CURVED CANNULA SURGICAL SYSTEM CONTROL

• US 20110071543A1
• Filed: 11/13/2009
• Published: 03/24/2011
• Est. Priority Date: 09/23/2009
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Au, Samuel, Prisco, Giuseppe Maria
• Granted Patent: US 8,888,789 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 17/0218 for minimally invasive surgery A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 17/3431 being collapsible, e.g. made of thin flexible material A61B17/3423 takes precedence
• CPC Class Codes: A61B 17/3439 with means for changing the inner diameter of the cannula, e.g. expandable A61B17/3423, A61B17/3431 take precedence; catheters A61M25/0662
• CPC Class Codes: A61B 17/3462 with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals expandable cannulas A61B17/3417
• CPC Class Codes: A61B 17/3474 Insufflating needles, e.g. Veress needles
• CPC Class Codes: A61B 17/3498 Valves therefor, e.g. flapper valves, slide valves haemostasis valves A61M39/06; check valves A61M39/24
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00526 Methods of manufacturing
• CPC Class Codes: A61B 2017/00845 of moving parts with respect to each other
• CPC Class Codes: A61B 2017/0419 H-fasteners
• CPC Class Codes: A61B 2017/2904 curved, but rigid
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2017/2948 Sealing means, e.g. for sealing the interior from fluid entry
• CPC Class Codes: A61B 2017/3419 : Sealing means between cannula and body
• CPC Class Codes: A61B 2017/3429 : having a unitary compressible body, e.g. made of silicone or foam
• CPC Class Codes: A61B 2017/3445 : used as instrument channel for multiple instruments catheters A61B2017/22072
• CPC Class Codes: A61B 2017/3447 : Linked multiple cannulas
• CPC Class Codes: A61B 2017/3454 : Details of tips
• CPC Class Codes: A61B 2017/3466 : for simultaneous sealing of multiple instruments
• CPC Class Codes: A61B 2034/2061 : using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• 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 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• 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 34/73 : Manipulators for magnetic surgery
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/50 : Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61B 90/90 : Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/92 : coded with colour
• CPC Class Codes: A61M 25/0041 : pre-formed, e.g. specially adapted to fit with the anatomy of body channels urethral catheters A61F2/04
• CPC Class Codes: A61M 25/0105 : Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B
• CPC Class Codes: Y10S 901/00 : Robots

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.

Claims

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.

2. The surgical system of claim 1 further comprising:

an endoscope, wherein a frame of reference is defined for an image captured by the endoscope;

a display, wherein a frame of reference is defined for an image output by the display; and

a surgical end effector coupled to a distal end of the instrument shaft;

wherein the endoscope'"'"'s frame of reference and the display'"'"'s frame of reference correspond to one another;

wherein the display outputs an image of the end effector; and

wherein the control system receives a master command corresponding to a movement of a portion of the master manipulator in a particular direction with respect to the display'"'"'s frame of reference, and in response to receiving the master command the control system outputs a slave command to the slave manipulator to move the end effector in substantially the same particular direction with respect to the endoscope'"'"'s frame of reference.

3. The surgical system of claim 1:

wherein the control system prevents a distal portion of the instrument shaft from extending beyond a preset limit distance past the distal end of the curved cannula; and

wherein the preset limit is determined by a stiffness of the distal portion of the instrument shaft.

4. The surgical system of claim 1:

wherein the control system prevents movements of the master manipulator from moving the cannula or the instrument until a distal end tip of the surgical instrument extends beyond the distal end of the cannula.

5. The surgical system of claim 4:

wherein the control system prevents movements of the master manipulator from moving the cannula or instrument by activating a servomotor to provide a haptic force experienced by an operator of the master manipulator.

6. The surgical system of claim 1 further comprising:

a surgical end effector coupled to the distal end of the flexible shaft without a wrist mechanism between the flexible shaft and the end effector;

wherein the master manipulator is configured to receive an input from an operator of the master manipulator to move a surgical instrument wrist mechanism; and

wherein the control system activates a servomotor associated with the master manipulator to provide a haptic force experienced by the operator that effectively prevents the operator from making the input to move the surgical instrument wrist mechanism.

7. The surgical system of claim 1 further comprising:

a second curved cannula comprising a distal end;

wherein the curved cannula comprises a curved section and a straight section between the curved section and the distal end of the curved cannula;

wherein the second curved cannula comprises a curved section and a straight section between the curved section and the distal end of the second curved cannula;

wherein a bend radius of the curved section of the curved cannula is substantially the same as a bend radius of the curved section of the second curved cannula;

wherein a length of the straight section of the curved cannula is different from a length of the straight section of the second curved cannula; and

wherein the control system controls movement of the curved cannula and the second curved cannula with the same kinematic control parameters.

8. The surgical system of claim 7:

wherein the kinematic control parameter comprises a Denavit-Hartenberg parameter.

9. A method of control in a robotic surgical system, comprising the acts of:

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.

10. The method of claim 9:

wherein the remote center of motion is located on the curved cannula.

11. The method of claim 9:

wherein the master command comprises information associated with a particular orientation of a portion of the master manipulator in a reference frame defined for an image output by a display; and

wherein the slave command comprises a command to the slave manipulator to move an end effector of the surgical instrument to substantially the same particular orientation in a reference frame defined for an image of the end effector captured by an endoscope.

12. The method of claim 9:

wherein the master command corresponds to a movement of a portion of the master manipulator in a particular direction with respect to a reference frame defined for an image output by a display; and

wherein the slave command comprises a command to the slave manipulator to move an end effector of the surgical instrument in substantially the same particular direction in a reference frame defined for an image of the end effector captured by an endoscope.

13. The method of claim 9 further comprising:

automatically preventing a distal portion of the surgical instrument from extending beyond a preset limit distance past the distal end of the curved cannula;

wherein the preset limit is determined by a stiffness of the distal portion of the instrument shaft.

14. The method of claim 9:

wherein outputting the slave command occurs only if a distal end tip of the surgical instrument extends beyond the distal end of the cannula.

15. The method of claim 9 further comprising:

outputting a haptic force to an operator of the master manipulator;

wherein the haptic force effectively prevents the operator'"'"'s master manipulator movement.

16. The method of claim 9 further comprising:

outputting a haptic force to an operator of the master manipulator;

wherein the haptic force effectively prevents the operator'"'"'s movement of a portion of the master manipulator associated with control of a surgical instrument wrist mechanism.

17. The method of claim 9 further comprising:

generating the slave command based on kinematic information associated with the curved cannula;

wherein the curved cannula comprises a curved section and straight section between the curved section and the distal end of the curved cannula; and

wherein the kinematic information excludes information associated with the straight section of the curved cannula.

18. The method of claim 16:

wherein the kinematic information comprises a Denavit-Hartenberg parameter.