Method and apparatus for performing minimally invasive cardiac procedures

• US 7,914,521 B2
• Filed: 12/27/2005
• Issued: 03/29/2011
• 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 Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Wright, James W, Laby, Keith Phillip, Ghoudoussi, Modijaba, Wilson, Jeffrey D, Jordan, Charles S, Uecker, Darrin R, Wang, Yulun
• Primary Examiner(s): Johnson, III; Henry M
• Assistant Examiner(s): CRANDALL, LYNSEY P
• Application Number:
  US11/319,005
• Publication Number:
  US 20060167441A1
• Time in Patent Office: 1,918 Days
• Field of Search: None
• US Class Current: 606/1
• 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 minimally invasive surgical system includes a pair of surgical instruments having end effectors to hold and suture tissue, a pair of robotic arms coupled to the surgical instruments, a controller, and a pair of master handles coupled through the controller to the robotic arms, so that surgeon manipulation of the handles produces corresponding movement of the end effectors in an adjustably scaled fashion. An input button allows the surgeon to adjust the position of the handles without moving the end effectors, so that the handles may be moved to a more comfortable position. An optionally included robotically controlled endoscope allows the surgeon to remotely view the surgical site. Using the system, a cardiac procedure can be performed by making small incisions in the patient'"'"'s skin, inserting the instruments and endoscope through the incisions, and manipulating the handles to move the end effectors to perform the cardiac procedure.

Claims

1. A medical robotic system comprising:

a robotic arm;

a surgical instrument detachably coupled to the robotic arm;

a master input device; and

a controller coupled to the master input device, the robotic arm, and the surgical instrument so as to translate movement of the master input device into corresponding movement of the surgical instrument according to a master-slave relationship, wherein the controller has a filter that filters a portion of an output of the master input device that corresponds to a hand tremor of an operator manipulating the master input device.

2. A medical robotic system comprising:

a plurality of robotic arms individually having a plurality of slave joints providing first multiple degrees of freedom of movement;

a plurality of master input devices individually having a plurality of master joints providing second multiple degrees of freedom of movement; and

a controller coupled to the plurality of robotic arms and the plurality of master input devices and configured so as to translate movement of the plurality of master input devices to corresponding movements of the plurality of robotic arms in master-slave relationships, wherein the controller has a filter that filters a portion of an output of one of the plurality of master input devices that corresponds to a hand tremor of an operator manipulating the master input device.

3. A medical robotic system comprising:

first, second and third robotic arms respectively coupled to a first surgical instrument, a second surgical instrument, and an endoscope;

first, second and third master input devices respectively associated with the first, second and third robotic arms; and

a controller coupled to the first, second and third robotic arms and the first, second and third master input devices and configured so as to translate manipulations of the master input devices to corresponding movements of the robotic arms for performing a minimally invasive surgical procedure, wherein the controller has a filter that filters a portion of an output of the first master input device that corresponds to a hand tremor of an operator manipulating the first master input device.

4. A medical robotic system comprising:

a robotic arm;

a surgical instrument coupled to the robotic arm;

a master input device; and

a controller coupled to the master input device, the robotic arm, and the surgical instrument so as to translate movement of the master input device into corresponding movement of the surgical instrument according to a master-slave relationship while filtering a portion of an output of the master input device that corresponds to a hand tremor of an operator manipulating the master input device.