Robotic system and method for transitioning between operating modes

• US 9,566,122 B2
• Filed: 06/04/2015
• Issued: 02/14/2017
• Est. Priority Date: 08/03/2012
• Status: Active Grant

• Current Assignee: Stryker Corporation
• Original Assignee: Stryker Corporation
• Inventors: Ketchel, John S., Bowling, David Gene, Stuart, John Michael, Beer, Joel N.
• Primary Examiner(s): Edwards, Jerrah
• Assistant Examiner(s): WEBER, TAMARA L
• Application Number:
  US14/730,619
• Publication Number:
  US 20150265358A1
• Time in Patent Office: 621 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/16 Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans arthroscopic bone cutters A61B17/320016; dental implant drills potentially for other surgical use A61C8/0089; bone grinders A61F2/4644, A22C17/06; A61B17/1662 takes precedence over all other subgroups except A61B17/17
• CPC Class Codes: A61B 17/1626 Control means; Display units
• CPC Class Codes: A61B 18/148 having a short, rigid shaft for accessing the inner body transcutaneously, e.g. for neurosurgery or arthroscopy
• CPC Class Codes: A61B 2018/00565 Bone
• CPC Class Codes: A61B 2018/00601 Cutting
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2046 Tracking techniques
• CPC Class Codes: A61B 2090/066 for measuring torque
• 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 34/32 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 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 13/00 Controls for manipulators programme controls B25J9/16; control in general G05
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 9/009 being mechanically linked with one another at their distal ends
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: G05B 2219/40191 Autonomous manipulation, computer assists operator during manipulation
• CPC Class Codes: G05B 2219/45117 Medical, radio surgery manipulator
• CPC Class Codes: G16H 40/63 : for local operation

Abstract

A robotic system includes a surgical manipulator and a force/torque sensor. The surgical manipulator operates in a first operating mode in which a user applies forces and torques to the surgical instrument to cause movement of the energy applicator. The surgical manipulator also operates in a second operating mode in which the surgical manipulator moves the energy applicator along a tool path. A controller monitors the output of the force/torque sensor as the energy applicator is being moved along the tool path in the second operating mode and transitions from the second operating mode to the first operating mode in response to the output exceeding associated limits.

Claims

1. A robotic system for positioning an energy applicator extending from a surgical instrument with respect to target tissue, said system comprising:

a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving said plurality of links to position the energy applicator with respect to the target tissue,

said force/torque sensor configured to generate an output representing forces and torques applied to said force/torque sensor,

said surgical manipulator including at least one controller configured to;

control operation of said surgical manipulator in a first operating mode in which a user applies forces and torques to said force/torque sensor to cause movement of the energy applicator or a second operating mode in which said surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, said calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in said second operating mode;

determine a commanded pose to which the energy applicator is advanced in said first operating mode or said second operating mode based on said output of said force/torque sensor and said calculated forces and torques;

monitor said output of said force/torque sensor as the energy applicator is being moved along the tool path in said second operating mode;

determine if said output exceeds an associated limit;

transition from said second operating mode to said first operating mode to enable movement of the energy applicator in said first operating mode by adjusting said forces and torques calculated to advance and orient the surgical instrument in said second operating mode in response to said output exceeding said associated limit; and

reposition the energy applicator off the tool path based on forces and torques applied to said force/torque sensor by the user after transitioning from said second operating mode to said first operating mode.

2. The system of claim 1 wherein said at least one controller is configured to transition said surgical manipulator from said second operating mode to said first operating mode if said output exceeds said associated limit for a time greater than a designated time period.

3. The system of claim 1 wherein said first operating mode is a manual mode and said second operating mode is a semi-autonomous mode.

4. The system of claim 1 wherein said at least one controller includes a manipulator controller and a plurality of joint motor controllers, said plurality of joint motor controllers configured to control said plurality of actuators to move the energy applicator in one or more degrees of freedom.

5. The system of claim 1 wherein said at least one controller is configured to:

model the surgical instrument and the energy applicator as a virtual rigid body and determine forces and torques to be applied to the virtual rigid body to advance the energy applicator in said second operating mode.

