Automated endoscope for optimal positioning

• US 5,754,741 A
• Filed: 12/16/1996
• Issued: 05/19/1998
• 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: del' Giudice, Henry Anthony, Laby, Keith Phillip, Wang, Yulun
• Primary Examiner(s): Davis, George B.
• Application Number:
  US08/768,103
• Time in Patent Office: 519 Days
• Field of Search: 395/86, 395/92, 395/80, 395/94, 395/97, 395/924, 364/413.13, 364/413.02, 128/4, 128/6, 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: G16H 40/67 for remote operation
• 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 system that allows a user to control a movement of a surgical instrument that has a longitudinal axis and which is coupled to a display device that displays an object and maintains an orientation of the displayed object, comprising:

movement means for holding and moving the surgical instrument, wherein an intersection of said movement means and the surgical instrument define an origin for a second coordinate system with respect to a first coordinate system, wherein the second coordinate system has a y-z plane;

input means for inputting command signals from the user to move the surgical instrument; and

, control means for receiving said command signals, computing an incremental movement of said movement means from said command signals and providing an output signal to said movement means to move the surgical instrument so that the longitudinal axis of the surgical instrument always remains in the y-z plane.

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

3. The system as recited in claim 2, wherein said control means includes first actuator sensor means coupled to said linear actuator for generating 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 generating a second feedback signal which corresponds to a location of said attachment means in the plane that is perpendicular to the first z axis.

4. The system as recited in claim 2, 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 and said attachment means in the plane that is perpendicular to the first z axis.

5. The system as recited in claim 4, wherein said control means includes third actuator sensor means coupled to said second actuator for generating a third feedback signal which corresponds to a location of said first actuator in the plane that is perpendicular to the first z axis.

6. The system as recited in claim 4, wherein said movement means includes a third actuator connected to said linear actuator and attached to said second actuator by a third linkage arm, said third actuator being adapted to rotate said second actuator, said first actuator and said attachment means in the plane that is perpendicular to the first z axis.

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

8. The system as recited in claim 2, wherein said attachment 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.

9. The system as recited in claim 8, wherein said control means includes first joint sensor means coupled to said attachment means for generating 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 said attachment means for generating a second joint feedback signal which corresponds to a second angular position of the surgical instrument relative to the second y 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 generates output signals to move 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 is a foot pedal which can be pressed by the user to generate said command signals.

15. The system as recited in claim 14, wherein said control means includes first actuator sensor means coupled to said linear actuator for generating a first feedback signal which corresponds to a location of said third actuator on the first z axis, second actuator sensor means coupled to said first actuator for generating a second feedback signal which corresponds to a location of said end effector in the plane that is perpendicular to the first z axis, third actuator sensor means coupled to said second actuator for generating a third feedback signal which corresponds to a location of said first actuator in the plane that is perpendicular to the first z axis, and fourth actuator sensor means coupled to said third actuator for generating a fourth feedback signal which corresponds to a location of said second actuator in the plane that is perpendicular to the first z axis.

16. The system as recited in claim 15, wherein said control means includes first joint sensor means coupled to said end effector for generating 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 said end effector for generating a second joint feedback signal which corresponds to a second angular position of the surgical instrument relative to the second y axis.

17. The system as recited in claim 16, 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.

18. The system as recited in claim 1, wherein said movement means includes

a collar adapted to be attached to the surgical instrument and

an end effector which has a magnet that is attracted to said collar and couples the surgical instrument to said end effector.

19. The system as recited in claim 1, wherein said movement means includes

a bag that encapsulates a robotic arm assembly.

20. A system that allows a user to control a movement of a surgical instrument that has a longitudinal axis and which is coupled to a display device that displays an object and maintains an orientation of the object, comprising:

a first linkage arm having a longitudinal axis;

an end effector attached to said first linkage arm and adapted to hold the surgical instrument, said end effector having a first joint that allows the surgical instrument to rotate about the longitudinal axis of said first linkage arm, said end effector further having 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, wherein an intersection of said end effector and the surgical instrument define an origin for a second coordinate system with respect to a first coordinate system, wherein the second coordinate has a y-z plane;

a first actuator connected to said first linkage arm such that said first actuator can rotate said first linkage arm in a plane perpendicular to a first z axis;

a second linkage arm connected to said first actuator;

a second actuator connected to said second linkage arm such that said second actuator can rotate said second linkage arm in the plane perpendicular to the first z axis;

a third linkage arm connected to said second actuator;

a third actuator connected to said third linkage arm such that said third actuator can rotate said third linkage arm in the plane perpendicular to the first z axis;

a linear actuator attached to said table and said third actuator such that said linear actuator can translate said third actuator along the first z axis;

a foot pedal that generates a command signal when depressed by the user to move the surgical instrument; and

