SURGICAL SYSTEM AND METHOD OF CONTROLLING SURGICAL SYSTEM

• US 20190328470A1
• Filed: 04/29/2019
• Published: 10/31/2019
• Est. Priority Date: 04/27/2018
• Status: Active Grant

• Current Assignee: Kawasaki Jukogyo Kabushiki Kaisha (Kawasaki Heavy Industries Limited), Medicaroid Corporation (Sysmex Corporation)
• Original Assignee: Kawasaki Jukogyo Kabushiki Kaisha (Kawasaki Heavy Industries Limited)
• Inventors: TOJO, Tsuyoshi, NOGUCHI, Kenji, ITO, Tetsushi, NAKANISHI, Tetsuya
• Granted Patent: US 11,801,103 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• 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 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/13 guided by light, e.g. laser pointers
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A surgical system includes: a tool manipulator having a tool manipulator arm configured to perform translational motion and rotational motion of a distal end with respect to a proximal end and a surgical tool linked to the distal end of the tool manipulator arm; a console having a handling tool configured to receive a tool movement command of a surgeon for the surgical tool, the tool movement command including a translation amount of the translational motion and a rotation amount of the rotational motion for the surgical tool; and a controller configured to control the tool manipulator. The controller is configured to calculate an actual translation amount by multiplying the translation amount for the surgical tool received by the handling tool by a predetermined translation scale factor and move the surgical tool in accordance with the actual translation amount, and to calculate an actual rotation amount by multiplying the rotation amount for the surgical tool received by the handling tool by a predetermined rotation scale factor and move the surgical tool in accordance with the actual rotation amount. The translation scale factor and the rotation scale factor are different values.

Claims

1. A surgical system comprising:

a tool manipulator having a tool manipulator arm configured to perform translational motion and rotational motion of a distal end with respect to a proximal end, and a surgical tool linked to the distal end of the tool manipulator arm;

a console having a handling tool configured to receive a tool movement command of a surgeon for the surgical tool, the tool movement command including a translation amount of the translational motion and a rotation amount of the rotational motion for the surgical tool; and

a controller configured to control the tool manipulator, wherein

the controller is configured to calculate an actual translation amount by multiplying the translation amount for the surgical tool received by the handling tool by a predetermined translation scale factor and move the surgical tool in accordance with the actual translation amount, and to calculate an actual rotation amount by multiplying the rotation amount for the surgical tool received by the handling tool by a predetermined rotation scale factor and move the surgical tool in accordance with the actual rotation amount, and

the translation scale factor and the rotation scale factor are different values.

2. The surgical system according to claim 1, wherein the rotation scale factor is a value larger than the translation scale factor.

3. The surgical system according to claim 1, comprising an endoscope having a camera probe configured to capture an image of an imaging area surrounded by a boundary including a preset entry restriction boundary, wherein

the console has a display module having a display area on which the image captured by the camera probe is displayed and the display module is configured to arrange the entry restriction boundary on an upper side of the display area to display the image captured by the camera probe, and

the controller is configured to restrict, upon determining that the tool movement command includes a command to move the surgical tool so as to move a restriction target segment set at a distal end side of the tool manipulator into the entry restriction boundary, movement of the surgical tool in a movement direction of the surgical tool that moves the restriction target segment into the entry restriction boundary.

4. The surgical system according to claim 3, wherein

the endoscope has an endoscope manipulator arm configured to perform translational motion and rotational motion of a distal end with respect to a proximal end and the camera probe is linked to the distal end of the endoscope,

the handling tool is configured to receive an endoscope manipulator movement command of a surgeon for the camera probe, the endoscope manipulator movement command including a translation amount of the translational motion and a rotation amount of the rotational motion for the camera probe, and

the controller is configured to restrict, upon determining that the endoscope manipulator movement command includes a command to move the camera probe so as to move the restriction target segment into the entry restriction boundary, movement of the camera probe in a movement direction of the camera probe that moves the restriction target segment into the entry restriction boundary.

