CURVED CANNULA SURGICAL SYSTEM CONTROL
First Claim
1. A surgical system comprising:
- a master manipulator;
a robotic slave manipulator;
a curved cannula coupled to the robotic slave manipulator;
a passively flexible instrument shaft that extends past a distal end of the curved cannula; and
a control system;
wherein a straight line instrument insertion and withdrawal axis is defined extending from a longitudinal center axis of the curved cannula at a distal end of the curved cannula; and
wherein in response to a movement of the master manipulator, the control system commands the robotic manipulator to move the distal end of the curved cannula around a remote center of motion as if the instrument shaft is positioned straight along the instrument insertion and withdrawal axis.
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Accused Products
Abstract
A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient'"'"'s body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed. The flexible shaft instruments are controlled as if extending along a virtual straight line insertion and withdrawal axis. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed.
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Citations
18 Claims
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1. A surgical system comprising:
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a master manipulator; a robotic slave manipulator; a curved cannula coupled to the robotic slave manipulator; a passively flexible instrument shaft that extends past a distal end of the curved cannula; and a control system; wherein a straight line instrument insertion and withdrawal axis is defined extending from a longitudinal center axis of the curved cannula at a distal end of the curved cannula; and wherein in response to a movement of the master manipulator, the control system commands the robotic manipulator to move the distal end of the curved cannula around a remote center of motion as if the instrument shaft is positioned straight along the instrument insertion and withdrawal axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of control in a robotic surgical system, comprising the acts of:
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defining a straight line instrument insertion and withdrawal axis extending from a longitudinal center axis of a curved cannula at a distal end of the curved cannula coupled to a robotic slave manipulator; receiving a master command from a master manipulator to move a distal end of a surgical instrument; and in response to receiving the master command, outputting a slave command to the slave manipulator to move the curved cannula around a remote center of motion as if a shaft of the surgical instrument that extends through the curved cannula and past the distal end of the curved cannula is positioned straight along the instrument insertion and withdrawal axis. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification