User initiated break-away clutching of a surgical mounting platform

• US 9,452,020 B2
• Filed: 08/15/2013
• Issued: 09/27/2016
• Est. Priority Date: 08/15/2012
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Griffiths, Paul, Mohr, Paul, Swarup, Nitish, Hanuschik, Michael
• Primary Examiner(s): Farah, Ahmed
• Application Number:
  US13/967,594
• Publication Number:
  US 20140052154A1
• Time in Patent Office: 1,139 Days
• Field of Search: 606/1, 606/130, 901/2, 901/6, 901/8, 901/9, 901 14- 19, 901/30, 901/41, 128/898
• US Class Current: 1/1
• 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 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2090/066 for measuring torque
• CPC Class Codes: A61B 2090/508 with releasable brake mechanisms
• 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 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/06 Measuring instruments not otherwise provided for
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: G05B 2219/40414 Man robot interface, exchange of information between operator and robot
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices.

Claims

1. A medical device comprising:

a linkage having a joint;

a drive unit coupled to the linkage; and

a processor coupled with the drive unit, the processor being configured to;

operate the medical device in a first state in which, in response to a first manual effort against the linkage below an articulation threshold, the processor transmits a first signal to the drive unit, the first signal causing the drive unit to inhibit manual articulation from a first pose of the linkage;

operate the medical device in a second state in which, in response to a second manual effort against the linkage exceeding the articulation threshold, the processor transmits a second signal to the drive unit, the second signal causing the drive unit to facilitate a manual articulation from the first pose of the linkage toward a second pose of the linkage; and

operate the medical device in a third state in which, in response to a determining that the linkage is at the second pose of the linkage, the processor transmits a third signal to the drive unit, the third signal causing the drive unit to inhibit manual articulation of the second pose of the linkage.

2. The medical device of claim 1, further comprising:

a joint sensor coupled to the joint, the joint sensor configured to sense a first torque applied by the first manual effort against the joint and transmit the first torque to the processor;

the processor being configured to generate, in response to receiving the first torque, the first signal so that the first signal causes the drive unit to apply a counteracting torque to the joint that opposes the first torque and urges the linkage back toward the first pose of the linkage.

3. The medical device of claim 2,

the joint sensor configured to sense a second torque applied by the second manual effort against the joint and transmit the second torque to the processor, and

the processor being configured to generate the second signal, in response to receiving the second torque and on condition that the second torque exceeds the articulation threshold, so that the drive unit decreases the counteracting torque so that the first torque is sufficient to manually move the linkage.

4. The medical device of claim 3, wherein the processor is configured to determine the second manual effort exceeds the articulation threshold when the second torque exceeds a threshold torque.

5. The medical device of claim 1, the second signal includes a friction compensation component that mitigates friction of the linkage during the manual articulation toward the second pose of the linkage.

6. The medical device of claim 1, the processor being configured to determine that the linkage is at the second pose of the linkage on condition that a velocity of the manual articulation is below a threshold velocity.

7. The medical device of claim 1, the processor being configured to determine that the linkage is at the second pose of the linkage on condition that a velocity of the manual articulation is below a threshold velocity for a threshold dwell time so that the drive unit facilitates a reversal of a direction of the manual articulation without inhibiting the manual articulation.

8. The medical device of claim 1, the processor being configured to transmit the third signal to the drive unit to cause the drive unit to inhibit the manual articulation from the second pose of the linkage in response to a condition that a third manual effort against the linkage remains below the articulation threshold.

9. The medical device of claim 1:

wherein the linkage comprises a set-up structure having a proximal base and a platform, the joint being between the proximal base and the platform,

wherein the platform supports a plurality of surgical manipulators, each manipulator comprising an instrument holder configured for releasably receiving a surgical instrument, and

wherein the manual articulation from the first pose to the second pose alters positions of the plurality of surgical manipulators relative to a surgical site.

10. The medical device of claim 1,

the linkage being included in a surgical manipulator having an instrument holder and a cannula interface, the instrument holder being configured for releasably receiving a surgical instrument, and the cannula interface being configured for releasably receiving a cannula,

the surgical manipulator being configured to pivotably move a shaft of the surgical instrument within a minimally invasive surgical aperture adjacent the cannula so as to manipulate an end effector of the surgical instrument, and

the processor being configured to operate the medical device in a fourth state in which, in response to the cannula being mounted to the cannula interface, the processor transmits a fourth signal to the drive unit, the fourth signal causing the drive unit to inhibit manual articulation of the joint by a third manual effort against the linkage exceeding the articulation threshold.