6. The system of claim 1 wherein said at least one controller is configured to set said forces and torques calculated to advance and orient the surgical instrument in said second operating mode to zero to transition said surgical manipulator from said second operating mode to said first operating mode when said output exceeds said associated limit.

7. The system of claim 1 including a pendant having a switch configured to, when actuated, place said surgical manipulator back into said second operating mode after said at least one controller transitions said surgical manipulator from said second operating mode to said first operating mode.

8. The system of claim 1 wherein said at least one controller is configured to determine a commanded velocity at which the energy applicator is advanced.

9. The system of claim 1 including a plurality of joints between adjacent links.

10. The system of claim 9 wherein said at least one controller is configured to determine said commanded pose and to determine joint angles that position the energy applicator according to said commanded pose.

11. The system of claim 10 wherein said at least one controller is configured to model the surgical instrument and the energy applicator as a virtual rigid body having virtual mass and virtual inertia.

12. The system of claim 11 wherein said at least one controller is configured to determine a total force and a total torque, wherein said total force and said total torque are applied to a center of gravity of said virtual rigid body to advance the energy applicator.

13. A method for positioning an energy applicator extending from a surgical instrument with respect to target tissue with a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving the plurality of links, said method comprising the steps of:

controlling operation of the surgical manipulator in a first operating mode in which a user applies forces and torques to the force/torque sensor to cause movement of the energy applicator or a second operating mode in which the surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, the calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in the second operating mode;

determining a commanded pose to which the energy applicator is advanced in the first operating mode or the second operating mode based on output of the force/torque sensor and the calculated forces and torques;

monitoring the output of the force/torque sensor as the energy applicator is being moved along the tool path in the second operating mode;

determining if the output exceeds an associated limit;

transitioning from the second operating mode to the first operating mode to enable movement of the energy applicator in the first operating mode by adjusting the forces and torques calculated to advance and orient the surgical instrument in the second operating mode in response to the output exceeding the associated limit; and

repositioning the energy applicator off the tool path based on forces and torques applied to the force/torque sensor by the user after transitioning from the second operating mode to the first operating mode.

14. The method of claim 13 including transitioning the surgical manipulator from the second operating mode to the first operating mode if the output exceeds the associated limit for a time greater than a designated time period.

15. The method of claim 13 wherein the first operating mode is a manual mode and the second operating mode is a semi-autonomous mode.

16. The method of claim 13 including modeling the surgical instrument and the energy applicator as a virtual rigid body and determining forces and torques to be applied to the virtual rigid body to advance the energy applicator in the second operating mode.

17. The method of claim 13 including setting the forces and torques calculated to advance and orient the surgical instrument in the second operating mode to zero to transition the surgical manipulator from the second operating mode to the first operating mode when the output exceeds the associated limit.

18. The method of claim 13 including determining a commanded velocity at which the energy applicator is advanced.

19. The method of claim 13 including determining joint angles for a plurality of joints of the surgical manipulator that position the energy applicator according to the commanded pose.

20. The method of claim 13 including modeling the surgical instrument and the energy applicator as a virtual rigid body having virtual mass and virtual inertia, determining a total force and a total torque, and applying the total force and the total torque to a center of gravity of the virtual rigid body to advance the energy applicator.

21. A robotic system for positioning an energy applicator extending from a surgical instrument with respect to target tissue, said system comprising:

a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving said plurality of links to position the energy applicator with respect to the target tissue,

said force/torque sensor configured to generate an output representing forces and torques applied to said force/torque sensor,

said surgical manipulator including at least one controller configured to;

control operation of said surgical manipulator in a first operating mode in which a user applies forces and torques to said force/torque sensor to cause movement of the energy applicator or a second operating mode in which said surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, said calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in said second operating mode;

determine a commanded pose to which the energy applicator is advanced in said first operating mode or said second operating mode based on said output of said force/torque sensor and said calculated forces and torques;

monitor said output of said force/torque sensor as the energy applicator is being moved along the tool path in said second operating mode;

determine if said output exceeds an associated limit; and

transition from said second operating mode to said first operating mode to enable movement of the energy applicator in said first operating mode by adjusting said forces and torques calculated to advance and orient the surgical instrument in said second operating mode in response to said output exceeding said associated limit for a time greater than a designated time period.

