Surgical robotic tools, data architecture, and use

• US 9,795,453 B2
• Filed: 12/17/2004
• Issued: 10/24/2017
• Est. Priority Date: 12/12/1996
• Status: Expired due to Fees

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Tierney, Michael J., Cooper, Thomas, Julian, Chris, Blumenkranz, Stephen J., Guthart, Gary S., Younge, Robert G.
• Primary Examiner(s): Peffley, Michael
• Assistant Examiner(s): GOOD, SAMANTHA M
• Application Number:
  US11/015,337
• Publication Number:
  US 20050149003A1
• Time in Patent Office: 4,694 Days
• Field of Search: 606 1, 606 41, 606130, 31856816, 3185682, 31856821
• 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 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/0803 Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 46/13 the drapes entering the patient's body
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/90 Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: G06Q 30/02 Marketing; Price estimation or determination; Fundraising
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: H01H 36/0046 Limit switches, also fail-safe operation or anti-tamper considerations
• CPC Class Codes: H01H 85/0056 : Heat conducting or heat absorbing means associated with the fusible member, e.g. for providing time delay
• CPC Class Codes: Y10S 901/41 : Tool
• CPC Class Codes: Y10T 74/20305 : Robotic arm
• CPC Class Codes: Y10T 74/20311 : including power cable or connector

Abstract

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information maybe stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

Claims

1. A robotic surgical tool for use with a robotic surgical system, the tool comprising:

a probe body comprising a proximal end and a distal end;

a surgical end effector disposed adjacent the distal end of the probe body, the end effector being movable in at least one degree of freedom relative to the probe body;

an interface disposed adjacent the proximal end of the probe body, the interface comprising a flat surface on which is disposed a plurality of driven elements, each of the plurality of driven elements comprising a rotatable body having an axis of rotation normal to the flat surface, the interface further comprising a releasable coupling mechanism for coupling to a tool holder of the robotic surgical system;

a drive system that couples the plurality of driven elements of the interface to the surgical end effector to move the surgical end effector; and

a tool memory coupled to the interface, the tool memory defining a signal for transmission to a processor of the robotic surgical system, wherein the interface further comprises at least one connecting pin coupled to the tool memory to transmit said signal, the at least one connecting pin provided on the flat surface of the interface.

2. The robotic surgical tool of claim 1 wherein the end effector is coupled to the distal end of the probe body with a wrist structure.

3. The robotic surgical tool of claim 2 wherein the end effector comprises forceps.

4. The robotic surgical tool of claim 2 wherein the end effector is configured to deliver electrical energy.

5. The robotic surgical tool of claim 2 wherein the end effector comprises an electrocautery element.

6. The robotic surgical tool of claim 1 wherein the tool memory comprises circuitry.

7. The robotic surgical tool of claim 1 wherein the tool memory comprises non-volatile memory.

8. The robotic surgical tool of claim 1 wherein the signal transmitted from the tool memory indicates compatibility of the robotic surgical tool with the robotic surgical system.

9. The robotic surgical tool of claim 1 wherein the signal transmitted from the tool memory comprises a unique tool identifier signal.

10. The robotic surgical tool of claim 1 wherein the signal transmitted from the tool memory comprises an arbitrary compatibility data string.

11. The robotic surgical tool of claim 1 wherein the signal transmitted from the tool memory indicates a tool-type of the robotic surgical tool.

12. The robotic surgical tool of claim 1 wherein the signal transmitted from the tool memory indicates tool calibration offsets of the robotic surgical tool.

13. The robotic surgical tool of claim 1 wherein the probe body comprises a rigid, elongate shaft suitable for distal insertion via a minimally invasive aperture to an internal surgical site of a patient body.

14. The robotic surgical tool of claim 1 wherein the interface comprises a magnet.

15. The robotic surgical tool of claim 1 further comprising a sterile adapter configured to be releasably mounted to the tool holder, the adapter coupling the tool holder to the interface, wherein the tool memory transmits the signal to the processor of the robotic surgical system via the adapter.

16. The robotic surgical tool of claim 1, the tool memory configured to track the number of times said probe body has been coupled to the tool holder of the robotic system.

17. The robotic surgical tool of claim 16, wherein the signal transmitted from the tool memory indicates said number of times said probe body has been coupled to the tool holder.

18. The robotic surgical tool of claim 16, further comprising an electromagnetic sensing mechanism configured to sense engagement of the tool to the tool holder.

19. The robotic surgical tool of claim 16, wherein the signal transmitted from the tool memory indicates whether said number of times exceeds a threshold.

