Systems and Methods for Controlling a Robotic Surgical System

• US 20130204271A1
• Filed: 01/31/2013
• Published: 08/08/2013
• Est. Priority Date: 02/02/2012
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Brisson, Gabriel F., Mohr, Paul W., Nixon, Thomas R.
• Granted Patent: US 9,138,297 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 34/30 Surgical robots

Abstract

A method comprises generating a command to move a surgical robotic manipulator to a predetermined safety configuration and locking the robotic manipulator in the safety configuration in response to receiving the command. The method further comprises detecting if a mock instrument has been mounted on the robotic manipulator when the robotic manipulator is in the safety configuration. If the mock instrument is detected, an override command is generated to unlock the robotic manipulator from the safety configuration.

Claims

1. A method comprising:

generating a command to move a surgical robotic manipulator to a predetermined safety configuration;

locking the robotic manipulator in the safety configuration in response to receiving the command;

detecting if a mock instrument has been mounted on the robotic manipulator when the robotic manipulator is in the safety configuration; and

if the mock instrument is detected, then generating an override command to unlock the robotic manipulator from the safety configuration.

2. The method of claim 1 wherein the robotic manipulator includes a telescoping insertion spar.

3. The method of claim 2 wherein locking the robotic manipulator in the safety configuration includes arranging the telescoping insertion spar in an expanded configuration.

4. The method of claim 2 further comprising:

in response to receiving the override command, arranging the telescoping insertion spar in a predetermined collapsed configuration.

5. The method of claim 2 further comprising:

in response to receiving the override command, permitting the telescoping insertion spar to be moved by operator control.

6. The method of claim 2 wherein the mock instrument includes a distal portion and the insertion spar includes a distal end and wherein the distal portion of the mock instrument is positioned proximally of the insertion spar distal end when the insertion spar is in a collapsed configuration.

7. The method of claim 1 wherein detecting the mock instrument includes identifying information associated with the mock instrument and wherein the override command is responsive to the identified information.

8. The method of claim 1 wherein detecting the mock instrument includes receiving information transmitted from the mock instrument.

9. The method of claim 1 further comprising:

detecting if the mock instrument has been removed from the robotic manipulator; and

if the mock instrument has been removed from the robotic manipulator, generating a command to move the surgical robotic manipulator to the predetermined safety configuration.

10. The method of claim 1 further comprising:

permitting the unlocked robotic manipulator to move to a collapsed configuration; and

detecting that a cannula has been docked to the surgical robotic manipulator after the robotic manipulator is moved to the collapsed configuration.

11. A robotic surgical system comprising:

a surgical robotic manipulator;

a mock instrument adapted to mount to the robotic manipulator; and

a control system adapted to

generate a command to lock the robotic manipulator in a predetermined safety configuration;

detect if the mock instrument is mounted to the robotic manipulator;

generate a command to unlock the robotic manipulator from the safety configuration if the mock instrument is detected; and

generate a command to allow the unlocked robotic manipulator to move to a second configuration.

12. The system of claim 11 wherein the surgical robotic manipulator includes a telescoping insertion spar including a plurality of movably coupled links.

13. The system of claim 12 wherein the predetermined safety configuration is an expanded configuration of the telescoping insertion spar.

14. The system of claim 12 further comprising moving the unlocked robotic manipulator to the second configuration, wherein the second configuration is a predetermined collapsed configuration of the telescoping inserting spar.

15. The system of claim 12 wherein the second configuration is an operator controlled configuration of the telescoping insertion spar.

16. The system of claim 12 further comprising a cannula mounted to the surgical robotic manipulator, wherein the mock instrument has a distal end positioned proximally of a distal opening of the cannula when the insertion spar is in a collapsed configuration.

17. The system of claim 11 wherein the mock instrument includes a memory structure configured to store information about the mock instrument.

18. The system of claim 17 wherein the memory structure further comprises a transmitter.

19. The system of claim 17 wherein the control system includes a sensor adapted to retrieve the stored information for use in generating the command to move the unlocked robotic manipulator to a second configuration.

20. A method of controlling a surgical robotic system comprising:

detecting if a mock instrument has been mounted to a robotic manipulator of the robotic system;

responsive to the detection of a mock instrument;

receiving information about the mock instrument; and

responsive to the received information, generating a command to move the robotic manipulator to a predetermined configuration.

21. The method claim 20 further comprising:

responsive to the received information, generating a command to unlock the robotic manipulator from a safety configuration.

22. The method of claim 20 further comprising associating the received information with stored information to formulate the command to move the robotic manipulator to a predetermined configuration.