Surgical robotic system and control of surgical robotic system

• US 10,350,014 B2
• Filed: 08/24/2015
• Issued: 07/16/2019
• Est. Priority Date: 08/26/2014
• Status: Active Grant

• Current Assignee: Preceyes B.V.
• Original Assignee: Technische Universiteit Eindhoven
• Inventors: Beelen, Maarten Joannes, Naus, Gerrit Jacobus Lambertus, Meenink, Hildebert Christiaan Matthijs, De Smet, Marc Joseph Dominique
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US15/506,519
• Publication Number:
  US 20170252113A1
• Time in Patent Office: 1,422 Days
• Field of Search: 700245, 700258, 700259, 700264, 606130, 606170, 901 19, 901 27, 600424, 600117, 600130, 600229, 31856811, 31856813, 31856816, 3185682
• 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 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00216 with eye tracking or head position tracking control
• CPC Class Codes: A61B 2017/00973 pedal-operated
• 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 2090/062 penetration depth
• CPC Class Codes: A61B 2090/08021 of the patient or his organs
• CPC Class Codes: A61B 2090/3735 Optical coherence tomography [OCT]
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/75 Manipulators having means for prevention or compensation of hand tremors
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61F 9/007 Methods or devices for eye surgery
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/39082 Collision, real time collision avoidance

Abstract

Some embodiments are directed to a surgical robotic system for use in a surgical procedure, including a surgical arm having a movable arm part for mounting of a surgical instrument having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument towards a surgical target. Some other embodiments are directed to a human machine interface for receiving positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument, and an actuator configured for actuating the movable arm part to effect the longitudinal movement of the surgical instrument, and controlled by a processor in accordance with the positioning commands and a virtual bound. The virtual bound establishes a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target. The virtual bound is determined, during use of the surgical robotic system, based on the positioning commands.

Claims

1. A surgical robotic system for use in a surgical procedure, comprising:

a surgical arm including a movable arm part, the movable arm part including an instrument connector for mounting of a surgical instrument, the surgical instrument having a longitudinal axis, the movable arm part having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument along the longitudinal axis of the surgical instrument towards a surgical target;

a human machine interface for receiving, using a first input modality or input mode of the human machine interface, positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument;

an actuator configured and arranged for actuating the movable arm part to effect the longitudinal movement of the surgical instrument;

a processor configured for controlling the actuator in accordance with the positioning commands and a virtual bound, the virtual bound establishing a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target, and wherein the processor is further configured for, during use, determining the virtual bound based on the positioning commands;

wherein the human machine interface includes a further input modality or input mode which, when used by the human operator during the surgical procedure, causes;

the virtual bound to be set to coincide with, or to be at a predefined distance from, a current instrument tip location as indicated by the positioning commands; and

the virtual bound to be incrementally displaced or expanded relative to a current virtual bound.

2. The surgical robotic system according to claim 1, wherein the human machine interface includes a button for said setting of the virtual bound, and a foot pedal for said incrementally displacing or expanding the virtual bound.

3. The surgical robotic system according to claim 2, and configured for eye surgery, wherein the virtual bound is spherical or an ellipsoid.

4. The surgical robotic system according to claim 1, and configured for eye surgery, wherein the virtual bound is spherical or an ellipsoid.

5. The surgical robotic system according to claim 1, wherein the processor is configured for controlling the actuator to disallow longitudinal movement of the surgical instrument towards the surgical target past the virtual bound.

6. The surgical robotic system according to claim 5, wherein the processor is configured for determining the virtual bound based on a furthest positioning of the surgical instrument as established by the human operator.

7. The surgical robotic system according to claim 1, wherein the processor is configured for determining the virtual bound based on a furthest positioning of the surgical instrument as established by the human operator.

8. The surgical robotic system according to claim 1, wherein the processor is configured for i) in controlling the actuator, allowing longitudinal movement of the surgical instrument towards the surgical target past the virtual bound, subject to a positioning command being of a selected type, and ii) updating the virtual bound based on a new furthest positioning.

9. The surgical robotic system according to claim 8, wherein the human machine interface is configured for enabling the human operator to provide the positioning command of the selected type in separation of other types of positioning commands.

