkin, David Q., Cooper, Thomas G.
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/118,305
• Publication Number:
  US 20170181801A1
• Time in Patent Office: 1,545 Days
• Field of Search: 700245
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2050/105 Cabinets
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 50/10 Furniture specially adapted for surgical or diagnostic appliances or instruments
• CPC Class Codes: A61B 50/18 Cupboards; Drawers therefor

Abstract

Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

Claims

1. A method for preparing for teleoperated surgery, the method comprising:

sensing, by a processor, an input displacement of a first link of a first manipulator from an initial positional relationship relative to an orienting platform to a displaced positional relationship relative to the orienting platform, the input displacement resulting from a manual articulation of a set-up joint linkage supporting the first manipulator and comprising a first displacement in a first direction, a second displacement in a second direction, and a third displacement in a third direction, the first, second, and third directions being perpendicular to one another;

calculating, by the processor in response to sensing the input displacement of the first link, a movement of a set-up structure linkage that causes the first link of the first manipulator to return toward the initial positional relationship relative to the orienting platform in the first direction, the calculated movement disregarding the third displacement in the third direction, the set-up structure linkage supporting the orienting platform, and the orienting platform supporting the first manipulator via the set-up joint linkage and a second manipulator;

driving the set-up structure linkage per the calculated movement in the first direction.

2. The method of claim 1, wherein driving the set-up structure linkage per the calculated movement comprises driving the set-up structure linkage per the calculated movement only in the first direction and not in the second direction or the third direction.

3. The method of claim 2, wherein the first direction comprises a vertical z-direction.

4. The method of claim 3, wherein driving the set-up structure linkage per the calculated movement comprises driving a translational column member configured to adjust a height of the orienting platform, and wherein the translational column member is programmed with an upper translational limit.

5. The method of claim 4, further comprising stopping the driving of the translational column member when the translational column member reaches the upper translational limit.

6. The method of claim 1, wherein the driving of the set-up structure linkage occurs in a platform movement mode and wherein the platform movement mode is entered in response to the set-up joint linkage reaching a range of motion limit threshold of the set-up joint linkage.

7. The method of claim 6, wherein the platform movement mode is entered in response to the set-up joint linkage remaining within the range of motion limit threshold for a predetermined duration of time.

8. The method of claim 7, wherein the predetermined duration of time comprises 3-5 seconds.

9. The method of claim 7, further comprising providing an audio or visual alert when the set-up joint linkage has reached the range of motion limit threshold and before entering the platform movement mode.

10. The method of claim 9, wherein the audio or visual alert is configured to be indicative of a time that the set-up joint linkage has resided within the range of motion limit threshold to provide information on when entry into the orienting platform moving mode will occur.

11. The method of claim 10, wherein the audio or visual alert comprises discrete beeps for each second that the set-up joint linkage has reached the range of motion limit threshold.

12. A system for teleoperated surgery, the system comprising:

a platform;

first and second manipulators supported by the platform, each manipulator having a manipulator linkage including a first link and a drive system operatively coupled to the manipulator linkage so as to drive the first link during surgery;

a support structure supporting the platform, the support structure including a support linkage including a drive system operatively coupled to the support linkage so as to drive the platform relative to a support structure base; and

a processor coupled to the first and second manipulators and to the support structure, the processor having a platform movement mode, the processor in the platform movement mode configured to;

sense a manual movement of the first link of the first manipulator relative to the platform that move the first link from an initial positional relationship relative to the platform to a displaced positional relationship relative to the platform, wherein the manual movement of the first link of the first manipulator comprises a first displacement in a first direction, a second displacement in a second direction, and a third displacement in a third direction, the first, second, and third directions being perpendicular to one another;

calculate, in response to the sensed manual movement, a set-up command for the support structure that causes the first link to return toward the initial positional relationship relative to the platform in the first direction; and

transmit the set-up command to the support structure so as to move the platform and the manipulators;

wherein the calculated set-up command disregards the third displacement in the third direction.

13. The system of claim 12, wherein the calculated set-up command disregards the second displacement in the second direction such that the calculated set-up command is configured to move the support structure only in the first direction;

and

wherein the second and third displacements in the second and third directions are within a range of motion of the support structure.

14. The system of claim 13, wherein the first direction comprises a vertical z-direction.

15. The system of claim 14, wherein the support structure comprises a translational column member and wherein the calculated set-up command is configured to drive the translational column member to adjust a height of the platform.

16. The system of claim 15, wherein the translational column member is programmed with an upper translational limit.

17. The system of claim 16, wherein the processor in the platform movement mode is further configured to avoid driving the translational column member past the upper translational limit.

18. The system of claim 12, wherein the processor enters the platform movement mode in response to a set-up joint linkage between the first manipulator and the platform reaching a range of motion limit threshold.

19. The system of claim 18, wherein the processor enters the platform movement mode in response to the set-up joint linkage remaining within the range of motion limit threshold for a predetermined duration of time.

20. The system of claim 19, wherein the predetermined duration of time comprises 3-5 seconds.

21. The system of claim 19, wherein the processor is further configured to provide an audio or visual alert when the set-up joint linkage reaches the range of motion limit threshold and before entering the platform movement mode.

22. The system of claim 21, wherein the audio or visual alert is configured to be indicative of a time that the set-up joint linkage has reached the range of motion limit threshold to provide information on when the processor will enter the platform movement mode.

23. The system of claim 21, wherein the audio or visual alert comprises discrete beeps for each second that the set-up joint linkage has reached the range of motion limit threshold.

24. A method for preparing for teleoperated surgery, the method comprising:

sensing, by a processor, an input displacement of a first link of a first manipulator from an initial positional relationship relative to an orienting platform to a vertically displaced positional relationship relative to the orienting platform, the input displacement resulting from a manual articulation of a set-up joint linkage supporting the first manipulator and comprising a vertical displacement in a vertical direction, a second displacement in a second direction, and a third displacement in a third direction, wherein the vertical, second, and third directions are perpendicular to one another;

calculating, by the processor in response to sensing the input displacement of the first link, a movement of a set-up structure linkage that causes the first link of the first manipulator to return towards the initial positional relationship relative to the orienting platform in the vertical direction, the calculated movement disregarding displacement in the second and third directions, the set-up structure linkage supporting the orienting platform, and the orienting platform supporting the first manipulator via the set-up joint linkage and a second manipulator;

driving the set-up structure linkage per the calculated movement only in the vertical direction.