,

control means for receiving said command signals computing an incremental movement of said first, second, third and linear actuators from said command signals and providing a plurality of output signals to said first, second, third and linear actuators to move the surgical instrument so that the longitudinal axis of the surgical instrument always remains in the y-z plane.

21. The system as recited in claim 20, 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.

22. A method for moving a surgical instrument relative to a patient, wherein the surgical instrument has a longitudinal axis, and is coupled to a display device that displays an object, comprising the steps of:

a) attaching the surgical instrument to an end effector of a robotic arm assembly located within a first coordinate system having a first x axis, a first y axis, 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 and the surgical instrument having an intersection which defines a second coordinate system having a second x axis, a second y axis a second z axis and a y-z plane;

b) inserting the surgical instrument into the patient, wherein the end of the surgical instrument is located within a third coordinate system having a third x axis, a third y axis and third z axis, wherein said third z axis is parallel with the longitudinal axis of the surgical instrument;

c) inputting a command to move the end of the surgical instrument 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 surgical instrument 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 computed incremental movement in the first coordinate system; and

, g) moving said robotic arm assembly and the surgical instrument so that the third z axis always remains in the y-z plane.

23. The method as recited in claim 22, 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 surgical instrument along the third x axis;

Δ

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

Δ

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

a5=an angle between the second z axis and the surgical instrument in a y-z plane of the second coordinate system;

a6=an angle between the second z axis and the surgical instrument in a x-z plane of 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.

24. The method as recited in claim 23, 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

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

25. The method as recited in claim 24, further comprising the steps of determining the angle a6 after said end effector is moved, and moving said robotic arm assembly in accordance with the following subroutine:

If a6>

zero then said end effector is moved an increment equal to;

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

π

=π

+constant

If a6<

zero then said end effector is moved an increment equal to;

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

π

=π

-constant

where;

Δ

π

=the incremental amount of angular movement of said end effector;

π

=a preceding angle π

;

constant=some predetermined incremental angular movement of said end effector;

until the angle a6 is approximately equal to zero.

26. The method as recited in claim 22, wherein said end effector is moved in said first coordinate system in accordance with the following equation:

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

(t)=(1-t).sup.2 (θ

.sub.0 +(2θ

.sub.0 +θ

.sub.0) t) +t.sup.2 (θ

.sub.1 +(2θ

.sub.1 30 θ

.sub.1) (1-t)

where;

t=time;

θ

₀ =an initial position of said end effector;

θ

₁ =a final position of said end effector;

θ

₀ =a velocity of said end effector at position θ

₀ ;

θ

₁ =a velocity of said end effector at position θ

₁.

27. A method for moving a surgical instrument relative to a patient, wherein the surgical instrument has a longitudinal axis, and is coupled to a display device that displays an object, comprising the steps of:

a) attaching the surgical instrument to an end effector of a robotic arm assembly located within a first coordinate system having a first x axis, a first y axis, a first z axis, said end effector and the surgical instrument having an intersection which defines 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 and a y-z plane;

b) inserting the surgical instrument into the patient, wherein the end of the surgical instrument is located within a third coordinate system having a third x axis, a third y axis and third z axis wherein said third z axis is parallel with the longitudinal axis of the surgical instrument;

c) inputting a command to move the end of the surgical instrument 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 distance of the end of the surgical instrument 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 movement in the first coordinate system; and

, g) moving said robotic arm assembly and the surgical instrument so that the third z axis always remains in the y-z plane.

28. The method as recited in claim 27, 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 surgical instrument along the third x axis;

Δ

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

Δ

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

a5=an angle between the second z axis and the surgical instrument in a y-z plane of the second coordinate system;

a6=an angle between the second z axis and the surgical instrument in a x-z plane of 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.

29. The method as recited in claim 28, 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.

30. The method as recited in claim 29, 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 the length of said third linkage arm;

L2=is the length of said second linkage arm;

L3=is the 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.

