Surgical instrument

• US 6,949,106 B2
• Filed: 11/16/2001
• Issued: 09/27/2005
• Est. Priority Date: 02/24/1998
• Status: Expired due to Fees

• Current Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Original Assignee: endoVia Medical, Inc. (Johnson & Johnson)
• Inventors: Brock, David L., Lee, Woojin
• Primary Examiner(s): Philogene, Pedro
• Application Number:
  US10/008,457
• Publication Number:
  US 20030050649A1
• Time in Patent Office: 1,411 Days
• Field of Search: 606/130, 606/1, 606/205, 600/102, 600/117, 600/118, 600/427, 600/429, 901/2, 901/9, 901/25, 700/247, 700/245, 700/251
• 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 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/0483 Hand-held instruments for holding sutures A61B17/0469 takes precedence; other holders for needles or sutures A61B17/06061; surgical forceps A61B17/28; surgical pincettes A61B17/30
• CPC Class Codes: A61B 17/0487 Suture clamps, clips or locks, e.g. for replacing suture knots; Instruments for applying or removing suture clamps, clips or locks suture anchors A61B17/0401; wound clamps or clips A61B17/08; ligaturing clamps or clips A61B17/122
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• CPC Class Codes: A61B 17/0682 for applying U-shaped staples or clamps, e.g. without a forming anvil
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3462 with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals expandable cannulas A61B17/3417
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00088 using thermistors
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00331 with preformed bends
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/00986 Malecots, e.g. slotted tubes, of which the distal end is pulled to deflect side struts
• CPC Class Codes: A61B 2017/0409 Instruments for applying suture anchors for applying suture clamps, clips or locks A61B2017/0488
• CPC Class Codes: A61B 2017/0414 having a suture-receiving opening, e.g. lateral opening lateral eyelet for attaching suture to needle A61B2017/06019
• CPC Class Codes: A61B 2017/0437 the barbs being resilient or spring-like
• CPC Class Codes: A61B 2017/0464 : for soft tissue
• CPC Class Codes: A61B 2017/0645 : being elastically deformed for insertion
• CPC Class Codes: A61B 2017/0648 : threaded, e.g. tacks with a screw thread
• CPC Class Codes: A61B 2017/22069 : Immobilising; Stabilising
• CPC Class Codes: A61B 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2939 : Details of linkages or pivot points
• CPC Class Codes: A61B 2034/2051 : Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• 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 2034/715 : Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/742 : Joysticks
• CPC Class Codes: A61B 2034/744 : Mouse
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/378 : using ultrasound
• CPC Class Codes: A61B 2090/506 : using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• 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 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 : Micromanipulators
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 5/0084 : for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/015 : By temperature mapping of body part
• CPC Class Codes: A61B 5/4893 : Nerves
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61F 2/2445 : Annuloplasty rings in direct contact with the valve annulus
• CPC Class Codes: A61F 2/2466 : Delivery devices therefor
• CPC Class Codes: B25J 3/04 : involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/104 : with cables, chains or ribbons

Abstract

A master station of a master/slave surgery system, adapted to be manually manipulated by a surgeon to, in turn, control motion at a slave station at which is disposed a surgical instrument in response to the surgeon manipulation, the master station comprising: a lower positioner assembly; upper positioner assembly supported over the lower positioner assembly and rotational relative to the lower positioner assembly to enable lateral side-to-side surgeon manipulation; and an arm assembly having a hard assembly at its distal end for engagement by the surgeon'"'"'s hand, and a proximal end pivotally supported from the upper positioner assembly to enable an orthogonal forward-and-back surgeon manipulation in a direction substantially orthogonal to the lateral surgeon manipulation.

Claims

1. A master station of a master/slave surgery system, adapted to be manually manipulated by a surgeon to, in turn, control motion at a slave station at which is disposed a surgical instrument in response to the surgeon manipulation, said master station comprising:

a lower positioner assembly;

an upper positioner assembly supported over said lower positioner assembly and rotational relative to said lower positioner assembly to enable lateral side-to-side surgeon manipulation; and

an arm assembly including an elongated arm member, and having a hand assembly at its distal end for engagement by the surgeon'"'"'s hand, and a proximal end of the hand assembly pivotally supported from said upper positioner assembly to enable an orthogonal forward-and-back surgeon manipulation in a direction substantially orthogonal to the lateral surgeon manipulation;

said assemblies being disposed remote from said slave station and to the side of the operator so that the arm member extends in a direction along at least a portion of the operator'"'"'s arm.

2. A master station as claimed in claim 1 wherein said arm assembly includes a proximal arm member and a distal arm member coupled by a rotational joint.

3. A master station as claimed in claim 2 including a position encoder at said rotational joint to detect rotation of the distal arm member.

4. A master station as claimed in claim 3 including a pivotal joint connecting said hand assembly to a distal end of said distal arm member.

5. A master station as claimed in claim 4 including a position encoder at said pivotal joint to detect pivoting of the hand assembly.

6. A master station as claimed in claim 5 wherein said hand assembly includes a base piece and a pair of holders coupled from said base piece.

