Medical robotic arm that is attached to an operating table

• US 20040186345A1
• Filed: 12/15/2003
• Published: 09/23/2004
• Est. Priority Date: 02/20/1996
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Computer Motion Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Yang, Yulun, Jordan, Charles S., Uecker, Darrin, Wright, James W., Wilson, Jeff D., Laby, Keith P., Ghodoussi, Modjtaba
• Granted Patent: US 7,083,571 B2
• Time in Patent Office: Days
• US Class Current: 600/102
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/11 for performing anastomosis; Buttons for anastomosis
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/00252 for by-pass connections, i.e. connections from heart chamber to blood vessel or from blood vessel to blood vessel
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable for prosthetic joint-implanting tools A61F2/4603
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2017/00973 pedal-operated
• CPC Class Codes: A61B 2017/1107 for blood vessels
• CPC Class Codes: A61B 2017/1135 End-to-side connections, e.g. T- or Y-connections Y-shaped blood vessel prostheses A61F2002/065
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/30 Surgical robots
• 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 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 : Micromanipulators
• CPC Class Codes: A61B 34/75 : Manipulators having means for prevention or compensation of hand tremors
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 46/10 : specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 50/00 : Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers drapes specially adapted for instruments A61B46/10
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 9/1689 : Teleoperation
• CPC Class Codes: G05B 2219/45119 : Telesurgery with local assistent, voice communication
• CPC Class Codes: Y02A 90/10 : Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller to produce a corresponding movement of the end effectors. The movement of the handles is scaled such that the end effectors movement corresponds differently, typically smaller, than the movement performed by the hands of the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may include a robotically controlled endoscope allowing the surgeon to remotely view a surgical site. The surgeon may manipulate handles and move end effectors to perform a cardiac procedure.

Claims

1. A medical robotic system, comprising:

a robotic arm;

a coupler that pivotally attaches to the arm;

an endoscopic surgical instrument that is held by said coupler;

a controller having a handle, the controller in electrical communication with the robotic arm wherein movement at the handle produces a proportional movement of the surgical instrument; and

means for adjusting the proportionality of movement between the handle and the instrument.

2. The system of claim 1 wherein said coupler removably attaches to said robotic arm.

3. The system of claim 1 wherein said endoscopic surgical instrument is an articulable endoscopic surgical instrument.

4. The system of claim 1 wherein the articulable surgical instrument comprises a base, a pivot linkage, and a distal end.

5. The system of claim 4 wherein a movement at the controller results in corresponding movement of the distal end of the articulable surgical instrument relative to the base of the articulable surgical instrument.

6. The system of claim 1 wherein the coupler has an aperture formed therethrough.

13. The system of claim 1 further comprising an audio feedback device for providing audio messages.

7. A medical robotic system, comprising:

a robotic arm;

a coupler that pivotally attaches to the arm;

an endoscopic surgical instrument that is held by said coupler;

a controller having a removably attachable handle, the controller in electrical communication with the robotic arm wherein movement at the handle produces a proportional movement of the surgical instrument.

8. The system of claim 7 further comprising a plurality of removably attachable handles, wherein a surgeon may interchange said handles.

9. The system of claim 7 further comprising a handle stand, wherein said attachable handle is removably attached to said handle stand.

10. The system of claim 7 wherein said handle stand comprises means for tilting said stand.

11. The system of claim 7 wherein said handle stand comprises means for raising and lowering said stand.

12. The system of claim 7 wherein said handle stand comprises means for adjusting distance between the handles portions of said handle stand.

14. A medical robotic system, comprising:

at least two robotic arms;

a controller having at least one handle, the controller in electrical communication with the robotic arms wherein movement at a handle produces a proportional at a corresponding arm; and

means for switching connections between a handle of the controller and a specific one of the robotic arms such that a single handle may control a plurality of robotic arms.

15. The system of claim 14 wherein the means for switching comprises a voice recognizer.

16. The system of claim 14 wherein the means for switching comprises a switching device.

17. A medical robotic system, comprising:

a robotic arm;

a coupler that pivotally attaches to the arm;

an endoscopic surgical instrument that is held by said coupler;

a controller having a handle, the controller in electrical communication with the robotic arm wherein movement at the handle produces a proportional movement of the surgical instrument; and

a stabilizer attached to the surgical instrument.

18. The system of claim 17 wherein said stabilizer is comprised of plastic.