Positive control of robotic surgical instrument end effector

• US 9,043,027 B2
• Filed: 05/30/2012
• Issued: 05/26/2015
• Est. Priority Date: 05/31/2011
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Durant, Kevin, Hanuschik, Michael, Mohr, Paul W., Hsia, Jack
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Nguyen, Bao Long T
• Application Number:
  US13/483,455
• Publication Number:
  US 20120316573A1
• Time in Patent Office: 1,091 Days
• Field of Search: 700/264
• US Class Current: 700/257
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2018/1455 having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2090/0801 Prevention of accidental cutting or pricking
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/06 Communication with another machine
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/45 Compliance
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A method of controlling an operation of a robotically-controlled surgical instrument can include receiving a first input signal at a controller indicative of a user'"'"'s readiness to actuate the surgical instrument to perform a surgical procedure, outputting an output signal from the controller to provide feedback to the user in response to the received first input signal, receiving a second input signal at the controller confirming the user'"'"'s readiness to actuate the surgical instrument, outputting an actuation signal from the controller in response to receiving the second input signal, and actuating the surgical instrument to perform the surgical procedure based on the actuation signal.

Claims

1. A method of controlling an operation of a robotically-controlled surgical instrument, the method comprising:

receiving a first input signal at a controller, the first input signal indicating a user'"'"'s readiness to actuate the surgical instrument to perform a surgical procedure;

in response to the receiving of the first input signal at the controller, outputting an output signal from the controller to provide feedback to the user, the feedback indicating the surgical instrument is in an armed state;

receiving a second input signal at the controller, the second input signal confirming the user'"'"'s readiness to actuate the surgical instrument; and

in response to the receiving of the second input signal at the controller, outputting an actuation signal from the controller to transition the surgical instrument from the armed state to an operational state corresponding to actuation of the surgical instrument for performance of a surgical procedure.

2. The method of claim 1, wherein the feedback is chosen from auditory, visual, and haptic feedback.

3. The method of claim 1, wherein the feedback comprises a visual output on a display and/or an auditory output from a speaker.

4. The method of claim 1, wherein the first and second input signals are generated from input by the user at an input device.

5. The method of claim 4, wherein the input device comprises a foot pedal.

6. The method of claim 5, wherein the first input signal is generated in response to a first depression of the foot pedal, and the second input signal is generated in response to a second depression of the foot pedal.

7. The method of claim 1, further comprising receiving, at the controller, a third input signal indicating that the surgical instrument is in a configuration for performing the surgical procedure and for entering the armed state.

8. The method of claim 7, wherein the third input signal is generated in response to gripping a gripping input device.

9. The method of claim 8, wherein the third input signal is received before the first input signal is received.

10. The method of claim 7, wherein one or more conditions indicate that the surgical instrument is in a configuration for performing the surgical procedure, the one or more conditions comprising at least one of:

a first condition in which no surgical instrument other than the robotically-controlled surgical instrument is configured to map to a first input device, the first input device being configured to generate the first and second input signals in response to an actuation of the first input device, wherein the first input device is at a surgeon console of a robotic surgical system,

a second condition in which a patient-side manipulator of a patient-side console on which the surgical instrument is installed is actively associated with a gripping input device,

a third condition in which the surgical instrument is in a following state,

a fourth condition in which the surgical instrument is electrically connected to a controlling module that controls one or more operations of the surgical instrument, and

a fifth condition in which an energy generator to provide energy to the surgical instrument is electrically connected to an energy control module.

11. The method of claim 1, further comprising receiving an interruption signal at the controller, the interruption signal indicating that one or more termination conditions for leaving the armed state exists, the controller exiting the armed state in response to the receiving of the interruption signal.

12. The method of claim 11, wherein the one or more termination conditions comprise at least one of:

an occurrence of an internal fault of a robotic surgical system controlling the robotically-controlled surgical instrument,

movement of one or more joints of a patient-side manipulator of a patient-side console of the robotic surgical system,

installation of another surgical instrument at the patient-side console that is mapped to a first input device configured to generate the first and second input signals,

actuation of a second input device that is not associated with the first input device,

release of grips of a gripping input device at a surgeon console,

the patient-side manipulator on which the surgical instrument is installed being no longer actively associated with the gripping input device,

the surgical instrument not being in a following state,

the surgical instrument not being electrically connected to a controlling module that controls one or more operations of the surgical instrument, and

an energy generator to provide energy to the surgical instrument not being electrically connected to an energy control module.