7. A master station as claimed in claim 1 including a pivotal joint connecting the hand assembly to a distal end of the arm assembly.

8. A master station as claimed in claim 7 wherein said hand assembly includes a base piece and a pair of holders coupled from said base piece.

9. A master station as claimed in claim 2 wherein said proximal arm member comprises a pair of parallel-disposed arms and a pair of support pieces for the arms, each of the arms being pivotally supported at respective ends thereof in said support pieces.

10. A master station as claimed in claim 9 wherein one of said support pieces forms part of said rotational joint between the proximal and distal arm members.

11. A master station as claimed in claim 10 wherein the other of said support pieces forms part of said pivotal support of said proximal end of said arm assembly about said lower positioner assembly.

12. A master station as claimed in claim 11 including a counter-weight on said other support piece.

13. A master station as claimed in claim 1 wherein the lower positioner assembly includes a motor and encoder.

14. A master station as claimed in claim 1 wherein the upper positioner assembly includes a substantially upright frame rotational relative to the lower positioner assembly, said substantially horizontal axis disposed at a top of said upright frame.

15. A master station as claimed in claim 14 wherein an upper shaft supported from said frame establishes said horizontal axis, and further including a second horizontal shaft below said upper shaft.

16. A master station as claimed in claim 15 including a belt and pulley arrangement for intercoupling said shafts.

17. A master station as claimed in claim 16 including position encoders engaged with said lower shaft.

18. A master station of a master/slave surgery system, adapted to be manually manipulated by a surgeon to, in turn, control motion at a slave station at which is disposed a surgical instrument in response to the surgeon manipulation, said master station comprising:

a lower positioner assembly;

an upper positioner assembly supported over said lower positioner assembly and rotational relative to said lower positioner assembly to enable lateral side-to-side surgeon manipulation; and

an arm assembly having a hand assembly at its distal end for engagement by the surgeon'"'"'s hand, and a proximal end of the hand assembly pivotally supported from said upper positioner assembly to enable an orthogonal forward-and-back surgeon manipulation in a direction substantially orthogonal to the lateral surgeon manipulation;

wherein said arm assembly includes a proximal arm member and a distal arm member coupled by a rotational joint;

including a position encoder at said rotational joint to detect rotation of the distal arm member;

including a pivotal joint connecting said hand assembly to a distal end of said distal arm member;

including a position encoder at said pivotal joint to detect pivoting of the hand assembly;

wherein said hand assembly includes a base piece and a pair of holders coupled from said base piece;

wherein one of said holders is adapted to receive a thumb and the other holder is adapted to receive a forefinger.

19. A master station as claimed in claim 18 wherein said holders each comprise a metal bar and a fibrous loop material.

20. A master station as claimed in claim 18 wherein said hand assembly further includes a pair of rotating elements pivotally supported from opposite ends of said base piece.

21. A master station as claimed in claim 20 wherein one of said holders is secured to one of said rotating elements so that the surgeon can move said one holder toward and away from the other holder.

22. A master station as claimed in claim 21 wherein the pivotal joint that connects the hand assembly to the distal end of the distal arm member is connected to the other rotating element of the pair of rotating elements.

23. A master station as claimed in claim 21 including a position encoder at each of said pair of rotating elements.

24. A master station of a master/slave surgery system, adapted to be manually manipulated by a surgeon to, in turn, control motion at a slave station at which is disposed a surgical instrument in response to the surgeon manipulation, said master station comprising:

a lower positioner assembly;

an upper positioner assembly supported over said lower positioner assembly and otational relative to said lower positioner assembly to enable lateral side-to-side surgeon manipulation; and

an arm assembly having a hand assembly at its distal end for engagement by the surgeon'"'"'s hand, and a proximal end of the hand assembly pivotally supported from said upper positioner assembly to enable an orthogonal forward-and-back surgeon manipulation in a direction substantially orthogonal to the lateral surgeon manipulation;

including a pivotal joint connecting the hand assembly to a distal end of the arm assembly;

wherein said hand assembly includes a base piece and a pair of holders coupled from said base piece;

wherein one of said holders is adapted to receive a thumb and the other holder is adapted to receive a forefinger.

25. A master station as claimed in claim 24 wherein said hand assembly further includes a pair of rotating elements pivotally supported from opposite ends of said base piece.

26. A master station as claimed in claim 25 wherein one of said other holders is secured to one of said rotating elements so that the surgeon can move said one holder toward and away from the other holder.

27. A master station is claimed in claim 26 wherein the pivotal joint that connects the hand assembly to the distal end of the arm assembly is connected to the other rotating element of the pair of rotating elements.

28. A master station of a master/slave surgery system adapted to be manually manipulated by a surgeon to, in turn, control motion at a slave station at which is disposed a surgical instrument in response to the surgeon manipulation, said master station comprising:

a base;

an arm assembly pivotally supported from the base; and

a hand assembly pivotally supported from said arm assembly;

said hand assembly including a guide shaft adapted to be grasped by the surgeon for controlling replicated motion at the slave station, an actuator button or switch on said guide shaft controlled by the surgeon and for control of one or more functions of the system, and a multiple rotation joint connecting said guide shaft to said arm assembly.

