SURGICAL SYSTEM INSTRUMENT MANIPULATOR

• US 20110282356A1
• Filed: 08/12/2010
• Published: 11/17/2011
• Est. Priority Date: 06/13/2007
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Ramstad, Craig R., Cooper, Thomas G., Rogers, Theodore W., Duval, Eugene F., Solomon, Todd R., McGrogan, Anthony K., Holop, Robert E., Diolaiti, Nicola, Gomez, Daniel H.
• Granted Patent: US 8,945,148 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00135 Oversleeves mounted on the endoscope prior to insertion
• CPC Class Codes: A61B 1/00142 with means for preventing contamination, e.g. by using a sanitary sheath
• 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 17/29 Forceps for use in minimally invasive surgery
• 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 17/3474 Insufflating needles, e.g. Veress needles
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2050/3008 having multiple compartments
• CPC Class Codes: A61B 2090/5025 with a counter-balancing mechanism
• CPC Class Codes: A61B 34/00 Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 46/23 : with means to retain or hold surgical implements
• CPC Class Codes: A61B 50/00 : Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers drapes specially adapted for instruments A61B46/10
• CPC Class Codes: A61B 50/20 : Holders specially adapted for surgical or diagnostic appliances or instruments drapes with means to hold surgical instruments A61B46/23; for catheters A61M25/02
• CPC Class Codes: A61B 50/30 : Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments for wound clamps A61B17/10; for ligaturing clips A61B17/122; packages or dispensers for surgical gloves or finger-stalls A61B42/40
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: A61M 13/003 : Blowing gases other than for carrying powders, e.g. for inflating, dilating or rinsing
• CPC Class Codes: B25J 15/0066 : with different types of end effectors, e.g. gripper and welding gun B25J15/0057 and B25J15/0061 take precedence
• CPC Class Codes: B25J 15/02 : servo-actuated
• CPC Class Codes: B25J 15/04 : with provision for the remote detachment or exchange of the head or parts thereof
• CPC Class Codes: B32B 3/12 : characterised by a layer of regularly- arranged cells, e.g. a honeycomb structure
• CPC Class Codes: F16F 1/121 : adjustable, e.g. to modify spring characteristics
• CPC Class Codes: G03B 2205/0015 : by displacing one or more optical elements normal to the optical axis
• CPC Class Codes: G03B 2205/0069 : using electromagnetic actuators, e.g. voice coils
• CPC Class Codes: G03B 3/00 : Focusing arrangements of general interest for cameras, projectors or printers
• CPC Class Codes: G03B 35/00 : Stereoscopic photography
• CPC Class Codes: G03B 5/02 : Lateral adjustment of lens
• CPC Class Codes: H01F 2005/027 : wound on formers for receiving several coils with perpendicular winding axes, e.g. for antennae or inductive power transfer
• CPC Class Codes: H01F 27/2823 : Wires H01F27/2866 takes precedence
• CPC Class Codes: H01F 5/02 : wound on non-magnetic supports, e.g. formers
• CPC Class Codes: H01F 5/04 : Arrangements of electric connections to coils, e.g. leads
• CPC Class Codes: H04N 23/51 : Housings
• CPC Class Codes: H04N 23/54 : Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
• CPC Class Codes: H04N 23/55 : Optical parts specially adapted for electronic image sensors; Mounting thereof
• CPC Class Codes: H04N 23/555 : for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
• CPC Class Codes: H04N 23/57 : Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
• CPC Class Codes: H04N 23/60 : Control of cameras or camera modules
• CPC Class Codes: H04N 23/687 : by shifting the lens or sensor position
• CPC Class Codes: H05K 1/18 : Printed circuits structurally associated with non-printed electric components H05K1/0201, H05K1/023, H05K1/0243, and H05K1/16 take precedence
• CPC Class Codes: Y10T 74/20305 : Robotic arm

Abstract

An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

Claims

1. An instrument manipulator, comprising:

a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output; and

a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

2. The instrument manipulator of claim 1, wherein the plurality of independent actuator drive modules includes a roll actuator drive module having a roll output for actuating a roll motion of a surgical instrument, a grip actuator drive module having a grip output for actuating a grip motion of a surgical instrument, a wrist actuator drive module having a wrist output for actuating a wrist motion of a surgical instrument, and a joggle actuator drive module having a joggle output for actuating a wrist translation motion of a surgical instrument.

