System for manipulating movement of a surgical instrument with computer controlled brake

• US 5,695,500 A
• Filed: 04/06/1994
• Issued: 12/09/1997
• Est. Priority Date: 06/13/1991
• Status: Expired due to Term

• Current Assignee: International Business Machines Corporation
• Original Assignee: International Business Machines Corporation
• Inventors: Taylor, Russell Highsmith, Kim, Yong-yil
• Primary Examiner(s): Kamm, William E.
• Application Number:
  US08/223,969
• Time in Patent Office: 1,343 Days
• Field of Search: 606/130, 606/54, 606/58, 606/61, 606/19, 606/4, 606/1
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/0813 Accessories designed for easy sterilising, i.e. re-usable
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3916 Bone tissue
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/5025 with a counter-balancing mechanism
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 17/0275 Universal joints, e.g. Hooke, Cardan, ball joints
• CPC Class Codes: B25J 9/04 by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
• CPC Class Codes: G05B 2219/37074 : Projection device, monitor, track tool, workpiece form, process on display
• CPC Class Codes: G05B 2219/40418 : Presurgical planning, on screen indicate regions to be operated on
• CPC Class Codes: G05B 2219/40609 : Camera to monitor end effector as well as object to be handled
• CPC Class Codes: G05B 2219/45123 : Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
• CPC Class Codes: G05B 2219/45166 : Tomography

Abstract

The system and method includes a manipulator for manipulating a surgical instrument relative to a patient'"'"'s body and, a position sensor for sensing the position of the surgical instrument relative to the patient'"'"'s body. The manipulator can be manually or computer actuated and can have brakes to limit movement. In a preferred embodiment, orthogonal only motion between members of the manipulator is provided. The position sensor includes beacons connected to the patient and manipulator or surgical instrument and, a three dimensional beacon sensor adapted to sense the location and position of the beacons. Redundant joint sensors on the manipulator may also be provided. The system and method uses a computer to actively interact with the surgeon and can use various different input and output devices and modes.

Claims

1. A system for manipulating movement of a surgical instrument, the system comprising:

an apparatus having a plurality of motion joints, the apparatus being adapted for manual only driven motion and adapted to have the surgical instrument connected thereto;

a computer controlled brake located at at least one of the motion joints of the apparatus;

a computer connected to the brake for selectively actuating the brake upon an occurrence of a predetermined event; and

means for signaling the computer of the occurrence of the predetermined event.

2. A system as in claim 1 wherein the computer controlled brake is adapted to apply a variable resistance.

3. A system as in claim 2 wherein the means for signaling includes a voice activated system.

4. A system as in claim 2 wherein the means for signaling includes means for optically sensing a position of a beacon.

5. A system as in claim 4 wherein the means for sensing includes redundant sensors at the motion joints in the apparatus.

6. A system as in claim 4 wherein the means for sensing includes at least one beacon connected to the apparatus and a sensor adapted to sense the three dimensional location of the beacon.

7. A system for manipulating movement of a surgical instrument, the system comprising:

an apparatus adapted to have the surgical instrument connected thereto, the apparatus having a motion joint adapted to be only manually moved by a user;

a computer controlled brake located at the joint; and

means for selectively actuating the computer controlled brake.

8. A system as in claim 7 wherein the computer controlled brake and means for selectivity actuating the brake are adapted to apply a variable resistance to motion at the joint.

9. A system as in claim 7 wherein the means for selectively actuating the computer controlled brake includes a computer and a signal for signaling the computer.