11. The medical device of claim 1,

wherein the drive unit comprises a brake, and

wherein causing the drive unit to inhibit manual articulation comprises causing an application of the brake.

12. The medical device of claim 1, wherein the articulation threshold comprises a torque.

13. The medical device of claim 1, wherein the articulation threshold comprises a force.

14. A surgical system comprising:

a linkage comprising a joint between a proximal base and an instrument holder configured for releasably supporting a surgical instrument;

a drive system coupled to the linkage;

a torque sensor system coupled to the joint; and

a processor coupling the torque sensor system with the drive system, the processor configured to;

operate the surgical system in a first state in which, in response to a first torque sensed by the torque sensor system being below an articulation torque threshold, the processor transmits a first drive signal to the drive system, the first drive signal causing the drive system to inhibit manual articulation from a first joint configuration;

operate the surgical system in a second state in which, in response to a second torque sensed by the torque sensor system exceeding the articulation torque threshold, the processor transmits a second drive signal to the drive system, the second drive signal causing the drive system to facilitate a manual articulation from the first joint configuration toward a second joint configuration using a movement torque lower than the articulation torque threshold; and

operate the surgical system in a third state where, in response to a determination that the linkage is at the second joint configuration on condition that a velocity of the manual articulation being below a threshold velocity, the processor transmits a third drive signal to the drive system, the third drive signal causing the drive system to inhibit manual articulation from the second joint configuration on condition that a third torque sensed by the torque sensor system being below the articulation torque threshold.

15. A method comprising:

operating a medical device comprising a linkage having a joint, a drive unit coupled to the linkage, and a processor coupled to the drive unit in a first state in which, in response to a first manual effort against the linkage below an articulation threshold, the processor transmits a first signal to the drive unit, the first signal causing the drive unit to inhibit manual articulation from a first pose of the linkage;

operating the medical device in a second state in which, in response to a second manual effort against the linkage exceeding the articulation threshold, the processor transmits a second signal to the drive unit, the second signal causing the drive unit to facilitate a manual articulation from the first pose of the linkage toward a second pose of the linkage; and

operating the medical device in a third state in which, in response to a determining that the linkage is at the second pose of the linkage, the processor transmits a third signal to the drive unit, the third signal causing the drive unit to inhibit manual articulation of the second pose of the linkage.

16. The method of claim 15, further comprising:

sensing, using a joint sensor coupled to the joint, a first torque applied by the first manual effort against the joint; and

generating, in response to receiving the first torque, the first signal so that the first signal causes the drive unit to apply a counteracting torque to the joint that opposes the first torque and urges the linkage back toward the first pose of the linkage.

17. The method of claim 16,

sensing, using the joint sensor, a second torque applied by the second manual effort against the joint;

and

generating the second signal, in response to receiving the second torque and on condition that the second torque exceeds the articulation threshold, so that the drive unit decreases the counteracting torque so that the first torque is sufficient to manually move the linkage.

18. The method of claim 17, further comprising determining the second manual effort exceeds the articulation threshold when the second torque exceeds a threshold torque.

19. The method of claim 15, further comprising generating the second signal to include a friction compensation component that mitigates friction of the linkage during the manual articulation toward the second pose of the linkage.

20. The method of claim 15, further comprising determining that the linkage is at the second pose of the linkage on condition that a velocity of the manual articulation is below a threshold velocity.

21. The method of claim 15, further comprising determining that the linkage is at the second pose of the linkage on condition that a velocity of the manual articulation is below a threshold velocity for a threshold dwell time so that the drive unit facilitates a reversal of a direction of the manual articulation without inhibiting the manual articulation.

22. The method of claim 15, further comprising transmitting the third signal to the drive unit to cause the drive unit to inhibit the manual articulation from the second pose of the linkage in response to a condition that a third manual effort against the linkage remains below the articulation threshold.

23. The method of claim 15, further comprising causing the drive unit to inhibit manual articulation by applying a brake of the drive unit.

24. The method of claim 15, wherein the articulation threshold comprises a torque.

25. The method of claim 15, wherein the articulation threshold comprises a force.