Cooperative minimally invasive telesurgical system
First Claim
1. A robotic surgical system comprising:
- a plurality of manipulator arms;
a plurality of surgical instruments, each instrument mounted to an associated arm;
a master controller station having a master display for viewing by an operator, a first input device for manipulation by a first hand of the operator, and a second input device for manipulation by a second hand of the operator;
an assistant controller having an assistant input device for manipulation by a hand of an assistant; and
a processor selectably operatively coupling the controllers to the arms to effect movement of the surgical instruments in response to movement of the input devices.
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Accused Products
Abstract
Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
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Citations
43 Claims
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1. A robotic surgical system comprising:
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a plurality of manipulator arms;
a plurality of surgical instruments, each instrument mounted to an associated arm;
a master controller station having a master display for viewing by an operator, a first input device for manipulation by a first hand of the operator, and a second input device for manipulation by a second hand of the operator;
an assistant controller having an assistant input device for manipulation by a hand of an assistant; and
a processor selectably operatively coupling the controllers to the arms to effect movement of the surgical instruments in response to movement of the input devices. - View Dependent Claims (2, 3)
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4. A robotic surgical method comprising:
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robotically moving first and second surgical instruments at a surgical site with first and second robotic manipulator arms by manipulating first and second input devices with first and second hands of an operator, respectively;
positioning a third surgical instrument at the surgical site by articulating a linkage of a third manipulator;
impeding movement of the positioned third surgical instrument at the surgical site by inhibiting movement of the third manipulator.
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5. A robotic surgical method comprising:
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robotically positioning a surgical instruments at a surgical site with a manipulator arm by manipulating a first input device with a hand of a first operator;
selectively associating the manipulator arm with a second input device;
robotically moving the surgical instrument at the surgical site with the manipulator arm by manipulating the second input device with a hand of a second operator.
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6. A robotic surgical method comprising:
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showing on a display a first view of a surgical site from a first image capture device;
robotically moving a surgical instrument at the surgical site with a manipulator arm by manipulating an input device with a hand of an operator while the operator views the first view of the surgical site on the display;
selectively associating a second image capture device with the display; and
robotically moving the surgical instrument at the surgical site with the arm by manipulating the input device while the operator views a second view of the surgical site from the second image capture device on the display.
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7. A robotic cardiac surgery method comprising:
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introducing an image capture device into a chest cavity of a patient through an aperture disposed along a right side of the patient;
displaying an image of a surgical site adjacent the heart from the image capture device to an operator;
performing a surgical procedure on the heart by moving a surgical instrument at the surgical site with at least one robotic manipulator arm while the surgical instrument extends through another aperture disposed along the right side of the patent.
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8. A robotic surgical system comprising:
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a first input device manipulatable by a hand of an operator;
a first robotic arm assembly including a first manipulator arm for moving a first surgical instrument;
a second robotic arm assembly including a second manipulator arm for moving a second surgical instrument; and
a control system coupling the first input device to the first and second robotic arm assemblies, the control system permitting selective operative association of the first input device with the first robotic arm assembly and permitting selective operative association of the first input device with the second robotic arm assembly. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A robotic surgical system comprising:
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two input devices;
an endoscope robotic arm assembly;
at least two medical instrument manipulator arm assemblies; and
a control system permitting selection of which one of the input devices is to be operatively associated with which one of the manipulator assemblies.
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24. A robotic surgical system comprising:
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a plurality of input devices;
a plurality of manipulator arms, each manipulator arm having an instrument holder;
a plurality of surgical instruments mountable to the instrument holders, the plurality of surgical instruments including an image capture device and a tool having a surgical end effector for treating tissue; and
a control system coupling the input devices with the manipulator arms, the control system selectably associating each input device with a manipulator arm. - View Dependent Claims (25, 26, 27, 28)
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29. A minimally invasive robotic surgical system comprising:
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two input devices;
at least two medical instrument robotic arm assemblies, one of the input devices being operatively associated with one of the robotic arm assemblies to cause movement of the robotic arm assembly in response to inputs on the input device, and the other input device being operatively associated with another of the robotic arm assemblies to cause movement of that other robotic arm assembly in response to inputs on that other input device; and
a control system coupling the input devices with the robotic arm assemblies, the control system enabling selective swapping so as to cause the input device to be operatively associated with the robotic arm assembly which was operatively associated with the other input device, and to cause the other input device to be operatively associated with the robotic arm assembly which was operatively associated with the input device.
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30. A minimally invasive robotic surgical system comprising:
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two input devices;
an image capture robotic arm assembly;
at least two medical instrument robotic arm assemblies, one of the input devices being operatively associated with one of the instrument robotic arm assemblies to cause movement of the instrument robotic arm assembly in response to inputs on the input device and the other input device being operatively associated with another of the instrument robotic arm assemblies to cause movement of that other instrument robotic arm assembly in response to inputs on that other input device; and
a control system enabling selective operative association between at least one of the input devices and robotic arm assembly to permit the position of an image capture device to be changed using the at least one input device.
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31. A robotic surgical method comprising:
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robotically moving a first surgical instrument using a first manipulator arm by manipulating a first input device with a hand;
reconfiguring a control system by entering a command, the control system coupling the first input device with the first manipulator arm and with a second manipulator arm; and
robotically moving a second surgical instrument using the second manipulator arm by manipulating the input device with the hand after the reconfiguring step.
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32. A robotic surgical method comprising:
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robotically moving a surgical instrument using a manipulator arm by manipulating a first input device with a first hand;
reconfiguring a control system by entering a command, the control system coupling the first input device and a second input device with the manipulator arm; and
robotically moving the surgical instrument using the manipulator arm by manipulating the second input device with a second hand after the reconfiguring step.
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33. A robotic telesurgical network comprising:
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a robotic surgical system configured for performing a surgical procedure on a patient, including a plurality of manipulator arms, a plurality of surgical instruments, each instrument mounted to an associated arm, and a controller station having a display for viewing by an operator, a first input device for manipulation by a hand of the operator, and a second input device for manipulation by another hand of the operator;
another controller station including a display for viewing by another operator, and a third input device for manipulation by a hand of the another operator;
a control processor coupled to the manipulator arms, the controller station and the another controller station, the control processor providing for selectably coupling at least one of the manipulator arms and its associated instruments in a plurality of switchable modes including a first mode in which the selectably coupled arm is operatively associated with the controller station for operation by one of the first or second input devices by the operator; and
a second mode in which the selectably coupled arm is operatively disassociated from the controller station and operatively associated with the another controller station for operation by the third input device by the another operator. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43)
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Specification