Methods, devices, and systems for automated movements involving medical robots

• US 8,738,181 B2
• Filed: 04/16/2008
• Issued: 05/27/2014
• Est. Priority Date: 04/16/2007
• Status: Active Grant

• Current Assignee: Deerfield Imaging Incorporated
• Original Assignee: Governors of the University of Calgary
• Inventors: Greer, Alexander, Sutherland, Garnette, Fielding, Tim, Newhook, Perry
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US12/596,418
• Publication Number:
  US 20100174410A1
• Time in Patent Office: 2,232 Days
• Field of Search: 700/245, 700/264, 700/251, 700/250, 700/246, 600/429, 600/102, 600/407, 600/414, 600/417, 600/424, 600/130, 606/130, 606/1, 606/205, 395/99, 433/24, 433/213, 901/2, 901/14, 901/15, 702/95
• US Class Current: 700/264
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• 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 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 2219/36401 Record play back, teach position and record it then play back
• CPC Class Codes: G05B 2219/40099 Graphical user interface for robotics, visual robot user interface
• CPC Class Codes: G05B 2219/40517 Constraint motion planning, variational dynamic programming
• CPC Class Codes: G05B 2219/45123 Electrogoniometer, neuronavigator, medical robot used by surgeon to operate

Abstract

Methods, devices (such as computer readable media), and systems (such as computer systems) for defining and executing automated movements using robotic arms (such as robotic arms configured for use in performing surgical procedures), so that a remotely-located surgeon is relieved from causing the robotic arm to perform the automated movement through movement of an input device such as a hand controller.

Claims

1. A computer-implemented method for automated movement of a robotic arm of a surgical robot, the robotic arm configured for movement under an automove mode and under a master-slave mode, the method comprising at least the following steps:

a. receiving a designation of at least one automated robotic arm movement, the automated robotic arm movement comprising a programmed starting position for a tool operatively associated with the robotic arm, and a programmed termination position for the tool;

b. receiving coordinates of a position of the tool;

c. receiving an instruction to execute the automated robotic arm movement; and

either

d. executing the automated robotic arm movement if a proximity condition is satisfied, the proximity condition relating to the position of the tool relative to the programmed starting position, wherein execution of the automated robotic arm movement causes the tool to move to the programmed termination position, or

e. if the proximity condition is not satisfied, generating an output indicative of the position of the tool relative to the programmed starting position, thereby enabling user-guided movement of the robotic arm under the master-slave mode such that the proximity condition is satisfied.

2. The method of claim 1, wherein the programmed starting position is defined relative to a tip of the tool, and the proximity condition relates to the position of the tip of the tool relative to the programmed starting position.

3. The method of claim 1, wherein actuation of a button or a lever on a master hand controller generates the instruction in step c.

4. The method of claim 1, further comprising at least the following steps:

e. receiving an instruction to execute a second automated robotic arm movement that comprises movement by the robotic arm away from the programmed termination position; and

f. executing the second automated robotic arm movement if a second proximity condition is satisfied, the second proximity condition relating to the position of the tool relative to the programmed termination position, wherein execution of the automated movement causes the tool to move away from the programmed termination position.

5. The method of claim 1, further comprising at least the following steps:

receiving an instruction to interrupt the automated robotic arm movement; and

stopping the automated robotic arm movement.

6. The method of claim 1, wherein the programmed termination position corresponds to a tool exchange location.

7. The method of claim 1, wherein

step a. comprises receiving designations of multiple automated robotic arm movements, each automated robotic arm movement comprising at least a programmed starting position for the tool and a programmed termination position for the tool;

and

step c. comprises receiving an instruction to execute one of the multiple automated robotic arm movements.

8. The method of claim 7, wherein the method is for automated movement of a robotic arm of a surgical robot having two or more robotic arms, each robotic arm configured for movement under an automove mode and under a master-slave mode, and wherein the method further comprises:

receiving a command selecting one of the robotic arms for execution of the automated robotic arm movement.

