Tool memory-based software upgrades for robotic surgery

• US 8,634,957 B2
• Filed: 06/10/2011
• Issued: 01/21/2014
• Est. Priority Date: 05/04/2004
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Toth, Gregory K., Swarup, Nitish, Nixon, Thomas R., Larkin, David Q., Colton, Steven J.
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Edwards, Jerrah
• Application Number:
  US13/158,041
• Publication Number:
  US 20110301754A1
• Time in Patent Office: 956 Days
• Field of Search: 700/245, 700/250, 700/254, 700/247, 700/249, 901/3, 901/30, 901/41, 901/2
• US Class Current: 700/245
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• 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 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G05B 2219/45123 Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
• CPC Class Codes: G05B 2219/49305 Store, memory on tool with control and maintenance data
• CPC Class Codes: G16H 40/40 for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/41 Tool

Abstract

Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Claims

1. A robotic system comprising:

at least one robotic arm having a tool holder and a signal interface;

a processor coupled to the at least one robotic arm; and

a memory coupled to the processor;

wherein the processor is configured to;

download to the memory data from a first robotic tool coupled to one of said at least one robotic arm; and

drive a second robotic tool coupled to one of said at least one robotic arm using the data downloaded from the first robotic tool;

the processor further configured to;

if a revision of a third robotic tool coupled to one of said at least one robotic arm is more recent than a revision of the first robotic tool, download to the memory data from the third robotic tool, and drive the third robotic tool using data downloaded from the third robotic tool.

2. A robotic system comprising:

at least one robotic arm having a tool holder and a signal interface;

a processor coupled to the at least one robotic arm; and

a memory coupled to the processor;

wherein the processor is configured to;

download to the memory data from a first robotic tool coupled to one of said at least one robotic arm; and

drive a second robotic tool coupled to one of said at least one robotic arm using the data downloaded from the first robotic tool;

if a revision of a third robotic tool coupled to one of said at least one robotic arm is not more recent than a revision of the first robotic tool, drive the third robotic tool using data downloaded from the first robotic tool.

3. A system for controlling a tool removably couplable to the system, the system comprising:

a tool holder configured to receive the tool, the tool holder further comprising a signal interface for reading tool data from the tool;

a processor coupled to the tool holder; and

a memory coupled to the processor;

wherein the processor is configured to;

upon a tool being received by the tool holder, determine whether the tool has updated tool information for controlling the tool;

if the tool does not have said updated tool information, determine whether the memory contains previously updated data associated with a tool type of the tool, and if the memory contains such previously updated data, control the tool using the previously updated data; and

if the tool has said updated tool information, determine whether to download the updated tool information to the memory based on at least one parameter of the tool.

4. The system of claim 3, the at least one parameter comprising a tool type identifier of the tool, the processor configured to not download the updated tool information if the tool type identifier is on a reject list stored in the memory.

5. The system of claim 3, the at least one parameter comprising a most recent system processor software revision stored on the tool, the processor configured to not download the updated tool information if said revision is not more recent than a current software revision of the processor.

6. The system of claim 3, the at least one parameter comprising a minimum system processor software revision stored on the tool, the processor configured to not download the updated tool information if said revision is more recent than a current software revision of the processor.

7. The system of claim 3, the tool having updated tool information comprising parametric data, the processor further configured to download only parametric data to the memory.

8. The system of claim 3, the at least one parameter comprising a minimum system capability information stored on the tool, the processor further configured to not download the updated tool information if said capability exceeds the capability of the system.

9. The system of claim 8, the minimum system capability information comprising ultrasound driving capability.

10. The system of claim 3, the at least one parameter comprising a minimum system capability information stored on the tool, the processor further configured to not download the updated tool information if:

said capability exceeds the capability of the system; and

a tool type identifier of the tool is not included in either an update list or a native list stored in the memory.

11. The system of claim 3, the at least one parameter comprising whether a tool type identifier of the tool is on an update list stored in the memory, the processor father configured to not download the updated tool information if the tool type identifier is on the update list.

12. The system of claim 3, the at least one parameter comprising whether a tool type identifier of the tool is on a native list stored in the memory, the processor further configured to not download the updated tool information if the tool type identifier is on the native list.