Roll-pitch-roll wrist methods for minimally invasive robotic surgery
First Claim
1. A surgical apparatus for performing a procedure on a tissue in a body of a patient through a minimally invasive aperture, the minimally invasive surgical manipulator comprising:
- a minimally invasive surgical end effector configured for manipulating the tissue within the patient body;
an elongate shaft having a distal end insertable into the body of the patient through the aperture, the elongate shaft having a longitudinal axis;
a wrist member coupling the end effector to the distal end of the shaft, the wrist member having a longitudinal axis;
the wrist member and end effector rotatable about the longitudinal axis of the shaft;
the wrist member and end effector pivotable about a wrist axis crossing the shaft; and
the end effector rotatable about a longitudinal axis of the wrist member.
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Accused Products
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.
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Citations
85 Claims
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1. A surgical apparatus for performing a procedure on a tissue in a body of a patient through a minimally invasive aperture, the minimally invasive surgical manipulator comprising:
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a minimally invasive surgical end effector configured for manipulating the tissue within the patient body; an elongate shaft having a distal end insertable into the body of the patient through the aperture, the elongate shaft having a longitudinal axis; a wrist member coupling the end effector to the distal end of the shaft, the wrist member having a longitudinal axis; the wrist member and end effector rotatable about the longitudinal axis of the shaft; the wrist member and end effector pivotable about a wrist axis crossing the shaft; and the end effector rotatable about a longitudinal axis of the wrist member. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A minimally invasive robotic surgical apparatus comprising:
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an elongate shaft having a proximal end, a distal end configured for insertion through a minimally invasive surgical aperture, and a longitudinal axis therebetween; a robotic linkage supporting the proximal end of the shaft; a minimally invasive surgical end effector configured for insertion through the aperture; a wrist member coupling the end effector to the distal end of the shaft, the wrist member having a longitudinal axis; and the end effector movable, when inserted into the body of a patient through the aperture so as to manipulate the tissue, by; rotation of the shaft relative to the linkage about a longitudinal axis of the shaft; rotation of the end effector about the axis of a wrist member; and pivoting of the wrist member so as to vary an angle between the longitudinal axis of the wrist member and the longitudinal axis of the shaft.
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9. A surgical apparatus comprising:
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an elongate shaft comprising a distal end and a shaft longitudinal axis; a wrist member comprising; a first portion attached to the distal end of the shaft; a second portion; a wrist roll axis extending from the first portion to the second portion, and a wrist pivot axis perpendicular to the wrist roll axis;
said surgical apparatus further comprising an end effector attached to the second portion of the wrist member;wherein; the wrist member is rotatable about the shaft longitudinal axis; and the wrist member is pivotable about the wrist pivot axis. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A surgical manipulator comprising:
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an elongate shaft comprising a distal end and a shaft longitudinal axis; a wrist member comprising; a first portion attached to the distal end of the shaft; a second portion; a wrist roll axis extending from the first portion to the second portion, and a wrist pivot axis perpendicular to the wrist roll axis; the surgical manipulator further comprising an end effector attached to the second portion of the wrist member;
wherein;the shaft is rotatable about the shaft longitudinal axis; and the wrist member is pivotable about the wrist pivot axis. - View Dependent Claims (22, 23, 24, 25, 26)
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27. A surgical manipulator comprising:
