Apparatus and method of user interface with alternate tool mode for robotic surgical tools

• US 9,050,120 B2
• Filed: 02/08/2008
• Issued: 06/09/2015
• Est. Priority Date: 09/30/2007
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Swarup, Nitish, Manzo, Scott
• Primary Examiner(s): Mawari, Redhwan K
• Assistant Examiner(s): King, Rodney P
• Application Number:
  US12/028,750
• Publication Number:
  US 20090088774A1
• Time in Patent Office: 2,678 Days
• Field of Search: 700/245, 606/1, 606/130
• US Class Current: 1/1
• 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 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 2034/715 Cable tensioning mechanisms for removing slack
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.

Claims

1. A user interface system for a robotic surgical instrument having a number of degrees of freedom of movement, the user interface system comprising:

a double click sensing process to detect a predetermined number of actions of a control input mechanism within a predetermined period of time;

a hard stop sensing process to detect a predetermined percentage of a hard stop in the movement of the control input mechanism, the hard stop being a closed position of the control input mechanism; and

a state machine operationally in communication with the double click sensing process and the hard stop sensing process, the state machine to switchably reduce the number of degrees of freedom of movement in the robotic surgical instrument in response to two closure cycles of the control input mechanism within the predetermined period of time and movement of the control input mechanism exceeding the predetermined percentage of the hard stop.

2. The user interface system of claim 1, wherein

the predetermined number of actions is two closure cycles of the control input mechanism.

3. The user interface system of claim 1, wherein

the state machine to further increase a gripping force of one or more end effectors of the robotic surgical instrument in response to movement of the control input mechanism exceeding the predetermined percentage of the hard stop.

4. The user interface system of claim 1, wherein

the state machine to further hold a gripping force of one or more end effectors of the robotic surgical instrument in response to movement of the control input mechanism exceeding the predetermined percentage of the hard stop.

5. The user interface system of claim 1, wherein

the control input mechanism is a master grip of a touch sensitive handle in a master control console.

6. The user interface system of claim 1, wherein

the predetermined period of time is a lock mode threshold time.

7. The user interface system of claim 1, further comprising:

a mode selection switch in communication with the state machine, the mode selection switch to signal the state machine to switchably reduce the number of degrees of freedom in the robotic surgical instrument.

8. The user interface system of claim 1, wherein

the elements of the system are controlled by instructions stored on a computer readable medium and performed by a processor.

9. A method for a robotic surgical instrument comprising:

entering a lock sensing mode for a robotic surgical instrument; and

in the lock sensing mode,

switchably reducing degrees of freedom of movement in the robotic surgical instrument in response to movement of the control input mechanism exceeding a predetermined percentage of a hard stop,

switchably clamping one or more end effectors of the robotic surgical instrument,

increasing a gripping force of one or more end effectors of the robotic surgical instrument in response to the reduced degrees of freedom of movement in the robotic surgical instrument, and

wherein one or more of the entering, the switchably reducing, the switchably clamping, and the increasing are controlled by instructions stored on a computer readable medium and performed by a processor.

10. The method of claim 9, wherein

the lock sensing mode is entered by double clicking master grips of a touch sensitive handle.

11. The method of claim 9, wherein

the lock sensing mode is entered by selecting a mode selection switch.

12. A method for a robotic surgical instrument comprising:

entering a lock sensing mode for a robotic surgical instrument; and

in the lock sensing mode,

switchably reducing degrees of freedom of movement in the robotic surgical instrument, wherein the degrees of freedom of movement in the robotic surgical instrument are switchably reduced in response to exceeding a predetermined percentage of a hard stop position of a control input mechanism, the hard stop position being a closed position of the control input mechanism; and

switchably clamping one or more end effectors of the robotic surgical instrument;

wherein one or more of the entering, the switchably reducing, and the switchably clamping are controlled by instructions stored on a computer readable medium and performed by a processor.

13. The method of claim 12, wherein

the one or more end effectors of the robotic surgical instrument are switchably clamped in response to exceeding the predetermined percentage of the hard stop position in the control input mechanism.

14. The method of claim 12, wherein

the control input mechanism is a pair of master grips.

15. A method for a robotic surgical instrument comprising:

entering a lock sensing mode for a robotic surgical instrument; and

in the lock sensing mode,

switchably reducing degrees of freedom of movement in the robotic surgical instrument, and

switchably clamping one or more end effectors of the robotic surgical instrument, wherein the one or more end effectors of the robotic surgical instrument are clamped in response to exceeding a first predetermined percentage of a hard stop position in a control input mechanism, the hard stop position being a closed position of the control input mechanism;

wherein one or more of the entering, the switchably reducing, and the switchably clamping are controlled by instructions stored on a computer readable medium and performed by a processor.

16. The method of claim 15, wherein

the one or more end effectors of the robotic surgical instrument are released in response to exceeding a second predetermined percentage of a hard stop position in the control input mechanism.

17. The method of claim 16, wherein

the control input mechanism is a pair of master grips.

18. A user interface system for a robotic surgical system, the user interface system comprising:

a normal tool mode, including a first alternate sensing process to detect a first alternate user input of a control input mechanism;

an alternate sensing mode including a second alternate sensing process to detect a second alternate user input of the control input mechanism, the second alternate user input is not detectable in the normal tool mode; and

an alternate tool mode and a state machine operationally in communication with the first alternate sensing process and the second alternate sensing process, the state machine to control a robotic surgical tool in an alternate manner in response to the alternate tool mode,

wherein the first alternate user input toggles the user interface system between the normal tool mode and the alternate sensing mode and the second alternate user input toggles the user interface system between the alternate sensing mode and the alternate tool mode;

wherein the alternate manner in which the state machine is to control the robotic surgical tool is one or more of

decreasing, a gripping force applied by end effectors of the robotic surgical tool to manipulate delicate tissue;

decreasing a wrist torque applied at a wrist of the robotic surgical tool to provide a softer wrist to manipulate delicate tissue;

locking the wrist of the robotic surgical tool without applying additional force on the end effectors;

locking the end effectors together without locking the wrist of the robotic surgical tool;

selecting video from an alternate camera in the robotic surgical system to view on a monitor;

selecting a different view angle from a camera in the robotic surgical system to view a different field of view; and

overlaying information onto a monitor of the robotic surgical system to provide additional on-screen information.

19. The user interface system of claim 18, wherein

the control input mechanism is a master grip of a touch sensitive handle in a master control console.

20. The user interface system of claim 18, wherein

the control input mechanism is a mode selection switch.

21. The user interface system of claim 18, wherein

one or more elements of the system are controlled by instructions stored on a computer readable medium and performed by a processor.