Methods and devices for positioning a surgical instrument at a surgical site

• US 6,106,511 A
• Filed: 09/08/1998
• Issued: 08/22/2000
• Est. Priority Date: 05/14/1993
• Status: Expired due to Term

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Jensen, Joel F.
• Primary Examiner(s): Dvorak, Linda C. M.
• Assistant Examiner(s): YARNELL, BRYAN KEITH
• Application Number:
  US09/149,828
• Time in Patent Office: 714 Days
• Field of Search: 606/1, 606/130, 414/1, 414/917, 901/16, 901/27, 901/31, 901/32, 901/41, 128/897, 128/898, 600/137, 600/104, 600/102, 600/106, 600/201, 600/204, 600/218, 600/219, 600/225
• US Class Current: 606/1
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 9/1065 with parallelograms

Abstract

For positioning a surgical instrument at a surgical site, an elongate tubular structure is coupled to the distal portion of a robotic arm. This structure is adapted to be inserted in the body cavity of a patient and is adapted to receive the surgical instrument and serve as a guide for the surgical instrument into the patient'"'"'s body. The robotic arm may have a parallelogram center of motion linkage and actuators for driving various degrees of freedom of movement of the arm and the surgical instrument. The robotic arm may be remotely controlled by an operator manipulating an input device.

Claims

1. A surgical manipulator for moving an instrument

about a desired spherical center of rotation at a desired fixed location along the instrument, the manipulator comprising:

a base support adapted to be fixedly mounted to a surface;

a first linkage, including at least a first rod, pivotally mounted on the base support for rotation about a first axis;

an instrument holder having a longitudinal second axis wherein the instrument is held parallel to the second axis, such that the desired remote center of spherical rotation of the instrument is at the intersection of the first and second axes;

a second linkage having a proximal end and a distal end, including at least a second rod, the proximal end of the second linkage being pivotally connected to the first linkage and the distal end of the second linkage being pivotally connected to the instrument holder for moving the instrument holder in a parallel plane relationship to the first linkage such that the spherical center of rotation is maintained at the desired fixed location; and

an instrument drive unit coupled to the instrument holder, the instrument drive unit controlling movement of the instrument relative to the spherical center of rotation, the instrument drive unit comprising a linear actuator for reciprocating the instrument in a direction parallel to the second axis;

the instrument drive unit further comprising a first drive coupled to the instrument holder, the first drive having an actuator for rotating the instrument about the second axis, said instrument having an end effector for interacting with a surgical site;

wherein the instrument drive unit further comprises a second drive coupled to the instrument holder for actuating the end effector about a third axis.

2. A surgical manipulator system comprising:

a surgical instrument having a longitudinal instrument axis, the instrument further comprising a shaft having proximal and distal ends and an end effector coupled to the distal end, wherein the end effector is movably coupled to the distal end of the shaft at a pivot;

an instrument holder for positioning the instrument in a direction so the instrument axis intersects a desired point;

a base;

a first linkage, including at least a first rod having a proximal end and a distal end, wherein the proximal end of the first linkage is mounted to the base;

a second linkage, including at least a second rod pivotally connected to the distal end of the first linkage, the second linkage being pivotally connected to the instrument holder such that the first linkage and second linkage can rotate the instrument about the desired point; and

an instrument drive unit mounted on the second linkage and coupled to the surgical instrument, the instrument drive unit manipulating the instrument relative to the desired point, wherein the instrument drive unit comprises a linear actuator for reciprocating the instrument along the instrument axis and a first drive coupled to the instrument holder, the drive having an actuator for rotating the instrument about the instrument axis, and wherein the instrument drive unit further comprises a second drive coupled to the instrument holder for actuating the end effector.

3. A surgical manipulator system comprising:

a base support adapted to a fixedly mounted to a surface;

a surgical instrument having an elongate shaft with a proximal end and a distal end, an instrument axis therebetween, and an end effector movably coupled to the distal end at a pivot;

a first linkage, including at least a first rod having a proximal end and a distal end, wherein the proximal end of the first linkage is mounted to the base support;

a second linkage, including at least a second rod pivotally connected to the distal end of the first linkage, the second linkage pivotally supporting the instrument such that the first linkage and second linkage can position the end effector about a desired center of rotation; and

an instrument drive unit mounted on the second linkage near the surgical instrument, the drive unit having a linear actuator for reciprocating the instrument in a direction parallel to the instrument axis, a first drive for rotating the instrument about the instrument axis, and a second drive for rotating the end effector about the pivot.

4. The system of claim 3 further comprising an instrument holder, the instrument holder positioning the instrument along the instrument axis so that the desired center of rotation is fixed along the instrument axis.

5. The system of claim 3, wherein the desired center of rotation is an insertion point.

6. The system of claim 3, wherein the desired center of rotation is movable.

7. A robotic surgical apparatus for delivering an endoscopic surgical instrument to a surgical site in a patient comprising:

an articulate arm assembly having a plurality of linkages and joints and a distal portion; and

an elongate tubular structure having a longitudinal aperture therethrough, said tubular structure coupled to said distal portion of said articulate arm assembly, said tubular structure adapted to be inserted through an aperture in a body wall of said patient, wherein said longitudinal aperture of said tubular structure is able to slidably engage an elongate shaft of an endoscopic surgical instrument having an end effector.

