Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity

• US 6,991,627 B2
• Filed: 02/15/2002
• Issued: 01/31/2006
• Est. Priority Date: 05/20/1996
• 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: Madhani, Akhil J., Salisbury, J. Kenneth
• Primary Examiner(s): Woo, Julian W.
• Application Number:
  US10/076,812
• Publication Number:
  US 20020103476A1
• Time in Patent Office: 1,446 Days
• Field of Search: 606/1, 606/130, 606/170, 744/900.5, 744/900.6, 600/102, 600/109, 414/1
• 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 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2939 Details of linkages or pivot points
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• 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 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• 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
• CPC Class Codes: Y10T 74/20329 Joint between elements
• CPC Class Codes: Y10T 74/20335 Wrist

Abstract

An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

Claims

1. An articulated instrument for minimally invasive surgery, comprising:

an elongate support member having a proximal portion and a distal end with a longitudinal axis therebetween;

a pivotal wrist member coupled to the distal end of the elongate support by a wrist joint; and

a surgical end effector coupled to the wrist member by at least one joint, the end effector including at least one pair of work members pivotally coupled to the wrist member, wherein at least one work member can pivot relative to the other work member of the pair, and wherein at least one work member is removably fixed to the wrist member,

said articulated instrument having a size and shape suitable for distal insertion into an internal surgical site through an aperture.

2. The articulated instrument of claim 1, further comprising at least one wrist drive element coupled to the wrist member and adapted for coupling to at least one actuator for pivoting the wrist member about the wrist joint.

3. The articulated instrument of claim 2, wherein the wrist drive element includes a cable.

4. The articulated instrument of claim 1, further comprising at least one end effector drive element coupled to at least one end effector work member and adapted for coupling to at least one actuator for pivoting the work member relative to the wrist member.

5. The articulated instrument of claim 4, wherein the end effector includes at least one pivotally-mounted capstan coupled to the end effector drive element, and the at least one end effector work member is removably fixed to the capstan.

6. The articulated instrument of claim 5, wherein the end effector drive element includes a cable.

7. The articulated instrument of claim 1, wherein one of said work members is pivotally connected to the other work member, and both work members are pivotally connected to the wrist member.

8. The articulated instrument of claim 1, wherein the at least one end effector work member is removably fixed to the wrist member by at least one of a screw and a clip.

9. The articulated instrument of claim 1, wherein the end effector comprises a gripper, a scissors, a cutter, a graspers, a forceps, a needle holder, a retractor, an electrocautery instrument, a microforceps, a microneedle holder, a dissecting tool, a blade, or an irrigator, or a combination of these.

10. The articulated instrument of claim 1, further comprising at least one substitute member adapted to be removably fixed to the wrist member to replace the at least one removably fixed work member.

11. The articulated instrument of claim 10, wherein the substitute member is of a different surgical type than the at least one removably fixed work member.

49. The articulated instrument of claim 1, further comprising an arm having a proximal end portion adapted to be attached to a base so as to permit a distal end portion of the arm to move relative to the base, the articulated surgical instrument mounted on the distal end of the arm.

12. A minimally invasive surgical system including:

an arm having a proximal end portion adapted to be attached to a base so as to permit a distal end portion of the arm to move relative to the base; and

an articulated surgical instrument mounted on the distal end of the arm, the instrument comprising;

an elongate support member having a proximal portion and a distal end with a longitudinal axis therebetween,

a pivotal wrist member coupled to the distal end of the elongate support member by a wrist joint, and

at least one surgical end effector work member coupled to the wrist member by at least one joint, the work member comprising an electrocautery instrument being removably fixed to the wrist members,

said articulated surgical instrument having a size and shape suitable for distal insertion into an internal surgical site through an aperture.

13. The surgical system of claim 12, further comprising a drive system including at least one wrist drive element coupled to the wrist member and adapted for coupling to at least one actuator for pivoting the wrist member about a wrist joint.

14. The surgical system of claim 13, wherein the wrist drive element includes a cable.

15. The surgical system of claim 12, wherein the at least one end effector work member includes at least a pair of work members pivotally coupled to the wrist member, wherein at least one work member can pivot relative to the other work member of the pair.

16. The surgical system of claim 15, further comprising at least one end effector drive element coupled to at least one end effector work member and adapted for coupling to at least one actuator for pivoting the work member relative to the wrist member.

17. The surgical system of claim 16, further comprising at least one pivotally-mounted capstan coupled to the end effector drive element, and the at least one end effector work member is removably fixed to the capstan.

