Obtaining force information in a minimally invasive surgical procedure

• US 8,706,301 B2
• Filed: 01/08/2013
• Issued: 04/22/2014
• 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:
  US13/736,720
• Publication Number:
  US 20130166070A1
• Time in Patent Office: 469 Days
• Field of Search: 382/128, 382/153, 702/41, 700/245, 700/250, 700/253, 700/254, 700/259, 700/260, 318/568.11, 318/568.16, 318/568.17
• US Class Current: 700/260
• 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 robotic system comprising:

a display;

a robotic arm adapted to manipulate an instrument; and

a processor programmed to cause a computer model of the instrument to be displayed relative to a real-time image of the instrument on the display such that the position of the displayed computer model relative to the position of the real-time image of the instrument on the display indicates a force being applied against a distal end of the instrument.

2. The robotic system of claim 1, wherein the processor is programmed to cause the computer model of the instrument to be displayed on the display according to a kinematically determined position of the distal end of the instrument.

3. The robotic system of claim 1, wherein the robotic arm comprises linkages that are coupled together and manipulated through motor controlled joints, and wherein the processor is programmed to cause the computer model of the instrument to be displayed on the display according to sensed positions of the motor controlled joints.

4. The robotic system of claim 1, wherein the robotic arm comprises linkages that are coupled together and manipulated through motor controlled joints, and wherein the processor is programmed to cause the computer model of the instrument to be displayed on the display according to commanded positions of the motor controlled joints.

5. The robotic system of claim 1, further comprising:

a master control;

wherein the processor is programmed to command positioning of the distal end of the instrument to a commanded position in response to movement of the master control, and wherein the processor is programmed to cause the computer model of the instrument to be displayed on the display so as to indicate the commanded position of the distal end of the instrument.

6. The robotic system of claim 5, wherein the processor is programmed to cause the computer model of the instrument to be displayed on the display so that the computer model of the instrument substantially coincides with the real-time image of the instrument on the display when no force is being applied against the distal end of the instrument.

7. The robotic system of claim 6, wherein a non-coincidence of the computer model of the instrument with the real-time image of the instrument on the display is indicative of the force being applied against the distal end of the instrument.

8. The robotic system of claim 7, wherein the robotic arm comprises linkages that are coupled together and manipulated through motor controlled joints, and wherein the non-coincidence of the computer model of the instrument with the real-time image of the instrument on the display is indicative of a flexing of the linkages which results from the force being applied against the distal end of the instrument.