Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide

• US 9,138,129 B2
• Filed: 11/11/2011
• Issued: 09/22/2015
• Est. Priority Date: 06/13/2007
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Diolaiti, Nicola
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Kong, Sze-Hon
• Application Number:
  US13/294,403
• Publication Number:
  US 20120059392A1
• Time in Patent Office: 1,411 Days
• Field of Search: 606/104, 606/130, 606/109, 173/4, 173/19, 227/2, 227/109, 227/119, 700/245, 700/247, 700/250, 700/255, 700/257, 600/424, 600/106, 600/216, 600/217, 600/219
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/00194 adapted for three-dimensional imaging
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 2017/00278 Transorgan operations, e.g. transgastric
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/3447 Linked multiple cannulas
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2090/062 penetration depth
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• 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 34/72 Micromanipulators
• CPC Class Codes: A61B 5/15196 semi-automatically retracted, i.e. in which the retraction of the piercing unit requires a deliberate action by the user such as manual release of spring-biased retraction means
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

Claims

1. A method for moving a plurality of articulated instruments back together towards an entry guide out of which the plurality of articulated instruments extend, the method comprising:

using a processor to automatically command the plurality of articulated instruments to be moved towards retraction configurations suitable for entering the entry guide in response to a command from a control mechanism, if the command indicates distal ends of the plurality of articulated instruments are to be moved back together towards the entry guide by a distance greater than a retraction-on distance from a reference position.

2. The method of claim 1, further comprising:

applying a haptic force against the control mechanism; and

using the processor to automatically command an abrupt change to the haptic force, if the received command indicates the distal ends of the plurality of articulated instruments are to be moved back together towards the entry guide by the distance greater than the retraction-on distance from the reference position.

3. The method of claim 1, further comprising:

using the processor to automatically command a progressively increasing haptic force to be applied against the control mechanism in response to a sequence of commands from the control mechanism, if the sequence of commands indicate the distal ends of the plurality of articulated instruments are to be moved back together towards the entry guide by distances which progressively exceed a limit distance from the reference position, wherein the limit distance is less than the retraction-on distance.

4. The method of claim 1, further comprising:

using the processor to automatically command joints, which are used for pivoting the entry guide, to be locked in place, if the command from the control mechanism indicates the entry guide is to be moved translationally along its longitudinal axis in a retraction direction by a distance exceeding a locking distance from the reference position, wherein the locking distance is less than the retraction-on distance; and

using the processor to command the plurality of articulated instruments to be moved back together towards the entry guide, instead of commanding movement of the entry guide, in response to the command from the control mechanism, if the command indicates the entry guide is to be moved translationally along its longitudinal axis in the retraction direction.

5. The method of claim 4, further comprising:

using the processor to automatically command the joints, which are used for pivoting the entry guide, to be unlocked after the plurality of articulated instruments has been retracted back towards the entry guide to a distance which is safe for such pivoting.

6. The method of claim 1, further comprising:

using the processor to command the plurality of articulated instruments to be moved back together towards the entry guide in response to a sequence of commands received from the control mechanism, if the sequence of commands indicates the plurality of articulated instruments is to be moved back together towards the entry guide and either each of the plurality of articulated instruments is in a configuration which allows it to be retracted into the entry guide or each of the plurality of articulated instruments is a minimum distance away from a distal end of the entry guide.

7. The method of claim 6, wherein one of the plurality of articulated instruments is an articulated camera instrument having an image capturing end, and wherein using the processor to command the plurality of articulated instruments to be moved back together towards the entry guide comprises:

using the processor to command the articulated camera instrument to be moved back towards the entry guide, in response to the sequence of commands, until the image capturing end enters the entry guide.

8. The method of claim 7, wherein another one of the plurality of articulated instruments is an articulated tool instrument, and wherein the using the processor to command the plurality of articulated instruments to be moved back together towards the entry guide comprises:

using the processor to command the articulated tool instrument to be moved back towards the entry guide, in response to the sequence of commands, even after a working end of the articulated tool instrument enters the entry guide.

9. The method of claim 6, wherein the using the processor to command the plurality of articulated instruments to be moved back together towards the entry guide comprises using the processor to command the plurality of articulated instruments to be moved in a manner which is subject to a progressively increasing velocity limit as the sequence of commands indicate the plurality of articulated instruments is to be moved back together towards the entry guide by distances which progressively exceed the retraction-on distance from the initial position.

10. The method of claim 9, wherein the using the processor to command the plurality of articulated instruments to be moved back together towards the entry guide comprises using the processor to command the plurality of articulated instruments to be moved in a manner which is subject to a maximum velocity limit upon the processor determining that one of the sequence of commands indicates the plurality of articulated instruments is to be moved back together towards the entry guide by a distance that exceeds a maximum distance from the reference position, wherein the maximum distance is greater than the retraction-on distance.

11. A method of re-orienting an entry guide having a plurality of articulated instruments extending out of the entry guide, the method comprising:

receiving a first command from an input device to move the entry guide translationally along its longitudinal axis in a retraction direction by a distance exceeding a locking distance from a reference position;

using a processor to command joints used for pivoting the entry guide to be locked in place in response to the first command;

receiving second commands from the input device to move the entry guide translationally along its longitudinal axis in the retraction direction by distances greater than a retraction-on distance from the reference position, wherein the retraction-on distance is greater than the locking distance;

using the processor to command the plurality of articulated instruments to assume retraction configurations and be retracted in tandem towards the entry guide in response to the second commands;

using the processor to command the joints used for pivoting the entry guide to be unlocked after the plurality of articulated instruments has been retracted back towards the entry guide by a distance that allows pivoting of the entry guide without any of the plurality of articulated instruments harming any patient anatomy;

receiving third commands from the input device to pivot the entry guide to a different orientation; and

using the processor to command the joints used for pivoting the entry guide to pivot the entry guide in response to the third commands.

