Offset remote center manipulator for robotic surgery

• US 20060074406A1
• Filed: 09/30/2004
• Published: 04/06/2006
• Est. Priority Date: 09/30/2004
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Cooper, Thomas G., Solomon, Todd R.
• Granted Patent: US 7,594,912 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: Y10S 901/15 Jointed arm
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.

Claims

1. A remote center manipulator for constraining a position of a surgical instrument coupled to an instrument holder during minimally invasive robotic surgery, the surgical instrument including an elongate shaft, the shaft having a distal working end configured for insertion through an incision in a body wall into a body cavity of a patient, the remote center manipulator comprising:

an articulate linkage assembly having a mounting base rotationally coupled to a parallelogram linkage base for rotation about a first axis, the parallelogram linkage base coupled to the instrument holder by a plurality of links and joints, the links and joints defining a parallelogram so as to constrain the elongate shaft of the instrument relative to a center of rotation when the instrument is mounted to the instrument holder and the shaft is moved in at least one degree of freedom, wherein the first axis and a first side of the parallelogram adjacent the parallelogram linkage base intersect the shaft at the center of rotation, and the first side of the parallelogram is angularly offset from the first axis.

2. The manipulator of claim 1, wherein the first axis and a second axis intersect at the center of rotation.

3. The manipulator of claim 2, wherein the first side of the parallelogram is angularly offset from the first axis by at least 2 degrees.

4. The manipulator of claim 2, wherein the first side of the parallelogram is angularly offset from the first axis in a range from about 2 degrees to about 45 degrees.

5. The manipulator of claim 2, wherein the first side of the parallelogram is angularly offset from the first axis by 10 degrees.

6. The manipulator of claim 2, wherein a distal end of the parallelogram extends from a joint adjacent the instrument holder to the center of rotation, and wherein the distal end of the parallelogram is angularly offset from the elongate shaft.

7. The manipulator of claim 2, wherein the first side of the parallelogram extends beneath the first axis.

8. The manipulator of claim 2, wherein the manipulator provides shaft motion in a range greater than ±

90 degrees relative to the first axis.

9. The manipulator of claim 2, wherein the manipulator provides shaft motion in a range between ±

168 degrees relative to the first axis.

10. The manipulator of claim 2, wherein the offset articulate linkage assembly provides shaft motion in a range greater than ±

55 degrees relative to the second axis.

11. The manipulator of claim 2, wherein the offset articulate linkage assembly provides shaft motion in a range between ±

75 degrees relative to the second axis.

12. The manipulator of claim 2, wherein at least one of the links is bent.

13. The manipulator of claim 12, wherein at least one of the links is bent at an angle of about 22 degrees.

14. The manipulator of claim 2, wherein the manipulator is not balanced in at least one degree of freedom.

15. The manipulator of claim 14, further comprising a brake system coupled to the articulate linkage assembly, the brake system releasably inhibiting articulation of at least one of the joints.

16. The manipulator of claim 2, wherein the plurality of links and joints comprise at least one pulley and at least one flexible element coupled to the pulley that is configured to constrain shaft motion relative to the center of rotation.

17. The manipulator of claim 2, wherein the plurality of links and joints comprise a linkage having six pulleys and four belts.

18. The manipulator of claim 2, wherein the plurality of links and joints are driven by a servomechanism.

19. The manipulator of claim 2, wherein the plurality of links and the parallelogram linkage base are offset in different planes.

20. The manipulator of claim 2, wherein the plurality of links and the instrument holder are located in the same plane.

21. The manipulator of claim 2, wherein the articulate linkage assembly is configured to constrain shaft motion relative to the center of rotation so that the shaft is maintained substantially aligned through the center of rotation as the shaft is pivotally moved in at least one degree of freedom.

22. A remote center manipulator for constraining a position of a surgical instrument coupled to an instrument holder during minimally invasive robotic surgery, the surgical instrument including an elongate shaft, the shaft having a distal working end configured for insertion through an incision in a body wall into a body cavity of a patient, the remote center manipulator comprising:

an articulate linkage assembly having a mounting base rotationally coupled to a parallelogram linkage base for rotation about a first axis, the parallelogram linkage base coupled to the instrument holder by a plurality of links and pivots, the links and pivots defining a parallelogram so as to constrain the elongate shaft of the instrument relative to a center of rotation when the instrument is mounted to the instrument holder and the shaft is moved along a plane of the parallelogram, wherein the first axis and a first pivot of the parallelogram adjacent the parallelogram linkage base are angularly offset, and wherein at least one of the links is bent.

23. The manipulator of claim 22, wherein the first axis and a second axis intersect at the center of rotation.

24. The manipulator of claim 23, wherein the first pivot of the parallelogram is angularly offset from the first axis by at least 2 degrees.

25. The manipulator of claim 23, wherein the first pivot of the parallelogram is angularly offset from the first axis in a range from about 2 degrees to about 45 degrees.

26. The manipulator of claim 23, wherein the first pivot of the parallelogram is angularly offset from the first axis by 10 degrees.

27. The manipulator of claim 23, wherein a distal end of the parallelogram extends from a joint adjacent the instrument holder to the center of rotation, and wherein the distal end of the parallelogram is angularly offset from the elongate shaft.

28. The manipulator of claim 23, wherein the first pivot of the parallelogram extends beneath the first axis.

29. The manipulator of claim 23, wherein the manipulator provides shaft motion in a range greater than ±

90 degrees relative to the first axis.

30. The manipulator of claim 23, wherein the manipulator provides shaft motion in a range between ±

168 degrees relative to the first axis.