13. The method of claim 11, wherein the interruption signal is received after the first input signal is received and after the armed state of the surgical instrument is indicated.

14. The method of claim 1, further comprising exiting the armed state after a predetermined time, the predetermined time being a time from the output of the output signal during which the second input signal is not received.

15. The method of claim 1, wherein the surgical instrument comprises an end effector having jaws and a cutting element, and wherein the operational state of the surgical instrument comprises an actuation of the cutting element to perform a cutting surgical procedure.

16. The method of claim 15, further comprising receiving a third input signal at the controller before the receiving of the first input signal, wherein the third input signal is generated in response to the jaws being in a closed position.

17. The method of claim 15, further comprising receiving an interruption signal at the controller when the jaws are not in the closed position, wherein the controller transitions the surgical instrument to exit the armed state in response to the receiving of the interruption signal.

18. The method of claim 1, wherein the feedback provided to the user comprises a prompt for the user to provide an input that generates the second input signal.

19. The method of claim 18, wherein the prompt is at least one of a visual, auditory, and haptic prompt.

24. A non-transitory computer-readable medium configured to cause a processor to execute a method of controlling an operation of a robotically-controlled surgical instrument according to claim 1.

20. A method of controlling an operation of a robotically-controlled surgical instrument, the method comprising:

receiving a first input at an input device, the first input indicating a user'"'"'s readiness to actuate the surgical instrument to perform a surgical procedure;

transmitting a first input signal in response to the receiving of the first input;

receiving feedback at an output device, the feedback being generated in response to the receiving of the first input signal, the feedback indicating the surgical instrument is in an armed state;

after the receiving of the feedback, receiving a second input at the input device, the second input confirming the user'"'"'s readiness to actuate the surgical instrument to perform the surgical procedure; and

transmitting a second input signal in response to the receiving of the second input to transition the surgical instrument from the armed state to an operational state corresponding to actuation of the surgical instrument for performance of the surgical procedure.

21. The method according to claim 20, wherein the output device is chosen from at least one of a display and a speaker, and the feedback is chosen from auditory and visual feedback.

22. The method according to claim 20, wherein the input device comprises a foot pedal.

23. The method according to claim 20, further comprising receiving, at the controller, a third signal indicating that the surgical instrument is in a configuration for performing the surgical procedure and for entering the armed state.

25. A system for controlling a robotically-controlled surgical instrument, the system comprising:

at least one input device for receiving input from a user;

at least one output device for providing feedback to the user; and

a controller in signal communication with the at least one input device and the at least one output device, wherein the controller is configured to transmit an actuation signal to actuate at least a portion of the surgical instrument to perform a surgical procedure,

wherein the controller is further configured to;

receive a first signal indicating that the surgical instrument is in a ready state to enter an armed state, the armed state being a state in which the surgical instrument is ready for subsequent actuation,

receive a second signal generated in response to input at the at least one input device, the second signal indicating a user'"'"'s readiness for a surgical instrument to enter the armed state, and

receive a third signal, subsequent to the second signal and generated in response to input at the at least one input device, the third signal indicating the user'"'"'s confirmed readiness to actuate the surgical instrument, and

wherein the controller is configured to transmit the actuation signal after receiving the third signal.

26. The system according to claim 25, wherein the third signal is received in response to the input at the at least one input device after the feedback is output to the user at the at least one output device.

27. The system according to claim 25, wherein the controller is configured to generate an output signal to provide the feedback to the user at the at least one output device in response to the received first signal.

28. A method of controlling an operation of a robotically-controlled surgical instrument, the method comprising:

receiving a first signal at a controller, the first signal indicating that the surgical instrument is in a state ready to enter an armed state, the armed state being a state in which the surgical instrument is ready to enter a subsequent operational state corresponding to actuation of the surgical instrument for performance of a surgical procedure;

receiving a second signal at the controller, the second signal indicating a user'"'"'s readiness for the surgical instrument to enter the armed state, the second signal being generated in response to input at one or more input devices;

outputting an arm signal from the controller in response to the receiving of the second signal at the controller, the arm signal placing the surgical instrument in the armed state;

receiving a third signal at the controller subsequent to the receiving of the second signal, the third signal being generated in response to input at the one or more input devices, the third signal indicating the user'"'"'s confirmed readiness for the surgical instrument to enter the operational state; and

outputting an actuation signal from the controller in response to the receiving of the third signal, the actuation signal transitioning the surgical instrument to the operational state.