Automated endoscope system for optimal positioning

• US 5,524,180 A
• Filed: 06/03/1993
• Issued: 06/04/1996
• 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, Laby, Keith P.
• Primary Examiner(s): Davis, George B.
• Application Number:
  US08/072,982
• Time in Patent Office: 1,097 Days
• Field of Search: 395/94, 395/86, 395/92, 395/80, 395/99, 364/413.13, 128/4, 606/19, 606/46
• US Class Current: 600/118
• 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 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/508 with releasable brake mechanisms
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: B60R 21/0132 responsive to vehicle motion parameters , e.g. to vehicle longitudinal or transversal deceleration or speed value

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 system that allows a user to remotely control a movement of a surgical instrument that has a tip, wherein the surgical instrument is coupled to a display device that displays an object, comprising:

movement means for moving the surgical instrument, said movement means having an original position;

input means for inputting a command provided by the user to move the surgical instrument in a desired direction relative to the object displayed by the display device; and

,

control means for receiving said command to move the surgical instrument in the desired direction, computing an incremental movement of said movement means based on said command and the original position of said movement means so that the surgical instrument tip moves in the desired direction, and providing output signals to said movement means to move said movement means said incremental movement so that the surgical instrument tip always moves in the desired direction commanded by the user.

2. The system as recited in claim 1, wherein said movement means includes a worm gear adapted to rotate a corresponding bearing member attached to the surgical instrument.

3. The system as recited in claim 2, wherein said movement means includes a collar attached to the surgical instrument and coupled to a collar holder.

4. The system as recited in claim 2, wherein said movement means has a first joint that allows the surgical instrument to rotate about a longitudinal axis of said first linkage arm and a second joint that allows the surgical instrument to rotate about an axis that is perpendicular to the longitudinal axis of said first linkage arm.

5. The system as recited in claim 4, wherein said control means includes first joint sensor means coupled to the surgical instrument for providing a first joint feedback signal which corresponds to a first angular position of the surgical instrument relative to a second x axis, and second joint sensor means coupled to the surgical instrument for providing a second joint feedback signal which corresponds to a second angular position of the surgical instrument relative to the second y axis.

6. The system as recited in claim 1, wherein said movement means includes a first linkage arm and a first actuator which can rotate said first linkage arm in a plane perpendicular to a first z axis, said first actuator being coupled to a linear actuator which can translate said first linkage arm along an axis parallel with the first z axis.

7. The system as recited in claim 6, wherein said control means includes first actuator sensor means coupled to said linear actuator for providing a first feedback signal which corresponds to a location of said first actuator on the first z axis, and second actuator sensor means coupled to said first actuator for providing a second feedback signal which corresponds to a location of the surgical instrument in the plane that is perpendicular to the first z axis.

8. The system as recited in claim 7, wherein said movement means includes a second actuator attached to said first actuator by a second linkage arm, said second actuator being adapted to rotate said first actuator in the plane that is perpendicular to the first z axis.

9. The system as recited in claim 8, wherein said control means includes third actuator sensor means coupled to said second actuator for providing a third feedback signal which corresponds to a location of said first actuator in the plane that is perpendicular to the first z axis.

10. The system as recited in claim 6, further comprising clutch means for disengaging said first actuator from said linear actuator, said second actuator from said first actuator and said third actuator from said second actuator when said clutch means receives a clutch input signal.

11. The system as recited in claim 6, wherein said first, second and third actuators are electric motors.

12. The system as recited in claim 1, wherein said control means is a computer which receives command signals from said input means and provides output signals to said control means to move the position of the surgical instrument.

13. The system as recited in claim 12, further comprising storage means for storing a first position of said end effector upon receiving a first storage input signal and moving said end effector to said first position upon receiving a second storage input signal.

14. The system as recited in claim 1, wherein said input means includes a foot pedal which can be pressed by the user to generate said command signals.

15. A system that allows a user to control a movement of a surgical instrument that has a tip, wherein the surgical instrument is coupled to a display device that displays an object, comprising:

a mechanism that moves the surgical instrument, said mechanism having an original position;

an input device that receives a command to move the surgical instrument tip in a desired direction relative to the object displayed by the display device; and

,

a controller that receives said command to move the surgical instrument in the desired direction, computes an incremental movement of said mechanism based on said command and the original position of said mechanism so that the surgical instrument tip moves in the desired direction, and provides output signals to said mechanism to move said mechanism said incremental movement to move the surgical instrument tip in the desired direction commanded by the user.

16. The system as recited in claim 15, wherein said mechanism includes a worm gear adapted to rotate a corresponding bearing member attached to the surgical instrument.

17. The system as recited in claim 16, wherein said mechanism includes a collar attached to the surgical instrument and coupled to a collar holder.

18. The system as recited in claim 16, wherein said mechanism has a first joint that allows the surgical instrument to rotate about a longitudinal axis of said first linkage arm and a second joint that allows the surgical instrument to rotate about an axis that is perpendicular to the longitudinal axis of said first linkage arm.

19. The system as recited in claim 18, wherein said mechanism includes a first joint sensor that is coupled to the surgical instrument and provides a first joint feedback signal which corresponds to a first angular position of the surgical instrument relative to a second x axis, and a second joint sensor that is coupled to the surgical instrument and provides a second joint feedback signal which corresponds to a second angular position of the surgical instrument relative to the second y axis.

20. The system as recited in claim 15, wherein said mechanism includes a first linkage arm coupled to the surgical instrument and a first actuator which can rotate said first linkage arm and the surgical instrument in a plane perpendicular to a first z axis, said first actuator being coupled to a linear actuator which can translate said first actuator along an axis parallel with the first z axis.

21. The system as recited in claim 20, wherein said mechanism includes a first actuator sensor that is coupled to said linear actuator and provides a first feedback signal which corresponds to a location of said first actuator on the first z axis, and a second actuator sensor that is coupled to said first actuator for providing a second feedback signal which corresponds to a location of the surgical instrument in the plane that is perpendicular to the first z axis.

22. The system as recited in claim 21, wherein said mechanism includes a second actuator attached to said first actuator by a second linkage arm, said second actuator being adapted to rotate said first actuator and the surgical instrument in the plane that is perpendicular to the first z axis.

23. The system as recited in claim 22, wherein said mechanism includes a third actuator sensor that is coupled to said second actuator for providing a third feedback signal which corresponds to a location of said first actuator in the plane that is perpendicular to the first z axis.

24. The system as recited in claim 22, further comprising a clutch assembly that disengages said first actuator from said linear actuator, said second actuator from said first actuator and said third actuator from said second actuator when said clutch assembly receives a clutch input signal.

25. The system as recited in claim 22, wherein said first, second and third actuators are electric motors.

26. The system as recited in claim 15, wherein said control means is a computer which receives input signals from said input means and provides output signals to said control means to move the position of the surgical instrument.

27. The system as recited in claim 26, further comprising storage means for storing a first position of said end effector upon receiving a first storage input signal and moving said end effector to said first position upon receiving a second storage input signal.

28. The system as recited in claim 15, wherein said input means includes a foot pedal which can be pressed by the user to generate said input signals.

29. The system as recited in claim 15, further comprising a bag that encapsulates said mechanism.