18. The surgical system of claim 17, wherein the end effector drive element includes a cable.

19. The surgical system of claim 15, wherein one of said work members is pivotally connected to the other work member, and both work members are pivotally connected to the wrist member.

20. The surgical system of claim 12, wherein the at least one end effector work member is removably fixed to the wrist member by at least one of a screw and a clip.

21. The surgical system of claim 12, further comprising at least one substitute member adapted to be removably fixed to the wrist member to replace the at least one end effector work member.

22. The articulated instrument of claim 21, wherein the substitute member is of a different surgical type than the at least one end effector work member.

23. A method for minimally invasive surgery in a patient, comprising:

(a) providing an articulated surgical instrument including;

an elongate support member having a proximal portion and a distal end with a longitudinal axis therebetween;

a pivotal wrist member coupled to the distal end of the elongate support member by a wrist joint; and

a surgical end effector coupled to the wrist member by at least one joint, the end effector including at least one pair of work members pivotally coupled to the wrist member, wherein at least one work member can pivot relative to the other work member of the pair, and wherein at least one work member is removably fixed to the wrist member,

said articulated surgical instrument having a size and shape suitable for distal insertion into an internal surgical site through an aperture;

(b) inserting a distal portion of the surgical instrument through an aperture in a patient'"'"'s body to a location adjacent a surgical worksite, the distal portion including at least the wrist member and the end effector;

(c) performing a surgical treatment using the at least one end effector work member;

(d) removing the at least one end effector work member from the wrist member;

(e) providing a substitute member;

(f) replacing the at least one end effector work member by removably fixing the substitute member to the wrist member; and

(g) performing a surgical treatment using the substitute member.

24. The method of claim 23, further comprising the steps of:

(h) prior to the removing step (d), retracting the distal portion from the aperture in the patient'"'"'s body; and

(i) following the replacing step (f), inserting the distal portion of the surgical instrument through an aperture in a patient'"'"'s body to a location adjacent a surgical worksite.

25. The method of claim 23, further comprising the step of:

(j) moving the wrist member to position the end effector for surgical treatment.

26. The method of claim 25, wherein:

the articulated instrument provided in step (a) further includes at least one wrist drive element coupled to the wrist member and adapted for coupling to at least one actuator for pivoting the wrist member about the wrist joint; and

the moving step (j) includes actuating the wrist drive element to move the wrist member.

27. The method of claim 26, wherein the wrist drive element includes a cable.

28. The method of claim 23, wherein:

the articulated instrument provided in step (a) further includes at least one end effector drive element coupled to at least one end effector work member and adapted for coupling to at least one actuator for pivoting the work member relative to the wrist member; and

at least one of the treatment performing steps (c) and (g) includes actuating the end effector drive element to pivot the at least one end effector work member.

29. The method of claim 28, wherein the end effector includes at least one pivotally-mounted capstan coupled to the end effector drive element, and the at least one end effector work member is removably fixed to the capstan.

30. The method of claim 29, wherein the end effector drive element includes a cable.

31. The method of claim 23, wherein the at least one end effector work member of the articulated instrument provided in step (a) is removably fixed to the wrist member by at least one of a screw and a clip.

32. The method of claim 23, wherein the end effector of the articulated instrument provided in step (a) comprises a gripper, a scissors, a cutter, a graspers, a forceps, a needle holder, a retractor, an electrocautery instrument, a microforceps, a microneedle holder, a dissecting tool, a blade or an irrigator, or a combination of these.

33. The method of claim 23, wherein the substitute member provided in step (e) is a different surgical instrument type than the at least one end effector work member provided in step (a).

34. A minimally invasive surgical system comprising:

a base adapted to be fixed relative to a patient'"'"'s body;

an instrument positioning mechanism;

an articulated surgical instrument assembly; and

an instrument drive system;

the instrument positioning mechanism including;

a support linkage having a proximal end and a distal end, the proximal end being coupled the base and the distal end being coupled to the articulated surgical instrument assembly;

a positioning drive system configured to move the distal end of the support linkage so as to move the articulated surgical instrument assembly in a plurality of degrees of freedom relative to the base;

the articulated surgical instrument assembly including;

a proximal portion and a distal portion, and an elongate support assembly having a proximal end and a distal end with a longitudinal axis therebetween;

a pivotal wrist joint disposed adjacent the distal end of the elongate support assembly, and

a surgical end effector including a first end effector element coupled to the wrist joint by a first pivotal end effector joint and a second end effector element coupled to the wrist joint by a second pivotal end effector joint so that the first and second end effector elements can manipulate tissues at the worksite therebetween;