3. The instrument manipulator of claim 1, wherein the actuator outputs are one of a two-axis gimbal, a disc, or a lever.

4. The instrument manipulator of claim 1, wherein the actuator outputs are each spring-loaded.

5. The instrument manipulator of claim 1, wherein the actuator outputs are each spring-loaded in a direction substantially perpendicular to a single plane of a frame distal face.

6. The instrument manipulator of claim 1, wherein the actuator outputs are each spring-loaded in a direction substantially parallel to a distal longitudinal axis of an instrument shaft.

7. The instrument manipulator of claim 1, further comprising a telescoping insertion mechanism having a base link operably coupled to a distal link of the robotic surgical system and a carriage link operably coupled to the frame of the instrument manipulator.

8. The instrument manipulator of claim 7, wherein the manipulator frame translates along the telescoping insertion mechanism between a proximal end of the base link and a distal end of the carrier link.

9. The instrument manipulator of claim 1, further comprising instrument support features mounted to the frame and a latching mechanism for actuating a distal face of the frame toward or away from a distal end of the instrument support features to operably engage or disengage the actuator outputs of the manipulator and the actuator inputs of the instrument while the instrument remains in a fixed position.

10. The instrument manipulator of claim 1, further comprising a plurality of posts for coupling to a sterile adapter.

11. A robotic surgical system, comprising:

a setup link for locating a remote center of motion for the robotic surgical system;

a proximal link operably coupled to the setup link;

a distal link operably coupled to the proximal link;

a plurality of instrument manipulators operably coupled to a rotatable element at a distal end of the distal link, wherein each instrument manipulator comprises;

a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output; and

a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument; and

a plurality of surgical instruments, each instrument operably coupled to a corresponding instrument manipulator.

12. The system of claim 11, wherein the plurality of independent actuator drive modules includes a roll actuator drive module having a roll output for actuating a roll motion of a surgical instrument, a grip actuator drive module having a grip output for actuating a grip motion of a surgical instrument, a wrist actuator drive module having a wrist output for actuating a wrist motion of a surgical instrument, and a joggle actuator drive module having a joggle output for actuating a wrist translation motion of a surgical instrument.

13. The system of claim 11, wherein the actuator outputs are one of a two-axis gimbal, a disc, or a lever.

14. The system of claim 11, wherein the actuator outputs are each spring-loaded in a direction substantially perpendicular to a single plane of a frame distal face.

15. The system of claim 11, wherein the actuator outputs are each spring-loaded in a direction substantially parallel to a distal longitudinal axis of an instrument shaft.

16. The system of claim 11, further comprising a telescoping insertion mechanism having a base link operably coupled to a distal link of the robotic surgical system and a carriage link operably coupled to the frame of the instrument manipulator.

17. The system of claim 11, wherein each surgical instrument has a proximal face operably mounted to a distal face of an instrument manipulator.

18. The system of claim 11, wherein the surgical instrument is selected from the group consisting of articulated tools with end effectors, such as jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, and clip appliers, and non-articulated tools, such as cutting blades, cautery probes, irrigators, catheters, and suction orifices.

19. The system of claim 11, further comprising a plurality of telescoping insertion mechanisms disposed on the rotatable element at the distal end of the distal link, each telescoping insertion mechanism coupled to a corresponding instrument manipulator frame, wherein each instrument manipulator frame can translate along a respective telescoping insertion mechanism independent of the other instrument manipulator frames.

20. The system of claim 11, wherein each instrument manipulator further comprises instrument support features mounted to the frame and a latching mechanism for actuating a distal face of the frame toward or away from a distal end of the instrument support features to operably engage or disengage the actuator outputs of the manipulator and the actuator inputs of the instrument while the instrument remains in a fixed position.