31. The manipulator of claim 23, wherein the offset parallelogram and bent link provide shaft motion in a range greater than ±

55 degrees relative to the second axis.

32. The manipulator of claim 23, wherein the offset parallelogram and bent link provide shaft motion in a range between ±

75 degrees relative to the second axis.

33. The manipulator of claim 23, wherein the at least one link is bent at an angle of about 22 degrees.

34. The manipulator of claim 23, wherein the manipulator is not balanced in at least one degree of freedom.

35. The manipulator of claim 34, further comprising a brake system coupled to the articulate linkage assembly, the brake system releasably inhibiting articulation of at least one of the pivots.

36. The manipulator of claim 23, wherein the plurality of links and pivots comprise at least one pulley and at least one flexible element coupled to the pulley that is configured to constrain shaft motion relative to the center of rotation.

37. The manipulator of claim 23, wherein the plurality of links and pivots comprise a linkage having six pulleys and four belts.

38. The manipulator of claim 23, wherein the plurality of links and the parallelogram linkage base are offset in different planes.

39. The manipulator of claim 23, wherein the plurality of links and the instrument holder are located in the same plane.

40. A remote center manipulator for constraining a position of a surgical instrument coupled to an instrument holder during minimally invasive robotic surgery, the surgical instrument including an elongate shaft, the shaft having a distal working end configured for insertion through an incision in a body wall into a body cavity of a patient, the remote center manipulator comprising:

an articulate linkage assembly having a mounting base rotationally coupled to a parallelogram linkage base for rotation about a first axis, the parallelogram linkage base coupled to the instrument holder by a plurality of links and pivots, the links and pivots defining a parallelogram so as to constrain the elongate shaft of the instrument relative to a center of rotation when the instrument is mounted to the instrument holder and the shaft is moved along a plane of the parallelogram, wherein the first axis and the parallelogram intersect the shaft at the center of rotation, and the parallelogram is angularly offset from the first axis.

41. The manipulator of claim 40, wherein the first axis and a second axis intersect at the center of rotation.

42. The manipulator of claim 41, wherein the parallelogram is angularly offset from the first axis by at least 2 degrees.

43. The manipulator of claim 41, wherein the parallelogram is angularly offset from the first axis in a range from about 2 degrees to about 45 degrees.

44. The manipulator of claim 41, wherein the parallelogram is angularly offset from the first axis by 10 degrees.

45. The manipulator of claim 41, wherein the first axis and a first side of the parallelogram adjacent the parallelogram linkage base intersect the shaft at the center of rotation, and the first side of the parallelogram is angularly offset from the first axis

46. The manipulator of claim 41, wherein the first axis and a first pivot of the parallelogram adjacent the parallelogram linkage base intersect the shaft at the center of rotation, and the first pivot of the parallelogram is angularly offset from the first axis.

47. The manipulator of claim 41, wherein a distal end of the parallelogram extends from a joint adjacent the instrument holder to the center of rotation, and wherein the distal end of the parallelogram is angularly offset from the elongate shaft.

48. A remote center manipulator for pivotal motion of a surgical instrument coupled to an instrument holder during minimally invasive robotic surgery, the surgical instrument including an elongate shaft, the shaft having a proximal end and a distal working end configured for insertion through an incision in a body wall into a body cavity of a patient, the remote center manipulator comprising:

a linkage base;

a first linkage assembly pivotally supported by the linkage base, the first linkage assembly having a first outer housing; and

a second linkage assembly cantilevered between a proximal pivotal joint and a distal pivotal joint and defining a second linkage assembly axis therebetween, the proximal pivotal joint coupling the second linkage assembly to the first linkage assembly, the distal pivotal joint coupling the second linkage assembly to the instrument holder, the first and second linkage assemblies constraining lateral motion of the shaft to pivotal motion about a center of rotation disposed along the shaft, the second linkage having a second outer housing, the second outer housing having a recess disposed between and separated from the first joint and the second joint so that the first outer housing of the first linkage assembly can protrude into the recess and across the second linkage axis when the proximal end of the shaft moves toward the linkage base.

49. The manipulator of claim 48, wherein the second linkage assembly comprises a flexible member in tension between the proximal pivotal joint and the distal pivotal joint, and at least one guide engaging the flexible member laterally so as to displace the flexible member away from the recess.

50. A method for performing minimally invasive robotic surgery within a body cavity of a patient employing a surgical instrument coupled to an instrument holder, the instrument including an elongate shaft, the shaft having a distal working end configured for insertion through an incision in a body wall into the body cavity, the method comprising:

providing an articulate linkage assembly having a mounting base rotationally coupled to a parallelogram linkage base for rotation about a first axis, the parallelogram linkage base coupled to the instrument holder by a plurality of links and joints, the links and joints defining a parallelogram so as to constrain the elongate shaft of the instrument relative to a center of rotation when the instrument is mounted to the instrument holder and the shaft is moved in at least one degree of freedom, wherein the first axis and a first side of the parallelogram adjacent the parallelogram linkage base intersect the shaft at the center of rotation, and the first side of the parallelogram is angularly offset from the first axis;

coupling the instrument to the instrument holder;

introducing at least the distal working end of the instrument shaft through the incision into the body cavity; and

pivotally moving at least the shaft of the instrument in at least one degree of freedom while at least a portion of the distal working end is within the body cavity and while the offset articulate linkage assembly constrains lateral motion of the shaft to pivotal motion about the center of rotation so that the shaft is maintained substantially aligned through the center of rotation.