Multi-purpose robotic operating system and method

• US 20060149418A1
• Filed: 07/25/2005
• Published: 07/06/2006
• Est. Priority Date: 07/23/2004
• Status: Active Grant

• Current Assignee: Centre of Surgical Invention & Innovation
• Original Assignee: Mcmaster University
• Inventors: Anvari, Mehran
• Granted Patent: US 7,979,157 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61G 13/10 Parts, details or accessories surgical drape sheets A61B46/00
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/40174 Robot teleoperation through internet
• CPC Class Codes: G05B 2219/45119 Telesurgery with local assistent, voice communication

Abstract

A dynamically configurable robotic system and method for performing surgical operations using a plurality of robotic arms remotely controlled by at least one operator console. The system comprises a track system configured for mounting to a patient support table, such that the track system provides a stable operating platform for the robotic arms and for facilitating placement of a proximal end of each of the arms at a selected position about a periphery of the patient support table. the system and method also have a plurality of base stations for operatively coupling each of the robotic arms to the track system, such that each of the base stations include a housing, a first connector for coupling the housing to the track system, the first connector configured for facilitating movement of the housing along the track system while coupled thereto, and a second connector for coupling the housing to the proximal end of at least one of the robotic arms, the second connector configured for providing at least one of power supply, control signalling, and data communication with respect to the coupled robotic arm. The system and method also have a control unit for coupling to at least two of the base stations and configured for dynamically connecting operative remote control between the coupled base stations and a first operator console of the at least one operator console.

Claims

1. A dynamically configurable robotic system for performing surgical operations using a plurality of robotic arms remotely controlled by at least one operator console, the system comprising:

a track system configured for mounting to a patient support table, the track system for providing a stable operating platform for the robotic arms and for facilitating placement of a proximal end of each of the arms at a selected position about a periphery of the patient support table;

a plurality of base stations for operatively coupling each of the robotic arms to the track system, each of the base stations including

a housing,

a first connector for coupling the housing to the track system, the first connector configured for facilitating movement of the housing along the track system while coupled thereto, and

a second connector for coupling the housing to the proximal end of at least one of the robotic arms, the second connector configured for providing at least one of power supply, control signalling, and data communication with respect to the coupled robotic arm; and

a control unit for coupling to at least two of the base stations and configured for dynamically connecting operative remote control between the coupled base stations and a first operator console of the at least one operator console.

2. The system of claim 1 further comprising a first multiplexer unit for coupling between the control unit and a group of the operator consoles including the first operator console and a second operator console, the first multiplexer unit for dynamically switching communication access with the controller unit from the first operator console to the second operator console for the purpose of assigning operative remote control of at least one of the robotic arms.

3. The system of claim 2, wherein the first multiplexer unit facilitates a simultaneous communication access between the controller unit and the first operator console and the second operator console for the purpose of the operative remote control of the at least one of the robotic arms.

4. The system of claim 1 further comprising a plurality of controllers hosted by the controller unit, each controller of the plurality of controllers for providing operative control of one of the robotic arms coupled to a respective one of the base stations.

5. The system of claim 4 further comprising a second multiplexer unit for coupling between the plurality of controllers and the plurality of base stations, the second multiplexer unit for dynamically configuring communication access between a selected one of the base stations and a selected one of the plurality of controllers for the purpose of operative remote control of at least one of the robotic arms when connected to the selected one of the plurality of controllers.

6. The system of claim 5, wherein the communication access includes selected from the group comprising:

the power supply, the control signalling, and the data communication.

7. The system of claim 6, wherein the data communication includes data selected from the group comprising:

image data;

sensor position data; and

orientation data.

8. The system of claim 5 further comprising a first multiplexer unit for coupling between the control unit and a group of operator consoles including the first operator console and a second operator console, the first multiplexer unit for dynamically switching communication access with the controller unit from the first operator console to the second operator console for the purpose of operative remote control of at least one of the robotic arms.

9. The system of claim 1 further comprising a configuration manager accessed by the first operator console, the configuration manager for assigning a selected one of the robotic arms to a selected one of the base stations, and for assigning a controller to the selected one of the base stations for the purpose of operative remote control of the selected robotic arm.

