Haptic feedback devices for surgical robot

• US 9,198,714 B2
• Filed: 06/29/2012
• Issued: 12/01/2015
• Est. Priority Date: 06/29/2012
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Worrell, Barry C., Strobl, Geoffrey S., Trees, Gregory A., Batross, Jonathan T., Molitor, Nicholas G., Shoger, Kristen T., Norvell, David K., Andreyko, Michael J., Johnson, Gregory W., Snyder, Shawn C.
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US13/539,096
• Publication Number:
  US 20140005682A1
• Time in Patent Office: 1,250 Days
• Field of Search: 318/567, 318/568.1, 318/568.11, 318/568.21, 318/596, 318/675, 318/676, 606/130
• US Class Current: 1/1
• CPC Class Codes: A61B 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• CPC Class Codes: A61B 18/12 by passing a current through the tissue to be heated, e.g. high-frequency current
• CPC Class Codes: A61B 18/1442 Probes having pivoting end effectors, e.g. forceps
• CPC Class Codes: A61B 2017/320093 additional movable means performing cutting operation
• CPC Class Codes: A61B 2017/320094 additional movable means performing clamping operation
• CPC Class Codes: A61B 2017/320095 with sealing or cauterizing means
• CPC Class Codes: A61B 2018/00303 active, e.g. with a motor creating vibrations
• 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 34/74 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: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/90 Identification means for patients or instruments, e.g. tags

Abstract

Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.

Claims

1. A surgical robot control system, comprising:

a housing;

a controller located in the housing coupled to a socket, the socket to receive a handheld surgical user interface to control a function of a surgical instrument, the surgical instrument comprising an end effector and a mechanical interface to manipulate the end effector, the mechanical interface is operatively coupled to the controller;

at least one sensor coupled to the controller and the socket, the at least one sensor to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument; and

at least one feedback device electrically coupled to the controller to provide feedback to a user that is associated with a predetermined function of the surgical instrument.

2. The control system of claim 1, comprising:

a handheld surgical user interface coupled to the socket, the electronic handheld user interface to control a function of a surgical instrument, the surgical instrument comprising an end effector and mechanical interface to manipulate the end effector, the mechanical interface is operatively coupled to the controller.

3. The control system of claim 2, wherein the at least one feedback device is located within the handheld surgical user interface.

4. The control system of claim 1, wherein the at least one feedback device is located within the housing.

5. The control system of claim 1, comprising:

a surgical instrument compatibility logic to produce a signal indicative of the surgical instrument compatibility with the handheld surgical user interface.

6. The control system of claim 1, wherein the at least one sensor comprises a six-degrees-of-freedom input device.

7. The control system of claim 1, comprising:

a sensitivity knob coupled to the controller to adjust a movement ratio, wherein the movement ratio is a ratio of a movement of the handheld surgical user interface to a movement of the surgical instrument.

8. The control system of claim 7, wherein the movement ratio has a maximum ratio of 1:

1 movement.

9. The control system of claim 1, wherein the feedback device comprises at least one haptic feedback device to provide tactile feedback to the user.

10. The control system of claim 9, wherein:

the predetermined function of the surgical instrument comprises delivery of energy to a tissue site; and

wherein, the at least one haptic feedback device comprises a thermal element to produce a temperature gradient proportional to an energy level delivered to the tissue site by the end effector.

11. The control system of claim 10, wherein the thermal element comprises a sleeve slideably received over the handheld surgical user interface.

12. The control system of claim 9, wherein the predetermined function of the surgical instrument comprises application of a force to a tissue site.

13. The control system of claim 12, wherein the haptic feedback device comprises:

a force feedback device configured to produce a resistive force in the handheld surgical user interface, wherein the resistive force is proportional to a resistive force applied to the surgical instrument by the tissue site.

14. The control system of claim 13, wherein the force feedback device comprises an electromagnetic clutch.

15. The control system of claim 13, wherein the force feedback device comprises a servo motor.

16. The control system of claim 1, wherein the feedback device comprises an audible feedback device to provide an auditory signal to the user based on at least one predetermined condition of the surgical robot control system.

