Method and apparatus for performing minimally invasive cardiac procedures

• US 7,118,582 B1
• Filed: 10/08/1998
• Issued: 10/10/2006
• Est. Priority Date: 02/20/1996
• Status: Expired due to Term

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Computer Motion Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Laby, Keith Phillip, Wang, Yulun, Jordan, Charles S., Wright, James W., Wilson, Jeff D., Uecker, Darrin R., Ghoudoussi, Modjtaba
• Primary Examiner(s): Jackson, Gary
• Application Number:
  US09/169,169
• Time in Patent Office: 2,924 Days
• Field of Search: 606/130, 606/139, 606/1, 395/80, 395/86, 318/568.11, 901/8, 901/41, 901/48, 414/2
• US Class Current: 606/139
• 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 2017/00243 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

Abstract

A medical system which has a robotic arm that can move a surgical instrument. The surgical instrument is coupled to a tool driver of the arm that allows for a quick connect and disconnect of the instrument. The system does not require any tools to attach the surgical instrument to the tool driver. The instrument has an end effector that is actuated by the driver.

Claims

1. A medical robotic system, comprising:

a robotic arm;

a tool driver coupled to the robotic arm;

a surgical instrument removably coupled to the tool driver without using a tool, said surgical instrument having an end effector that is actuated by the tool driver; and

a controller in electrical communication with the robotic arm.

2. The system of claim 1 wherein said controller is also in electrical communication with the tool driver.

3. The system of claim 1 wherein movement at the controller produces a proportional movement of the robotic arm and the surgical instrument.

4. The system of claim 1 wherein the tool driver is a rear loading tool driver.

5. The system of claim 4 wherein the surgical instrument comprises a pivot linkage disposed intermediate and pivotally engaging a proximal portion with a distal portion.

6. The system of claim 1 wherein the tool driver is a front loading tool driver.

7. The system of claim 6 wherein the surgical instrument comprises a pivot linkage disposed intermediate and pivotally engaging a proximal portion with a distal portion.

8. The system of claim 1, wherein the tool driver includes:

a housing to couple to the surgical instrument; and

a motor coupled to the housing and adapted to actuate the end effector.

9. The tool driver of claim 8 wherein the housing includes an aperture to receive the surgical instrument.

10. The tool driver of claim 9 wherein the housing includes a tube such that the aperture is formed through the housing and the tube.

11. The tool driver of claim 10 wherein the tube is a sheath.

12. The tool driver of claim 9 wherein the surgical instrument seats through a rear and engages the tool driver.

13. The system of claim 8, wherein the tool driver includes:

a sensosr that senses a counteractive force applied to the end effector.

14. The tool driver of claim 13 wherein the sensor provides a feedback signal responsive to sensing the counteractive force.

15. The tool driver of claim 14 wherein the sensor is a load cell coupled to the motor.

16. The tool driver of claim 15 further comprising a lead screw and a lead screw nut coupled between the motor and the load cell.

17. The tool driver of claim 16 further comprising a gear box coupled between the motor and the lead screw.

18. The tool driver of claim 17 further comprising a piston coupled to the load cell to actuate the end effector.

19. The tool driver of claim 13 further comprising an encoder to receive an electrical signal from a controller and, responsive thereto, to cause rotational movement of the motor to actuate the end effector.

20. The tool driver of claim 13 further comprising a housing that houses the motor and the sensor.

21. The tool driver of claim 20 wherein the housing includes an aperture to receive the surgical instrument.

22. The tool driver of claim 21 wherein the surgical instrument seats through a rear and engages the tool driver.