10. The system of claim 10 further comprising a control manager accessed by the first operator console, the control manager for monitoring the operative remote control of the selected robotic arm including the control signalling as directed by an operator of the first operator console.

11. The system of claim 10 further comprising a data manager accessed by the first operator console, the data manager for determining the spatial position of the selected robotic arm in a coordinate system based on position sensor information related to the spatial positioning of the selected robotic arm.

12. The system of claim 11, wherein the position sensor information is selected from the group comprising:

patient position;

patient support table position; and

position of the selected base station along the track system.

13. The system of claim 12, wherein the position sensor information includes orientation information.

14. The system of claim 11, wherein the control manager is used to monitor the operative remote control of the selected robotic arm based on the position sensor information provided by the data manager.

15. A method for dynamically configuring a robotic system to perform surgical operations using a plurality of robotic arms remotely controlled by at least one operator console, the method comprising the steps of:

coupling a control unit to at least two selected base stations of a plurality of base stations, the selected base stations connected to selected robotic arms of the plurality of robotic arms, the control unit configured for dynamically connecting operative remote control between the selected base stations and a first operator console of the at least one operator console; and

recording the position of each of the selected base stations at respective locations along a track system mounted to a patient support table, the selected base stations for operatively coupling each of the selected robotic arms to the track system, each of the selected base stations including

a housing,

a first connector for coupling the housing to the track system, the first connector configured for facilitating movement of the housing along the track system while coupled thereto, and

a second connector for coupling the housing to the proximal end of at least one of the selected robotic arms, the second connector configured for providing at least one of power supply, control signalling, and data communication with respect to the selected robotic arm;

wherein the track system provides a stable operating platform for the selected robotic arms and facilitates placement of a proximal end of each of the selected robotic arms at the respective locations about a periphery of the patient support table.

16. The method of claim 15 further comprising the step of dynamically switching communication access with the controller unit from a first operator console to a second operator console of the operator consoles for the purpose of assigning operative remote control of at least one of the robotic arms.

17. The system of claim 15 further comprising the step of facilitating a simultaneous communication access between the controller unit and a first operator console and a second operator console the operator consoles for the purpose of the sharing the assignment of operative remote control of the at least one of the robotic arms.

18. The method of claim 16 further comprising the step of dynamically configuring communication access between a selected one of the base stations and a selected one of a plurality of controllers for the purpose of assigning operative remote control of at least one of the robotic arms when connected to the selected one of the plurality of controllers, each controller of the plurality of controllers for providing operative control of at least one of the robotic arms coupled to a respective one of the base stations.

19. The method of claim 15 further comprising the step of assigning a selected one of the robotic arms to a selected one of the base stations, and assigning a controller to the selected one of the base stations for the purpose of assigning operative remote control of the selected robotic arm.

20. The method of claim 19 further comprising the step of monitoring the operative remote control of the selected robotic arm including the control signalling as directed by an operator of the first operator console.

21. The method of claim 19 further comprising the step of determining the spatial position of the selected robotic arm in a coordinate system based on position sensor information related to the spatial positioning of the selected robotic arm.

22. The method of claim 21, wherein the position sensor information is selected from the group comprising:

patient position;

patient support table position; and

position of the selected base station along the track system.

23. The method of claim 22, wherein the position sensor information includes orientation information.

24. The system of claim 21 further comprising the step of monitoring the operative remote control of the selected robotic arm based on the position sensor information.

25. A dynamically configurable robotic system for performing surgical operations using at least one robotic arm remotely controlled by at least one operator console, the system comprising:

a track system configured for mounting to a patient support table, the track system for providing a stable operating platform for the at least one robotic arm and for facilitating placement of a proximal end of the at least one robotic arm at a selected position about a periphery of the patient support table;

a base station for operatively coupling the at least one robotic arm to the track system, the base station including

a housing,

a first connector for coupling the housing to the track system, the first connector configured for facilitating movement of the housing along the track system while coupled thereto, and

a second connector for coupling the housing to the proximal end of the least one robotic arm, the second connector configured for providing at least one of power supply, control signalling, and data communication with respect to the coupled robotic arm; and

a control unit for coupling to the base station and configured for dynamically connecting operative remote control between the coupled base station and a first operator console of the at least one operator console.