AUTOMATIC MANIPULATOR ASSEMBLY DEPLOYMENT FOR DRAPING

• US 20190314096A1
• Filed: 05/16/2017
• Published: 10/17/2019
• Est. Priority Date: 07/14/2016
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Diolaiti, Nicola, Brown, Jeffrey D., Gomez, Daniel H., Holop, Robert E., McGrogan, Anthony K., Mitra, Probal, Ramstad, Craig R.
• Granted Patent: US 11,020,191 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• 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 34/32 operating autonomously
• 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases

Abstract

A controller in a computer-assisted teleoperated surgical system automatically moves a part of the system, in response to a user tapping the part, to facilitate draping of that part. This speeds the draping process and diminishes the likelihood that the sterile surgical drape is damaged or contaminated during the draping of that part of the system.

Claims

1. A surgical apparatus comprising:

a manipulator component having a first position; and

a controller coupled to the manipulator component, the controller being configured to;

detect a position change indication of the manipulator component, the position change indication being based on information from the manipulator component; and

in response to detection of the position change indication, automatically move the manipulator component to a second position to facilitate draping of the surgical apparatus, the first position being different from the second position.

2. The surgical apparatus of claim 1, wherein the controller being configured to automatically move the manipulator component to a second position comprises the controller being configured to automatically move the manipulator component into a portion of a surgical drape.

3. The surgical apparatus of claim 1, wherein the controller being configured to automatically move the manipulator component to a second position comprises the controller being configured to automatically move the manipulator component within a portion of a surgical drape.

4. The surgical apparatus of claim 3, wherein the portion of the surgical drape comprises a drape sleeve.

5. The surgical apparatus of claim 1, the manipulator component comprising a link.

6. The surgical apparatus of claim 1, the manipulator component comprising a surgical instrument manipulator assembly.

9. The surgical apparatus of claim 1, wherein the controller being configured to detect a position change indication of the manipulator component comprises the controller being configured to detect a position tracking disturbance, the position tracking disturbance being created by a user input on the manipulator component.

11. The surgical apparatus of claim 1, wherein the controller being configured to detect a position change indication of the manipulator component comprises the controller detecting a signal, from a motion control input device of the manipulator component, to change a position of the manipulator component.

14. The surgical apparatus of claim 1, the controller comprising a state machine including a position hold state and an advance state, the state machine being configured to transition from the position hold state to the advance state if a position error for the manipulator component exceeds a specified threshold for at least a predetermined time interval.

35. The surgical apparatus of claim 1, the controller further configured to command the manipulator component to maintain a latched position in response to a determination that movement of the manipulator component is stopped.

7-8. -8. (canceled)

10. (canceled)

12-13. -13. (canceled)

15-16. -16. (canceled)

17. A method of draping a part of a patient side support system, the part having a first position, the method comprising:

detecting, by a controller coupled to the patient side support system, a position change indication of the part, the position change indication being based on information from the part; and

automatically moving, by the controller, the part to a second position to facilitate draping of a portion of the patient side support system, the second position being different from the first position, and the automatically moving by the controller being in response to detection, by the controller, of the position change indication.

18. The method of claim 17, the part comprising a link or a surgical instrument manipulator assembly.

20. The method of claim 17, further comprising:

determining, by the controller, mounting of a sterile surgical drape on the patient side support system.

21. The method of claim 17, wherein the detecting, by the controller, the position change indication of the part comprises:

detecting, by the controller, a position tracking disturbance of the part, the position tracking disturbance being created by a user input on the part.

25. The method of claim 21, the detecting, by the controller, the position tracking disturbance comprises:

determining, by the controller, whether a position of the part of the patient side support system has changed.

28. The method of claim 17, further comprising:

determining, by the controller, whether movement of the part of the patient side support system is stopped; and

commanding, by the controller, the part of the patient side support system to maintain a latched position if the determining, by the controller, whether movement of the part of the patient side support system is stopped finds that movement of the part of the patient side support system is stopped.

19. (canceled)

22-24. -24. (canceled)

26-27. -27. (canceled)

29-30. -30. (canceled)

31. A non-transitory tangible computer-readable medium storing instructions for controlling operation of one or more hardware processors to perform a method comprising:

detecting a position change indication of a part of a patient side support system, the part having a first position, wherein the position change indication is based on information from the part; and

automatically moving the part to a second position to facilitate draping of the patient side support system, the second position being different from the first position, and the automatically moving being in response to detection of the position change indication of the part.

32. The non-transitory tangible computer-readable medium of claim 31, wherein the detecting a position change indication of a part of a patient side support system comprises:

detecting a position tracking disturbance, the position tracking disturbance being created by a user input on the part.

33. The non-transitory tangible computer-readable medium of claim 31, the method further comprising:

commanding the part of the patient side support system to maintain a latched position if movement of the part of the patient side support system is stopped.

34. The non-transitory tangible computer-readable medium of claim 31, wherein automatically moving the part to the second position comprises automatically moving the part within a portion of a surgical drape.