Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures

• US 8,527,094 B2
• Filed: 12/27/2005
• Issued: 09/03/2013
• Est. Priority Date: 11/20/1998
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Kumar, Rajesh, Hoffman, Brian, Prisco, Giuseppe, Larkin, David, Nowlin, William, Moll, Frederic, Blumenkranz, Stephen, Salisbury, J. Kenneth, Wang, Yulun, Ghodoussi, Modjtaba, Uecker, Darrin, Wright, James, Mangaser, Amante, Niemeyer, Gunter D, Mauherjee, Ranjan
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US11/319,012
• Publication Number:
  US 20060178559A1
• Time in Patent Office: 2,807 Days
• Field of Search: 700/259, 700/245, 700/250, 700/251, 700/256, 700/257, 700/264, 414/2, 318/568.21, 318/568.22, 318/568.16, 318/568.17, 318/568.11, 318/566, 318/568.2, 901/2, 901/8, 901/3, 901/30, 901/33, 901/34, 600/101, 600/118, 600/424, 600/427
• US Class Current: 700/259
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: G09B 23/28 for medicine
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: G16H 80/00 ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
• CPC Class Codes: Y10S 901/16 Cartesian, three degrees of freedom

Abstract

A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

Claims

1. A medical robotic system comprising:

first master input device configured to generate a first command indicative of manipulation of the first master input device by a first user;

second master input device configured to generate a second command indicative of manipulation of the second master input device by a second user;

first slave robotic mechanism configured to manipulate a first surgery-related device according to a first slave command; and

at least one processor configured to generate the first slave command by switchably using one or both of the first command and the second command, wherein the switching is controllable by the first user while manipulating the first master input device.

2. The medical robotic system according to claim 1, further comprising:

an audio system including at least one microphone and at least one speaker configured for audio communication between the first user and the second user.

3. The medical robotic system according to claim 2, wherein the first slave robotic mechanism is further configured so as to be manually manipulatable by a third user, and the audio system is further configured for audio communication between the first user and the third user.

4. The medical robotic system according to claim 2, wherein the first slave robotic mechanism is further configured so as to be manually manipulatable by a third user, and the audio system is further configured for audio communication between the first user, the second user, and the third user.

5. The medical robotic system according to claim 1, wherein the first surgery-related device is a surgical tool suitable for use in a minimally invasive surgical procedure.

6. The medical robotic system according to claim 1, wherein the first surgery-related device is a camera system suitable for use in a minimally invasive surgical procedure.

7. The medical robotic system according to claim 6, wherein the camera system includes an endoscope.

8. The medical robotic system according to claim 7, wherein images captured by the endoscope are concurrently provided to a first display viewable by the first user and a second display viewable by the second user.

9. The medical robotic system according to claim 8, wherein the endoscope is a stereoscopic endoscope and the images captured by the stereoscopic endoscope are processed by the at least one processor to provide three-dimensional views of the images on the first display and the second display.

10. The medical robotic system according to claim 1, wherein the at least one processor is configured to generate the first slave command using one or both of the first command and the second command according to a first selection command.

11. The medical robotic system according to claim 10, wherein the first selection command is generated by the first user interacting with a switch.

12. The medical robotic system according to claim 11, wherein the switch is a button manipulatable by a thumb of the first user.

13. The medical robotic system according to claim 11, wherein the switch is a foot pedal manipulatable by a foot of the first user.

14. The medical robotic system according to claim 11, wherein the switch is voice activated by the voice of the first user.

15. The medical robotic system according to claim 1, wherein the at least one processor generates the first slave command using the first command, but not the second command.

16. The medical robotic system according to claim 15, wherein the at least one processor causes the second master input device to track the manipulation of the first master input device by the first user so that the second user may sense such manipulation.

17. The medical robotic system according to claim 16, wherein indications of forces asserted against the first slave robotic mechanism are provided to the first master input device so that the first user may sense such forces.

18. The medical robotic system according to claim 17, wherein the indications of forces are also provided to the second master input device so that the second user may also sense such forces.

19. The medical robotic system according to claim 1, wherein the at least one processor generates the first slave command using both the first command and the second command.

20. The medical robotic system according to claim 19, wherein indications of forces asserted against the first slave robotic mechanism are provided to the first master input device so that the first user may sense such forces.

21. The medical robotic system according to claim 20, wherein the at least one processor causes the second master input device to track the manipulation of the first master input device by the first user so that the second user may sense such manipulation.

22. The medical robotic system according to claim 21, wherein indications of forces asserted against the first slave robotic mechanism are also provided to the second master input device so that the second user may sense such forces.

23. The medical robotic system according to claim 21, wherein indications of forces at the first master input device are provided to the second master input device so that the second user may sense such forces.

24. The medical robotic system according to claim 21, wherein the at least one processor further causes the first master input device to track the manipulation of the second master input device by the second user so that the first user may sense such manipulation.

25. The medical robotic system according to claim 24, wherein indications of forces asserted against the first slave robotic mechanism are also provided to the second master input device so that the second user may sense such forces.

26. The medical robotic system according to claim 24, wherein indications of forces at the first master input device are provided to the second master input device so that the second user may sense such forces.

27. The medical robotic system according to claim 19, wherein the at least one processor is configured to generate the first slave command using a relative weighting of the first command and the second command as indicated by a relative weight command.

28. The medical robotic system according to claim 27, wherein the relative weight command is provided by the first user through the first master input device.

