Automated endoscope system for optimal positioning

• US 5,878,193 A
• Filed: 10/16/1996
• Issued: 03/02/1999
• 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, Uecker, Darrin R., Laby, Keith P., Ghodoussi, Modjtaba, Mangaser, Amante A.
• Primary Examiner(s): JACKSON, GARY
• Application Number:
  US08/732,015
• Time in Patent Office: 867 Days
• Field of Search: 395/92, 395/99, 395/86, 364/413.13, 128/4, 606/19, 606/46, 600/117, 600/126
• 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 2017/00212 using remote controls
• 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 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 the 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 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 method for allowing a user to remotely control a movement of a surgical instrument having a tip, the method comprising the steps:

a) establishing an original position of the surgical instrument tip;

b) inputting a command provided by a user to move the surgical instrument in a desired direction relative to an object displayed on a display device;

c) computing an incremental movement of the surgical instrument based on the command provided by the user and on the original position of the surgical instrument;

d) moving the surgical instrument in the desired direction so that the surgical instrument tip always moves in a direction commanded by the user.

2. The method of claim 1 wherein the step of inputting a command comprises a save command.

3. The method of claim 1 wherein the step of inputting a command comprises a return command.