Minimally invasive surgical system

• US 9,801,526 B2
• Filed: 05/07/2012
• Issued: 10/31/2017
• Est. Priority Date: 06/13/2006
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Larkin, David Q., Cooper, Thomas G., Mohr, Catherine
• Primary Examiner(s): HENDERSON, RYAN N
• Application Number:
  US13/465,842
• Publication Number:
  US 20120221011A1
• Time in Patent Office: 2,003 Days
• Field of Search: 600102, 600104, 600106, 600107, 600114, 600115, 600121-123, 600127-129, 600139-152, 604523-528, 606 1
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/00154 using guiding arrangements for insertion
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/00165 with light-conductive means, e.g. fibre optics A61B1/07 takes precedence
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/002 having rod-lens arrangements A61B1/055 takes precedence
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/06 with illuminating arrangements
• 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 2017/00225 Systems for controlling multiple different instruments, e.g. microsurgical systems
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00318 Steering mechanisms
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/0034 adapted to be inserted through a working channel of an endoscope
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00477 : Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/3447 : Linked multiple cannulas
• CPC Class Codes: A61B 2034/2061 : using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• 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 2034/306 : Wrists with multiple vertebrae
• CPC Class Codes: A61B 2090/062 : penetration depth
• 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 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 : Micromanipulators
• CPC Class Codes: A61B 5/0086 : using infrared radiation
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/67 : for remote operation

Abstract

A surgical instrument is inserted through a guide tube. A telemanipulation system moves the distal end of the surgical instrument in all six Cartesian degrees of freedom independently of any guide tube movements.

Claims

1. A method comprising:

advancing a distal end of a straight first rigid surgical instrument body tube through a first channel of a guide tube, the distal end of the first rigid surgical instrument body tube being coupled to an end component, wherein as the distal end of the first rigid surgical instrument body tube advances through the guide tube, a portion of the first rigid surgical instrument body tube proximal to and outside the guide tube is resiliently bent; and

advancing a second straight rigid surgical instrument body tube of a second surgical instrument through a second channel of the guide tube, a portion of the second rigid surgical instrument body tube proximal to and outside the guide tube being resiliently bent, the guide tube being coupled to a platform, each of the first and second surgical instruments being coupled to the platform by a different teleoperated manipulator assembly, and the platform being coupled to a robotic manipulator arm of a patient side support system.

2. The method of claim 1 further comprising:

rotating the guide tube around a remote center point.

3. The method of claim 2:

wherein a guide tube longitudinal axis is defined through proximal and distal ends of the guide tube; and

wherein the rotating the guide tube comprises rotating the guide tube around an axis perpendicular to the guide tube longitudinal axis.

4. The method of claim 2:

wherein a guide tube longitudinal axis is defined through proximal and distal ends of the guide tube; and

wherein the rotating the guide tube comprises rotating the guide tube around the guide tube longitudinal axis.

5. A method of operating a patient side support system comprising:

advancing a first distal portion of a first straight rigid surgical instrument body tube of a first surgical instrument through a first channel of a guide tube, with a first proximal portion of the first rigid surgical instrument body tube being resiliently bent between a first transmission mechanism of the first surgical instrument and a proximal end of the guide tube as the first distal portion of the first rigid surgical instrument body tube advances through the first channel of the guide tube;

wherein the first transmission mechanism is coupled to the first proximal portion of the first rigid surgical instrument body tube;

wherein a first surgical end effector is coupled to the first distal portion of the first rigid surgical instrument body tube and is coupled to the first transmission mechanism;

wherein the guide tube is coupled to a platform;

wherein the first transmission mechanism is coupled to a first teleoperated manipulator assembly of a plurality of teleoperated manipulator assemblies; and

wherein the plurality of teleoperated manipulator assemblies is coupled to the platform; and

wherein the platform is coupled to a robotic manipulator arm of the patient side support system.

6. The method of claim 5, further comprising:

moving the first surgical end effector in at least one of the six Cartesian degrees of freedom independently of degrees of freedom of the guide tube.

7. The method of claim 6:

wherein the moving the first surgical end effector further comprises;

applying a force on the first transmission mechanism by the first teleoperated manipulator assembly of the plurality of teleoperated manipulator assemblies, wherein the force on the first transmission mechanism moves the first surgical end effector.

8. The method of claim 6, further comprising:

moving the first surgical end effector in a seventh degree of freedom that is independent of the six Cartesian degrees of freedom.

9. The method of claim 8:

wherein the moving the first surgical end effector in the seventh degree of freedom further comprises;

applying a force on the first transmission mechanism by the first teleoperated manipulator assembly of the plurality of teleoperated manipulator assemblies, wherein the force on the first transmission mechanism moves the first surgical end effector in the seventh degree of freedom.

10. The method of claim 6, wherein the moving the first surgical end effector comprises:

moving a stereoscopic image capture component.

11. The method of claim 5, wherein the advancing the first distal portion of the first rigid surgical instrument body tube further comprises:

moving the one teleoperated manipulator assembly of the plurality of teleoperated manipulator assemblies.

12. The method of claim 11, wherein the moving the one teleoperated manipulator assembly of the plurality of teleoperated manipulator assemblies further comprises:

actuating a linear actuator coupled to a housing of the first transmission mechanism.

13. The method of claim 5, further comprising:

moving the platform in at least one of the six Cartesian degrees of freedom; and

wherein the moving the platform moves the guide tube.

14. The method of claim 13, wherein the moving the platform further comprises:

moving the robotic manipulator arm coupled to the platform.

15. The method of claim 14, further comprising:

advancing a second distal portion of a second rigid surgical instrument body tube of a second surgical instrument through a second channel of the guide tube, with a second-proximal portion of the second rigid surgical instrument body tube being resiliently bent between a second transmission mechanism and the proximal end of the guide tube as the second distal portion of the second rigid surgical instrument body tube advances through the second channel of the guide tube, while the first distal portion of the first rigid surgical instrument body tube is inserted in the first channel of the guide tube;

wherein a second transmission mechanism is coupled to the second proximal portion of the second rigid surgical instrument body tube; and

wherein a second surgical end effector is coupled to the second distal portion of the second rigid surgical instrument body tube and is coupled to the second transmission mechanism; and

wherein the second transmission mechanism is coupled to a second teleoperated manipulator assembly of the plurality of teleoperated manipulator assemblies.

16. The method of claim 5, further comprising:

moving the first surgical end effector in at least five of the six Cartesian degrees of freedom independently of degrees of freedom of the guide tube.

17. The method of claim 5, further comprising:

moving the platform in at least four of the six Cartesian degrees of freedom.