Apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input device

• US 7,390,325 B2
• Filed: 02/17/2006
• Issued: 06/24/2008
• Est. Priority Date: 08/10/1992
• 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: Wright, James, Laby, Keith Phillip, Uecker, Darrin R, Wang, Yulun, Wilson, Jeff, Jordan, Steve
• Primary Examiner(s): Farah; Ahmed M
• Application Number:
  US11/357,383
• Publication Number:
  US 20060142881A1
• Time in Patent Office: 858 Days
• Field of Search: 606/1, 606/10, 606/11, 606/13, 606/41, 606/43, 606/106, 606/107, 606/130, 600101-104, 600106-109, 600/114, 704/3, 704200-210, 704/231, 901/2, 901/6, 901 8- 10, 901 14- 18, 901/30, 901/36, 901/46, 414/2
• US Class Current: 606/10
• 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 for prosthetic joint-implanting tools A61F2/4603
• 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 Y-shaped blood vessel prostheses A61F2002/065
• 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 system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The controller controls and limits movement of robotic arms relative to the patient.

Claims

1. A medical robotic system, comprising:

a robotic arm;

a surgical instrument coupled to said robotic arm;

an input device, and

a controller that receives input from said input device and computes an output to move said robotic arm, said controller controls movement of said robotic arm and issues a warning if a movement of a pivot point of the surgical instrument exceeds a threshold value.

2. The system of claim 1, wherein said input device includes a handle.

3. The system of claim 1, wherein said controller limits movement of said robot arm when the movement of the pivot point of the surgical instrument exceeds the threshold value.

4. The system of claim 1, wherein the controller computes the movement of the pivot point of the surgical instrument.