MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS

• US 20090248043A1
• Filed: 03/19/2009
• Published: 10/01/2009
• Est. Priority Date: 12/08/1998
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Guthart, Gary S., Cooper, Thomas G., Tierney, Michael J., Younge, Robert G., Blumenkranz, Stephen J., Julian, Chris A.
• Granted Patent: US 8,142,447 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/0803 Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• 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 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 46/13 the drapes entering the patient's body
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/90 Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: G06Q 30/02 Marketing; Price estimation or determination; Fundraising
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: H01H 36/0046 Limit switches, also fail-safe operation or anti-tamper considerations
• CPC Class Codes: H01H 85/0056 : Heat conducting or heat absorbing means associated with the fusible member, e.g. for providing time delay
• CPC Class Codes: Y10S 901/41 : Tool
• CPC Class Codes: Y10T 74/20305 : Robotic arm
• CPC Class Codes: Y10T 74/20311 : including power cable or connector

Abstract

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

Claims

1. A method for performing robotic surgery, comprising:

providing an instrument removably couplable to a robotic arm drive assembly, said instrument comprising proximal and distal portions, said proximal portion comprising a first plurality of movable bodies engagable with a second plurality of corresponding movable bodies on the drive assembly, said instrument including at least one distal joint coupled to an end effector member, at least one of said first plurality of movable bodies being coupled to said distal joint by at least one drive member, and said drive member being housed in a shaft portion of said instrument extending between said proximal and distal portions;

coupling said instrument to said drive assembly by engaging the first plurality of movable bodies with the second plurality of movable bodies;

controlling the operation of said drive assembly from a remote location so that the movable bodies of said drive assembly rotate one or more of the movable bodies of the instrument, thereby causing the at least one distal joint of the instrument to move;

engaging tissue with the end effector member to perform surgery;

wherein at least one of said first plurality of movable bodies is a rotatable body, at least one of said second plurality of movable bodies is a corresponding rotatable body, and said at least one of said first plurality of movable bodies shares a single rotational axis with said corresponding one of said second plurality of movable bodies when said first and second plurality of movable bodies are operatively engaged.

2. The method of claim 1, further comprising releasing the surgical instrument from the drive assembly by operating a proximal latch.

3. A method for performing robotic surgery on a patient, the method comprising:

coupling an instrument to a drive assembly, the instrument having a proximal portion and a distal portion, the proximal portion comprising a first plurality of rotatable bodies, the drive assembly comprising a second plurality of rotatable bodies, the first plurality of rotatable bodies coupled by drive members to a movable portion disposed at the distal portion;

engaging the first plurality of rotatable bodies with the second plurality of rotatable bodies;

rotating the second plurality of rotatable bodies to rotate the first plurality of rotatable bodies, each of the first plurality of rotatable bodies sharing a single rotational axis with one of the second plurality of rotatable bodies, wherein rotating the first plurality of rotatable bodies moves the movable portion disposed at the distal portion;

inserting the instrument into an aperture on a patient; and

manipulating tissue with the distal portion of the instrument.

4. A method for performing robotic surgery on a patient, the method comprising

coupling an instrument to a drive assembly, the instrument comprising:

a shaft having a working end;

an end effector mounting formation positioned at the working end, the end effector mounting formation angularly displaceable about at least two axes;

elongate elements connected to the end effector mounting formation to cause selective movement of the end effector mounting formation about the axes in response to selective pulling of the elongate elements;

a support base positioned on an end of the shaft opposed to the working end; and

at least three rotatable driven elements angularly displaceably mounted on the support base and to which opposed ends of the elongate elements are coupled so that selective angular displacement of the driven elements causes the selective pulling of the elongate elements, the driven elements having axes which are parallel and spaced apart relative to each other;

the method further comprising;

driving the at least three rotatable driven elements on the support base with at least three rotatable driving elements disposed on the drive assembly, each of the at least three driven elements sharing a single rotational axis with one of the at least three rotatable driving elements.

5. A method for performing robotic surgery on a patient, the method comprising coupling a surgical instrument to a robotic surgical system, the surgical system having a drive assembly operatively coupled to a control unit operable by inputs from an operator, the drive assembly having a plurality of actuator bodies which are movable in response to operator inputs, the surgical instrument comprising:

a proximal portion and a distal portion, the proximal portion comprising a first plurality of movable engaging interface bodies;

at least one distal end effector member;

a plurality of joints, at least one of the joints being coupled to the at least one end effector member, the joints being coupled to the plurality of movable engaging interface bodies by a plurality of drive members;

the method further comprising;

coupling the movable engaging interface bodies to the plurality of actuator bodies; and

moving the actuator bodies in response to operator inputs.