22. The system of claim 21 wherein said first operating mode is a manual mode and said second operating mode is a semi-autonomous mode.

23. The system of claim 21 wherein said at least one controller is configured to:

model the surgical instrument and the energy applicator as a virtual rigid body and determine forces and torques to be applied to the virtual rigid body to advance the energy applicator in said second operating mode.

24. The system of claim 21 wherein said at least one controller includes a manipulator controller and a plurality of joint motor controllers, said plurality of joint motor controllers configured to control said plurality of actuators to move the energy applicator in one or more degrees of freedom.

25. The system of claim 21 wherein said at least one controller is configured to set said forces and torques calculated to advance and orient the surgical instrument in said second operating mode to zero to transition said surgical manipulator from said second operating mode to said first operating mode when said output exceeds said associated limit.

26. The system of claim 21 including a pendant having a switch configured to, when actuated, place said surgical manipulator back into said second operating mode after said at least one controller transitions said surgical manipulator from said second operating mode to said first operating mode.

27. The system of claim 21 wherein said at least one controller is configured to determine a commanded velocity at which the energy applicator is advanced.

28. The system of claim 21 including a plurality of joints between adjacent links.

29. The system of claim 28 wherein said at least one controller is configured to determine said commanded pose and to determine joint angles that position the energy applicator according to said commanded pose.

30. The system of claim 29 wherein said at least one controller is configured to model the surgical instrument and the energy applicator as a virtual rigid body having virtual mass and virtual inertia.

31. The system of claim 30 wherein said at least one controller is configured to determine a total force and a total torque, wherein said total force and said total torque are applied to a center of gravity of said virtual rigid body to advance the energy applicator.

32. A method for positioning an energy applicator extending from a surgical instrument with respect to target tissue with a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving the plurality of links, said method comprising the steps of:

controlling operation of the surgical manipulator in a first operating mode in which a user applies forces and torques to the force/torque sensor to cause movement of the energy applicator or a second operating mode in which the surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, the calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in the second operating mode;

determining a commanded pose to which the energy applicator is advanced in the first operating mode or the second operating mode based on output of the force/torque sensor and the calculated forces and torques;

monitoring the output of the force/torque sensor as the energy applicator is being moved along the tool path in the second operating mode;

determining if the output exceeds an associated limit; and

transitioning from the second operating mode to the first operating mode to enable movement of the energy applicator in the first operating mode by adjusting the forces and torques calculated to advance and orient the surgical instrument in the second operating mode in response to the output exceeding the associated limit for a time greater than a designated time period.

33. The method of claim 32 wherein the first operating mode is a manual mode and the second operating mode is a semi-autonomous mode.

34. The method of claim 32 including modeling the surgical instrument and the energy applicator as a virtual rigid body and determining forces and torques to be applied to the virtual rigid body to advance the energy applicator in the second operating mode.

35. The method of claim 32 including setting the forces and torques calculated to advance and orient the surgical instrument in the second operating mode to zero to transition the surgical manipulator from the second operating mode to the first operating mode when the output exceeds the associated limit.

36. The method of claim 32 including determining a commanded velocity at which the energy applicator is advanced.

37. The method of claim 32 including determining joint angles for a plurality of joints of the surgical manipulator that position the energy applicator according to the commanded pose.

38. The method of claim 32 including modeling the surgical instrument and the energy applicator as a virtual rigid body having virtual mass and virtual inertia, determining a total force and a total torque, and applying the total force and the total torque to a center of gravity of the virtual rigid body to advance the energy applicator.

