SYSTEM AND METHOD FOR AUGMENTATION OF ENDOSCOPIC SURGERY

• US 20090048611A1
• Filed: 07/21/2008
• Published: 02/19/2009
• Est. Priority Date: 05/27/1992
• Status: Active Grant

• Current Assignee: International Business Machines Corporation
• Original Assignee: International Business Machines Corporation
• Inventors: Funda, Janez, LaRose, David Arthur, Taylor, Russell Highsmith
• Granted Patent: US 8,123,675 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/000094 extracting biological structures
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/00194 adapted for three-dimensional imaging
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• 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 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/0813 Accessories designed for easy sterilising, i.e. re-usable
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/11 : with guides for needles or instruments, e.g. arcuate slides or ball joints
• 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: B25J 17/0275 : Universal joints, e.g. Hooke, Cardan, ball joints
• CPC Class Codes: B25J 9/04 : by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
• CPC Class Codes: G05B 2219/37074 : Projection device, monitor, track tool, workpiece form, process on display
• CPC Class Codes: G05B 2219/40418 : Presurgical planning, on screen indicate regions to be operated on
• CPC Class Codes: G05B 2219/40609 : Camera to monitor end effector as well as object to be handled
• CPC Class Codes: G05B 2219/45123 : Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
• CPC Class Codes: G05B 2219/45166 : Tomography

Abstract

A robotic device for use in surgery includes a first surgical instrument having a proximal end, a distal end, and a shaft extending therebetween, the distal end of the first instrument and adjacent shaft being insertable distally into a first incision; a first manipulator movably supporting the first instrument; a plurality of motorized drives coupled to the manipulator; an input device having an input movable in two degrees of freedom; and a computer coupling the input device to the motorized drives so that the motorized drives effect a motion of the first surgical instrument in response to movement of the input, a center of the motion located along the shaft at the incision when the first instrument is used during surgery.

Claims

1. A robotic device for use in surgery, the device comprising:

a first surgical instrument having a proximal end, a distal end, and a shaft extending therebetween, the distal end of the first instrument and adjacent shaft being insertable distally into a first incision;

a first manipulator movably supporting the first instrument;

a plurality of motorized drives coupled to the manipulator;

an input device having an input movable in two degrees of freedom; and

a computer coupling the input device to the motorized drives so that the motorized drives affect a motion of the first surgical instrument in response to movement of the input, a center of the motion located along the shaft at the incision when the first instrument is used during surgery.

2. The robotic device of claim 1, wherein the motorized drives move the distal end of the first instrument with three rotational degrees of freedom about the center of motion in response to movement of the input.

3. The robotic device of claim 1, wherein the motorized drives move the first instrument axially along the shaft in response to movement of the input.

4. The robotic device of claim 3, wherein the manipulator comprises a plurality of actuatable sections extending from a base to the first instrument, and wherein the motorized drives include an axial slide motor, the axial slide motor moving with a plurality of sections adjacent the base, the axial slide motor effecting the movement of the instrument along the shaft.

5. The robotic device of claim 1, wherein the input is movable in six degrees of freedom.

6. The robotic device of claim 1, wherein the first instrument is movable with a five degree of freedom spherical work volume centered at the incision in response to commands from the input device.

7. The robotic device of claim 1, wherein the robotic device constrains lateral movement of the shaft of the first instrument to pivotal movement about the incision so as to inhibit inadvertent enlargement of the incision.

8. The robotic device of claim 7, wherein a workspace of the first manipulator mechanically constrains lateral movement of the shaft of the first instrument to the pivotal movement about the incision.

9. The robotic device of claim 8, wherein the first manipulator mechanically couples the first instrument to a base, the first manipulator having a plurality of computer controlled degrees of freedom adjacent the first instrument and a plurality of manually articulatable degrees of freedom adjacent the base, the manually articulatable degrees of freedom each having a brake for inhibiting movement during computer controlled movement of the first instrument.

10. The robotic device of claim 1, wherein the first instrument comprises a camera, and further comprising a display coupled to the camera so as to show a field of view from within the patient to a surgeon operating the input device.

11. The robotic device of claim 10, wherein the camera comprises a stereoscopic camera, and wherein the display provides a three dimensional display of the field of view.

12. The robotic device of claim 11, wherein the computer effects movement of the camera in response to movement of an object within the field of view.

13. The robotic device of claim 12, further comprising a second surgical instrument having a proximal end, a distal end, and a shaft extending therebetween, the distal end of the second instrument and adjacent shaft being insertable distally into a second incision;

a second manipulator movably supporting the second instrument, the computer coupling the input device to the second manipulator so as to effect movement of the distal end of the second surgical instrument in response by moving the surgical instrument with a center of motion of the shaft disposed at the incision.

14. The robotic device of claim 1, wherein the first instrument comprises jaws coupled to the distal end of the shaft.

15. A robotic surgical method comprising:

inserting a first surgical instrument into a first incision, the first instrument having a distal end, a proximal end, and a shaft extending therebetween, the first instrument being inserted so that the distal end and the adjacent shaft are disposed within a patient;

movably supporting the first instrument with a first manipulator;

moving an input of an input device in two degrees of freedom; and

computing commands in response to the movement of the input; and

moving the first surgical instrument by actuating motorized drives in response to the commands, a center of the instrument movement located along the shaft at the incision.