Patient-side surgeon interface for a teleoperated surgical instrument

• US 8,831,782 B2
• Filed: 07/15/2013
• Issued: 09/09/2014
• 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:
  US13/942,030
• Publication Number:
  US 20140018960A1
• Time in Patent Office: 421 Days
• Field of Search: 700/245, 700/258, 700/264, 606/1, 606/130, 414/2, 446/26, 601/130
• 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 method comprising:

receiving, by a controller, sensed position and orientation information, the sensed position and orientation information being generated by moving a mechanically ungrounded master tool grip,

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; and

controlling, by the controller, movement of an end effector of a teleoperated slave surgical instrument based on the sensed position and orientation information.

2. In a surgical system including a surgeon interface, and a control system, the surgeon interface comprising a mechanically ungrounded master tool grip, a hand tracking transmitter, and a display device, a method comprising:

generating, by the control system, a control command based on movement of the mechanically ungrounded master tool grip, the mechanically ungrounded master tool grip in combination with the hand-tracking transmitter being configured to sense 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;

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.

3. The method of claim 2, further comprising generating, by the control system, a signal to prevent movement of the display device upon the control system entering a following mode in which motion of a teleoperated slave surgical instrument follows motion of the mechanically ungrounded master tool grip.

4. The method of claim 2, further comprising:

receiving, by the control system, a signal from a presence switch indicating presence or non-presence of the person operating the mechanically ungrounded master tool grip.

5. The method of claim 4, wherein the presence switch is included on the mechanically ungrounded master tool grip.

6. A surgical system comprising:

a surgeon interface comprising a mechanically ungrounded master tool grip, a hand tracking transmitter, and a display device, the mechanically ungrounded master tool grip in combination with the hand-tracking transmitter being configured to sense position and orientation information of the mechanically ungrounded master tool grip in a body-centric reference frame defined with reference to a person operating the mechanically ungrounded master tool grip;

a teleoperated slave surgical instrument comprising a surgical end effector; 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, the control system being configured to receive and to use the sensed position and orientation information to move the surgical end effector with respect to a reference frame associated with an image displayed on the display device.

7. The surgical system of claim 6 further comprising:

a manually operated surgical device positioned to be operated by the person operating the mechanically ungrounded master tool grip.

8. The surgical system of claim 6,

wherein the surgeon interface further comprises a stereoscopic image viewer mounted on a boom at a fixed distance from the display device, and

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

9. The surgical system of claim 6,

wherein the 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 mechanically ungrounded master tool grip.

10. The surgical system of claim 6,

wherein the 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 the person operating the mechanically ungrounded master tool grip.

11. The surgical system of claim 6,

wherein the surgeon interface further comprises a movable boom,

wherein the display device is mounted on the movable boom, and

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

12. The surgical system of claim 6, wherein the surgeon interface further comprises a foot tray having at least one pedal coupled to the control system.

13. The surgical system of claim 6,

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, and

wherein the grip closure information is related to closure of the surgical end effector.

14. The surgical system of claim 6, wherein the control system further comprises a ratcheting system configured to continuously improve an orientation of the mechanically ungrounded master tool grip with respect to an orientation of the surgical end effector as the mechanically ungrounded master tool grip is moved.

15. The surgical system of claim 6,

wherein the 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 forearm of the person operating the mechanically ungrounded master tool grip, and

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

16. The surgical system of claim 15, wherein the stabilization platform includes a plurality of wheels configured to move the stabilization platform with respect to the position of the operating table.

17. The surgical system of claim 15, wherein the movable stabilization platform is mounted to the operating table.

18. The surgical system of claim 15, wherein the movable stabilization platform is mounted to a boom.

19. The surgical system of claim 6, wherein the mechanically ungrounded master tool grip further comprises one or more switches coupled to the control system.

20. The surgical system of claim 19, wherein the at least one of the one or more switches is configured to provide a signal to the control system indicating presence or non-presence of the person operating the mechanically ungrounded master tool grip.

21. The surgical system of claim 19, wherein at least one of the one or more switches is configured to provide a master clutch signal to the control system.

22. The surgical system of claim 19, wherein at least one of the one or more switches is configured to provide a camera control signal to the control system.

23. The surgical system of claim 6 further comprising a surgeon'"'"'s console coupled to the control system, wherein the surgeon'"'"'s console includes a second display device and a master tool manipulator.

24. The surgical system of claim 23,

wherein the control system further comprises a proxy visual module coupled to the display device of the surgeon interface and to the second display device, the proxy visual module being configured to provide a proxy visual to the display device and to the second display device, and

wherein the proxy visual is moved by moving either of the mechanically ungrounded master tool grip or the master tool manipulator of the surgeon'"'"'s console.