5. The surgical system according to claim 1, comprising:

an endoscope having an endoscope manipulator arm configured to perform translational motion and rotational motion of a distal end with respect to a proximal end, and a camera probe linked to the distal end of the endoscope manipulator arm; and

an entry guide having an endoscope insertion hole through which the endoscope manipulator arm is inserted, wherein

the console has a display module having a display area on which an image captured by the camera probe is displayed in a predetermined orientation, and

the entry guide has a rotation restriction structure configured to restrict rotation of the endoscope manipulator arm in a circumferential direction around a central axis of the endoscope insertion hole.

6. The surgical system according to claim 5, wherein

the entry guide has a tool manipulator insertion hole through which the tool manipulator arm is inserted, and

the tool manipulator arm is rotatable in a circumferential direction around a central axis of the tool manipulator insertion hole.

7. The surgical system according to claim 5, comprising an entry guide support structure supporting the entry guide rotatably in a circumferential direction around a central axis of the entry guide.

8. The surgical system according to claim 1, comprising:

an endoscope having an endoscope manipulator arm configured to perform translational motion and rotational motion of a distal end with respect to a proximal end, and a camera probe linked to the distal end of the endoscope manipulator arm; and

an entry guide having an insertion hole through which the tool manipulator arm and the endoscope manipulator arm are inserted, wherein

the controller is configured to shift the tool manipulator arm in an extending direction of the insertion hole with respect to the entry guide within a predetermined first movement range, and to shift the endoscope manipulator arm in the extending direction of the insertion hole with respect to the entry guide within a predetermined second movement range, and

a distal-end-side limit of the second movement range is located more proximally than a distal-end-side limit of the first movement range.

9. The surgical system according to claim 1, comprising an entry guide having an insertion hole through which the tool manipulator arm and the surgical tool are inserted, wherein

the tool manipulator arm has a wrist structure that is provided at a proximal side of the surgical tool and performs at least a part of the translational motion and the rotational motion of the tool manipulator arm,

the tool manipulator has a brake configured to restrict movement of the wrist structure by actuation and allow the movement of the wrist structure by deactuation, and

the controller is configured to actuate the brake when the wrist structure is located more proximally than a distal end of the entry guide or on the distal end of the entry guide in an extending direction of the tool manipulator arm.

10. The surgical system according to claim 1, comprising an entry guide having a tool manipulator insertion hole through which the tool manipulator arm and the surgical tool are inserted, wherein

the tool manipulator arm has a wrist structure that is provided at a proximal side of the surgical tool and performs at least a part of the translational motion and the rotational motion of the tool manipulator arm by movement of the wrist structure, and

the controller is configured to invalidate a movement command for the wrist structure included in the tool movement command when the wrist structure is located more proximally than a distal end of the entry guide or on the distal end of the entry guide in an extending direction of the tool manipulator arm.

11. The surgical system according to claim 1, comprising:

an endoscope having a body wall geometry sensing section configured to derive information for detecting geometry of a body wall forming a body cavity of a patient; and

a notification section configured to notify the surgeon of information, wherein

the controller is configured to

calculate the geometry of the body wall based on the information derived by the body wall geometry sensing section,

set an entry forbidden area based on the calculated geometry of the body wall, and

repeatedly determine whether the tool manipulator has entered the entry forbidden area and control, upon determining that the tool manipulator has entered the entry forbidden area, the notification section to notify the surgeon of the entry of the tool manipulator to the entry forbidden area.

12. The surgical system according to claim 11, wherein

the body wall geometry sensing section is a pair of camera probes provided at a distal end of the endoscope and arranged with predetermined spacing, and

the controller is configured to

dispersedly set a plurality of interest points on the body wall recorded in images captured by the pair of camera probes,

calculate, for each of the interest points, coordinates of the interest point with respect to a predetermined reference point, based on a relative positional relationship between a position of the interest point in a first image captured by one of the camera probes and a position of the interest point in a second image captured by the other of the camera probes simultaneously with the first image, and

calculate the geometry of the body wall based on the calculated three-dimensional coordinates of the plurality of interest points.

