Roll-pitch-roll wrist methods for minimally invasive robotic surgery

• US 20060142897A1
• Filed: 02/22/2006
• Published: 06/29/2006
• Est. Priority Date: 01/21/1992
• Status: Active Grant

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Green, Philip S.
• Granted Patent: US 7,248,944 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• 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 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• 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 34/72 Micromanipulators
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: B25J 13/025 comprising haptic means
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/194 Transmission of image signals
• CPC Class Codes: H04N 13/239 : using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/246 : Calibration of cameras
• CPC Class Codes: H04N 13/296 : Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 13/337 : using polarisation multiplexing
• CPC Class Codes: H04N 13/341 : using temporal multiplexing
• CPC Class Codes: H04N 13/398 : Synchronisation thereof; Control thereof

Abstract

A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (301) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. Use of the teleoperator system for surgical procedures also is disclosed.

Claims

1. A surgical apparatus for performing a procedure on a tissue in a body of a patient through a minimally invasive aperture, the minimally invasive surgical apparatus comprising:

a minimally invasive surgical end effector configured for manipulating the tissue within the patient body;

an elongate shaft having a distal end insertable into the body of the patient through the aperture, the elongate shaft having a longitudinal axis;

a wrist member coupling the end effector to the distal end of the shaft, the wrist member having a longitudinal axis;

the wrist member and end effector rotatable about the longitudinal axis of the shaft;

the wrist member and end effector pivotable about a wrist axis extending across the shaft; and

the end effector rotatable about a longitudinal axis of the wrist member.

2. The minimally invasive surgical apparatus of claim 1, wherein the wrist member pivots at a wrist joint coupling the wrist member to the shaft, the wrist joint defining the wrist axis, and the wrist axis being perpendicular to the longitudinal axis of the shaft and to the longitudinal axis of the wrist member.

3. The minimally invasive surgical apparatus of claim 1, wherein the end effector comprises first and second jaw members, the first jaw member pivotable about a jaw pivot axis extending across the longitudinal axis of the wrist member so as to open and close the jaws.

4. The minimally invasive surgical apparatus of claim 3, wherein the jaw pivot axis is perpendicular to the longitudinal axis of the wrist member.

5. The minimally invasive surgical apparatus of claim 1, wherein rotating of the wrist member about the longitudinal axis of the wrist member changes an orientation of the end effector when the wrist member is roughly perpendicular to the shaft.

6. The minimally invasive surgical appartus of claim 1, further comprising a robotic linkage supporting a proximal end of the shaft, the robotic linkage having a plurality of robotic motors coupled to the end effector so as to effect said rotations and pivoting.

7. The minimally invasive surgical method of claim 6, wherein the motors are actuated in response to manual movement of an input device according to a master-slave by robotic controller.

8. A minimally invasive robotic surgical apparatus comprising:

an elongate shaft having a proximal end, a distal end configured for insertion through a minimally invasive surgical aperture, and a longitudinal axis therebetween;

a robotic linkage supporting the proximal end of the shaft;

a minimally invasive surgical end effector configured for insertion through the aperture;

a wrist member coupling the end effector to the distal end of the shaft, the wrist member having a longitudinal axis; and

the end effector movable, when inserted into the body of a patient through the aperture so as to manipulate tissue, by;

rotation of the shaft relative to the linkage about a longitudinal axis of the shaft;

rotation of the end effector about the axis of a wrist member; and

pivoting of the wrist member so as to vary an angle between the longitudinal axis of the wrist member and the longitudinal axis of the shaft.

9. A surgical apparatus comprising:

an elongate shaft comprising a distal end and a shaft longitudinal axis;

a wrist member comprising;

a first portion attached to the distal end of the shaft;

a second portion;

a wrist roll axis extending from the first portion to the second portion, and

a wrist pivot axis perpendicular to the wrist roll axis;

an end effector attached to the second portion of the wrist member;

wherein;

the wrist member is rotatable about the shaft longitudinal axis; and

the wrist member is pivotable about the wrist pivot axis.

10. The apparatus of claim 9, wherein the wrist pivot axis runs through the first portion of the wrist member.

11. The apparatus of claim 10, wherein the wrist member is sized for insertion into a human body cavity through a minimally invasive aperture.

12. The apparatus of claim 10, wherein the end effector is rotatable about the wrist roll axis.

13. The apparatus of claim 10, wherein the end effector comprises:

first and second jaw members; and

a jaw pivot axis running through the second portion of the wrist, the jaw pivot axis being perpendicular to the wrist roll axis;

wherein the first jaw member is pivotable about the jaw pivot axis.

14. The apparatus of claim 13, wherein the end effector is rotatable about the wrist roll axis.

15. The apparatus of claim 13, wherein the jaw pivot axis is perpendicular to the wrist pivot axis.

16. The apparatus of claim 13, wherein the first and second jaw members are pivotable in opposing directions about the jaw pivot axis to open and close the jaw members.

17. The apparatus of claim 16, wherein the first and second jaw members are further pivotable in the same direction about the jaw pivot axis.

18. The apparatus of claim 10, wherein the shaft is axially movable along the shaft longitudinal axis.

19. The apparatus of claim 10, further comprising a robotic linkage supporting a proximal end of the shaft, the robotic linkage having a plurality of robotic motors coupled to the end effector so as to effect said rotations and pivoting.

20. The apparatus of claim 19, further comprising hand-operated means at a remote operator control station.

21. A surgical manipulator comprising:

an elongate shaft comprising a distal end and a shaft longitudinal axis;

a wrist member comprising;

a first portion attached to the distal end of the shaft;

a second portion;

a wrist roll axis extending from the first portion to the second portion, and

a wrist pivot axis perpendicular to the wrist roll axis;

an end effector attached to the second portion of the wrist member;

wherein;

the shaft is rotatable about the shaft longitudinal axis; and

the wrist member is pivotable about the wrist pivot axis.

22. The manipulator of claim 21, wherein the wrist pivot axis runs through the first portion of the wrist member.

23. The manipulator of claim 22, wherein the wrist member is sized for insertion into a human body cavity through a minimally invasive aperture.

24. The manipulator of claim 23, wherein the end effector is rotatable about the wrist roll axis.

25. The manipulator of claim 23, wherein the end effector comprises:

first and second jaw members; and

a jaw pivot axis running through the second portion of the wrist, the jaw pivot axis being perpendicular to the wrist roll axis;

wherein the first jaw member is pivotable about the jaw pivot axis.

26. The manipulator of claim 25, wherein the jaw pivot axis is perpendicular to the wrist pivot axis.