Configurable robotic surgical system with virtual rail and flexible endoscope

• US 9,737,371 B2
• Filed: 09/30/2015
• Issued: 08/22/2017
• Est. Priority Date: 09/30/2014
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Surgical Robotics, Inc. (Johnson & Johnson)
• Inventors: Romo, Enrique, Moll, Frederic H., Mintz, David S., Lown, Mark, Oli, Siddarth, Jiang, Allen
• Primary Examiner(s): PATTON, SPENCER D
• Application Number:
  US14/871,253
• Publication Number:
  US 20160184032A1
• Time in Patent Office: 692 Days
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 2090/064 for measuring force, pressure or mechanical tension
• 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: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 2219/39109 Dual arm, multiarm manipulation, object handled in cooperation
• CPC Class Codes: G05B 2219/39319 Force control, force as reference, active compliance
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm.

Claims

1. A method comprising:

receiving, from a surgical robotic system comprising a first robotic arm coupled to a first position of a surgical instrument and a second robotic arm coupled to a second position of the surgical instrument, force feedback based on a force exerted on the surgical robotic system by a user of the surgical robotic system, the first position located at a predetermined distance from the second position, wherein the first robotic arm and the second robotic arm each include a torque sensor coupled to a joint of the corresponding robotic arm;

determining whether the force feedback is a slow push, a tap, a double tap, a shake, or a strong pull;

selecting an action for the robotic arms based on the determination regarding the force feedback, the selected action including one or more of;

translating the robotic arms, rotating the robotic arms, stowing the robotic arms, and locking the robotic arms;

determining a first movement vector and a second movement vector to perform the selected action using the robotic arms;

providing, to the first robotic arm, a first command to move the surgical instrument along the first movement vector; and

providing, to the second robotic arm, a second command to move the surgical instrument, simultaneously with the first robotic arm such that the predetermined distance is maintained, along the second movement vector.

2. The method of claim 1, wherein the surgical robotic system is configured to insert the surgical instrument along a trajectory into a patient in response to the first command and the second command.

3. The method of claim 2, wherein the trajectory includes a first segment and a second segment at an angle between 0 and 90 degrees relative to the first segment.

4. The method of claim 1, wherein the surgical instrument is flexible, and further comprising determining whether the surgical instrument is bending based on forces detected by the torque sensors.

5. The method of claim 1, further comprising:

receiving a second force exerted on the first robotic arm or the second robotic arm by a robotic arm of a second surgical robotic system; and

determining a position of the first robotic arm or the second robotic arm relative to the robotic arm of the second surgical robotic system.

6. The method of claim 1, wherein the first movement vector and the second movement vector are the same.

7. The method of claim 1, wherein the first movement vector and the second movement vector are different.

8. The method of claim 1, wherein the first robotic arm and the second robotic arm each include a plurality of segments coupled by one or more joints, and wherein the first robotic arm and the second robotic arm each include a plurality of tactile sensors, each tactile sensor configured to determine whether the user exerted the force in a vicinity of the tactile sensor.

9. The method of claim 8, further comprising determining whether the user exerted the force on a segment or a joint of the first robotic arm or the second robotic arm.

10. The method of claim 1, wherein the surgical robotic system further comprises a third robotic arm including a flange coupled to a third position of the surgical instrument.

11. The method of claim 10, wherein the flange includes a motorized roller configured to rotate at a speed based on motion of the third robotic arm.

12. The method of claim 1, wherein the surgical robotic system is configured to be controlled in an admittance mode or an impedance mode, the surgical robotic system configured to be controlled based on forces exerted on the surgical robotic system in the admittance mode, the surgical robotic system configured to be controlled based on input position commands in the impedance mode.

13. The method of claim 12, further comprising switching the surgical robotic system from the impedance mode to the admittance mode based on the force feedback.

14. A surgical robotic system comprising:

a first robotic arm coupled to a first position of a surgical instrument, the first robotic arm including a first torque sensor coupled to a joint of the first robotic arm;

a second robotic arm coupled to a second position of the surgical instrument, the first position located at a predetermined distance from the second position, the second robotic arm including a second torque sensor coupled to a joint of the second robotic arm; and

a controller configured to

receive force feedback based on a force exerted on the surgical robotic system by a user of the surgical robotic system;

determine whether the force feedback is a slow push, a tap, a double tap, a shake, or a strong pull;

select an action for the robotic arms based on the determination regarding the force feedback, the selected action including one or more of;

translating the robotic arms, rotating the robotic arms, stowing the robotic arms, and locking the robotic arms;

determine a first movement vector and a second movement vector to perform the selected action using the robotic arms;

provide, to the first robotic arm, a first command to move the surgical instrument along the first movement vector; and

provide, to the second robotic arm, a second command to move the surgical instrument, simultaneously with the first robotic arm such that the predetermined distance is maintained, along the second movement vector.

15. The surgical robotic system of claim 14, wherein the surgical robotic system is configured to insert the surgical instrument along a trajectory into a patient in response to the first command and the second command.

16. The surgical robotic system of claim 15, wherein the trajectory includes a first segment and a second segment at an angle between 0 and 90 degrees relative to the first segment.

17. The surgical robotic system of claim 14, wherein the surgical instrument is flexible, and wherein the controller is further configured to determine whether the surgical instrument is bending based on forces detected by the first and second torque sensors.

18. The surgical robotic system of claim 14, wherein the controller is further configured to:

receive a second force exerted on the first robotic arm or the second robotic arm by a robotic arm of a second surgical robotic system; and

determine a position of the first robotic arm or the second robotic arm relative to the robotic arm of the second surgical robotic system.

19. The surgical robotic system of claim 14, wherein the first movement vector and the second movement vector are the same.

20. The surgical robotic system of claim 14, wherein the first movement vector and the second movement vector are different.

21. The surgical robotic system of claim 14, wherein the first robotic arm and the second robotic arm each include a plurality of segments coupled by one or more joints, and wherein the first robotic arm and the second robotic arm each include a plurality of tactile sensors, each tactile sensor configured to determine whether the user exerted the force in a vicinity of the tactile sensor.

22. The surgical robotic system of claim 21, wherein the controller is further configured to determine whether the user exerted the force on a segment or a joint of the first robotic arm or the second robotic arm.

23. The surgical robotic system of claim 14, wherein the surgical robotic system further comprises a third robotic arm including a flange coupled to a third position of the surgical instrument.

24. The surgical robotic system of claim 23, wherein the flange includes a motorized roller configured to rotate at a speed based on motion of the third robotic arm.

25. The surgical robotic system of claim 14, wherein the surgical robotic system is configured to be controlled in an admittance mode or an impedance mode, the surgical robotic system configured to be controlled based on forces exerted on the surgical robotic system in the admittance mode, the surgical robotic system configured to be controlled based on input position commands in the impedance mode.