20. A robotic surgical tool for use with a robotic surgical system, the tool comprising:

a probe body comprising a proximal end and a distal end;

a surgical end effector disposed adjacent the distal end of the probe body;

an interface disposed adjacent the proximal end of the probe body, the interface comprising a flat surface on which is disposed a plurality of driven elements, each of the plurality of driven elements comprising a rotatable body having an axis of rotation normal to the flat surface, the interface further comprising a releasable coupling mechanism for coupling to a tool holder of the robotic surgical system;

means for coupling the interface to the surgical end effector; and

means for transmitting a signal via the flat surface of the interface to a processor of the robotic surgical system, the means for transmitting comprising at least one connecting pin provided on the flat surface of the interface.

21. A robotic surgical system comprising:

a surgical tool comprising;

a probe body comprising a proximal end and a distal end;

a surgical end effector disposed adjacent the distal end of the probe body, the end effector being movable in at least one degree of freedom relative to the probe body;

an interface disposed adjacent the proximal end of the probe body, the interface comprising a flat surface on which are disposed a plurality of driven elements coupled to the surgical end effector by a drive coupling mechanism, each of the plurality of driven element comprising a rotatable body having an axis of rotation normal to the flat surface;

circuitry coupled to the probe body for outputting at least one signal for transmission via the flat surface of the interface, the circuitry comprising at least one connecting pin provided on the flat surface of the interface; and

said robotic surgical system further comprising a drive system releasably coupleable to the plurality of driven elements of said interface, said drive system operable to selectively drive said plurality of driven elements when said drive system is operably engaged with said plurality of driven elements.

22. The system of claim 21, wherein said drive system comprises a plurality of rotatable shafts.

23. The system of claim 21, wherein said drive system comprises a plurality of rotatable bodies, and each of said plurality of driven elements and said rotatable bodies is substantially disk-shaped.

24. The system of claim 21, wherein said circuitry comprises an engagement indicator for indicating when said plurality of driven elements are coupled to said drive system.

25. The system of claim 24, further comprising a counting mechanism for determining the number of times said surgical tool has been used.

26. The system of claim 25, further comprising a manual input device moveable in a plurality of input degrees of freedom;

and

a processor configurable to, in response to receiving signals corresponding to said plurality of degrees of freedom, output signals for selectively actuating said drive system releasably coupleable to said plurality of driven elements of said surgical tool;

wherein said master input device is configured to increase an apparent backlash in response to said number of times being incremented.

27. The system of claim 25, wherein said counting mechanism is operable to determine the number of times said surgical tool has been coupled to said drive system.

28. The system of claim 27, wherein said counting mechanism is operable to count the number of times said surgical tool has been decoupled from said drive system.

29. The system of claim 27, further comprising a warning module for detecting when said number of times exceeds a threshold, said warning module configured to issue an indication in response to said number of times exceeding said threshold.

30. The system of claim 29, wherein said issuing an indication comprises preventing actuation of said surgical tool.

31. The system of claim 25, wherein said counting mechanism is operable to count the number of times said surgical tool has been coupled to said drive system.

32. The robotic surgical tool of claim 25, wherein the signal transmitted from the tool interface indicates whether said number of times exceeds a threshold.

33. The system of claim 21, said tool further comprising a magnet on said interface for indicating when said plurality of driven elements are coupled to said drive system.

34. The system of claim 21, said tool further comprising an electrical coupling short.

35. The system of claim 21, further comprising an adaptor interposed between said drive system and said interface, said adaptor comprising a plurality of adaptor driven elements releasably coupleable to said drive system, said adaptor further comprising a plurality of adaptor drive elements releasably coupleable to the plurality of driven elements of said interface.

36. The system of claim 21, wherein said circuitry comprises a memory for storing said at least one signal.

37. The system of claim 36, wherein said at least one signal comprises a signal indicating a tool-type of said tool.

38. The system of claim 36, wherein said at least one signal comprises a character string indicating tool compatibility with said drive system.

39. The system of claim 36, wherein said at least one signal comprises a measured offset between a configuration of said plurality of driven elements and an intended configuration of said surgical end effector.

40. The system of claim 36, wherein said at least one signal comprises an indicator of cumulative tool use.

41. The system of claim 36, wherein said memory is configurable to store tool life information.

42. The system of claim 36, wherein said at least one signal comprises a unique identification data string for identifying said tool.

43. The system of claim 36, further comprising:

a master input device moveable in a plurality of input degrees of freedom;

a processor configurable to, in response to receiving signals corresponding to said plurality of degrees of freedom, output signals for selectively actuating said drive system releasably coupleable to said plurality of driven elements of said surgical tool.

44. The system of claim 21, wherein said circuitry is configurable to output a signal corresponding to an amount of force sensed by a force sensor on said surgical end effector.