Obtaining force information in a minimally invasive surgical procedure

• US 8,374,723 B2
• Filed: 04/22/2009
• Issued: 02/12/2013
• Est. Priority Date: 12/31/2008
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Zhao, Wenyi, Zhao, Tao, Larkin, David Q.
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): Lewandroski, Sara
• Application Number:
  US12/428,108
• Publication Number:
  US 20100168918A1
• Time in Patent Office: 1,392 Days
• Field of Search: None
• US Class Current: 700/259
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• 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 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/40144 Force sensation feedback from slave

Abstract

Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.

Claims

1. A method of providing force information for a robotic surgical system, the method comprising:

storing first kinematic position information and first actual position information for a first position of an end effector, the first kinematic position information being based on joint states of a linkage used to support the end effector, the first position selected by either a user of the robotic surgical system or based upon an event;

storing second kinematic position information and second actual position information for a second position, the second kinematic position information being based on joint states of a linkage used to support the end effector; and

providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information.

2. The method of claim 1, wherein the force information is derived from a positional difference between a change between the first actual position information and second actual position information and a change between the first kinematic position information and the second kinematic position information, the force information comprising a difference in force applied to the end effector between the first and second positions.

3. The method of claim 2, further comprising calculating an offset between the first kinematic position information and the first actual position information, and utilizing the offset at the second position in the derivation of the force information.

4. The method of claim 1, wherein the second position is selectable by a user of the robotic surgical system.

5. The method of claim 1, wherein the first actual position information and the second actual position information each comprise visual information about the position of the end effector.

6. The method of claim 1, further comprising displaying a representation of force utilizing the force information.

7. The method of claim 6, wherein displaying a representation of force comprises displaying (1) a first image representing the second actual position information and (2) a second image representing the second kinematic position information.

8. The method of claim 7, wherein the second image comprises a visual representation of the end effector.

9. The method of claim 7, wherein the first image comprises a video image of the end effector.

10. The method of claim 7, wherein the second image comprises a visual representation of the second kinematic information.

11. The method of claim 10, wherein the displaying a representation of force comprises displaying the representation of force on a viewer of a surgeon console of the robotic surgical system.

12. The method of claim 10, wherein the visual representation comprises a synthetic representation of the tool.

13. The method of claim 12, wherein the synthetic representation comprises a model of the tool.

14. The method of claim 13, wherein the model comprises a three-dimensional model of the tool.

15. The method of claim 6, wherein the displaying a representation of force comprises displaying the representation of force on a viewer of a surgeon console of the robotic surgical system.

16. The method of claim 15, wherein the second image comprises a visual representation of the end effector.

17. The method of claim 15, wherein the displayed representation of force comprises a video image of the end effector.

18. The method of claim 1, wherein the force information is filtered to focus on forces applied at or adjacent the end effector.

19. The method of claim 18, further comprising:

determining joint errors from positions of the joints with respect to a commanded position of the joints;

correcting the joints toward the command position; and

utilizing the correction of the joints to filter the force information.

20. The method of claim 19, wherein the correction of the joints is utilized to generate second force information, and wherein filtering the force information comprises subtracting the second force information.

21. The method of claim 1, wherein the force information is combined with additional force information.

22. The method of claim 21, wherein the additional force information comprises information derived from active force sensors.

23. The method of claim 22, wherein the active force sensors comprise force sensors located at the end effector.

24. The method of claim 22, wherein the linkage comprises one or more joints, and wherein the active force sensors comprise sensors located at the one or more joints.

25. The method of claim 22, wherein the linkage comprises joints, the method further comprising:

determining joint errors from positions of the joints with respect to a commanded position of the joints;

correcting the joints toward the command position; and

wherein the additional force information comprises information derived from the correcting of the joints.

26. The method of claim 1, wherein the linkage comprises joints, and wherein the kinematic position information comprises information about joint states of the linkage.

27. The method of claim 26, further comprising:

determining joint errors from positions of the joints with respect to a commanded position of the joints; and

correcting the joints toward the command position to a corrected position; and

wherein information about joint states of the linkage comprises information about the joints at the corrected position.

32. The assembly of claim 20, wherein the linkage comprises one or more joints, and wherein the one or more active force sensors comprise one or more sensors located at the one or more joints.

28. An assembly for providing force information within a robotic system, the assembly comprising:

a user selection component for selecting one or more positions of an end effector at which kinematic and actual position information of the end effector are to be determined;

means for determining the kinematic position information from joint states of a linkage while the linkage supports the end effector;

means for determining the actual position information; and

means for visually providing force information regarding force applied to the end effector, the force information being provided in response to the kinematic position information and the actual position information.

29. The assembly of claim 28, wherein the force information is combined by the means for visually providing force information with additional force information.

30. The assembly of claim 29, wherein the additional force information comprises information derived from one or more active force sensors.

31. The assembly of claim 30, wherein the one or more active force sensors comprise one or more force sensors located at the end effector.

33. The assembly of claim 29, wherein the linkage comprises joints, and wherein the additional force information comprises information derived from correcting of the positions of the joints.

34. The assembly of claim 28, wherein the means for determining actual position information receives a video feed from an image capture device.

35. The assembly of claim 28, wherein the means for visually providing force information includes a display component for displaying a representation of force utilizing the force information.

36. The assembly of claim 35, wherein the display component is configured to display a representation of force comprising (1) a first image representing the actual position information and (2) a second image representing the kinematic position information.

37. The assembly of claim 36, wherein the second image comprises a synthetic representation of the tool.

38. The assembly of claim 37, wherein the synthetic representation comprises a model of the tool.

39. The assembly of claim 38, wherein the model comprises a three-dimensional model of the tool.

40. The assembly of claim 28, further comprising a filter to focus the force information on forces applied at or adjacent the end effector.