8. The apparatus of claim 7, wherein said tubular structure is used to guide said instrument through said body aperture so that the end effector is positioned adjacent the surgical site.

9. The apparatus of claim 7, wherein said tubular structure is removably connected to said articulate arm assembly.

10. The apparatus of claim 7, wherein said instrument is secured to said articulate arm assembly by engagement with said longitudinal aperture of said cylindrical structure.

11. The apparatus of claim 7 or 10, wherein said instrument is engaged by said longitudinal aperture in such a manner that a remotely-operated drive assembly can move the end effector of said instrument to manipulate tissue at the surgical site.

12. The apparatus of claim 11, wherein said drive assembly comprises an actuator for rotating the instrument about an instrument longitudinal axis.

13. The apparatus of claim 11, wherein said drive assembly comprises a servomechanism coupled to an input control device for remotely controlling movement of the surgical instrument.

14. The apparatus of claim 11 further comprising a sensor coupled to the drive assembly for detecting forces or torques applied to the instrument by the drive assembly.

15. The apparatus of claim 14, wherein said drive assembly comprises a servomechanism operatively coupled to an input control device for remotely controlling movement of the surgical instrument according to an operator'"'"'s input;

and

a feed back control assembly operatively coupled to the sensor and the servomechanism for transmitting signals representative of the forces or torques applied to the instrument to the input control device for sensing by an operator.

16. The apparatus of claim 7, wherein said instrument comprises said end effector coupled to a wrist member coupled to said elongate shaft, wherein said end effector can move relative to said elongate shaft in at least two degrees of freedom.

17. The apparatus of claim 16, wherein said elongate shaft has a longitudinal axis, wherein said at least said two degrees of freedom comprise actuation of the end effector and rotation of the end effector about a distal axis angularly disposed to the longitudinal axis of said elongate shaft.

18. The apparatus of claim 17, wherein said distal axis is substantially perpendicular to said longitudinal axis.

19. The apparatus of claim 7 or 16, wherein a drive assembly maneuvers said instrument in at least two degrees of proximal freedom of movement around a center of motion coincident with a longitudinal axis of said elongate shaft, said center of motion further substantially in the vicinity of said body aperture.

20. The apparatus of claim 19, wherein said plurality of linkages and joints comprise a parallelogram system useful for supporting the tubular structure and for retaining said center of motion on said longitudinal axis.

21. The apparatus of claim 7, wherein said elongate shaft has a distal end, wherein said end effector is movably coupled to the distal end of the elongate shaft at a pivot.

22. A method of delivering an endoscopic surgical instrument to a surgical site in a patient comprising:

providing an articulate arm assembly having a plurality of linkages and joints and a distal portion, said articulate arm assembly having an elongate tubular structure coupled to said distal portion, said tubular structure having a proximal end, a distal end, and a longitudinal aperture extending between said proximal and distal ends;

inserting said tubular structure into a body aperture; and

slidably engaging an elongate shaft of an endoscopic surgical instrument through said tubular structure longitudinal aperture so that said instrument extends through said body aperture distal of said distal end of said tubular structure; and

positioning an end effector of said instrument adjacent said surgical site.

23. The method of claim 22, wherein said tubular structure is inserted into the body aperture after the instrument is slidably engaged in the longitudinal aperture of said tubular structure.

24. The method of claim 22, further comprising controlling movement of said end effector to manipulate tissue at the surgical site.

25. The method of claim 24, further comprising rotating the instrument about an instrument longitudinal axis.

26. The method of claim 22, wherein said instrument comprises said end effector coupled to a wrist member coupled to said elongate shaft, wherein said method further comprises controlling movement of said end effector in at least two degrees of freedom relative to said elongate shaft.

27. The method of claim 24 or 26, wherein said controlling movement of the end effector comprises manipulating an input device remote from the surgical site, said input device operatively connected to the articulate arm assembly and the instrument so that movement of the instrument corresponds to how an operator moves the input device.

28. The method of claim 22 or 26, said method further comprising maneuvering said surgical instrument in at least two degrees of proximal freedom of movement around a center of motion coincident with a longitudinal axis of said elongate shaft and with said body aperture.

29. The method of claim 28, wherein said plurality of linkages and joints comprise a parallelogram system useful for supporting the tubular structure and for retaining said center of motion on said longitudinal axis.

30. The method of claim 26, wherein said elongate shaft has a longitudinal axis, wherein said at least said two degrees of freedom comprise actuation of the end effector and rotation of the end effector about a distal axis angularly disposed to the longitudinal axis of said elongate shaft.

31. The method of claim 30, wherein said distal axis is substantially perpendicular to said longitudinal axis.

32. The method of claim 22, wherein said elongate shaft has a distal end, wherein said end effector is movably coupled to the distal end of the elongate shaft at a pivot, said method further comprising moving the end effector relative to the elongate shaft around said pivot and actuating the end effector to interact with tissue at the surgical site.