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an elongate shaft comprising a shaft proximal end, a shaft distal end, and a shaft longitudinal axis extending between said shaft proximal end and said shaft distal end; a wrist member comprising a wrist proximal portion, a wrist distal portion, and a wrist longitudinal axis extending between said wrist proximal portion and said wrist distal portion, said wrist proximal portion being coupled to said shaft distal end; and an end effector coupled to said wrist distal portion; wherein; said shaft is, in response to movement of said shaft proximal end, pivotally movable in at least two degrees of freedom about a pivot point, said pivot point disposed on said shaft between said shaft proximal end and said shaft distal end; said wrist member has a wrist pitch axis perpendicular to said shaft longitudinal axis, and said wrist member is pivotable relative to said shaft about said wrist pitch axis; and said end effector is rotatable about said wrist longitudinal axis. - View Dependent Claims (28, 29, 30, 31, 32, 33)
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34. A robotic system comprising:
a first surgical manipulator comprising; an elongate shaft comprising a shaft proximal end, a shaft distal end, and a shaft longitudinal axis extending between said shaft proximal end and said shaft distal end; a wrist member comprising a wrist proximal portion, a wrist distal portion, and a wrist longitudinal axis extending between said wrist proximal portion and said wrist distal portion, said wrist proximal portion being coupled to said shaft distal end; and an end effector coupled to said wrist distal portion;
wherein;said shaft is, in response to movement of said shaft proximal end, pivotally movable in at least two degrees of freedom about a pivot point, said pivot point disposed on said shaft between said shaft proximal end and said shaft distal end; said wrist member has a wrist pitch axis perpendicular to said shaft longitudinal axis, and said wrist member is pivotable relative to said shaft about said wrist pitch axis; and said end effector is rotatable about said wrist longitudinal axis; and said robotic system further comprising a first input controller, wherein said first surgical manipulator is movable in response to movement of said first input controller. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41, 42, 43)
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44. A robotic system comprising:
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a first surgical manipulator comprising; an elongate shaft comprising a shaft proximal end, a shaft distal end, and a shaft longitudinal axis extending between said shaft proximal end and said shaft distal end; a wrist member comprising a wrist proximal portion, a wrist distal portion, and a wrist longitudinal axis extending between said wrist proximal portion and said wrist distal portion, said wrist proximal portion being coupled to said shaft distal end; and an end effector coupled to said wrist distal portion;
wherein;said shaft is, in response to movement of said shaft proximal end, pivotally movable in at least two degrees of freedom about a pivot point, said pivot point disposed on said shaft between said shaft proximal end and said shaft distal end; said shaft is axially movable along said shaft longitudinal axis; said shaft is rotatable about said shaft longitudinal axis; said wrist member has a wrist pitch axis perpendicular to said shaft longitudinal axis, and said wrist member is pivotable relative to said shaft about said wrist pitch axis; said end effector is rotatable about said wrist longitudinal axis; and said robotic system comprising a first input controller, wherein said first surgical manipulator is movable in response to movement of said first input controller. - View Dependent Claims (45, 46, 47, 48, 49, 50, 51, 52, 53, 54)
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55. A surgical manipulator comprising:
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an elongate shaft comprising a shaft proximal end, a shaft distal end, and a shaft longitudinal axis extending between said shaft proximal end and said shaft distal end; a wrist member comprising a wrist proximal portion, a wrist distal portion, and a wrist longitudinal axis extending between said wrist proximal portion and said wrist distal portion, said wrist proximal portion being coupled to said shaft distal end; and an end effector coupled to said wrist distal portion; wherein; said shaft is, in response to movement of said shaft proximal end, pivotally rotatable about a pivot point, said pivot point lying on said shaft between said shaft proximal end and said shaft distal end; said wrist member has a wrist pitch axis perpendicular to said shaft longitudinal axis, and said wrist member is pivotable relative to said shaft about said wrist pitch axis; and said end effector is rotatable about said wrist longitudinal axis.