13. The surgical system according to claim 12, wherein

the endoscope includes a laser pointer provided at the distal end of the endoscope and configured to emit a laser beam, and

the controller is configured to set irradiation portions of the laser beam recorded in the first image and the second image as the interest points in the first image and the second image, respectively.

14. The surgical system according to claim 12, wherein the controller is configured to set the interest point in the first image in which the body wall is recorded, and calculate a place in the second image in which the body wall is recorded to set the interest point in the second image, the place being identical to a place of the interest point in the first image and calculated by pattern matching between the first image and the second image.

15. The surgical system according to claim 1, comprising:

an endoscope having a pair of camera probes arranged with predetermined spacing; and

a notification section configured to notify the surgeon of information, wherein

the controller is configured to

set an interest point on a body wall forming a body cavity of a patient recorded in images captured by the camera probes,

calculate an initial position that is a position of the pair of camera probes with respect to the interest point, based on a relative positional relationship between a position of the interest point in a first image captured by one of the camera probes and a position of the interest point in a second image captured by the other of the camera probes,

repeatedly calculate a present position that is a position of the camera probes with respect to the interest point, based on the relative positional relationship between the position of the interest point in the first image and the position of the interest point in the second image, and

determine whether the present position has changed by a predetermined threshold or more with respect to the initial position, and control, upon determining that the present position has changed by the predetermined threshold or more with respect to the initial position, the notification section to notify the change in the present position.

16. The surgical system according to claim 15, wherein

the endoscope has an endoscope manipulator arm configured to perform translational motion and rotational motion of a distal end with respect to a proximal end and the pair of camera probes are linked to the distal end of the endoscope, and

the controller is configured to move the pair of camera probes toward the initial position upon determining that the present position has changed by a predetermined threshold or more with respect to the initial position.

17. A method of controlling a surgical system, the surgical system comprising:

a tool manipulator having a tool manipulator arm configured to perform translational motion and rotational motion of a distal end with respect to a proximal end, and a surgical tool linked to the distal end of the tool manipulator arm;

a console having a handling tool configured to receive a tool movement command of a surgeon for the surgical tool, the tool movement command including a translation amount of the translational motion and a rotation amount of the rotational motion for the surgical tool; and

a controller configured to control the tool manipulator,

the method comprising;

calculating, by the controller, an actual translation amount by multiplying the translation amount for the surgical tool received by the handling tool by a predetermined translation scale factor;

moving, by the controller, the surgical tool in accordance with the actual translation amount;

calculating, by the controller, an actual rotation amount by multiplying the rotation amount for the surgical tool received by the handling tool by a predetermined rotation scale factor that is a value different from the translation scale factor; and

moving, by the controller, the surgical tool in accordance with the actual rotation amount.

18. The method of controlling the surgical system according to claim 17, wherein the rotation scale factor is a value larger than the translation scale factor.

19. The method of controlling the surgical system according to claim 17, the surgical system comprising an endoscope having a camera probe configured to capture an image of an imaging area surrounded by a boundary including a preset entry restriction boundary, wherein

the console has a display module having a display area on which the image captured by the camera probe is displayed and the display module is configured to arrange the entry restriction boundary on an upper side of the display area to display the image captured by the camera probe;

and

the controller restricts, upon determining that the tool movement command includes a command to move the surgical tool so as to move a restriction target segment set at a distal end side of the tool manipulator into the entry restriction boundary, movement of the surgical tool in a movement direction of the surgical tool that moves the restriction target segment into the entry restriction boundary.

20. The method of controlling the surgical system according to claim 17, the surgical system comprising:

an endoscope having an endoscope manipulator arm configured to perform translational motion and rotational motion of a distal end with respect to a proximal end, and a camera probe linked to the distal end of the endoscope manipulator arm; and

an entry guide having an endoscope insertion hole through which the endoscope manipulator arm is inserted, wherein

the console has a display module having a display area on which an image captured by the camera probe is displayed in a predetermined orientation, and

the entry guide has a rotation restriction structure configured to restrict rotation of the endoscope manipulator arm in a circumferential direction around a central axis of the endoscope insertion hole.