12. The method of claim 11, further comprising:

using the processor to command an abrupt change to a haptic force being applied against the input device upon receiving a command from the input device to move the entry guide translationally along its longitudinal axis in the retraction direction by a distance equal to or greater than the retraction-on distance from the reference position.

13. A robotic system comprising:

at least one input device;

an entry guide;

a plurality of articulated instruments extending out of a distal end of the entry guide;

a plurality of instrument manipulators for manipulating corresponding ones of the plurality of articulated instruments; and

a processor programmed to;

command the plurality of instrument manipulators to manipulate the plurality of articulated instruments so as to assume retraction configurations in response to one or more commands received from the at least one input device to move the plurality of articulated instruments in tandem back towards the entry guide by a distance greater than a retraction-on distance from a reference position.

14. The system of claim 13, wherein the processor is programmed to cause an abrupt change to a haptic force being applied against the at least one input device upon the at least one input device commanding the plurality of articulated instruments to move in tandem back towards the entry guide by a distance greater than the retraction-on distance from the reference position.

15. The system of claim 13, wherein the processor is programmed to cause a progressively increasing haptic force to be applied against the at least one input device in response to a sequence of commands from the at least one input device to move the plurality of articulated instruments in tandem back towards the entry guide by distances which progressively exceed a limit distance from the reference position, wherein the limit distance is less than the retraction-on distance.

16. The system of claim 13, further comprising:

an entry guide manipulator having a plurality of joints used for pivoting the entry guide;

wherein the processor is programmed to;

cause the plurality of joints of the entry guide manipulator to be locked in place upon receiving a command from the at least one input device to move the entry guide translationally along its longitudinal axis in a retraction direction by a distance exceeding a locking distance from the reference position, wherein the locking distance is less than the retraction-on distance; and

generate commands to move the plurality of articulated instruments in tandem back towards the entry guide from commands received from the at least one input device to move the entry guide translationally along its longitudinal axis in the retraction direction.

17. The system of claim 16, wherein the processor is programmed to cause the plurality of joints of the entry guide manipulator to be unlocked after the plurality of articulated instruments has been retracted into the entry guide.

18. The system of claim 16, further comprising:

a viewer for displaying processed images originating from an articulated camera instrument;

wherein the processor is programmed to command the plurality of instrument manipulators to manipulate the plurality of articulated instruments so as to move in tandem back towards the entry guide in response to commands from the at least one input device in such a fashion as to provide an operator of the at least one input device an impression that the operator is pushing the displayed processed images away while the operator is viewing the viewer and manipulating the at least one input device in a manner that results in commanding the entry guide to move translationally along its longitudinal axis in the retraction direction.

19. The system of claim 18, wherein the at least one input device comprises left and right input devices respectively operated by left and right hands of the operator, pivot points of the left and right input devices defining a handle bar axis which passes through the pivot points, and the processor is programmed to:

command the entry guide manipulator to rotate the entry guide about a first axis in response to movement of the first and second input devices in opposite forward and back directions prior to the plurality of joints of the entry guide manipulator being locked in place, command the entry guide manipulator to rotate the entry guide about a second axis in response to movement of the first and second input device in opposite up and down directions prior to the plurality of joints of the entry guide manipulator being locked in place, command the entry guide manipulator to rotate the entry guide about a third axis in response to pivoting the first and second input devices in a same angular direction about the handle bar axis prior to the plurality of joints of the entry guide manipulator being locked in place, and command the at least one instrument manipulator to move the plurality of articulated instruments in common directions parallel to the longitudinal axis of the entry guide in response to moving the left and right input devices forward and backward in unison regardless of whether the plurality of joints of the entry guide manipulator are locked in place.

20. The system of claim 13, wherein the processor is programmed to cause the plurality of articulated instruments to be moved back towards the entry guide in response to the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide if each of the plurality of instruments is in a configuration which allows it to be retracted into the entry guide or if each of the plurality of articulated instruments is a minimum distance away from a distal end of the entry guide.

21. The system of claim 20, wherein the processor is programmed to command the at least one instrument manipulator to manipulate the plurality of articulated instruments so as to be moved in tandem back towards the entry guide subject to a progressively increasing velocity limit as the commands from the at least one input device to move the plurality of articulated instruments in tandem back towards the entry guide exceed the retraction-on distance from the reference position.

22. The system of claim 21, wherein the processor is programmed to command the plurality of instrument manipulators to manipulate the plurality of articulated instruments so as to be moved in tandem back towards the entry guide subject to a maximum velocity limit after the commands from the at least one input device to move the plurality of articulated instruments in tandem back towards the entry guide exceed a maximum distance from the reference position, wherein the maximum distance is greater than the retraction-on distance.

23. The system of claim 20, wherein one of the plurality of articulated instruments is an articulated camera instrument having an image capturing end, and wherein the processor is programmed to command the plurality of instrument manipulators to manipulate the plurality of articulated instruments so as to be moved in tandem back towards the entry guide by manipulating the articulated camera instrument so as to be moved back towards the entry guide, in response to the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide, until the image capturing end enters the entry guide.

24. The system of claim 23, wherein another one of the plurality of articulated instruments is an articulated tool instrument, and wherein the processor is programmed to command the at least one instrument manipulator to manipulate the plurality of articulated instruments to be moved in tandem back towards the entry guide by manipulating the articulated tool instrument so as to be moved back towards the entry guide, in response to the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide, even after its working end enters the entry guide.