17. The control system of claim 1, wherein the feedback device comprises a visual feedback device to provide a visual indication to the user based on at least one predetermined condition of the surgical robot control system.

18. The control system of claim 1, wherein the handheld surgical user interface comprises:

a lever operatively coupled to the at least one sensor, wherein the at least one sensor detects movement of the lever about a pivot point, wherein a movement about the pivot point in a distal direction corresponds to a distal movement of the surgical instrument, a movement about the pivot point in a proximal direction corresponds to a proximal movement of the surgical instrument, and a movement about the pivot point in a direction transverse to the distal direction corresponds to a rotation of the surgical instrument;

a trigger disposed on the lever configured to control an action of the surgical instrument; and

a switch disposed on the lever to control an energy source coupled to the surgical instrument.

19. The control system of claim 18, wherein the lever is rotatable about the pivot point.

20. The control system of claim 1, wherein the handheld surgical user interface comprises:

a surgical device handle comprising;

a housing having a proximal end and a distal end;

a rotational knob rotatably coupled to the distal end of the housing to control a rotational orientation of the surgical instrument;

an articulation knob rotatably coupled to the middle of a body to control an articulation orientation of the surgical instrument; and

a trigger operatively coupled to a handpiece to control a function of the surgical instrument.

21. The control system of claim 1, wherein the handheld surgical user interface comprises a trigger, the trigger comprising:

a proximal trigger portion having a first length; and

a distal trigger hook comprising a distal portion having a second length, wherein the second length is less than the first length, and wherein the distal trigger hook is coupled to the proximal trigger portion.

22. A robotic surgical system comprising:

a surgical robot comprising a surgical instrument, the surgical instrument comprising an end effector and a mechanical interface to manipulate the end effector; and

a control system comprising;

a housing;

a controller located in the housing coupled to a socket to receive a handheld surgical user interface to control a function of the surgical instrument, wherein the controller is operatively coupled to the mechanical interface;

at least one sensor coupled to the controller and the socket, the at least one sensor to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument; and

at least one feedback device operably coupled to the controller to provide feedback to a user that is associated with a predetermined function of the surgical instrument.

23. The robotic surgical system of claim 22, comprising:

a handheld surgical user interface coupled to the socket, the electronic handheld user interface to control a function of a surgical instrument, the surgical instrument comprising an end effector and mechanical interface to manipulate the end effector, the mechanical interface is operatively coupled to the controller.

24. The robotic surgical system of claim 22, wherein the handheld surgical user interface comprises:

a lever operatively coupled to the at least one sensor, wherein the at least one sensor detects movement of the lever about a pivot point, wherein a movement about the pivot point in a distal direction corresponds to a distal movement of the surgical instrument, a movement about the pivot point in a proximal direction corresponds to a proximal movement of the surgical instrument, and a movement about the pivot point in a direction transverse to the distal direction corresponds to a rotation of the surgical instrument;

a trigger disposed on the lever configured to control an action of the surgical instrument; and

a switch disposed on the lever to control an energy source coupled to the surgical instrument.

25. The robotic surgical system of claim 22, wherein the handheld surgical user interface comprises:

a surgical device handle, comprising;

a housing having a proximal end and a distal end;

a rotational knob rotatably coupled to the distal end of the housing to control a rotational orientation of the surgical instrument;

an articulation knob rotatably coupled to the middle of a body to control an articulation orientation of the surgical instrument; and

a trigger operatively coupled to a handpiece to control a function of the surgical instrument.

26. A method for controlling a robotic surgical device, comprising:

interfacing, via a socket, a controller and a handheld surgical user interface;

manipulating, by a user, the handheld surgical user interface to produce one or more electrical signals via a sensor operatively coupled to the handheld surgical user interface and the controller;

converting, via the controller, the one or more electrical signals into one or more control signals for the robotic surgical device;

receiving, via the controller, one or more feedback signals from the robotic surgical device, and

producing, via a feedback device, one or more feedback conditions to emulate one or more interactions between the robotic surgical device and a tissue site.