Roll-Pitch-Roll Wrist Methods for Minimally Invasive Robotic Surgery

• US 20070276423A1
• Filed: 06/20/2007
• Published: 11/29/2007
• Est. Priority Date: 01/21/1992
• Status: Active Grant

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: GREEN, PHILIP
• Granted Patent: US 7,890,211 B2
• Time in Patent Office: Days
• US Class Current: 606/170
• 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 (30I) 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. (canceled)

2. A robotic system comprising:

a master manipulator;

a slave manipulator comprising an elongate shaft, the shaft comprising a proximal end and a distal end, the shaft having a reference point located between the proximal and distal ends, the slave manipulator further comprising an end effector coupled to the distal end of the shaft; and

a motor unit coupled to the proximal end of the shaft, the motor unit configured to translate movement of the master manipulator into corresponding movement of the distal end of the shaft by moving the proximal end of the shaft in at least two degrees of freedom, said movement in at least two degrees of freedom coordinated such that said reference point is fixed in space during movement of the proximal end of the shaft.

3. The robotic system of claim 2, the at least two degrees of freedom comprising rotation about the longitudinal axis of the shaft.

4. The robotic system of claim 2, the motor unit further configured to translate the shaft along its longitudinal axis.

5. The robotic system of claim 2, the slave manipulator further comprising a wrist member between the distal end of the shaft and the end effector, the wrist member having a longitudinal axis, the end effector rotatable about the longitudinal axis of the wrist.

6. The robotic system of claim 5, the end effector comprising a pair of jaws.

7. The robotic system of claim 5, movement of the slave manipulator being related to movement of the master manipulator by a scale factor.

8. The robotic system of claim 5, further comprising servomechanisms for providing force feedback from said surgical manipulator to said master manipulator.

9. The robotic system of claim 5, the at least two degrees of freedom comprising two lateral degrees of freedom.

10. The robotic system of claim 9, the master manipulator engageable with an operator'"'"'s hand, the master manipulator configured to sense movement of the operator'"'"'s hand, the robotic system further comprising:

a display apparatus configured to display an image of the slave manipulator to the operator'"'"'s eye, the location of the master manipulator coincident with the image of the slave manipulator displayed to the operator'"'"'s eye.

11. The robotic system of claim 9, the slave manipulator further comprising a wrist member between the distal end of the shaft and the end effector, the wrist member having a longitudinal axis, the end effector rotatable about the longitudinal axis of the wrist.

12. The robotic system of claim 9, the end effector comprising a pair of jaws.

13. The robotic system of claim 9, movement of the slave manipulator being related to movement of the master manipulator by a scale factor.

14. The robotic system of claim 9, further comprising servomechanisms for providing force feedback from said surgical manipulator to said master manipulator.

15. The robotic system of claim 9, further comprising a laparoscope for viewing organs within a human body cavity.

16. The robotic system of claim 9, the master manipulator engageable with an operator'"'"'s hand, the master manipulator configured to sense movement of the operator'"'"'s hand, the robotic system further comprising:

a display apparatus configured to display an image of the slave manipulator to the operator'"'"'s eye, the location of the master manipulator coincident with the image of the slave manipulator displayed to the operator'"'"'s eye.

17. The robotic system of claim 9, further comprising:

a second master manipulator;

a second slave manipulator comprising an elongate shaft comprising a proximal end and a distal end, the shaft having a reference point located between the proximal and distal ends, the slave manipulator further comprising an end effector coupled to the distal end of the shaft;

a second motor unit coupled to the proximal end of the shaft, the motor unit configured to translate movement of the second master manipulator into corresponding movement of the distal end of the shaft by moving the proximal end of the shaft in at least two degrees of freedom, said movement in at least two degrees of freedom coordinated such that said reference point is fixed in space during movement of the proximal end of the shaft.

18. The robotic system of claim 17, wherein a surgeon can control the master manipulator through the surgeon'"'"'s left hand;

and the surgeon can control the second master manipulator through the surgeon'"'"'s right hand.

19. The robotic system of claim 16, wherein said master manipulator comprises master grippers, and said end effector comprises grippers that can open or close in response to said master grippers being opened or closed.

20. A surgical apparatus comprising:

a master manipulator; and

a slave manipulator comprising an elongate shaft comprising a proximal end and a distal end, the shaft having a reference point located between the proximal and distal ends, the slave manipulator further comprising an end effector coupled to the distal end of the shaft;

the proximal end of the shaft movable in at least two degrees of freedom, the at least two degrees of freedom coordinated such that said reference point is fixed in space during movement of the proximal end of the shaft;

the slave manipulator further comprising a wrist member between the distal end of the shaft and the end effector, the wrist member having a longitudinal axis, the end effector rotatable about the longitudinal axis of the wrist.

21. The surgical apparatus of claim 20, the end effector comprising a pair of jaws.

22. The surgical apparatus of claim 20, further comprising servomechanisms for providing force feedback from said surgical manipulator to said master manipulator.

23. The surgical apparatus of claim 20, further comprising motors for turning said shaft about its longitudinal axis.