Guided tool change

• US 6,645,196 B1
• Filed: 06/16/2000
• Issued: 11/11/2003
• Est. Priority Date: 06/16/2000
• 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: Nixon, Thomas Robert, Nowlin, William C., Niemeyer, Günter D.
• Primary Examiner(s): Milano, Michael J.
• Assistant Examiner(s): Woo, Julian W.
• Application Number:
  US09/595,777
• Time in Patent Office: 1,243 Days
• Field of Search: 606/1, 606/130, 606/139, 744/901.1, 744/901.2, 318/568.11, 318/568.21, 128/898
• US Class Current: 606/1
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• 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: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1689 Teleoperation

Abstract

A guided tool change procedure is employed in minimally invasive robotic surgery to guide a new tool quickly and precisely, after a tool change operation, back into close proximity to the operating position of the original tool prior to its removal from the surgical site. A first robotic surgical tool is placed at an operating position inside the cavity using a slave manipulator disposed outside the cavity, and the operating position is recorded. The first robotic surgical tool is decoupled from the slave manipulator and removed from the cavity. A second robotic surgical tool is introduced into the cavity. Based on the recorded operating position, a target space is derived for placing the distal end of the second robotic surgical tool in close proximity to the location of the distal end of the first robotic surgical tool in the operating position prior to its removal from the cavity. A controller is provided to control the slave manipulator to guide the distal end of the second robotic surgical tool, during insertion of the second tool, to a location within the target space.

Claims

1. A method of performing minimally invasive robotic surgery in a body cavity of a patient, the method comprising:

recording an operating position at which the first robotic surgical tool is disposed inside the cavity, the first robotic surgical tool being configured to effect a treatment of a tissue in the cavity;

removing the first robotic surgical tool from the cavity;

determining the desired location within the body cavity of a second robotic surgical tool based on the recorded position of the first robotic tool;

introducing the second robotic surgical tool into the cavity; and

guiding the second robotic surgical tool to the desired location in close proximity to the operating position.

2. The method of claim 1 wherein recording the operating position of the first robotic surgical tool comprises determining a position of the distal end of the first robotic surgical tool just before the first tool is removed from the cavity.

3. The method of claim 2 wherein the second robotic surgical tool is guided to a target space comprising the recorded position of the first tool'"'"'s distal end, said target space defined in part by said recorded position.

4. The method of claim 3 wherein the second robotic surgical tool is guided to a location at which a distal end of the second robotic surgical tool is disposed within a preset distance from the sensed position of the distal end of the first robotic surgical tool.

5. The method of claim 3 wherein the target space is defined to include a maximum allowable depth, said depth limiting the depth of insertion of the distal end of the second robotic surgical tool into the cavity from a port of entry of the cavity.

6. The method of claim 3 wherein the target space is determined by taking into account differences in configurations and dimensions between the first and second robotic surgical tools.

7. The method of claim 1 wherein the second robotic surgical tool is guided along a preset insertion path into the cavity to the location in close proximity to the operating position.

8. The method of claim 7 wherein the preset insertion path along which the second robotic surgical tool is guided into the cavity is substantially a straight line from a port of entry of the cavity to the target space.

9. The method of claim 7 further comprising automatically positioning the robotic arm outside the body cavity before introducing the second robotic surgical tool into the cavity so as to enable the second robotic surgical tool to be guided along the preset insertion path into the cavity to the location in close proximity to the operating position.

10. A method of performing minimally invasive robotic surgery in a body cavity of a patient, the method comprising:

recording an operating position at which the first robotic surgical tool is disposed inside the cavity, the first robotic surgical tool being configured to effect a treatment of a tissue in the cavity;

decoupling the first robotic surgical tool from a slave manipulator and removing the first robotic surgical tool from the cavity;

determining the desired position within the body cavity of a second robotic tool based on the recorded position of the first robotic tool;

coupling the second robotic surgical tool with the slave manipulator;

introducing the second robotic surgical tool into the cavity; and

guiding the second robotic surgical tool to the desired position in close proximity to the operating position.

11. The method of claim 10 further comprising deriving a target space to place the second robotic surgical tool based on the recorded operating position of the first robotic surgical tool, wherein the second robotic surgical tool is guided to within the target space.

12. The method of claim 10 wherein the second robotic surgical tool is guided to a location at which a distal end of the second robotic surgical tool disposed within a target space defined with respect to a location of a distal end of the first robotic surgical tool in the operating position.

13. The method of claim 12 further comprising deriving control parameters for controlling the slave manipulator based on the configurations and dimensions of the second robotic surgical tool, wherein said guiding the second robotic surgical tool to the target space comprises defining the target space using the derived control parameters.

14. The method of claim 12 wherein the slave manipulator is operatively disconnected from a master manipulator during introducing and guiding of the second robotic surgical tool, further comprising operatively connecting the slave manipulator with the master manipulator when the second robotic tool enters the target space.

