Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument

• US 8,521,331 B2
• Filed: 11/13/2009
• Issued: 08/27/2013
• Est. Priority Date: 11/13/2009
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Itkowitz, Brandon
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): NGUYEN, ROBERT T
• Application Number:
  US12/617,937
• Publication Number:
  US 20110118748A1
• Time in Patent Office: 1,383 Days
• Field of Search: 701/245, 701/450, 701/257, 701/258, 701/259, 701/264, 606/130, 606/102, 606/111, 606/587, 318/628, 348/51, 348/45, 901/15, 901/16
• US Class Current: 700/264
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• 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 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/60 Supports for surgeons, e.g. chairs or hand supports seats for dentists or surgeons associated with dental chairs or operating chairs A61G15/00
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A patient-side surgeon interface provides enhanced capabilities in using a minimally invasive, teleoperated surgical system. The patient-side surgeon interface has components within the sterile surgical field of the surgery. The components allow a surgeon to control teleoperated slave surgical instruments from within the sterile surgical field. The patient-side surgeon interface permits a surgeon to be in the sterile surgical field adjacent a patient undergoing surgery. Controlling minimally invasive slave surgical instruments from within the sterile surgical field permits minimally invasive surgery combined with direct visualization by the surgeon. The proximity to the patient allows the surgeon to control a teleoperated slave surgical instrument in tandem with controlling manually controlled instruments such as a laparoscopic instrument. Also, the surgeon, from within the sterile surgical field, can use the patient-side surgeon interface to control at least one proxy visual in proctoring another surgeon.

Claims

1. A robotic surgical system comprising:

a patient-side surgeon interface comprising a display device and a master interface,

wherein the display device is configured to be mounted in an operating room to permit viewing by a person working in a sterile surgical field within the operating room,

wherein the master interface comprises a mechanically ungrounded master tool grip configured to be positioned within the sterile surgical field and a hand-tracking transmitter configured to be separated and removed from the mechanically ungrounded master tool grip, and

wherein the mechanically ungrounded master tool grip, in combination with the hand-tracking transmitter, is configured to generate sensed mechanically ungrounded master tool grip position and orientation information in a body-centric reference frame defined with respect to a person operating the mechanically ungrounded master tool grip;

a teleoperated slave surgical instrument comprising a surgical end effector, wherein at least a portion of the teleoperated slave surgical instrument is configured to be positioned within the sterile surgical field; and

a control system coupled to the mechanically ungrounded master tool grip, to the hand-tracking transmitter, to the display device, and to the teleoperated slave surgical instrument,

wherein the control system is configured to receive the sensed position and orientation information in the body-centric reference frame, wherein the control system is configured to generate a control command using the sensed position and orientation information, and wherein the control system is configured to send the control command to move the surgical end effector with respect to a reference frame associated with an image displayed on the display device.

2. The robotic surgical system of claim 1 further comprising:

a manually operated surgical device including a control handle configured to control manual operation of the surgical device by a person, wherein the control handle is configured to be positioned within the sterile surgical field such that the person operating the mechanically ungrounded master tool grip also operates the control handle of the manually operated surgical device to control manual operation of the surgical device.

3. The robotic surgical system of claim 1,

wherein the patient-side surgeon interface further comprises a stereoscopic image viewer configured to be mounted on a boom a fixed distance from the display device in the operating room, and

wherein upon viewing the image on the display device through the stereoscopic image viewer, a stereoscopic image is seen.

4. The robotic surgical system of claim 1,

wherein the patient-side surgeon interface further comprises a display device motion interlock, and

wherein the display device motion interlock is configured to prevent movement of the display device upon receiving a signal from the control system indicating motion of the slave surgical instrument is following motion of the master tool grip.

5. The robotic surgical system of claim 1,

wherein the patient-side surgeon interface further comprises a display device-based presence interlock, and

wherein the display device-based presence interlock is configured to provide a signal to the control system indicating presence or non-presence of a surgeon.

6. The robotic surgical system of claim 1,

wherein the patient-side surgeon interface further comprises a movable boom configured to have the display device mounted thereon, and

wherein the movable boom is configured to permit positioning of the display device about an operating table in the operating room.

