WIRELESS COMMUNICATION IN A ROBOTIC SURGICAL SYSTEM

• US 20080147089A1
• Filed: 12/31/2007
• Published: 06/19/2008
• Est. Priority Date: 12/20/2005
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Devengenzo, Roman L., Loh, Alan
• Granted Patent: US 8,672,922 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 34/37 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 20/40 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

Abstract

In one embodiment, a method of wireless communication in a robotic surgical system comprises providing a carriage link of a robotic manipulator including a printed circuit assembly and a link communication device, positioning a sterile drape over the robotic manipulator, mounting a removable surgical instrument on the carriage link, and passing data wirelessly in either or both directions through the sterile drape between the link communication device and the surgical instrument along with power for electrical circuitry on the instrument. A robotic manipulator and robotic surgical system are also provided.

Claims

1. A robotic manipulator, comprising:

an insertion axis that supports a surgical instrument; and

a communication device that wirelessly communicates with the surgical instrument through a sterile drape.

2. The manipulator of claim 1, wherein the communication device includes one of a light transmitter and an optical sensor, a portion of a transformer, and a wireless transceiver.

3. The manipulator of claim 1, wherein the communication device includes a portion of a transformer and provides power to the surgical instrument through the sterile drape.

4. The manipulator of claim 1, wherein the communication device receives data selected from the group consisting of instrument identification and an instrument state.

5. The manipulator of claim 1, wherein the communication device further comprises a printed circuit assembly for transmitting data selected from the group consisting of a system state, a sterile adaptor state, an instrument state, an instrument identification, LED control, a clutch button state, and a Hall-effect sensor state.

6. The manipulator of claim 1, wherein the insertion axis includes:

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

a carriage link movably coupled to the base link, wherein the carriage link includes an instrument interface, a user interface, and a manipulator clutch button.

7. The manipulator of claim 6, further comprising an idler link movably coupled between the base link and the carriage link.

8. A robotic surgical manipulator system, comprising:

an insertion axis of a robotic manipulator, including;

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

a carriage link movably coupled to the base link, the carriage link including a link communication device;

a sterile drape over the insertion axis; and

a surgical instrument that wirelessly communicates with the link communication device through the sterile drape.

9. The system of claim 8, wherein the surgical instrument includes an instrument data transmitter.

10. The system of claim 9, wherein the instrument data transmitter includes one of a light transmitter, a portion of a transformer, and a wireless transceiver.

11. The system of claim 8, wherein the surgical instrument includes a sensor that receives data from the link communication device through the sterile drape.

12. The system of claim 8, wherein the link communication device includes one of a light transmitter and an optical sensor, a portion of a transformer, and a wireless transceiver.

13. The system of claim 8, wherein the link communication device includes a portion of a transformer and provides power to the surgical instrument through the sterile drape.

14. The system of claim 8, wherein the link communication device receives data from the instrument selected from the group consisting of an instrument identification and an instrument state.

15. The system of claim 8, wherein the link communication device further comprises a printed circuit assembly for transmitting data selected from the group consisting of a system state, a sterile adaptor state, an instrument state, an instrument identification, LED control, a clutch button state, and a Hall-effect sensor state.

16. The system of claim 8, wherein the surgical instrument has 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 devices.

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

providing a robotic manipulator including a link communication device;

positioning a sterile drape over the robotic manipulator;

mounting a removable surgical instrument on the robotic manipulator; and

passing data wirelessly through the sterile drape between the link communication device and the surgical instrument.

18. The method of claim 17, wherein data is passed from the link communication device using one of a light transmitter, a portion of a transformer, and a wireless transceiver.

19. The method of claim 17, wherein the passed data is selected from the group consisting of an instrument identification, an instrument state, a system state, a sterile adaptor state, an instrument identification, LED control, a clutch button state, and a Hall-effect sensor state.

20. The method of claim 17, further comprising providing power to the removable surgical instrument through the sterile drape using a portion of a transformer.