Automated endoscope system for optimal positioning

• US 5,907,664 A
• Filed: 03/11/1996
• Issued: 05/25/1999
• 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: Laby, Keith Phillip, Wang, Yulun
• Primary Examiner(s): JACKSON, GARY
• Application Number:
  US08/613,866
• Time in Patent Office: 1,170 Days
• Field of Search: 395/86, 395/80, 395/94, 395/92, 395/99, 364/413.02, 364/413.13, 128/4, 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 2034/2059 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 for allowing a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising:

an articulate arm having an end effector for holding the surgical instrument, and an actuator for moving said end effector, said articulate arm further having a passive joint located between said end effector and said actuator, said articulate arm for pivoting the surgical instrument about the pivot point;

a first input device for receiving an input command from the surgeon;

a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, and for providing an output command to actuate said active joint and for moving the surgical instrument about the pivot point.

2. The system as recited in claim 1, wherein said articulate arm has a second passive joint located between said active joint and said end effector.

3. The system as recited in claim 1, wherein said end effector has an actuator for spinning the surgical instrument about its longitudinal axis.

4. The system as recited in claim 1, wherein said active joint is a first rotary motor.

5. The system as recited in claim 4, wherein said articulate arm includes a second rotary motor.

6. The system as recited in claim 5, wherein said articulate arm includes a linear motor.

7. The system as recited in claim 1, wherein said articulate arm includes a clutch and an input button that allow the surgeon to disengage said active joint from said end effector.

8. A system that allows a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising:

an articulate arm having an end effector for holding the surgical instrument, said articulate arm having a linear motor, a first rotary motor and a second rotary motor for moving said end effector and the surgical instrument, said articulate arm further having a first passive joint and a second passive joint positioned between said end effector and said second rotary motor, said articulate arm pivoting the surgical instrument about the pivot point;

a first input device for receiving an input command from the surgeon; and

a controller for receiving said input command, computing a movement of said articulate arm based on said input command, for providing an output command to actuate said linear motor, said first rotary motor and said second rotary motor, and for moving the surgical instrument about the pivot point.

9. The system as recited in claim 8, wherein said end effector has a worm gear that spins the surgical instrument.

10. The system as recited in claim 9, wherein said articulate arm includes a clutch and an input button that allow the surgeon to disengage said linear motor, each first rotary motor and said second rotar motor from said passive joint.

11. A system a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, comprising:

an articulate arm having an end effector for holding the surgical instrument, an active joint for moving said end effector, and an actuator for spinning the surgical instrument;

a first input device for receiving an input command from the surgeon; and

a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, for providing an output command to actuate said active joint and said actuator, and for moving the surgical instrument about the pivot point.

12. The system as recited in claim 11, wherein said articulate arm has a first passive joint and a second passive joint located between said active joint and said end effector.

13. The system as recited in claim 12, wherein said active joint is a first rotary motor.

14. The system as recited in claim 13, wherein said articulate arm includes a second rotary motor.

15. The system as recited in claim 14, wherein said articulate arm includes a linear motor.

16. The system as recited in claim 15, wherein said articulate arm includes a clutch and an input button that allow the surgeon to disengage said active joint from said passive joint.

17. The system as recited in claim 11, wherein said actuator is a worm gear.

18. A system for allowing a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising:

an articulate arm having an end effector for holding the surgical instrument, and an actuator for moving said end effector and the surgical instrument about the pivot point, said articulate arm having a clutch and an input button for allowing the surgeon to disengage said actuator from said end effector;

a first input device for receiving an input command from the surgeon; and

a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, for providing an output command to actuate said actuator and for moving the surgical instrument about the pivot point.

19. The system as recited in claim 18, wherein said articulate arm has a first passive joint and a second passive joint located between said active joint and said end effector.

20. The system as recited in claim 19, wherein said end effector has an actuator that spins the surgical instrument.

21. The system as recited in claim 20, wherein said active joint is a first rotary motor.

22. The system as recited in claim 21, wherein said articulate arm includes a second rotary motor.

23. The system as recited in claim 22, wherein said articulate arm includes a linear motor.

24. A system for allowing a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising:

an articulate arm having an end effector for holding the surgical instrument, and a plurality of actuators for moving said end effector, said articulate arm further having a passive joint located between said end effector and said plurality of actuators, said passive joint for pivoting the surgical instrument about the pivot point;

a first input device for receiving an input command from the surgeon;

a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, and for providing an output command to actuate said active joint and for moving the surgical instrument about the pivot point.