7. The robotic surgical system of claim 1,

wherein the patient-side surgeon interface further comprises a stabilization platform configured to be movable with respect to a position of an operating table;

wherein the stabilization platform is configured to support a surgeon'"'"'s forearms while grasping the master tool grip; and

wherein the stabilization platform is configured to be moved independent from any movement of the display device.

8. The robotic surgical system of claim 7, wherein the stabilization platform includes a plurality of wheels configured to move the stabilization platform with respect to the position of the operating table.

9. The robotic surgical system of claim 7, wherein the movable stabilization platform is configured to be mounted to the operating table.

10. The robotic surgical system of claim 7, wherein the movable stabilization platform is configured to be mounted to a boom.

11. The robotic surgical system of claim 1, wherein the patient-side surgeon interface further comprises a foot tray having at least one pedal coupled to the control system.

12. The robotic surgical system of claim 1, wherein the mechanically ungrounded master tool grip further comprises at least one switch coupled to the control system.

13. The robotic surgical system of claim 12, wherein the at least one switch is configured to provide a signal to the control system indicating presence or non-presence of a surgeon.

14. The robotic surgical system of claim 12, wherein the at least one switch is configured to provide a master clutch signal to the control system.

15. The robotic surgical system of claim 12, wherein the at least one switch is configured to provide a camera control signal to the control system.

16. The robotic surgical system of claim 1, wherein the mechanically ungrounded master tool grip further comprises a grip sensor, wherein the grip sensor is configured to provide grip closure information to the control system, wherein the grip closure information is related to closure of the surgical end effector.

17. The robotic surgical system of claim 1, wherein the control system further comprises a ratcheting system configured to continuously improve an orientation of the master tool grip with respect the surgical end effector as the master tool grip is moved.

18. The robotic surgical system of claim 1 further comprising a surgeon'"'"'s console coupled to the control system, wherein the surgeon'"'"'s console includes a stereoscopic display device and a powered master interface.

19. The robotic surgical system of claim 18, wherein the control system further comprises a proxy visual module coupled to the stereoscopic display device of the surgeon'"'"'s console and coupled to the display device of the patient-side surgeon interface to provide a proxy visual, wherein the proxy visual is moved by moving either of the mechanically ungrounded master tool grip and a master tool manipulator of the surgeon'"'"'s console.

20. A method comprising:

receiving, by a controller, sensed position and orientation information generated by moving a mechanically ungrounded master tool grip located in a sterile surgical field,

wherein the sensed position and orientation information is in a body-centric reference frame associated with a person, operating the mechanically ungrounded master tool grip within the sterile surgical field; and

controlling, by the controller, movement of an end effector of a minimally invasive teleoperated slave surgical instrument based on the sensed position and orientation information wherein at least a portion of the surgical instrument is in the sterile surgical field.

21. The method of claim 20 further comprising:

controlling manual operation of a manually operated surgical instrument by the person using a control handle of the manually operated surgical instrument, wherein said control handle is within said sterile surgical field.

22. In a robotic surgical system including (a) a patient-side surgeon interface further comprising a display device, a mechanically ungrounded master tool grip, and a hand-tracking transmitter, (b) a teleoperated slave surgical instrument, and (c) a control system, a method comprising:

generating, by the control system, a control command to operate the slave surgical instrument based on movement of the mechanically ungrounded master tool grip;

wherein the patient-side surgeon interface senses position and orientation of the mechanically ungrounded master tool grip in a body-centric reference frame associated with a person operating the mechanically ungrounded master tool grip when the mechanically ungrounded master tool grip is moved in a field of the hand-tracking transmitter and is moved within a sterile surgical field;

wherein the control system receives and uses the sensed position and orientation to generate the control command, with respect to a reference frame associated with an image displayed on the display device; and

wherein the control system sends the generated control command to the teleoperated slave surgical instrument.

23. The method of claim 22, further comprising generating, by the control system, a signal to prevent movement of the display device upon the control system entering a following mode between motion of the mechanically ungrounded master tool grip and motion of the teleoperated slave surgical instrument.

24. The method of claim 22, further comprising receiving, by the control system, a signal from a presence switch indicating presence or non-presence of a surgeon.

25. The method of claim 24, wherein the presence switch is included on the mechanically ungrounded master tool grip.