Automated endoscope system for optimal positioning

• US 5,515,478 A
• Filed: 09/13/1994
• Issued: 05/07/1996
• Est. Priority Date: 08/10/1992
• Status: Expired due to Term

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Computer Motion Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Wang, Yulun
• Primary Examiner(s): Davis, George B.
• Application Number:
  US08/305,415
• Time in Patent Office: 602 Days
• Field of Search: 395/86, 395/92, 395/80, 395/94, 395/97, 395/924, 364/413.02, 364/413.13, 128/4, 128/6, 128/774, 606/19, 606/46
• US Class Current: 700/251
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00973 pedal-operated
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: Y10S 706/924 Medical

Abstract

A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals received from the foot pedal.

Claims

1. A method for moving an endoscope that is inserted into a patient, comprising the steps of:

a) attaching the endoscope to an end effector of a robotic arm assembly located within a first coordinate system having a first x axis, a first y axis and a first z axis, said robotic arm assembly being adapted to move said end effector relative to the patient in response to an input command from the user, said end effector being located within a second coordinate system having a second x axis, a second y axis and a second z axis;

b) inserting the endoscope into the patient, wherein the end of the endoscope is located within a third coordinate system having a third x axis, a third y axis and a third z axis;

c) inputting a command to move the end of the endoscope an incremental distance in the third coordinate system;

d) computing an incremental moving distance of said end effector in the second coordinate system from the incremental distance of the end of the endoscope in the third coordinate system;

e) computing an incremental moving distance of said end effector within the first coordinate system from the incremental moving distance of said end effector in the second coordinate system; and

,

moving said robotic arm assembly until said end effector has moved the computed incremental moving distance in the first coordinate system.

2. The method as recited in claim 1, wherein said incremental movement of said end effector in said second coordinate system is computed in accordance with the following transformation matrix:

##EQU5## wherein;

Δ

x"=an incremental movement of the end of the endoscope along the third x axis;

Δ

y"=an incremental movement of the end of the endoscope along the third y axis;

Δ

z"=an incremental movement of the end of the endoscope along the third z axis;

a5=an angle of the endoscope and a second x-z plane in the second coordinate system;

a6=an angle of the endoscope and a second y-z plane in the second coordinate system;

Δ

x'"'"'=a computed incremental movement of said end effector along the second x axis;

Δ

y'"'"'=a computed incremental movement of said end effector along the second y axis;

Δ

z'"'"'=a computed incremental movement of said end effector along the second z axis.

3. The method as recited in claim 2, wherein said incremental movement of said end effector in said first coordinate system is computed in accordance with the following transformation matrix:

##EQU6## wherein;

Δ

x=a computed incremental movement of said end effector along the first x axis;

Δ

y=a computed incremental movement of said end effector along the first y axis;

Δ

z=a computed incremental movement of said end effector along the first z axis;

Π

=an angle between said end effector and the first x axis.

4. A method for moving an endoscope that is inserted into a patient, comprising the steps of:

a) attaching the endoscope to an end effector of a robotic arm assembly located within a first coordinate system having a first x axis, a first y axis and a first z axis, said robotic arm assembly having an end effector that is located within a second coordinate system having a second x axis, a second y axis and a second z axis, said robotic arm assembly having a first actuator coupled to said end effector by a first linkage arm, a second actuator coupled to said first actuator by a second linkage arm and a third actuator coupled to said second actuator by a third linkage arm, said actuators being adapted to move said end effector in a plane perpendicular to the first z axis, said robotic assembly further having a linear actuator coupled to said third actuator to move said third actuator along the first z axis;

b) inserting the endoscope into the patient, wherein the end of the endoscope is located within third coordinate system having a third x axis, a third y axis and a third z axis;

c) inputting a command to move the end of the endoscope an incremental distance in the third coordinate system;

d) computing an incremental moving distance of said end effector within the second coordinate system from the incremental moving distance of the end of the endoscope in the third coordinate system;

e) computing an incremental moving distance of said end effector within the first coordinate system from the incremental moving distance of said end effector in the second coordinate system;

f) moving said robotic arm assembly until said end effector has moved the incremental moving distance in the first coordinate system.

5. The method as recited in claim 4, wherein said incremental movements of said end effector in said second coordinate system is computed in accordance with the following transformation matrix:

##EQU7## wherein Δ

x"=an incremental movement of the end of the endoscope along the third x axis;

Δ

y"=an incremental movement of the end of the endoscope along the third y axis;

Δ

z"=an incremental movement of the end of the endoscope along the third z axis;

a5=an angle of the endoscope and a x-y plane in the second coordinate system;

a6=an angle of the endoscope and a y-z plane in the second coordinate system;

Δ

x'"'"'=a computed incremental movement of said end effector along the second x axis;

Δ

y'"'"'=a computed incremental movement of said end effector along the second y axis;

Δ

z'"'"'=a computed incremental movement of said end effector along the second z axis.

6. The method as recited in claim 5, wherein said incremental movement of said end effector in the first coordinate system is computed in accordance with the following information matrix:

##EQU8## wherein;

Δ

x=a computed incremental movement of said end effector along the first x axis;

Δ

y=a computed incremental movement of said end effector along the first y axis;

Δ

z=a computed incremental movement of said end effector along the first z axis;

Π

=an angle between said end effector and the first x axis.

7. The method as recited in claim 6, wherein said linear actuator translates said third actuator Δ

Z, said third actuator rotates said third linkage arm an angle of Δ

a2, wherein a2 is computed by the equations;

##EQU9## said second actuator rotates said second linkage arm an angle Δ

a3 wherein Δ

a3 is computed by the equation;

##EQU10## wherein;

L1=is a length of said third linkage arm;

L2=is a length of said second linkage arm;

L3=is a length of said third first arm;

and said first actuator rotates said first linkage arm an angle Δ

a4 wherein Δ

a4 is computed by the equation;

space="preserve" listing-type="equation">Δ

a4=π

-Δ

a2-Δ

a3.