Surgical manipulator for a telerobotic system

• US 6,413,264 B1
• Filed: 06/25/1998
• Issued: 07/02/2002
• Est. Priority Date: 06/07/1995
• Status: Expired due to Term

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Jensen, Joel F., Hill, John W.
• Primary Examiner(s): Smith, Jeffrey A.
• Assistant Examiner(s): Priddy, Michael B.
• Application Number:
  US09/104,935
• Time in Patent Office: 1,468 Days
• Field of Search: 606/130, 128/897, 414/1
• US Class Current: 606/130
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/3445 used as instrument channel for multiple instruments catheters A61B2017/22072
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/0813 Accessories designed for easy sterilising, i.e. re-usable
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B25J 15/04 with provision for the remote detachment or exchange of the head or parts thereof
• CPC Class Codes: B25J 18/04 rotatable
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: F16B 2200/69 Redundant disconnection blocking means
• CPC Class Codes: F16B 2200/71 Blocking disengagement of catches or keys

Abstract

The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) by fixable by means of passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner (300) for constraining the instrument to rotate about a point coincident with the entry incision and an inclinometer (350) for preventing gravitational forces acting on the system'"'"'s mechanisms from being felt by the surgeon.

Claims

1. A surgical instrument comprising:

an elongate shaft having a proximal portion, a distal portion, an inner lumen, and at least one axially extending slot;

an end effector disposed adjacent the distal portion of the elongate shaft; and

an actuator assembly comprising a linkage disposed within the inner lumen and a movable actuator pin laterally extending from the linkage and extending through the axially extending slot to releasably couple the actuator assembly to a driver of a robotic surgical instrument holder.

2. The surgical instrument of claim 1 wherein the end effector is coupled to the elongate shaft with a wrist.

3. The surgical instrument of claim 1 wherein axial displacement of the actuator assembly actuates the end effector.

4. The surgical instrument of claim 1 wherein said end effector includes jaws that are movable between an open position where the jaws are disposed apart and a closed position where the jaws are disposed closer together.

5. The surgical instrument of claim 3 wherein the end effector comprises first and second jaws, wherein the first and second jaws are both moveable.

6. The surgical instrument of claim 5 wherein the actuator assembly further includes a hinge connecting the linkage to said first and second jaws such that axial movement of the actuator pin causes the jaws to move between the open and closed positions.

7. The surgical instrument of claim 3 wherein said instrument further comprises means for biasing said jaws towards the closed position.

8. The surgical instrument of claim 1 wherein the elongate shaft includes a pair of opposed axially extending slots and the actuator pin extends laterally through the pair of slots.

9. The surgical instrument of claim 1 wherein the actuator pins are releasably received within an aperture in the driver.

10. The surgical instrument of claim 1 wherein the driver is coupled to the instrument holder.

11. The surgical instrument of claim 1 wherein the actuator pin is releasably received by an aperture of the instrument holder.

12. The surgical instrument of claim 1 wherein the end effector is coupled to the elongate shaft through a plurality of joints.

13. A surgical instrument for use with a robotic arm having an instrument holder, the surgical instrument comprising:

an elongate body comprising a first end, a second end, and a longitudinal inner lumen extending at least partially between the first end and second end;

an end effector disposed adjacent the first end; and

an actuation assembly comprising a rod positioned within the inner lumen, wherein a first end of the rod is coupled to the end effector and a second end of the rod comprises an actuation interface that can be releasably coupled to the instrument holder;

wherein longitudinal movement of the actuation interface moves the end effector.

14. The surgical instrument of claim 13 wherein the end effector comprises jaws, wherein longitudinal movement of the actuation interface and the rod moves the jaws between an open position and a closed position.

15. A surgical instrument of claim 13 wherein the end effector is coupled to the elongate body with a wrist.

16. A surgical instrument for use with a robotic arm having an instrument holder, the surgical instrument comprising:

an elongate body comprising a first end, a second end, and a longitudinal inner lumen extending at least partially between the first end and second end;

an end effector disposed adjacent the first end; and

an actuation assembly comprising a rod positioned within the inner lumen, wherein a first end of the rod is coupled to the end effector and a second end of the rod comprises an actuation interface that can be releasably coupled to the instrument holder;

wherein longitudinal movement of the actuation interface moves the end effector;

wherein the actuation interface comprises actuation pins that are disposed substantially orthogonal to the longitudinal lumen.

17. A surgical instrument for use with a robotic arm having an instrument holder, the surgical instrument comprising:

an elongate body comprising a first end, a second end, and a longitudinal inner lumen extending at least partially between the first end and second end;

an end effector disposed adjacent the first end; and

an actuation assembly comprising a rod positioned within the inner lumen, wherein a first end of the rod is coupled to the end effector and a second end of the rod comprises an actuation interface that can be releasably coupled to the instrument holder;

wherein longitudinal movement of the actuation interface moves the end effector;

wherein the actuation interface comprises actuation pins that are disposed substantially orthogonal to the longitudinal lumen, wherein the elongate body comprises slots, wherein the actuation pins extend through the slots.

18. A surgical instrument for use with a robotic arm having an instrument holder, the surgical instrument comprising:

an elongate body comprising a first end, a second end, and a longitudinal inner lumen extending at least partially between the first end and second end;

an end effector disposed adjacent the first end; and

an actuation assembly comprising a rod positioned within the inner lumen, wherein a first end of the rod is coupled to the end effector and a second end of the rod comprises an actuation interface that can be releasably coupled to the instrument holder;

wherein longitudinal movement of the actuation interface moves the end effector;

wherein the end effector comprises jaws, wherein longitudinal movement of the actuation interface and the rod moves the jaws between an open position and a closed position; and

a spring positioned within the inner lumen to bias the jaws in a closed position.