9. The method of claim 7, further comprising the steps of:

displaying a graphical user interface having one or more data entry elements that enable at least the following;

i. definition of each of the multiple automated robotic arm movements by defining at least the starting position and the termination position for each automated robotic arm movement, and

ii. selection of a robotic arm of the surgical robot to execute one or more of the multiple automated robotic arm movements.

10. The method of claim 9, wherein the one or more data entry elements of the graphical user interface further enable at least the following:

selection of a simulation mode in which to define the multiple automated robotic arm movements;

and wherein the method further comprises at least the following steps;

displaying a graphical representation of the robotic arm on the graphical user interface, and

moving the graphical representation in response to movement of an input device without also causing actual movement of the robotic arm.

11. The method of claim 9, wherein the one or more data entry elements of the graphical user interface further enable at least the following:

selection of the tool to be operatively associated with the selected robotic arm.

12. The method of claim 9, further comprising at least the following steps:

displaying a graphical representation of one or two robotic arms of the surgical robot on the graphical user interface;

receiving a command from an input device associated with a given robotic arm; and

moving the graphical representation of that robotic arm on the graphical user interface in response to manipulation of the input device, such that the graphical user interface displays the effect of the manipulation of the input device on movement of that robotic arm.

13. The method of claim 12, further comprising at least the following step:

displaying a graphical representation of a head of a subject on the graphical user interface.

14. The method of claim 12, further comprising at least the following steps:

receiving a disable command from the input device associated with a given robotic arm; and

decoupling manipulation of the input device and movement of the graphical representation of that robotic arm on the graphical user interface.

15. The method of claim 9, further comprising at least the following step:

displaying a path defined by the programmed starting position and the programmed termination position of the automated robotic arm movement on the graphical user interface.

16. The method of claim 15, wherein the one or more data entry elements of the graphical user interface further enable at least the following:

definition of one or more intermediate positions between the programmed starting position and the programmed termination position of an automated robotic arm movement;

and wherein the method further comprises at least the following step;

displaying a path defined by the programmed starting position, the one or more intermediate positions and the programmed termination position of the automated robotic arm movement.

17. The method of claim 1, further comprising defining the programmed starting position and the programmed termination position by designating a first dataset for the programmed starting position and designating a second dataset for the programmed termination position.

18. The method of claim 17, wherein the tool operatively associated with the robotic arm has a longitudinal axis and the first dataset and second dataset include data sufficient to enable the determination of a position of a tip of the tool and the orientation of the longitudinal axis of the tool.

19. The method of claim 18, wherein execution of the automated robotic arm movement comprises movement of the tool along an axis that is not coincident with the longitudinal axis of the tool.

20. The method of claim 1, further comprising at least the following steps:

receiving a command to execute a reverse of the automated movement after the execution of the automated movement is complete; and

executing the reverse of the automated movement such that the robotic arm moves away from the termination position towards the starting position.

21. The method of claim 1, wherein the proximity condition is satisfied when the tool is within a predefined region, the predefined region surrounding the programmed starting point.

22. The method of claim 21, wherein the predefined region corresponds to a location external to a patient'"'"'s body.

23. The method according to claim 1, wherein the automated robotic arm movement further comprises one or more programmed waypoints between the programmed starting position and the programmed termination position.

24. A computer readable medium having stored thereon machine readable instructions for performing at least the steps recited in claim 1.

25. A computer system configured to control movement of a robotic arm of a surgical robot, the robotic arm configured for movement under an automove mode and under a master-slave mode, the system comprising:

a computing device operatively associated with the surgical robot and configured to implement the method for automated movement of a robotic arm according to claim 1,

one or more input devices operatively associated with the computing device for inputting commands relating to at least the automated robotic arm movement, and

a graphical user interface operatively associated with the computing device for displaying at least a graphical representation of the robotic arm and data relating to the automated robotic arm movement.