Automated endoscope system for optimal positioning

• US 5,553,198 A
• Filed: 11/29/1994
• Issued: 09/03/1996
• Est. Priority Date: 12/15/1993
• 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:
  US08/346,537
• Time in Patent Office: 644 Days
• Field of Search: 395/80, 395/92, 395/93, 395/99, 606/19, 364/413.02, 901/1
• US Class Current: 700/245
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2034/743 Keyboards
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes

Abstract

A robotic system that moves a surgical instrument in response to the actuation of a control panel that can be operated by a surgeon. A 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 an endoscope relative to a patient. The system includes a computer which controls the movement of a robotic arm in response to input signals received from the control panel. The robotic system is mounted to a cart which can be wheeled to and from an operating table. The cart has a clamping mechanism which attaches the cart to the table. The system also contains a spring loaded mount plate that allows the robotic arm to be rotated and adjusted relative to the cart and the patient. Both the robotic arm and the control panel are encapsulated by protective bags that prevent the system from being contaminated.

Claims

1. A system that allows a user to remotely control the movement of a surgical instrument relative to an operating table, comprising:

a cart which has a flange that has a pair of ears separated by a slot;

a mounting plate coupled to said cart;

a pivot clamp pivotally connected to said mounting plate, said pivot clamp rotates between an open position and a close position, wherein said pivot clamp grasps the operating table in the close position;

a screw that extends through said mounting plate, said screw having a cam surface coupled to said pivot clamp such that said pivot clamp rotates between the open and closed positions when said screw moves relative to said mounting plate;

a cart clamp that is captured by said screw and located within said slot of said cart flange, said cart clamp having a shoulder that can be pressed into said cart flange to secure said mounting plate to said cart when said screw moves relative to said mounting plate;

a robotic arm coupled to said mounting plate;

an end effector attached to said robotic arm;

an input device adapted to provide an input signal;

control means for receiving said input signal from said input device, computing an incremental movement of said robotic arm from said input signal and generating an output signal to move said robotic arm the incremental movement.

2. The system as recited in claim 1, further comprising a mount screw that extends through an arcuate shaped slot within said mounting plate and which couples said robotic arm to said mounting plate.

3. The system as recited in claim 2, further comprising a spring that biases said robotic arm into contact with said mounting plate.

4. The system as recited in claim 1, further comprising a protective bag which covers said input device.

5. A system that allows a user to remotely control the movement of a surgical instrument relative to an operating table, comprising:

a cart which has a flange that has a pair of ears separated by a slot;

a mounting plate coupled to said cart;

a pivot clamp pivotally connected to said mounting plate, said pivot clamp rotates between an open position and a close position, wherein said pivot clamp grasps the operating table in the close position;

a handle coupled to said pivot clamp;

a screw that extends through said mounting plate, said screw having a head that can be pressed against the operating table;

a cart clamp that is captured by said screw and located within said slot of said cart flange, said cart clamp having a shoulder that can be pressed into said cart flange to secure said mounting plate to said cart when said screw moves relative to said mounting plate;

a robotic arm coupled to said mounting plate;

an end effector attached to said robotic arm;

an input device adapted to provide an input signal;

control means for receiving said input signal from said input device, computing an incremental movement of said robotic arm from said input signal and generating an output signal to move said robotic arm the incremental movement.

6. The system as recited in claim 5, wherein said mounting plate has a detent hole that receives a protrusion of said handle.