Haptic feedback devices for surgical robot

• US 9,737,326 B2
• Filed: 10/23/2015
• Issued: 08/22/2017
• Est. Priority Date: 06/29/2012
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (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:
  US14/921,430
• Publication Number:
  US 20160106509A1
• Time in Patent Office: 669 Days
• Field of Search: 318567, 3185681, 31856811, 31856821, 318569, 318675, 318676, 606130
• 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

A surgical robot control system including a controller, a coupling system, a sensor, and a feedback device is disclosed. The coupling system is configured to couple a handheld surgical user interface to the controller. The handheld user interface may control a function of a robotic surgical system. The sensor is coupled to the controller and the coupling system and is configured to detect actuation of the handheld user interface and to communicate detected actuations to the controller. The feedback device is coupled to the controller and is configured to provide feedback associated with the robotic surgical system to a user. The controller is communicatively coupleable to the robotic surgical system and is configured to send robot control signals to the robotic surgical system, to receive feedback signals from the robotic surgical system, and to send feedback control signals to the feedback device to control the feedback provided to the user.

Claims

1. A surgical robot control system, comprising:

a controller;

a coupling system configured to couple a handheld surgical user interface to the controller, the handheld surgical user interface to control a function of a robotic surgical system;

a sensor coupled to the controller and the coupling system, wherein the sensor is configured to detect actuation of the handheld surgical user interface and to communicate detected actuations to the controller; and

a feedback device coupled to the controller, wherein the feedback device is configured to provide feedback associated with the robotic surgical system to a user;

wherein the controller is communicatively coupleable to the robotic surgical system, and wherein the controller is configured to;

send robot control signals, based on the detected actuations, to the robotic surgical system;

receive feedback signals from the robotic surgical system; and

send feedback control signals, based on the feedback signals, to the feedback device to control the feedback provided to the user.

2. The surgical robot control system of claim 1, wherein the coupling system comprises a mechanical coupling, an electrical coupling, an optical coupling, or a combination thereof.

3. The surgical robot control system of claim 1, wherein the controller is communicatively coupleable to the robotic surgical system via a wired or a wireless connection.

4. The surgical robot control system of claim 1, wherein the controller is further configured to convert the detected actuations into the robot control signals to control the robotic surgical system.

5. The surgical robot control system of claim 1, further comprising:

a first handheld surgical user interface coupled to the controller via the coupling system, wherein the first handheld surgical user interface is configured to control a function of a surgical instrument coupled to the robotic surgical system.

6. The surgical robot control system of claim 5, wherein the first handheld surgical user interface comprises:

a joystick configured to control a plurality of surgical instruments coupleable to the robotic surgical system;

or

a handle configured to control a particular surgical instrument, wherein the handle mimics the handle of a non-robotic version of the particular surgical instrument.

7. The surgical robot control system of claim 5, wherein the function comprises at least one of delivering energy to tissue, applying a force to the tissue, clamping the tissue, cutting the tissue, or manipulating the position of a component of the surgical instrument with respect to the tissue.

8. The surgical robot control system of claim 7, wherein manipulating the position comprises at least one of translating, rotating, or articulating the component of the surgical instrument.

9. The surgical robot control system of claim 8, wherein the component comprises an end effector of the surgical instrument.

10. The surgical robot control system of claim 5, wherein the feedback device comprises a vibratory module, wherein the feedback signals are associated with a force encountered by the surgical instrument, and wherein the vibratory module is configured to generate vibratory movement proportional to the force encountered by the surgical instrument.

11. The surgical robot control system of claim 1, wherein the feedback device is configured to emulate an interaction between the robotic surgical system and tissue.

12. The surgical robot control system of claim 1, wherein the feedback corresponds to a predetermined condition of the robotic surgical system.

13. The surgical robot control system of claim 1, wherein the feedback comprises sensory feedback perceptible by the user.

14. The surgical robot control system of claim 1, further comprising a sensitivity adjustor coupled to the controller, wherein the sensitivity adjustor is configured to control a ratio between a feedback signal received from the robotic surgical system and a feedback control signal sent to the feedback device to control a sensitivity of the feedback provided to the user.

15. The surgical robot control system of claim 1, wherein the robot control signals cause actuation of at least one component of the robotic surgical system.

16. The surgical robot control system of claim 15, wherein the actuation comprises at least one of translation, rotation, articulation, or the application of energy by the at least one component of the robotic surgical system.

17. A surgical robot control system, comprising:

a controller;

a coupling system configured to couple a wireless handheld user interface to the controller, wherein the coupling system comprises a wireless socket configured to receive a wireless signal from the wireless handheld user interface, the wireless handheld user interface to control a surgical robot;

a sensor coupled to the controller and the wireless socket, wherein the sensor is configured to detect actuation of the wireless handheld user interface and to communicate detected actuations to the controller; and

a feedback device coupled to the controller, wherein the feedback device is configured to provide feedback associated with the surgical robot to a user;

wherein the controller is communicatively coupleable to the surgical robot, and wherein the controller is configured to;

send robot control signals, based on the detected actuations, to the surgical robot;

receive feedback signals from the surgical robot; and

send feedback control signals, based on the feedback signals, to the feedback device to control the feedback provided to the user.

18. The surgical robot control system of claim 17, wherein the controller is communicatively coupleable to the surgical robot via a wired or a wireless connection.

19. The surgical robot control system of claim 17, wherein the controller is further configured to convert the detected actuations into the robot control signals to control the surgical robot.

20. The surgical robot control system of claim 17, further comprising:

a first wireless handheld user interface coupled to the controller via the wireless socket, wherein the first wireless handheld user interface is configured to control a function of a surgical instrument coupled to the surgical robot.

21. The surgical robot control system of claim 20, wherein the feedback device is located within the first wireless handheld user interface, wherein the wireless socket is further configured to transmit a wireless signal to the wireless handheld user interface, and wherein transmittable wireless signals comprise the feedback control signals.

22. The surgical robot control system of claim 20, wherein the first wireless handheld user interface comprises a handle configured to control a particular surgical instrument, and wherein the handle mimics the handle of a non-robotic version of the particular surgical instrument.

23. A surgical robot system, comprising:

a surgical robot comprising a surgical instrument; and

a control system, comprising;

a controller;

a coupling system configured to couple a handheld surgical user interface to the controller, the handheld surgical user interface to control a function of the surgical robot;

a sensor coupled to the controller and the coupling system, wherein the sensor is configured to detect actuation of the handheld surgical user interface and to communicate detected actuations to the controller; and

a feedback device coupled to the controller, wherein the feedback device is configured to provide feedback associated with the surgical robot to a user;

wherein the controller is communicatively coupled to the surgical robot, and wherein the controller is configured to;

send robot control signals to the surgical robot;

receive feedback signals from the surgical robot; and

send feedback control signals to the feedback device to control the feedback provided to the user.

24. The surgical robot system of claim 23, wherein the coupling system comprises a mechanical coupling, an electrical coupling, an optical coupling, or a combination thereof.

25. The surgical robot system of claim 23, further comprising:

a first handheld surgical user interface coupled to the controller via the coupling system, wherein the first handheld surgical user interface is configured to control a function of the surgical instrument.

26. The surgical robot system of claim 23, further comprising a sensitivity adjustor coupled to the controller, wherein the sensitivity adjustor is configured to control a ratio between a feedback signal received from the surgical robot and a feedback control signal sent to the feedback device to control a sensitivity of the feedback provided to the user.