the proximal portion of the articulated surgical instrument assembly being adapted to releasably couple to the distal end of the instrument positioning mechanism;

the distal portion of the articulated surgical instrument assembly having a size and shape suitable for insertion through an aperture in the patient'"'"'s body to extent to an internal surgical site; and

the instrument drive system including;

a plurality of actuators disposed adjacent the distal end of the positioning mechanism;

a plurality of elongate drive elements extending longitudinally from the plurality of actuators to operatively couple to a corresponding plurality of pivotal joints adjacent the distal portion of the articulated surgical instrument assembly;

the plurality of pivotal joints including at least the pivotal wrist joint and the first pivotal end effector joint;

the instrument drive system being configured to move the first end effector element in a plurality of degrees of freedom relative to the distal end of the positioning mechanism.

35. The surgical system of claim 34, wherein the positioning mechanism further comprises a linear bearing coupling the articulated surgical instrument assembly to the distal end of the support linkage, to permit axial translation of the articulated surgical instrument assembly relative to the base.

36. The surgical system of claim 34, wherein the elongate drive elements are configured to hold the plurality of pivotal joints at fixed angles when the actuators do not move the elongate drive elements and the articulated surgical instrument assembly is translated axially.

37. The surgical system of claim 34, wherein the elongate elements comprise cable elements including at least one portion of cable.

38. The surgical system of claim 37, wherein the cable elements are configured to twist within the elongate support assembly so that the distal portion of the articulated surgical instrument assembly can rotate about the axis relative to the positioning mechanism and the actuators.

39. The surgical system of claim 37, wherein at least one of the plurality of cable element comprises a continuous loop.

40. The surgical system of claim 37, wherein the positioning mechanism is configured to cause the articulated surgical instrument assembly to pivot about at least a first axis relative to the base.

41. The surgical system of claim 34, wherein the instrument drive system includes a rotational connection arranged to permit the elongate support assembly to rotate about the longitudinally axis.

42. The surgical system of claim 34, wherein the end effector joints pivot about a common end effector axis, and wherein the instrument drive system can move the first and second end effector elements independently.

43. The surgical system of claim 34, wherein at least one actuator of the instrument drive system includes a rounded drive capstan engaging at least one of the plurality of elongate drive elements, so as to cause the elongate drive element to move when the capstan is rotated so as to cause the rotation of at least one of the plurality of rotary joints of the articulated surgical instrument assembly.

44. The surgical system of claim 43, wherein the elongate drive element comprises a cable element including at least one portion of cable.

45. The surgical system of claim 44, wherein the cable element comprises a continuous loop.

46. The surgical system of claim 34, wherein at least one of the plurality of elongate drive elements engages an idler pulley, so as to guide the elongate element intermediate the corresponding actuator and corresponding rotary joint.

47. The surgical system of claim 34, wherein at least one of the pivotal wrist joint and the first pivotal end effector joint includes a driven capstan portion, the driven capstan portion engaging at least one of the plurality of elongate drive elements, so as to cause the pivotal joint to rotate in response to movement of the elongate drive element.

48. The surgical system of claim 34, wherein the positioning mechanism and the instrument drive system in combination are configured to move the first end effector element in at least five degrees of freedom relative to the base.

50. An articulated instrument for minimally invasive surgery, comprising:

an elongate support member having a proximal portion and a distal end with a longitudinal axis therebetween;

a pivotal wrist member disposed at the distal end of the elongate support member; and

a surgical end effector pivotally coupled to the wrist member, the end effector including at least one end effector work member, the work member being removably fixed to the wrist member by at least one of a clip and a screw,

said articulated instrument having a size and shape suitable for distal insertion into an internal surgical site through an aperture.

51. The articulated instrument of claim 50, further comprising at least one wrist drive element coupled to the wrist member and adapted for coupling to at least one actuator for pivoting the wrist member about a wrist joint.

52. The articulated instrument of claim 51, wherein the wrist drive element includes a cable.

53. The articulated instrument of claim 50, wherein the at least one end effector work member includes at least a pair of work members pivotally coupled to the wrist member, wherein at least one work member can pivot relative to the other work member of the pair.

54. The articulated instrument of claim 53, further comprising at least one end effector drive element coupled to at least one end effector work member and adapted for coupling to at least one actuator for pivoting the work member relative to the wrist member.

55. The articulated instrument of claim 54, wherein the end effector includes at least one pivotally-mounted capstan coupled to the end effector drive element, and the at least one end effector work member is removably fixed to the capstan.

