SYSTEM AND METHOD OF CONVERTING USER INPUT INTO MOTION OF A SURGICAL INSTRUMENT VIA A ROBOTIC SURGICAL SYSTEM

• US 20170095295A1
• Filed: 09/30/2016
• Published: 04/06/2017
• Est. Priority Date: 10/02/2015
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Overmyer, Mark D.
• Granted Patent: US 10,052,164 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• 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 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00438 connectable to a finger
• CPC Class Codes: A61B 2017/320097 with stapling means
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 13/089 Determining the position of the robot with reference to its environment

Abstract

A wireless handheld user input device may be moved within six degrees of freedom in order to generate position data that describes the position and angular orientation of the user input device within three-dimensional space. Position data is received by a position management device and is interpreted to reduce the input data from six degrees of freedom down to a number of degrees of freedom that is supported by a surgical instrument adapted to be manipulated by a robotic surgical system. Position data is interpreted by taking raw overlap data showing the change from a baseline position to a current position and correcting it to zero out inputs for unsupported degrees of freedom that do not exceed a device or device portion specific threshold. The converted overlap data may then be used to generate new joint target positions, which may be communicated to the robotic surgical system.

Claims

1. A system comprising:

(a) a user input device comprising a position sensor, wherein the position sensor is configured to generate position data in response to movement and rotation of the user input device in a first number of degrees of freedom;

(b) a robotic surgical system comprising a surgical instrument, wherein the robotic surgical system is configured to manipulate at least a first portion of the surgical instrument in a second number of degrees of freedom based upon receiving a joint angle target; and

(c) a position data manager comprising a processor and memory, wherein the position data manager is communicatively coupled with the user input device and the robotic surgical system;

wherein the first number of degrees of freedom is greater than the second number of degrees of freedom, and wherein the position data manager is configured to;

(i) receive a set of position data from the user input device for the first number of degrees of freedom, the set of position data comprising a set of baseline position data and a set of real time position data,

(ii) generate a set of raw overlap data based upon the set of position data_;

(iii) generate a set of corrected joint angle targets for the second number of degrees of freedom based upon the set of raw overlap data and an overlap threshold, and

(iv) provide the net of corrected joint angle targets to the robotic surgical system.

2. The system of claim 1, wherein the position sensor comprises one or more of:

(i) a magnetic field position sensor,

(ii) an optical tracking position sensor, or

(iii) an accelerometer and gyroscopic position sensor.

3. The system of claim 1, wherein the first number of degrees of freedom comprises two or more of:

(i) forward and back,

(ii) up and down,

(iii) left and right,

(iv) yaw,

(v) pitch, or

(vi) roll, and

wherein the second number of degrees of freedom comprises five or less of;

(i) forward and back,

(ii) up and down,

(iii) left and right,

(iv) yaw,

(v) pitch, or

(vi) roll.

4. The system of claim 1, wherein the position data manager is integral with the user input device.

5. The system of claim 1, wherein the position data manager is integral with the robotic surgical system.

6. The system of claim 1, further comprising a clutch input feature, wherein the clutch input feature is operable to place the user input device in a clutch mode, wherein the position data manager is configured to receive the position data in response to activation of the clutch input feature, and wherein position data manager is configured to collect the set of real time position data only while the user input device is in the clutch mode.

7. The system of claim 1, wherein the position data manager is further configured to:

(i) derive a rotation matrix based upon the set of baseline position data and the set of real time position data,

(ii) derive an input axis and input angle based upon the rotation matrix, and

(iii) generate the set of raw overlap based upon the input axis and input angle.

8. The system of claim 7, wherein the position data manager is further configured to generate the set of corrected joint angle targets for the second number of degrees of freedom based upon the input angle, input axis, and a set of corrected overlap data.

9. The system of claim 8, wherein the position data manager is further configured to generate the set of corrected overlap data by setting to zero any value within the set of raw overlap data whose magnitude is less than the overlap threshold.

10. The system of claim 1, wherein the position data manager is further configured to limit the maximum and minimum values of the set of corrected joint angle targets for the second number of degrees of freedom based upon a set of range of motion limits for the surgical instrument.

11. The system of claim 1, wherein the user input device comprises a wireless handheld device.

12. The system of claim 1, wherein the surgical instrument comprises two or more portions that may be manipulated by the robotic surgical system independently of each other.

13. The system of claim 12, wherein the position sensor is configured to generate position data for each of the two or more portions of the surgical instrument simultaneously.

14. The system of claim 13, wherein the position sensor is configured to generate position data only for a selected portion of the two or more portions.

15. The system of claim 1, wherein the position data manager is configured to determine the overlap threshold based upon one or more of:

(i) the entire surgical instrument, or

(ii) the first portion of the surgical instrument.

16. A system comprising:

(a) a user input device comprising a position sensor, wherein the position sensor is configured to generate position data in response to movement and rotation of the user input device in a first number of degrees of freedom;

(b) a clutch input operable to generate a clutching signal in response to user input indicating a ready state for the user input device;

(c) a robotic surgical system comprising a surgical instrument, wherein the robotic surgical system is configured to manipulate at least a first portion of the surgical instrument in a second number of degrees of freedom based upon receiving a joint angle target;

(d) a position data manager comprising a processor and memory, wherein the position data manager is communicatively coupled with the user input device and the robotic surgical system;

wherein the first number of degrees of freedom is greater than the second number of degrees of freedom, and wherein the position data manager is configured to;

(i) receive a clutching signal from the clutch input in response to user input indicating a ready state for the user input device,

(ii) in response to receiving the clutching signal, obtain a set of baseline position data and a set of real time position data from the user input device,

(iii) derive a rotation matrix based upon the set of baseline position data and the set of real time position data,

(iv) derive one or more of an input axis and an input angle based upon the rotation matrix,

(v) determine a set of raw overlap data based upon one or more of the input axis and the instrument axes,

(vi) determine a set of corrected overlap data by setting to zero any value in the set of raw overlap data whose magnitude is less than an overlap threshold,

(vii) determine a set of joint angle targets based upon the set of baseline position data and the set of corrected overlap data, and

(viii) provide the set of joint angle targets to the robotic surgical system.

17. The system of claim 16, wherein the clutch input is integral with the user input device.

18. The system of claim 16, wherein the position data manager is further configured to limit the maximum and minimum values of the set of joint angle targets based upon a set of range of motion limits for the surgical instrument.

19. The system of claim 16, wherein the surgical instrument comprises two or more portions that may be manipulated by the robotic surgical system independently of each other, and wherein the user input device is configured to selectively:

(i) generate baseline position data for each of the two or more portions simultaneously, or

(ii) generate baseline position data for only one of the two or more portions.

20. A method comprising the steps:

(a) receiving at a position data manager a set of position data from a position sensor of one or more instrument axes associated with an input device, the set of position data comprising a set of baseline position data and a set of real time position data within a first number of degrees of freedom;

(b) generating a set of raw overlap data based upon the set of position data and instrument axes;

(c) generating a set of corrected joint angle targets for a second number of degrees of freedom based upon the set of raw overlap data and an overlap threshold; and

(d) providing the set of corrected joint angle targets to a surgical instrument of a robotic surgical system,

wherein the surgical instrument is adapted to move within the second number of degrees of freedom based upon the set of corrected joint angle targets being received by the robotic surgical system, and wherein the first number of degrees of freedom is greater than the second number of degrees of freedom.