39. A robotic system for positioning an energy applicator extending from a surgical instrument with respect to target tissue, said system comprising:

a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving said plurality of links to position the energy applicator with respect to the target tissue,

said force/torque sensor configured to generate an output representing forces and torques applied to said force/torque sensor,

said surgical manipulator including at least one controller configured to;

control operation of said surgical manipulator in a manual mode in which a user applies forces and torques to said force/torque sensor to cause movement of the energy applicator or a semi-autonomous mode in which said surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, said calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in said semi-autonomous mode;

determine a commanded pose to which the energy applicator is advanced in said manual mode or said semi-autonomous mode based on said output of said force/torque sensor and said calculated forces and torques;

monitor said output of said force/torque sensor as the energy applicator is being moved along the tool path in said semi-autonomous mode;

determine if said output exceeds an associated limit; and

transition from said semi-autonomous mode to said manual mode to enable movement of the energy applicator in said manual mode by adjusting said forces and torques calculated to advance and orient the surgical instrument in said semi-autonomous mode in response to said output exceeding said associated limit.

40. The system of claim 39 wherein said at least one controller includes a manipulator controller and a plurality of joint motor controllers, said plurality of joint motor controllers configured to control said plurality of actuators to move the energy applicator in one or more degrees of freedom.

41. The system of claim 39 wherein said at least one controller is configured to:

model the surgical instrument and the energy applicator as a virtual rigid body and determine forces and torques to be applied to the virtual rigid body to advance the energy applicator in said semi-autonomous mode.

42. The system of claim 39 wherein said at least one controller is configured to set said forces and torques calculated to advance and orient the surgical instrument in said semi-autonomous mode to zero to transition said surgical manipulator from said semi-autonomous mode to said manual mode when said output exceeds said associated limit.

43. The system of claim 39 including a pendant having a switch configured to, when actuated, place said surgical manipulator back into said semi-autonomous mode after said at least one controller transitions said surgical manipulator from said semi-autonomous mode to said manual mode.

44. The system of claim 39 wherein said at least one controller is configured to determine a commanded velocity at which the energy applicator is advanced.

45. The system of claim 39 including a plurality of joints between adjacent links.

46. The system of claim 45 wherein said at least one controller is configured to determine said commanded pose and to determine joint angles that position the energy applicator according to said commanded pose.

47. The system of claim 46 wherein said at least one controller is configured to model the surgical instrument and the energy applicator as a virtual rigid body having virtual mass and virtual inertia.

48. The system of claim 47 wherein said at least one controller is configured to determine a total force and a total torque, wherein said total force and said total torque are applied to a center of gravity of said virtual rigid body to advance the energy applicator.

49. A method for positioning an energy applicator extending from a surgical instrument with respect to target tissue with a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving the plurality of links, said method comprising the steps of:

controlling operation of the surgical manipulator in a manual mode in which a user applies forces and torques to the force/torque sensor to cause movement of the energy applicator or a semi-autonomous mode in which the surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, the calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in the semi-autonomous mode;

determining a commanded pose to which the energy applicator is advanced in the manual mode or the semi-autonomous mode based on output of the force/torque sensor and the calculated forces and torques;

monitoring the output of the force/torque sensor as the energy applicator is being moved along the tool path in the semi-autonomous mode;

determining if the output exceeds an associated limit; and

transitioning from the semi-autonomous mode to the manual mode to enable movement of the energy applicator in the manual mode by adjusting the forces and torques calculated to advance and orient the surgical instrument in the semi-autonomous mode in response to the output exceeding the associated limit.

50. The method of claim 49 including modeling the surgical instrument and the energy applicator as a virtual rigid body and determining forces and torques to be applied to the virtual rigid body to advance the energy applicator in the semi-autonomous mode.

51. The method of claim 49 including setting the forces and torques calculated to advance and orient the surgical instrument in the semi-autonomous mode to zero to transition the surgical manipulator from the semi-autonomous mode to the manual mode when the output exceeds the associated limit.

52. The method of claim 49 including determining a commanded velocity at which the energy applicator is advanced.

53. The method of claim 49 including determining joint angles for a plurality of joints of the surgical manipulator that position the energy applicator according to the commanded pose.