56. The articulated instrument of claim 55, wherein the end effector drive element includes a cable.

57. The articulated instrument of claim 53, wherein one of said work members is pivotally connected to the other work member, and both work members are pivotally connected to the wrist member.

58. The articulated instrument of claim 50, wherein the end effector comprises a gripper, a scissors, a cutter, a graspers, a forceps, a needle holder, a retractor, an electrocautery instrument, a microforceps, a microneedle holder, a dissecting tool, a blade, or an irrigator, or a combination of these.

59. The articulated instrument of claim 50, further comprising at least one substitute member adapted to be removably fixed to the wrist member to replace the at least one removably fixed work member.

60. The articulated instrument of claim 59, wherein the substitute member is of a different surgical type than the at least one removably fixed work member.

61. A method for minimally invasive surgery in a patient, comprising:

(a) providing an articulated surgical instrument including;

an elongate support member having a proximal portion and a distal end with a longitudinal axis therebetween;

a pivotal wrist member coupled to the distal end of the elongate support member by a wrist joint; and

a surgical end effector coupled to the wrist member by at least one joint, the end effector including at least one end effector work member, the work member comprising an electrocautery instrument being removably fixed to the wrist member;

said articulated instrument having a size and shape suitable for distal insertion into an internal surgical site through an aperture.

(b) inserting a distal portion of the surgical instrument through an aperture in a patient'"'"'s body to a location adjacent a surgical worksite, the distal portion including at least the wrist member and the end effector;

(c) performing a surgical treatment using the at least one end effector work member;

(d) removing the at least one end effector work member from the wrist member;

(e) providing a substitute member;

(f) replacing the at least one end effector work member by removably fixing the substitute member to the wrist member; and

(g) performing a surgical treatment using the substitute member.

62. The method of claim 61, further comprising the steps of:

(h) prior to the removing step (d), retracting the distal portion from the aperture in the patient'"'"'s body; and

(i) following the replacing step (f), inserting the distal portion of the surgical instrument through an aperture in a patient'"'"'s body to a location adjacent a surgical worksite.

63. The method of claim 61, further comprising the step of:

(j) moving the wrist member to position the end effector for surgical treatment.

64. The method of claim 63, wherein:

the articulated instrument provided in step (a) further includes at least one wrist drive element coupled to the wrist member and adapted for coupling to at least one actuator for pivoting the wrist member about the wrist joint; and

the moving step (j) includes actuating the wrist drive element to move the wrist member.

65. The method of claim 64, wherein the wrist drive element includes a cable.

66. The method of claim 61, wherein:

the articulated instrument provided in step (a) further includes at least one end effector drive element coupled to at least one end effector work member and adapted for coupling to at least one actuator for pivoting the work member relative to the wrist member; and

at least one of the treatment performing steps (c) and (g) includes actuating the end effector drive element to pivot the at least one end effector work member.

67. The method of claim 66, wherein the end effector includes at least one pivotally-mounted capstan coupled to the end effector drive element, and the at least one end effector work member is removably fixed to the capstan.

68. The method of claim 67, wherein the end effector drive element includes a cable.

69. The method of claim 61, wherein the at least one end effector work member of the articulated instrument provided in step (a) is removably fixed to the wrist member by at least one of a screw and a clip.

70. The method of claim 61, wherein the substitute member provided in step (e) is a different surgical instrument type than the at least one end effector work member provided in step (a).

71. A method for performing a surgical procedure with a robotic surgical system comprising:

providing a surgical instrument assembly comprising a shaft with a proximal end and a distal end, a pivotal wrist member coupled to the distal end of the shaft by a wrist joint and an instrument coupled to the wrist member by at least one joint;

connecting the proximal end of the shaft of the surgical instrument assembly to a manipulator arm;

positioning the manipulator arm by articulating a mounting joint prior to surgery;

introducing the instrument of the surgical instrument assembly to a treatment site on a patient with the manipulator arm; and

moving the instrument assembly with the manipulator arm so as to perform a surgical procedure with the instrument.

72. The method of claim 71, further comprising fixing the orientation of the mounting joint during the surgical procedure.

73. The method of claim 71, further comprising removing the instrument of the surgical instrument assembly from the treatment site and disconnecting the proximal end of the shaft of the surgical instrument assembly from the manipulator arm.

74. The method of claim 73, further comprising connecting a proximal end of a wrist unit shaft of a second surgical instrument assembly to the manipulator arm, and introducing an instrument of the second surgical instrument assembly to the treatment site with the manipulator arm.

75. The method of claim 71, further comprising pivoting the instrument about at least one of the wrist joint and the at least one joint of the shaft.