29. The medical robotic system according to claim 19, wherein the at least one processor is configured to generate the first slave command only from the first command in response to an over-ride command provided by the first user through the first master input device.

30. The medical robotic system according to claim 1, further comprising:

second slave robotic mechanism configured to manipulate a second surgery-related device according to a second slave command, wherein the at least one processor is further configured to generate the second slave command using one or both of the first command or the second command.

31. The medical robotic system according to claim 30, wherein the first surgery-related device is a first surgical tool suitable for use in a minimally invasive surgical procedure.

32. The medical robotic system according to claim 31, wherein the second surgery-related device is a second surgical tool suitable for use in the minimally invasive surgical procedure.

33. The medical robotic system according to claim 31, wherein the second surgery-related device is a camera system suitable for use in the minimally invasive surgical procedure.

34. The medical robotic system according to claim 33, wherein the camera system includes an endoscope.

35. The medical robotic system according to claim 34, wherein images captured by the endoscope are concurrently provided to a first display viewable by the first user and a second display viewable by the second user.

36. The medical robotic system according to claim 34, wherein the endoscope is a stereoscopic endoscope and the images captured by the stereoscopic endoscope are processed by the at least one processor to provide three-dimensional views of the images on the first display and the second display.

37. The medical robotic system according to claim 31, wherein the first surgery-related device is a first camera system suitable for use in the minimally invasive surgical procedure, and the second surgery-related device is a second camera system suitable for use in the minimally invasive surgical procedure.

38. The medical robotic system according to claim 37, wherein the at least one processor is configured to generate a first slave command responsive to the first command so that the first user may control a first view generated by the first camera system, and a second slave command responsive to the second command so that the second user may control a second view generated by the second camera system.

39. The medical robotic system according to claim 30, wherein the at least one processor is configured to generate the first slave command using one or both of the first command and the second command according to a first selection command, and generate the second slave command using one or both of the first command and the second command according to a second selection command.

40. The medical robotic system according to claim 39, wherein the first selection command and the second selection command are provided by the first user through the first master input device.

41. The medical robotic system according to claim 40, wherein the at least one processor comprises a first processor associated with the first master input device, and a second processor associated with the second master input device.

42. The medical robotic system according to claim 1, wherein the at least one processor generates the first slave command using the second command, but not the first command.

43. The medical robotic system according to claim 42, wherein the at least one processor is further configured with a second slave robotic mechanism for simulating manipulation of the first surgery-related device according to a second slave command.

44. The medical robotic system according to claim 43, wherein the second slave robotic mechanism comprises a computer model of the first slave robotic mechanism so as to simulate the first slave robotic mechanism.

45. The medical robotic system according to claim 44, wherein the computer model includes information of kinematics of the first slave robotic mechanism.

46. The medical robotic system according to claim 44, wherein the computer model includes information of dynamics of the first slave robotic mechanism.

47. The medical robotic system according to claim 44, wherein the computer model includes information of a control system controlling the first slave robotic mechanism.

48. The medical robotic system according to claim 44, wherein the computer model includes physical constraints imposed on the first slave robotic mechanism.

49. The medical robotic system according to claim 48, wherein the physical constraints include those derived from pre-operative data for a minimally invasive surgical procedure.

50. The medical robotic system according to claim 49, wherein the pre-operative data includes anatomical features of a patient upon whom the minimally invasive surgical procedure is to be performed.

51. The medical robotic system according to claim 49, wherein the pre-operative data includes diagnostic imaging information of a patient upon whom the minimally invasive surgical procedure is to be performed.

52. The medical robotic system according to claim 49, wherein the pre-operative data includes pre-operative planning information of a patient upon whom the minimally invasive surgical procedure is to be performed.

53. The medical robotic system according to claim 43, wherein the second master input device is positioned so as to be out of the physical sight of the first user of the first master input device.

54. The medical robotic system according to claim 53, wherein the at least one processor includes a first processor associated with the first master input device and a second processor associated with the second master input device, wherein the first processor and the second processor are configured to communicate with each other.

55. The medical robotic system according to claim 54, wherein the second slave robotic mechanism is modeled in the second processor as computer model of the first slave robotic mechanism so as to simulate the first slave robotic mechanism.

56. The medical robotic system according to claim 43, wherein the at least one processor is programmed to generate the second slave command using the first command, but not the second command.

57. The medical robotic system according to claim 56, wherein indications of forces asserted against the first slave robotic mechanism are provided to the first master input device so that the first user may sense such forces.

58. The medical robotic system according to claim 57, wherein the second master input device is positioned so as to be out of the physical sight of the first user of the first master input device.

59. The medical robotic system according to claim 58, wherein the at least one processor includes a first processor associated with the first master input device and a second processor associated with the second master input device, wherein the first processor and the second processor are configured to communicate with each other.

60. The medical robotic system according to claim 59, wherein the second slave robotic mechanism is modeled in the second processor as a computer model of the first slave robotic mechanism so as to simulate the first slave robotic mechanism.

61. The medical robotic system according to claim 60, wherein the first slave robotic mechanism is configured to communicate with the first processor and the second processor.

62. The medical robotic system according to claim 60, where indications of simulated forces being asserted against the second slave robotic mechanism are provided to the second master input device so that the second user may sense such simulated forces without experiencing any transmission delay that would be incurred if the indications of the forces being asserted against the first slave robotic mechanism were provided instead to the second master input device over the communication network.