54. The method of claim 49 including modeling the surgical instrument and the energy applicator as a virtual rigid body having virtual mass and virtual inertia, determining a total force and a total torque, and applying the total force and the total torque to a center of gravity of the virtual rigid body to advance the energy applicator.

55. A robotic system for positioning an energy applicator extending from a surgical instrument with respect to target tissue, said system comprising:

a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving said plurality of links to position the energy applicator with respect to the target tissue,

said force/torque sensor configured to generate an output representing forces and torques applied to said force/torque sensor,

said surgical manipulator including at least one controller configured to;

control operation of said surgical manipulator in a first operating mode in which a user applies forces and torques to said force/torque sensor to cause movement of the energy applicator or a second operating mode in which said surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, said calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in said second operating mode;

determine a commanded pose to which the energy applicator is advanced in said first operating mode or said second operating mode based on said output of said force/torque sensor and said calculated forces and torques;

monitor said output of said force/torque sensor as the energy applicator is being moved along the tool path in said second operating mode;

determine if said output exceeds an associated limit; and

transition from said second operating mode to said first operating mode to enable movement of the energy applicator in said first operating mode by setting said forces and torques calculated to advance and orient the surgical instrument in said second operating mode to zero in response to said output exceeding said associated limit.

56. The system of claim 55 wherein said at least one controller includes a manipulator controller and a plurality of joint motor controllers, said plurality of joint motor controllers configured to control said plurality of actuators to move the energy applicator in one or more degrees of freedom.

57. The system of claim 55 wherein said at least one controller is configured to:

model the surgical instrument and the energy applicator as a virtual rigid body and determine forces and torques to be applied to the virtual rigid body to advance the energy applicator in said second operating mode.

58. The system of claim 55 including a pendant having a switch configured to, when actuated, place said surgical manipulator back into said second operating mode after said at least one controller transitions said surgical manipulator from said second operating mode to said first operating mode.

59. The system of claim 55 wherein said at least one controller is configured to determine a commanded velocity at which the energy applicator is advanced.

60. The system of claim 55 including a plurality of joints between adjacent links.

61. The system of claim 60 wherein said at least one controller is configured to determine said commanded pose and to determine joint angles that position the energy applicator according to said commanded pose.

62. The system of claim 61 wherein said at least one controller is configured to model the surgical instrument and the energy applicator as a virtual rigid body having virtual mass and virtual inertia.

63. The system of claim 62 wherein said at least one controller is configured to determine a total force and a total torque, wherein said total force and said total torque are applied to a center of gravity of said virtual rigid body to advance the energy applicator.

64. A method for positioning an energy applicator extending from a surgical instrument with respect to target tissue with a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving the plurality of links, said method comprising the steps of:

controlling operation of the surgical manipulator in a first operating mode in which a user applies forces and torques to the force/torque sensor to cause movement of the energy applicator or a second operating mode in which the surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, the calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in the second operating mode;

determining a commanded pose to which the energy applicator is advanced in the first operating mode or the second operating mode based on output of the force/torque sensor and the calculated forces and torques;

monitoring the output of the force/torque sensor as the energy applicator is being moved along the tool path in the second operating mode;

determining if the output exceeds an associated limit;

transitioning from the second operating mode to the first operating mode to enable movement of the energy applicator in the first operating mode by setting the forces and torques calculated to advance and orient the surgical instrument in the second operating mode to zero in response to the output exceeding the associated limit.

65. The method of claim 64 further including modeling the surgical instrument and the energy applicator as a virtual rigid body and determining forces and torques to be applied to the virtual rigid body to advance the energy applicator in the second operating mode.

66. The method of claim 64 including determining a commanded velocity at which the energy applicator is advanced.

67. The method of claim 64 including determining joint angles for a plurality of joints of the surgical manipulator that position the energy applicator according to the commanded pose.

68. The method of claim 64 including modeling the surgical instrument and the energy applicator as a virtual rigid body having virtual mass and virtual inertia, determining a total force and a total torque, and applying the total force and the total torque to a center of gravity of the virtual rigid body to advance the energy applicator.