Surgical robotic tools, data architecture, and use

• US 6,331,181 B1
• Filed: 10/15/1999
• Issued: 12/18/2001
• Est. Priority Date: 12/08/1998
• Status: Expired due to Term

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Julian, Chris A., Guthart, Gary S., Cooper, Thomas G., Tierney, Michael J., Younge, Robert G., Blumenkranz, Stephen J.
• Primary Examiner(s): Mancene, Gene
• Assistant Examiner(s): Priddy, Michael B.
• Application Number:
  US09/418,726
• Time in Patent Office: 795 Days
• Field of Search: 606/130, 600/429
• US Class Current: 606/130
• 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 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/0803 Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• 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: A61B 46/13 the drapes entering the patient's body
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/90 Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: G06Q 30/02 Marketing; Price estimation or determination; Fundraising
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: H01H 36/0046 Limit switches, also fail-safe operation or anti-tamper considerations
• CPC Class Codes: H01H 85/0056 : Heat conducting or heat absorbing means associated with the fusible member, e.g. for providing time delay
• CPC Class Codes: Y10S 901/41 : Tool
• CPC Class Codes: Y10T 74/20305 : Robotic arm
• CPC Class Codes: Y10T 74/20311 : including power cable or connector

Abstract

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

Claims

1. A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:

a probe having a proximal end and a distal end;

a surgical end effector disposed adjacent the distal end of the probe;

an interface disposed adjacent the proximal end of the probe, the interface releasably coupleable with the tool holder; and

circuitry mounted on the probe, the circuitry defining a signal for transmitting to the processor so as to indicate compatibility of the tool with the system;

wherein the signal comprises an identifier signal included in a table accessible to the processor for comparison with the signal, the table comprising a plurality of compatible tool identification signals.

2. The tool of claim 1, wherein the signal indicates tool calibration offsets of the tool.

3. The tool of claim 1, wherein the end effector has a strength, and wherein the signal indicates the strength of the end effector to the processor.

4. The tool of claim 1, wherein the signal indicates a range of motion of the end effectors.

5. The tool of claim 1, wherein the end effectors are coupled to the probe with a wrist, wherein the signal indicates a wrist axis geometry.

6. A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:

a probe having a proximal end and a distal end;

a surgical end effector disposed adjacent the distal end of the probe;

an interface disposed adjacent the proximal end of the probe, the interface releasably coupleable with the tool holder; and

circuitry mounted on the probe, the circuitry defining a signal for transmitting to the processor so as to indicate compatibility of the tool with the system;

wherein the signal comprises an arbitrary compatibility data string.

7. The tool of claim 6, wherein the signal indicates a range of motion of the end effectors.

8. The tool of claim 6, wherein the end effectors are coupled to the probe with a wrist, wherein the signal indicates a wrist axis geometry.

9. The tool of claim 6, wherein the signal indicates tool calibration offsets of the tool.

10. The tool of claim 6, wherein the signal indicates a tool-type of the tool.

11. The tool of claim 6, further comprising at least one joint disposed between the interface and end effector, the joint defining a joint axis geometry, wherein the signal indicates the joint geometry of the tool to the processor.

12. The tool of claim 6, wherein the probe comprises an elongate shaft suitable for distal insertion via a minimally invasive aperture to an internal surgical site of a patient body.

13. The tool of claim 6, wherein the end effector has a strength, and wherein the signal indicates the strength of the end effector to the processor.

14. The tool of claim 6, wherein the signal further indicates at least one of tool life and cumulative tool use by a measurement selected from the group consisting of calendar date, clock time, number of surgical procedures, number of times the tool has been coupled to the system, and number of end effector actuations.

15. The tool of claim 6, wherein the end effector comprises an image capture device to define a field of view.

16. The tool of claim 6, further comprising a wrist joint coupling the end effector to the probe for varying an orientation of the end effector within an internal surgical site.

17. A robotic surgical component for use in a robotic surgical system having a processor and a component holder, the component comprising:

a component body having an interface mountable to the component holder, the body supporting a surgical end effector;

a drive system coupled to the body, the drive system moving the end effector in response to commands from the processor; and

circuitry mounted on the body, the circuitry defining a signal for transmitting to the processor, the signal comprising at least one member selected from the group consisting of compatibility of the component with the system, a component-type of the component, coupling of the component to the system, and calibration of the component;

wherein the component comprises a tool including a shaft having a proximal end and a distal end, the end effector disposed adjacent the distal end of the shaft, with a plurality of degrees of motion relative to the proximal end of the shaft, and wherein the interface comprises a plurality of driven elements, and further comprising a tool drive system coupling the driven elements to the degrees of motion of the end effector, the tool drive system having one or more calibration offsets between a nominal position of the end effector relative to the driven elements and a measured position of the end effector relative to the driven elements;

wherein the circuitry comprises a memory storing data indicating the offsets, the memory coupled to the interface so as to transmit the offsets to the processor.

18. The component of claim 17, wherein the component body comprises an elongate shaft for distal insertion via a minimally invasive aperture to an internal surgical site of a patient body.

19. A robotic surgical tool for use with a robotic manipulator having a tool holder, the tool holder having magnetically actuatable circuitry, the tool comprising;

a probe having a proximal end and a distal end;

a surgical end effector adjacent the distal end of the probe;

an interface adjacent the proximal end of the probe, the interface releasably coupleable with the holder, the interface comprising a magnet positioned so as to actuate the circuitry of the holder.

20. The robotic surgical tool of claim 19, wherein the circuitry defines a signal for transmitting to a processor.

21. The robotic surgical tool of claim 20, wherein the signal comprises an unique tool identifier.

22. The robotic surgical tool of claim 20, wherein the signal comprises tool calibration offsets of the tool.

23. The robotic surgical tool of claim 20, wherein the signal indicates at least one of tool life and cumulative tool use by a measurement selected from the group consisting of calendar date, clock time, number of surgical procedures, number of times the tool has been coupled to the system, and number of end effector actuations.

24. The robotic surgical tool of claim 19, wherein the robotic manipulator comprises a drive system coupled to the probe, the drive system moving the end effector in response to commands from a processor.

25. The robotic surgical tool of claim 19, further comprising a wrist joint coupling the end effector to the probe for varying an orientation of the end effector within an internal surgical site.

26. The robotic surgical tool of claim 19, wherein the end effector comprises an image capture device to define a field of view.

27. The robotic surgical tool of claim 20, further comprising at least one joint disposed between the interface and end effector, the joint defining a joint axis geometry, wherein the signal indicates the joint geometry of the tool to the processor.

28. The robotic surgical tool of claim 19, wherein the end effectors are coupled to the probe with a wrist, wherein the signal indicates a wrist axis geometry.