Surgical instrument control and actuation

• US 9,320,416 B2
• Filed: 01/30/2013
• Issued: 04/26/2016
• Est. Priority Date: 06/13/2006
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Cooper, Thomas G., McGrogan, Anthony K.
• Primary Examiner(s): Thomson, William
• Assistant Examiner(s): LIPITZ, JEFFREY BRIAN
• Application Number:
  US13/754,541
• Publication Number:
  US 20130144116A1
• Time in Patent Office: 1,182 Days
• Field of Search: 606/1, 606/130, 744/900.1, 744/900.5
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/00154 using guiding arrangements for insertion
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/00165 with light-conductive means, e.g. fibre optics A61B1/07 takes precedence
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/002 having rod-lens arrangements A61B1/055 takes precedence
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• 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 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/06 with illuminating arrangements
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00225 Systems for controlling multiple different instruments, e.g. microsurgical systems
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00318 Steering mechanisms
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/0034 adapted to be inserted through a working channel of an endoscope
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00477 : Coupling A61B2017/0046 takes precedence
• 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 34/30 : Surgical robots
• CPC Class Codes: A61B 34/32 : operating autonomously
• 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 34/72 : Micromanipulators
• CPC Class Codes: A61B 5/0086 : using infrared radiation
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/67 : for remote operation

Abstract

Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.

Claims

1. A method comprising:

sensing, by a control system, if either a surgical instrument assembly or an imaging system is mounted on a telemanipulation actuator assembly, wherein the surgical instrument assembly and the imaging system are interchangeably mountable on the telemanipulation actuator assembly, the telemanipulation actuator assembly comprising one or more motors,

the surgical instrument assembly including a first transmission mechanism, a body tube, and an end effector, a body of the first transmission mechanism being couplable to and decouplable from the telemanipulation actuator assembly, the body tube having a proximal end and a distal end, the proximal end of the body tube being coupled to the body of the first transmission mechanism, and the end effector being coupled to the distal end of the body tube,

the imagining system comprising a second transmission mechanism,

the first transmission mechanism and the second transmission mechanism each comprising a wedge shape, the wedge shape of the first transmission mechanism and the wedge shape of the second transmission mechanism each comprising a vertex edge, the vertex edge of the wedge shape of the first transmission mechanism being oriented along and adjacent an extended centerline of a guide tube when the surgical instrument assembly is mounted on the telemanipulation actuator assembly, and the vertex edge of the wedge shape of the second transmission mechanism being oriented along and adjacent the extended centerline of the guide tube when the imaging system is mounted on the telemanipulation actuator assembly;

manipulating, by the control system, the surgical instrument assembly with the telemanipulation actuator assembly in an instrument control mode if the sensing indicates that the surgical instrument assembly is mounted on the telemanipulation actuator assembly; and

manipulating, by the control system, the imaging system with the telemanipulation actuator assembly in a camera control mode if the sensing indicates that the imaging system is mounted on the telemanipulation actuator assembly, the camera control mode being different from the instrument control mode.

2. A method comprising:

manipulating a surgical instrument assembly with a telemanipulation actuator assembly in a telemanipulation control system instrument control mode if the surgical instrument assembly is sensed, by a controller, as being mounted on the telemanipulation actuator assembly; and

manipulating an imaging system with the telemanipulation actuator assembly in a telemanipulation control system camera control mode if the imaging system is sensed, by the controller, as being mounted on the telemanipulation actuator assembly;

the camera control mode being different from the instrument control mode;

the surgical instrument assembly and the imaging system each being configured to be interchangeably mounted on the telemanipulation actuator assembly;

the telemanipulation actuator assembly comprising one or more motors;

the surgical instrument assembly including a first transmission mechanism, a first body tube, and an end effector, a body of the first transmission mechanism being couplable to and decouplable from the telemanipulation actuator assembly, the first body tube having a proximal end and a distal end, the proximal end of the first body tube being coupled to the body of the first transmission mechanism, and the end effector being coupled to the distal end of the first body tube;

the imaging system including a second transmission mechanism, a second body tube, and a camera, a body of the second transmission mechanism being couplable to and decouplable from the telemanipulation actuator assembly, the second body tube having a proximal end and a distal end, the proximal end of the second body tube being coupled to the body of the second transmission mechanism, and the camera being coupled to the distal end of the second body tube;

the first transmission mechanism and the second transmission mechanism each comprising a wedge shape;

the wedge shape of the first transmission mechanism and the wedge shape of the second transmission mechanism each comprising a vertex edge;

the vertex edge of the wedge shape of the first transmission mechanism being oriented along and adjacent an extended centerline of a guide tube when the surgical instrument assembly is mounted on the telemanipulation actuator assembly; and

the vertex edge of the wedge shape of the second transmission mechanism being oriented along and adjacent the extended centerline of the guide tube when the imaging system is mounted on the telemanipulation actuator assembly.

3. A method of claim 2:

wherein manipulating the surgical instrument assembly comprises changing an orientation of the end effector of the surgical instrument assembly without changing a position of the end effector of the surgical instrument assembly.

4. A method of claim 2:

wherein manipulating the surgical instrument assembly comprises changing heave or sway of the end effector of the surgical instrument assembly without changing pitch or yaw of the end effector of the surgical instrument assembly.

5. A method of claim 2:

wherein manipulating the imaging system comprises changing an orientation of the camera of the imaging system without changing a position of the camera of the imaging system.

6. A method of claim 2:

wherein manipulating the imaging system comprises changing heave or sway of the camera of the imaging system without changing pitch or yaw of the camera of the imaging system.

7. A method of claim 2:

wherein manipulating the surgical instrument assembly comprises changing an orientation of the end effector of the surgical instrument assembly without changing a position of the end effector of the surgical instrument assembly, or changing heave or sway of the end effector of the surgical instrument assembly without changing pitch or yaw of the end effector of the surgical instrument assembly; and

wherein manipulating the imaging system comprises changing an orientation of the camera of the imaging system without changing a position of the camera of the imaging system, or changing heave or sway of the camera of the imaging system without changing pitch or yaw of the camera of the imaging system.