Tool grip calibration for robotic surgery

• US 9,317,651 B2
• Filed: 01/11/2008
• Issued: 04/19/2016
• Est. Priority Date: 05/04/2004
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Nixon, Tom
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): Marc, McDieunel
• Application Number:
  US11/972,771
• Publication Number:
  US 20080114494A1
• Time in Patent Office: 3,021 Days
• Field of Search: 700/245, 700/247, 700/248, 700/249, 700/256, 700/258, 700/259, 700/264, 318/568.11, 600/102, 600/130, 606/205, 901/1, 901/2, 901/9
• US Class Current: 1/1
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/066 for measuring torque
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/06 Measuring instruments not otherwise provided for
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/45123 Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
• CPC Class Codes: G05B 2219/49305 Store, memory on tool with control and maintenance data
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: Y10S 901/39 Jaw structure
• CPC Class Codes: Y10S 901/40 : Vacuum or mangetic
• CPC Class Codes: Y10S 901/44 : inspection
• CPC Class Codes: Y10S 901/45 : Compliance
• CPC Class Codes: Y10S 901/46 : Sensing device

Abstract

Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.

Claims

1. A method for calibrating a robotic end effector, the end effector comprising first and second end effector members, the method comprising:

applying a torque to at least one of the end effector members to move the first end effector member closer to the second end effector member to mutually engage the first and second end effector members;

jointly monitoring the applied torque and the position of the first end effector member relative to the second end effector member;

determining a position corresponding to mutual engagement of the first and second end effector members; and

storing said position corresponding to mutual engagement in a memory;

the method further comprising;

adjusting the position of a first grip relative to a second grip in a grip controller;

adjusting the position of the first end effector member relative to the second end effector member in response to the adjusting the position of the first grip relative to the second grip by applying a torque to at least one of the first and second end effector members;

applying an offset between the adjusted position of the grip controller versus the adjusted position of the end effector, the offset derived from the stored position corresponding to mutual engagement.

2. The method of claim 1, the determining a position corresponding to mutual engagement comprising determining a position corresponding to a relative increase in the absolute curvature of the monitored applied torque versus the position.

3. The method of claim 2, the determining a position corresponding to a relative increase in the absolute curvature being performed over a range of positions less than the full range of positions over which the end effector members may be maneuvered.

4. The method of claim 1, wherein the monitored applied torque is filtered by a low-pass filter before the determining the position corresponding to mutual engagement.

5. The method of claim 1, the applied torque monitored over a invited position range.

6. The method of claim 1, further comprising calibrating a second robotic end effector, the results of the calibrating the first and second robotic end effectors stored in a memory.

7. A method for calibrating a robotic end effector, the end effector comprising first and second end effector members, the method comprising:

applying a torque to at least one of the end effector members to move the first end effector member closer to the second end effector member to mutually engage the first and second end effector members;

jointly monitoring the applied torque and the position of the first end effector member relative to the second end effector member;

determining a position corresponding to mutual engagement of the first and second end effector members; and

storing said position corresponding to mutual engagement in a memory;

the determining a position corresponding to mutual engagement comprising determining a position corresponding to a relative increase in the absolute value of the second derivative of the monitored applied torque versus the position.

8. A system for calibrating a robotic end effector, the end effector comprising first and second end effector members, the system comprising:

means for applying a torque to at least one of the end effector members to move the first end effector member closer to the second end effector member to mutually engage the first and second end effector members;

means for monitoring the applied torque;

means for monitoring the position of the first end effector member relative to the second end effector member versus the monitored applied torque;

means for determining a position corresponding to mutual engagement of the first and second end effector members; and

means for storing said position corresponding to mutual engagement in a memory, the system further comprising;

a grip controller comprising a first grip and a second grip;

means for adjusting the position of the first end effector member relative to the second end effector member in response to the adjusting the position of the first grip relative to the second grip by applying a torque to at least one of the first and second end effector members; and

means for applying an offset between the adjusted position of the grip controller versus the adjusted position of the end effector, the offset derived from the stored position corresponding to mutual engagement.

9. A computer program product for calibrating a robotic end effector, the product comprising non-transitory computer-readable medium comprising:

code for causing a computer to apply a torque to at least one of the end effector members to move the first end effector member closer to the second end effector member to mutually engage the first and second end effector members;

code for causing a computer to monitor the applied torque;

code for causing a computer to monitor the position of the first end effector member relative to the second end effector member versus the monitored applied torque;

code for causing a computer to determine a position corresponding to mutual engagement of the first and second end effector members; and

code for causing a computer to store said position corresponding to mutual engagement in a memory;

the computer-readable medium further comprising;

code for causing a computer to adjust the position of a first grip relative to a second grip in a grip controller;

code for causing a computer to adjust the position of the first end effector member relative to the second end effector member in response to adjusting the position of a first grip relative to a second grip in the grip controller; and

code for causing a computer to apply an offset between the adjusted position of the grip controller versus the adjusted position of the end effector, the offset derived from the stored position corresponding to mutual engagement.

10. A system for calibrating a robotic end effector, the end effector comprising first and second end effector members, the system comprising:

means for applying a torque to at least one of the end effector members to move the first end effector member closer to the second end effector member to mutually engage the first and second end effector members;

means for monitoring the applied torque;

means for monitoring the position of the first end effector member relative to the second end effector member versus the monitored applied torque;

means for determining a position corresponding to mutual engagement of the first and second end effector members, such means comprising means for determining a position corresponding to a relative increase in the absolute value of the second derivative of the monitored applied torque versus the position; and

means for storing said position corresponding to mutual engagement in a memory.

11. A computer program product for calibrating a robotic end effector, the product comprising non-transitory computer-readable medium comprising:

code for causing a computer to apply a torque to at least one of the end effector members to move the first end effector member closer to the second end effector member to mutually engage the first and second end effector members;

code for causing a computer to monitor the applied torque;

code for causing a computer to monitor the position of the first end effector member relative to the second end effector member versus the monitored applied torque;

code for causing a computer to determine a position corresponding to mutual engagement of the first and second end effector members, such code comprising code for determining a position corresponding to a relative increase in the absolute value of the second derivative of the monitored applied torque versus the position; and

code for causing a computer to store said position corresponding to mutual engagement in a memory.