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56. A method for minimally invasive surgery comprising:
forming a minimally invasive incision in the body of a patient; inserting an end effector and a distal end of an elongate shaft into said minimally invasive incision, a wrist member coupling the end effector to the distal end of the shaft; pivoting said shaft about said minimally invasive incision with at least two degrees of freedom by moving a proximal end of said shaft; pivoting the wrist member about a wrist pitch axis perpendicular to a longitudinal axis of the shaft; rotating the end effector about a wrist longitudinal axis perpendicular to said wrist pitch axis. - View Dependent Claims (57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70)
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71. A method for minimally invasive surgery comprising:
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forming a first minimally invasive incision in the body of a patient; inserting a first end effector and a distal end of a first elongate shaft into said first minimally invasive incision, a first wrist member coupling the first end effector to the distal end of the first shaft; pivoting said first shaft about said first minimally invasive incision with at least two degrees of freedom by moving a proximal end of said first shaft; pivoting the first wrist member about a first wrist pitch axis perpendicular to a longitudinal axis of the first shaft; rotating the first end effector about a first wrist longitudinal axis perpendicular to said first wrist pitch axis; forming a second minimally invasive incision in the body of a patient; inserting a second end effector and a distal end of a second elongate shaft into said second minimally invasive incision, a second wrist member coupling the second end effector to the distal end of the second shaft; pivoting said second shaft about said second minimally invasive incision with at least two degrees of freedom by moving a proximal end of said second shaft; pivoting the second wrist member about a second wrist pitch axis perpendicular to a longitudinal axis of the second shaft; rotating the second end effector about a second wrist longitudinal axis perpendicular to said second wrist pitch axis. - View Dependent Claims (72, 73)
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74. A surgical manipulator comprising:
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an input device provided with an end section movement unit and an end effector control unit; a control arm having one end operatively coupled to the input device; a wrist connected to the other end of the control arm, wherein said wrist is connected to an end effector, and supports said end effector in at least two degrees of freedom of motion; and a computer that operatively couples the input device to the control arm, the computer configured to transmit a movement by the end section movement unit to the wrist to pivot the wrist, and to transmit a command provided by the end effector control unit to operate the end effector; wherein the wrist includes a wrist link capable of pivoting about a first axis perpendicular to a longitudinal axis of the control arm, and an outer link capable of turning about a second axis perpendicular to the first axis; the end effector has a longitudinal axis substantially parallel to the second axis; the end section movement unit includes a joint capable of pivoting about a pitch axis perpendicular tote longitudinal axis of the control arm and a joint capable of rotating about a roll axis perpendicular to the pitch axis; and the end effector control unit is provided for gripping by fingers. - View Dependent Claims (75, 76, 77, 78, 79, 80, 81, 82)
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83. A surgical robotic system comprising:
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a first surgical manipulator comprising; an input device provided with an end section movement unit and an end effector control unit; a control arm having one end operatively coupled to the input device; a wrist connected to the other end of the control arm, wherein said wrist is connected to an end effector, and supports said end effector in at least two degrees of freedom of motion; and a computer that operatively couples the input device to the control arm, the computer configured to transmit a movement by the end section movement unit to the wrist to pivot the wrist, and to transmit a command provided by the end effector control unit to operate the end effector; wherein the wrist includes a wrist link capable of pivoting about a first axis perpendicular to a longitudinal axis of the control arm, and an outer link capable of turning about a second axis perpendicular to the first axis; the end effector has a longitudinal axis substantially parallel to the second axis; the end section movement unit includes a joint capable of pivoting about a pitch axis perpendicular to the longitudinal axis of tire control arm and a joint capable of rotating about a roll axis perpendicular to the pitch axis; and the end effector control unit is provided for gripping by fingers extending substantially in parallel to the roll axis; and said surgical robotic system comprising a second surgical manipulator comprising; an input device provide with an end section movement unit and an end effector control unit; a control arm having one end operatively coupled to the input device; a wrist connected to the other end of the control arm, wherein said wrist is connected to an end effector, and supports said end effector in at least two degrees of freedom of motion; and a computer that operatively couples the input device to the control arm, the computer configured to transmit a movement by the end section movement unit to the wrist to pivot the wrist, and to transmit a command provided by the end effector control unit to operate the end effector; wherein the wrist include s a wrist link capable of pivoting about a first axis perpendicular to a longitudinal axis of the control arm, and an outer link capable of turning about a second axis perpendicular to the first axis; the end effector has a longitudinal axis substantially parallel to the second axis; the end section movement unit includes a joint capable of pivoting about a pitch axis perpendicular to the longitudinal axis of the control arm and a joint capable of rotating about a roll axis perpendicular to the pitch axis; and the end effector control unit is provided for gripping by fingers. - View Dependent Claims (84, 85)
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Specification