31. The method as recited in claim 30, further comprising the steps of determining the angle a6 after said end effector is moved, and moving said robotic arm assembly in accordance with the following subroutine:

If a6>

zero then said end effector is moved an increment equal to;

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

π

=π

+constant

If a6<

zero then said end effector is moved an increment equal to;

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

π

=π

-constant

where;

Δ

π

=the incremental amount of angular movement of said end effector;

π

=a preceding angle π

;

constant=some predetermined incremental angular movement of said end effector;

until the angle a6 is approximately equal to zero.

32. The method as recited in claim 31, wherein said end effector is moved in accordance with the following equation:

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

(t)=(1-t).sup.2 (θ

.sub.0 +(2θ

.sub.0 +θ

.sub.0)t)+t.sup.2 (θ

.sub.1 +(2θ

.sub.1 +θ

.sub.1)(1-t))

where;

t=time;

θ

₀ =an initial position of said end effector;

θ

₁ =a final position of said end effector;

θ

₀ =a velocity of said end effector at position θ

₀ ;

θ

₁ =a velocity of said end effector at position θ

₁.

33. A system that allows a user to control a movement of a surgical instrument that has a longitudinal axis and which is coupled to a display device that displays an object and maintains an orientation of the displayed object, comprising:

a mechanism that holds and moves the surgical instrument, wherein an intersection of said mechanism and the surgical instrument defines an origin for a second coordinate system with respect to a first system, wherein the second coordinate system has a y-z plane;

an input device that inputs command signals from the user to move the surgical instrument; and

,

a controller that receives said command signals, computes an incremental movement of said mechanism from said command signals and provides an output signal to said mechanism to move the surgical instrument so that the longitudinal axis of the surgical instrument is always remains in the y-z plane.

34. The system as recited in claim 33, wherein said mechanism includes a first linkage arm attached to an end effector and a first actuator which can rotate said first linkage arm and said end effector in a plane perpendicular to a first z axis, said first actuator being coupled to a liner actuator which can translate said end effector along an axis parallel with the first z axis.

35. The system as recited in claim 34, wherein said mechanism includes a first actuator sensor coupled to said linear actuator and which generates a first feedback signal which corresponds to a location of said first actuator on the first z axis, and a second actuator sensor coupled to said first actuator and which generates a second feedback signal which corresponds to a location of said end effector in the plane that is perpendicular to the first z axis.

36. The system as recited in claim 34, 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 said end effector in the plane that is perpendicular to the first z axis.

37. The system as recited in claim 36, wherein said mechanism includes a third actuator sensor coupled to said second actuator and which generates a third feedback signal which corresponds to a location of said first actuator in the plane that is perpendicular to the first z axis.

38. The system as recited in claim 36, wherein said mechanism includes a third actuator connected to said linear actuator and attached to said second actuator by a third linkage arm, said third actuator being adapted to rotate said second actuator, said first actuator and said end effector in the plane that is perpendicular to the first z axis.

39. The system as recited in claim 38, wherein said mechanism includes a fourth actuator sensor coupled to said third actuator and which generates a fourth feedback signal which corresponds to a location of said second actuator in the plane that is perpendicular to the first z axis.

40. The system as recited in claim 38, further comprising a plurality of clutches that disengage said first actuator from said linear actuator, said second actuator from said first actuator and said third actuator from said second actuator when said clutches receives a clutch input signal.

41. The system as recited in claim 38, wherein said first, second and third actuators are electric motors.

42. The system as recited in claim 34, wherein said end effector 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.

43. The system as recited in claim 40, wherein said mechanism includes a first joint sensor which generates 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 coupled which generates a second joint feedback signal which corresponds to a second angular position of the surgical instrument relative to the second y axis.

44. The system as recited in claim 33, wherein said controller is a computer which receives command signals from said input device and generates output signals to move the surgical instrument.

45. The system as recited in claim 44, wherein said controller has memory that stores a first position of said end effector upon receiving a first storage input signal and moves said end effector to said first position upon receiving a second storage input signal.

46. The system as recited in claim 33, wherein said input device is a foot pedal which can be pressed by the user to generate said command signals.

47. The system as recited in claim 33, wherein said mechanism includes a collar attached to the surgical instrument and an end effector which has a magnet that is attracted to said collar and couples the surgical instrument to said end effector.

48. The system as recited in claim 33, wherein said mechanism includes a bag that encapsulates a robotic arm.