29. A master station as claimed in claim 28 wherein said arm assembly includes an arm member and said base is disposed remote from the medical instrument, and to the side of the operator, and constructed and arranged so that the arm member, in operation, extends in a direction substantially parallel to and alongside at least a portion of the operator'"'"'s arm.

30. A master station as claimed in claim 28 wherein said arm assembly includes a lower positioner assembly;

and an upper positioner assembly supported over said lower positioner assembly and rotational relative to said lower positioner assembly to enable lateral side-to-side surgeon manipulation.

31. A master station as claimed in claim 30 wherein said hand assembly has its distal end for engagement by the surgeon'"'"'s hand, and a proximal end of the hand assembly pivotally supported from said upper positioner assembly.

32. A master station manipulated by an operator for robotic control of a medical instrument disposed at a slave station, said master station comprising:

a base;

an arm assembly including at least one elongated arm member, supported from said base and with said base adapted to transfer at least two motion actuations to said medical instrument; and

a hand assembly that is pivotally coupled with said arm assembly about a pivot axis, the motion about which provides another motion actuation to said medical instrument;

said base being disposed remote from the medical instrument, and to the side of the operator, and constructed and arranged so that the arm member, in operation, extends in a direction substantially parallel to and alongside at least a portion of the operator'"'"'s arm.

33. A master station as claimed in claim 32 wherein said arm member is disposed so that the pivot axis is coincident with the operator'"'"'s wrist.

34. A master station as claimed in claim 32 including a pair of bases and associated pair of arm assemblies and hand assemblies with a base being disposed on either side and lateral of said operator.

35. A method of having a medical practitioner operate a master controller so as to robotically control a medical instrument used on a patient that is located on a patient support member, said method comprising the steps of:

providing a hand piece that is supported from an elongated arm member that is, in turn, supported from a base of the master controller;

disposing the base of the master controller away from the patient support member, and laterally to the side of an assumed operative position of the medical practitioner;

having the hand of the medical practitioner grasp the hand piece while the elongated arm member extends in a direction that is substantially parallel to and alongside of the arm of the medical practitioner; and

controlling the movement of the medical instrument by manipulation of at least said hand piece.

36. A method as claimed in claim 35 including providing a tool at the distal end of the elongated arm member, and controlling the movement of the tool by manipulation of a pair of holders of the hand piece.

37. A method as claimed in claim 35 wherein during the grasping step the elongated arm member is adjacent in position to the arm of the medical practitioner.

38. A method as claimed in claim 37 including providing a pivot joint between the elongated arm member and the hand piece, and wherein the pivot joint coincides in position with the wrist of the medical practitioner.

39. A master station manipulated by an operator for robotic control of a medical instrument disposed at a slave station, said master station comprising:

a first base disposed remote from an operating table upon which a subject, that is to have a medical procedure performed thereon, is located;

a first arm assembly including at least one elongated arm member, supported from said first base and with said base adapted to transfer at least two motion actuations to a first medical instrument;

a first hand assembly that is pivotally coupled with said first arm assembly about a pivot axis, the motion about which provides another motion actuation to said first medical instrument;

a second base disposed remote from an operating table upon which a subject, that is to have a medical procedure performed thereon, is located;

a second arm assembly including at least one elongated arm member, supported from said second base and with said base adapted to transfer at least two motion actuations to a second medical instrument; and

a second hand assembly that is pivotally coupled with said second arm assembly about a pivot axis, the motion about which provides another motion actuation to said second medical instrument;

said first and second bases being disposed, respectively, on opposite sides of the operator and commonly attached to a seat support for accommodating the operator.

40. A master station as claimed in claim 39 wherein each arm assembly comprises at least one arm member, supported from its corresponding base and adapted to transfer at least one motion actuation to its associated medical instrument.

41. A master station as claimed in claim 40 wherein each hand assembly is pivotally coupled with its corresponding arm assembly about a first pivot axis, the motion about which provides another motion actuation to its associated medical instrument, and each hand assembly further having a second pivot axis spaced from said first pivot axis, the motion about which provides still another motion actuation to its associated medical instrument.

42. A master station as claimed in claim 41 wherein said second axis is substantially transverse to said first axis, and further including a third pivot axis from which a distal control member is disposed the motion about which provides another motion actuation to said medical instrument.

43. A master station as claimed in claim 39 wherein each hand assembly further includes a base piece and a pair of holders coupled from said base piece.

44. A master station as claimed in claim 43 wherein one of said holders is adapted to receive a thumb and the other holder is adapted to receive a finger.

45. A master station as claimed in claim 39 wherein each base is disposed to the side of the operator so that the arm member extends substantially along at least a portion of the operator'"'"'s arm.

46. A master station as claimed in claim 45 wherein said arm member is disposed so that the pivot axis between the arm assembly and the hand assembly is coincident with the operator'"'"'s wrist.

47. A master station as claimed in claim 39 wherein the support for the bases is a seat for the operator.

48. A master station as claimed in claim 47 wherein said support comprises a bracket that extends between sides of the seat.