Roll-pitch-roll wrist methods for minimally invasive robotic surgery

• US 7,107,124 B2
• Filed: 12/16/2004
• Issued: 09/12/2006
• Est. Priority Date: 01/21/1992
• Status: Expired due to Fees

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Green, Philip S.
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): Marc, McDieunel
• Application Number:
  US11/015,212
• Publication Number:
  US 20050102062A1
• Time in Patent Office: 635 Days
• Field of Search: 700245-249, 700258-264, 600/102, 600/130, 606/205, 606/130, 606/139, 318/568.11, 901 1- 2, 901/9, 414 1- 2
• US Class Current: 700/245
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• 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 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 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• 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 34/72 Micromanipulators
• 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 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: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: B25J 13/025 comprising haptic means
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/194 Transmission of image signals
• CPC Class Codes: H04N 13/239 : using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/246 : Calibration of cameras
• CPC Class Codes: H04N 13/296 : Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 13/337 : using polarisation multiplexing
• CPC Class Codes: H04N 13/341 : using temporal multiplexing
• CPC Class Codes: H04N 13/398 : Synchronisation thereof; Control thereof

Abstract

A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. Use of the teleoperator system for surgical procedures also is disclosed.

Claims

1. A minimally invasive surgical method comprising:

inserting an end effector and a distal end of an elongate shaft into the body of a patient through a minimally invasive incision, a wrist member coupling the end effector to the distal end of the shaft;

rotating the wrist member and end effector about a longitudinal axis of the shaft within the patient body;

pivoting the wrist member and end effector about a wrist axis extending across the shaft;

rotating the end effector about a longitudinal axis of the wrist member within the patient body; and

manipulating tissue with the end effector.

2. The minimally invasive surgical method of claim 1, wherein the wrist member pivots at a wrist joint coupling the wrist member to the shaft, the wrist joint defining the wrist axis, and the wrist axis being perpendicular to the longitudinal axis of the shaft and to the longitudinal axis of the wrist member.

3. The minimally invasive surgical method of claim 1, wherein the end effector comprises first and second jaw members, and further comprising pivoting the first jaw member about a jaw pivot axis extending across the longitudinal axis of the wrist member so as to open and close the jaws.

4. The minimally invasive surgical method of claim 3, wherein the jaw pivot axis is perpendicular to the longitudinal axis of the wrist member.

5. The minimally invasive surgical method of claim 1, wherein the rolling of the wrist member changes an orientation of the end effector within the patient body while the wrist member is roughly perpendicular to the shaft.

6. The minimally invasive surgical method of claim 1, further comprising supporting a proximal end of the shaft with a robotic linkage and effecting the rotating and pivoting of the end effector with robotic motors.

7. The minimally invasive surgical method of claim 6, wherein the motors are actuated in response to manual movement of an input device according to a master-slave by robotic controller.

8. A minimally invasive robotic surgical method comprising:

supporting a proximal end of an elongate shaft with a robotic linkage;

inserting an end effector and a distal end of the shaft into the body of a patient through a minimally invasive incision;

manipulating tissue with the end effector by;

rotating the shaft about a longitudinal axis of the shaft within the patient body;

rotating the end effector about a longitudinal axis of a wrist member within the patient body, the wrist member coupled to the end effector; and

pivoting a wrist so as to vary an angle between the longitudinal axis of the wrist member and the longitudinal axis of the shaft within the patient body.