WIRELESS COMMUNICATION IN A ROBOTIC SURGICAL SYSTEM

• US 20070137372A1
• Filed: 12/20/2006
• Published: 06/21/2007
• Est. Priority Date: 12/20/2005
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Loh, Alan, Devengenzo, Roman
• Granted Patent: US 7,955,322 B2
• Time in Patent Office: Days
• US Class Current: 74/490.10
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 2017/00212 using remote controls
• 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 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2046/234 with means for retaining a catheter
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 9/1045 comprising tensioning means
• CPC Class Codes: G16H 20/30 relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: G16H 40/67 for remote operation
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

In one embodiment, an insertion axis of a robotic manipulator is provided, the insertion axis including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including a remote printed circuit assembly and transceiver for wirelessly communicating with a main printed circuit assembly external to the insertion axis. A robotic surgical system including such an insertion axis and a method for wireless communication in the system are also provided.

Claims

1. An insertion axis of a robotic manipulator, comprising:

a base link operably coupled to a distal end of a manipulator arm; and

a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including a remote printed circuit assembly and transceiver for wirelessly communicating with a main printed circuit assembly external to the insertion axis.

2. The axis of claim 1, wherein the remote printed circuit assembly and transceiver transmit data selected from the group consisting of a system state, a sterile adaptor state, and an instrument state.

3. The axis of claim 1, wherein the remote printed circuit assembly and transceiver transmit data selected from the group consisting of instrument identification, LED control, clutch button state, and Hall-effect sensor state.

4. The axis of claim 1, wherein the carriage link includes an instrument interface, a user interface, and a manipulator clutch button.

5. The axis of claim 4, wherein the instrument interface is capable of mounting an instrument having an end effector selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, cautery probes, irrigators, catheters, and suction orifices.

6. The axis of claim 1, wherein the carriage link includes a power source for the remote printed circuit assembly.

7. The axis of claim 6, wherein the power source includes a battery selected from the group consisting of a rechargeable battery and a disposable battery.

8. The axis of claim 1, wherein the remote printed circuit assembly is coupled by a wire to a power source external to the insertion axis.

9. The axis of claim 1, further comprising a contact brush and a contact track apparatus between the base link and the carriage link for providing power to the remote printed circuit assembly from a remote power source outside of the insertion axis.

10. The axis of claim 1, further comprising an idler link movably coupled between the base link and the carriage link along the lengthwise axis.

11. A robotic surgical manipulator system, comprising:

a manipulator arm including a main printed circuit assembly and transceiver;

an insertion axis operably coupled to a distal end of the manipulator arm, the insertion axis including;

a base link, and

a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument interface and a remote printed circuit assembly and transceiver for wirelessly communicating with the main printed circuit assembly; and

an instrument coupled to the carriage link via the instrument interface.

12. The system of claim 11, wherein the remote printed circuit assembly and transceiver transmit data selected from the group consisting of a system state, a sterile adaptor state, and an instrument state.

13. The system of claim 11, wherein the carriage link includes a user interface and a manipulator clutch button.

14. The system of claim 11, wherein the instrument includes an end effector selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, cautery probes, irrigators, catheters, and suction orifices.

15. The system of claim 11, wherein the carriage link includes a power source for the remote printed circuit assembly.

16. The system of claim 15, wherein the power source includes a battery selected from the group consisting of a rechargeable battery and a disposable battery.

17. The system of claim 11, wherein the remote printed circuit assembly is coupled by a wire to a remote power source outside of the insertion axis.

18. The system of claim 11, further comprising a contact brush and a contact track apparatus between the base link and the carriage link for providing power to the remote printed circuit assembly from a remote power source outside of the insertion axis.

19. The system of claim 11, further comprising a sterile adaptor operably coupled between the instrument interface and the instrument.

20. The system of claim 11, further comprising an idler link movably coupled between the base link and the carriage link along the lengthwise axis.

21. A method of wireless communication in a robotic surgical system, comprising:

providing a manipulator arm including a main printed circuit assembly and transceiver;

providing an insertion axis operably coupled to a distal end of the manipulator arm, the insertion axis, including;

a base link, and

a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including a remote printed circuit assembly and transceiver; and

transmitting data wirelessly from the remote printed circuit assembly to the main printed circuit assembly.

22. The method of claim 21, wherein the transmitted data is selected from the group consisting of a system state, a sterile adaptor state, and an instrument state.

23. The method of claim 21, further comprising powering the remote printed circuit assembly with a power source.

24. The method of claim 23, wherein the power source includes a battery selected from the group consisting of a rechargeable battery and a disposable battery.

25. The method of claim 23, wherein the power source is outside of the insertion axis.