10. The surgical robotic system according to claim 9, wherein the human machine interface includes different input modalities or different input modes to enable the human operator to provide the positioning command of the selected type in separation of the other types of positioning commands by operating different ones of the input modalities or by using different ones of the input modes.

11. The surgical robotic system according to claim 10, wherein the human machine interface includes a motion controller having at least one degree-of-freedom for enabling the human operator to provide the positioning commands by operating the motion controller within a workspace, the motion controller being operable in:

a positioning mode in which the positioning commands are determined by a displacement of the motion controller within the workspace; and

/or

a velocity mode in which a positioning of the motion controller within a predetermined zone within the workspace is deemed to indicate a desired velocity, with the positioning commands being determined in accordance with the desired velocity;

and wherein the positioning commands provided in the velocity mode are not of the selected type so as to disallow longitudinal movement of the surgical instrument towards the surgical target past the virtual bound when the motion controller operates in the velocity mode.

12. The surgical robotic system according to claim 9, wherein the human machine interface includes a motion controller having at least one degree-of-freedom for enabling the human operator to provide the positioning commands by operating the motion controller within a workspace, the motion controller being operable in:

a positioning mode in which the positioning commands are determined by a displacement of the motion controller within the workspace; and

/or

a velocity mode in which a positioning of the motion controller within a predetermined zone within the workspace is deemed to indicate a desired velocity, with the positioning commands being determined in accordance with the desired velocity;

and wherein the positioning commands provided in the velocity mode are not of the selected type so as to disallow longitudinal movement of the surgical instrument towards the surgical target past the virtual bound when the motion controller operates in the velocity mode.

13. The surgical robotic system according to 8, wherein the human machine interface includes a motion controller having at least one degree-of-freedom for enabling the human operator to provide the positioning commands by operating the motion controller within a workspace, the motion controller being operable in:

a positioning mode in which the positioning commands are determined by a displacement of the motion controller within the workspace; and

/or

a velocity mode in which a positioning of the motion controller within a predetermined zone within the workspace is deemed to indicate a desired velocity, with the positioning commands being determined in accordance with the desired velocity;

and wherein the positioning commands provided in the velocity mode are not of the selected type so as to disallow longitudinal movement of the surgical instrument towards the surgical target past the virtual bound when the motion controller operates in the velocity mode.

14. The surgical robotic system according to claim 1, wherein the processor is configured for i) processing the positioning commands based on the virtual bound to obtain processed positioning commands, and ii) using processed positioning commands in controlling the actuator.

15. The surgical robotic system according to claim 14, wherein the processing includes one or more of the group of:

applying a scaling function, and applying a frequency filter, to the positioning commands.

16. The surgical robotic system according to claim 1, wherein the virtual bound is a plane or contour in three-dimensional physical space, and wherein the processor is configured for controlling the actuator to retract the surgical instrument when non-longitudinal movement of the surgical instrument causes the surgical instrument to arrive at the plane or the contour.

17. The surgical robotic system according to claim 1, wherein the surgical instrument includes a sensor for providing sensor data, the sensor data being indicative of a distance between a tip of the surgical instrument and an anatomical structure, and wherein the processor is configured for determining the virtual bound further based on the sensor data.

18. The surgical robotic system according to claim 17, wherein the processor is configured for updating or replacing the virtual bound based on the distance to the anatomical structure as indicated by the sensor data.

19. The surgical robotic system according to claim 1, wherein the processor is configured for controlling the actuator to always allow longitudinal movement of the surgical instrument away from the surgical target.

20. A method for controlling a surgical robotic system during use in a surgical procedure, the surgical robotic system including a surgical arm, the surgical arm including a movable arm part, the movable arm part including an instrument connector for mounting of a surgical instrument, the surgical instrument having a longitudinal axis, the movable arm part having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument along the longitudinal axis of the surgical instrument towards a surgical target, the method comprising:

receiving positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument;

actuating the movable arm part to effect the longitudinal movement of the surgical instrument;

controlling said actuating in accordance with the positioning commands and a virtual bound, the virtual bound establishing a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target;

the method further comprising;

during use of the surgical robotic system in the surgical procedure, determining the virtual bound based on the positioning commands.

21. A computer readable medium, comprising:

non-transitory data representing instructions for causing a processor system to perform the method according to claim 20.