15. The method of claim 10 wherein the second robotic surgical tool is guided along a preset insertion path into the cavity to the location in close proximity to the operating position.

16. The method of claim 10 wherein the slave manipulator is operatively disconnected from a master manipulator during introducing and guiding of the second robotic surgical tool, further comprising operatively connecting the slave manipulator with the master manipulator when the second robotic surgical tool reaches the location in close proximity to the operating position so that movement of the slave manipulator is mapped to movement of the master manipulator.

17. The method of claim 10 wherein said recording said operating position at which said first robotic surgical tool is disposed inside the cavity is performed after said first robotic surgical tool is decoupled from said slave manipulator and removed from said cavity.

18. A surgical robotic system comprising:

a slave manipulator for coupling with and actuating a robotic surgical tool inside a body cavity of a patient;

a controller configured to control movement of the slave manipulator and the robotic tool;

at least one sensor coupled with the slave manipulator and the controller for sensing an operating position of the robotic surgical tool coupled with the slave manipulator;

said controller comprising a computer, said computer having a first set of computer instructions for controlling the slave manipulator, after the first robotic surgical tool is removed from the cavity and decoupled from the slave manipulator, to automatically position the slave manipulator so that the second robotic surgical tool can be guided to a location in close proximity to the sensed operating position, the first robotic surgical tool being configured to effect a treatment of a tissue in the cavity.

19. The surgical robotic system of claim 18 wherein said slave manipulator is automatically positioned before the second robotic surgical tool is coupled with the slave manipulator.

20. The surgical robotic system of claim 18 wherein the computer comprises a second set of computer instructions for deriving a target space to place the second robotic surgical tool based on the operating position of the first robotic surgical tool.

21. The surgical robotic system of claim 18 wherein the computer comprises a second set of computer instructions for calculating, based on the operating position of the distal end of the first robotic surgical tool, a maximum allowable depth limiting depth of insertion of the distal end of the second robotic surgical tool into the cavity from a port of entry of the cavity.

22. The surgical robotic system of claim 18 wherein the first set of computer instructions additionally controls the slave manipulator to automatically guide the second robotic surgical tool along a preset insertion path to a location in close proximity to the sensed operating position.

23. The surgical robotic system of claim 18 further comprising a master manipulator, wherein the computer-readable program includes a third set of computer instructions for operatively disconnecting the slave manipulator from the master manipulator during introducing and guiding of the second robotic surgical tool and for operatively connecting the slave manipulator with the master manipulator when the second robotic surgical tool reaches the location in close proximity to the operating position so that movement of the slave manipulator is mapped to movement of the master manipulator.

24. A method of delivering a robotic surgical instrument having a distal tip to a surgical site, comprising:

determining, via a computer, a target space for a preset portion of the robotic surgical instrument to occupy upon delivery to the surgical site, based at least in part on a location in the surgical site previously occupied by another surgical instrument configured to effect a surgical treatment in the surgical site, wherein said location in the surgical site was sensed using a sensor during the surgical treatment by said another surgical instrument; and

guiding delivery of the robotic surgical instrument to the surgical site such that the instrument is delivered into the target space.

25. The method of delivering of claim 24 wherein the preset portion of the robotic surgical instrument is a distal tip of the instrument.

26. The method of delivering of claim 25 wherein said target space is determined based at least in part on a sensed location previously occupied by a second surgical instrument having a tip, said location in the vicinity of the surgical site and previously occupied by said second surgical instrument tip immediately before removal of said instrument from said surgical site.

27. The method of delivering of claim 24 wherein said target space is determined based at least in part on information derived from the robotic surgical instrument to be delivered to the surgical site.

28. The method of delivering of claim 24 wherein said guiding delivery comprises guiding delivery of the instrument in one degree of freedom of movement along an insertion axis.

29. The method of delivering of claim 24 further comprising operatively coupling a master controller to a slave manipulator upon said instrument entering said target space, said surgical instrument coupled to said slave manipulator.

30. The method of delivering of claim 29 wherein said master controller is usable by an operator to control movement of the surgical instrument at the surgical site to manipulate tissue and perform surgery.

31. The method of delivering of claim 24 wherein said surgical instrument is coupled to a slave manipulator, wherein at least one degree of freedom of movement of said slave manipulator is constrained during instrument delivery, so as to facilitate guiding delivery of the instrument to the surgical site.

32. The method of delivering of claim 31 wherein said surgical instrument is manually guided to the surgical site by an operator.

33. The method of delivering of claim 24 wherein said instrument comprises a proximal shaft, a wrist member movably coupled to said shaft at a first joint, and an end effector movably coupled to said wrist member at a second joint, movement around said first and second joints providing said end effector with multiple degrees of freedom of movement relative to said shaft, said multiple degrees of freedom of movement constrained during delivery of said instrument to said surgical site.