Method and apparatus for performing minimally invasive cardiac procedures

• US 7,507,199 B2
• Filed: 12/11/2002
• Issued: 03/24/2009
• 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 Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Wright, James, Laby, Keith Phillip, Wang, Yulun, Uecker, Darrin R., Wilson, Jeff, Jordan, Steve
• Primary Examiner(s): Farah; Ahmed M
• Application Number:
  US10/317,890
• Publication Number:
  US 20030139733A1
• Time in Patent Office: 2,295 Days
• Field of Search: 606/1, 606/10, 606/11, 606/13, 606/41, 606/43, 606/106, 606/107, 606/196, 606/130, 600101-104, 600106-109, 600/114, 704/3, 704200-210, 704/231, 414/2, 901/2, 901/6, 901 8- 10, 901 14- 18, 901/30, 901/36, 901/46
• 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 2017/00243 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 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 a 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 system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site.

Claims

1. A medical robotic system that utilizes an endoscope,comprising:

a first robotic arm;

a first surgical instrument coupled to said first robotic arm;

a second robotic arm;

a second surgical instrument coupled to said second robotic arm;

a third robotic arm coupled to the endoscope, the third robotic arm including a plurality of linkages and a plurality of motors, wherein the plurality of linkages are coupled together and movable by selective actuation of the plurality of motors so as to be capable of moving the endoscope in a three-dimensional space;

a plurality of handles coupled to said first and second robotic arms; and

a foot pedal coupled to said third robotic arm and the endoscope, and operable by an operator to move said third robotic arm and the endosdope by selective actuation of the plurality of motors.

2. The system of claim 1, further comprising a cabinet, said handles being connected to said cabinet.

3. The system of claim 1, wherein said first and second robotic arms move in conjunction with movement of said handles.

4. The system of claim 3, further comprising an input device that can functionally disconnect said handles from said first and second robotic arms.

5. A medical robotic system that utilizes an endoscope, comprising:

a first robotic arm,

a first surgical instrument coupled to said first robotic arm;

a second robotic arm;

a second surgical instrument coupled to said second robotic arm;

a third robotic arm coupled to the endoscope, the third robotic arm including a plurality of linkages and a plurality of motors, wherein the plurality of linkages are coupled together and movable by selective actuation of the plurality of motors so as to be capable of moving the endoscope in a three-dimensional space;

a plurality of handles coupled to said first and second robotic arms; and

input means for causing said third robotic arm to be moved according to input generated from sensed movement of a foot of a system operator by selective actuation of the plurality of motors.

6. The system of claim 5, further comprising a cabinet, said handles being connected to said cabinet.

7. The system of claim 5, wherein said first and second robotic arms move in conjunction with movement of said handles.

8. The system of claim 7, further comprising an input device that can functionally disconnect said handles from said first and second robotic arms.

9. A method for operating a medical robotic system comprising:

causing a surgical instrument to be moved during a minimally invasive surgical procedure in response to an input received from a handle;

receiving a camera view from an endoscope of a surgical site at which the minimally invasive surgical procedure is being performed; and

causing the endoscope to be repositioned during the minimally invasive surgical procedure in response to an input received from a foot pedal by selective actuation of a plurality of motors in a robotic arm coupled to the endoscope so as to move the endoscope in a three-dimensional space.

10. A medical robotic system that utilizes an endoscope, comprising:

a first robotic arm;

a first surgical instrument coupled to the first robotic arm;

a second robotic arm including a plurality of coupled together linkages and a plurality of motors;

an endoscope coupled to the second robotic arm so as to be movable in a three-dimensional space by selective actuation of the plurality of motors;

a first handle coupled to the first robotic arm and operable by an operator for manipulating the first surgical instrument; and

a foot pedal coupled to the second robotic arm and operable by the operator for positioning the endoscope by selective actuation of the plurality of motors.

11. The system of claim 10, wherein said foot pedal includes a button that can be depressed to actuate said second robotic arm.

12. The system of claim 10, further comprising a third robotic arm, and a second surgical instrument coupled to the third robotic arm.

13. The system of claim 12, further comprising a second handle coupled to the third robotic arm and operable by the operator for manipulating the second surgical instrument.

14. A medical robotic system that utilizes an endoscope, comprising:

a first robotic arm;

a first surgical instrument coupled to the first robotic arm;

a second robotic arm including a plurality of coupled together linkages and a plurality of motors;

an endoscope coupled to the second robotic arm so as to be movable in a three-dimensional space by selective actuation of the plurality of motors;

handle means for causing the first surgical instrument to be manipulated according to a first input generated from sensed movement of a hand of a surgeon; and

input means for causing the endoscope to be positioned according to a second input generated from sensed movement of a foot of the surgeon by selective actuation of the plurality of motors.

15. The system of claim 14, wherein said input means includes a foot pedal.

16. The system of claim 15, wherein said foot pedal includes a button that can be depressed to activate said second robotic arm.

17. The system of claim 14, further comprising a third robotic arm and a second surgical instrument coupled to said third robotic arm.

18. The system of claim 17, wherein said handle means is positioned to be manipulatable by another hand of the surgeon for manipulating the second surgical instrument.