Medical robotic arm that is attached to an operating table

• US 7,083,571 B2
• Filed: 12/15/2003
• Issued: 08/01/2006
• Est. Priority Date: 02/20/1996
• Status: Expired due to Fees

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Limited (Intuitive Surgical Holdings, LLC)
• Inventors: Wang, Yulun, Jordan, Charles S., Uecker, Darrin, Wright, James W., Wilson, Jeff D., Laby, Keith P., Ghodoussi, Modjtaba
• Primary Examiner(s): Leubecker, John P.
• Application Number:
  US10/737,195
• Publication Number:
  US 20040186345A1
• Time in Patent Office: 960 Days
• Field of Search: 600/101, 600/102, 600/130, 600/131, 600/106, 600/107, 606/130, 901/6, 901/8, 901/13, 901 14- 16, 414/2
• US Class Current: 600/102
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/11 for performing anastomosis; Buttons for anastomosis
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/00252 for by-pass connections, i.e. connections from heart chamber to blood vessel or from blood vessel to blood vessel
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2017/00973 pedal-operated
• CPC Class Codes: A61B 2017/1107 for blood vessels
• CPC Class Codes: A61B 2017/1135 End-to-side connections, e.g. T- or Y-connections
• 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 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• 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 34/75 : Manipulators having means for prevention or compensation of hand tremors
• 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: A61B 46/10 : specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 50/00 : Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers drapes specially adapted for instruments A61B46/10
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 9/1689 : Teleoperation
• CPC Class Codes: G05B 2219/45119 : Telesurgery with local assistent, voice communication
• CPC Class Codes: Y02A 90/10 : Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller to produce a corresponding movement of the end effectors. The movement of the handles is scaled such that the end effectors movement corresponds differently, typically smaller, than the movement performed by the hands of the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may include a robotically controlled endoscope allowing the surgeon to remotely view a surgical site. The surgeon may manipulate handles and move end effectors to perform a cardiac procedure.

Claims

1. A medical robotic system, comprising:

at least two robotic arms;

a handle;

first and second endoscopic surgical instruments, each instrument held by an associated robotic arm;

a controller in electrical communication with the robotic arms, wherein movement at the handle produces a proportional movement of one of the robotic arms; and

a multiplexer switching connections between the handle and the robotic arms such that the handle may control the first or second instrument.

2. The system of claim 1 wherein each said endoscopic surgical instrument is an articulable endoscopic surgical instrument.

3. The system of claim 2 wherein the articulable surgical instrument comprises a base, a pivot linkage, and a distal end.

4. The system of claim 2 further comprising an audio feedback device for providing audio messages.

5. The system of claim 1 further comprising a plurality of removably attachable handles, wherein a surgeon may interchange said handles.

6. The system of claim 1 further comprising a handle stand, wherein said handle is removably attached to said handle stand.

7. The system of claim 1 further comprising a voice recognizer coupled to said multiplexer.

8. The system of claim 1, further comprising a stabilizer attached to the first surgical instrument.