Preventing instrument/tissue collisions

• US 9,901,408 B2
• Filed: 04/22/2016
• Issued: 02/27/2018
• Est. Priority Date: 06/13/2007
• 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.
• Primary Examiner(s): TURCHEN, ROCHELLE DEANNA
• Application Number:
  US15/136,658
• Publication Number:
  US 20160235486A1
• Time in Patent Office: 676 Days
• CPC Class Codes: A61B 1/00154 using guiding arrangements for insertion
• 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 1/04 combined with photographic or television appliances
• 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 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• 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 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: B25J 9/1689 : Teleoperation
• CPC Class Codes: B25J 9/1692 : Calibration of manipulator
• CPC Class Codes: G05B 2219/39449 : Pendant, pda displaying camera images overlayed with graphics, augmented reality
• CPC Class Codes: G05B 2219/40607 : Fixed camera to observe workspace, object, workpiece, global
• CPC Class Codes: G05B 2219/45123 : Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
• CPC Class Codes: G05B 2219/45169 : Medical, rontgen, x ray
• CPC Class Codes: G06T 7/0012 : Biomedical image inspection

Abstract

A volume is defined in which a control system permits an instrument to move, and the volume is a sum of one volume that is defined by previous movements of the instrument and another volume that is defined by the boundaries of an image capture component.

Claims

1. A method comprising:

defining a first allowable volume within a patient, wherein a boundary of the first allowable volume is coincident with a boundary of a first field of view of an image capture component located at a first position, the image capture component being part of a camera instrument;

recording motion of a teleoperated instrument inside the first allowable volume as the teleoperated instrument is teleoperatively moved inside the first allowable volume while the image capture component has the first field of view, wherein the teleoperated instrument is different from the camera instrument, and wherein motion of the teleoperated instrument within the first allowable volume does not move the camera instrument;

defining an instrument volume using the recorded motion, the instrument volume being a volume within the first allowable volume in which instruments can be moved without colliding with tissue;

defining a second allowable volume within the patient after the image capture component is moved from the first position to a second position, wherein a boundary of the second allowable volume is coincident with a boundary of a second field of view of the image capture component at the second position; and

controlling, with the image capture component located at the second position, the teleoperated instrument to stay within a combined volume of the instrument volume and the second allowable volume as the teleoperated instrument is teleoperatively moved within and outside the second allowable volume, wherein a portion of the combined volume is outside the second allowable volume, the portion of the combined volume outside the second allowable volume being within the instrument volume.

2. The method of claim 1, further comprising:

controlling, by a controller, the teleoperated instrument to stay within the first allowable volume as the teleoperated instrument is teleoperatively moved.

3. The method of claim 1, further comprising:

moving the image capture component to the second position in response to control signals from a controller, wherein the second position is inside the first allowable volume.

4. The method of claim 3, the moving the image capture component to the second position comprising moving a guide tube through which the image capture component is inserted.

5. The method of claim 3, the moving the image capture component to the second position comprising moving a joint of a parallel motion mechanism coupled to the image capture component.

6. The method of claim 1, further comprising:

determining the boundary of the first field of view of the image capture component using stored boundary information.

7. The method of claim 1, further comprising:

determining the boundary of the first field of view of the image capture component using machine vision algorithms.

8. The method of claim 1, wherein the first position is adjacent a distal end of a guide tube configured to have a portion of the camera instrument and a portion of the teleoperated instrument extend through the guide tube into the patient, and wherein the second position is distal to the distal end of the guide tube.

9. The method of claim 1 further comprising:

recording second motion of the teleoperated instrument inside the second allowable volume as the teleoperated instrument is teleoperatively moved inside the second allowable volume while the image capture component has the second field of view;

defining a second instrument volume using the recorded second motion, the second instrument volume being a volume within the second allowable volume in which instruments can be moved without colliding with tissue;

defining a third allowable volume after the image capture component is moved from the second position to a third position, wherein a boundary of the third allowable volume is coincident with a boundary of a third field of view of the image capture component at the third position; and

controlling, when the image capture component is at the third position, the teleoperated instrument to stay within a second combined volume as the teleoperated instrument is teleoperatively moved within and outside the third allowable volume while the image capture component has the third field of view, the second combined volume being a combination of the instrument volume, the second instrument volume, and the third allowable volume, wherein a portion of the second combined volume is outside the third allowable volume, the portion of the second combined volume outside the third allowable volume being within at least one of the instrument volume and the second instrument volume.

10. A method comprising:

recording motion of a teleoperated instrument within a patient as the teleoperated instrument traces boundaries of a first range of motion of the teleoperated instrument within a first field of view of an imaging device while the imaging device has the first field of view, the first range of motion being limited to motion within the first field of view and to motion in which the teleoperated instrument does not collide with tissue, wherein the teleoperated instrument is different from the imaging device, and wherein motion of the teleoperated instrument within the first range of motion does not move the imaging device;

defining an instrument volume using the recorded motion, the instrument volume being a volume in which instruments can be moved within the patient without colliding with tissue;

changing the first field of view of the imaging device to a second field of view; and

controlling, with the imaging device having the second field of view, the teleoperated instrument to stay within a combined volume as the teleoperated instrument is moved inside and outside the second field of view, the combined volume being a combination of the instrument volume and a volume defined based on the second field of view, wherein a portion of the combined volume is outside the volume defined based on the second field of view, the portion of the combined volume outside the volume defined based on the second field of view being within the instrument volume.

11. The method of claim 10, the changing the first field of view of the imaging device comprising moving, in response to control signals from a controller, a guide tube through which the imaging device is inserted.

12. The method of claim 10, the changing the first field of view of the imaging device comprising moving, in response to control signals from a controller, a joint of a parallel motion mechanism coupled to an image capture component of the imaging device.

13. The method of claim 10, further comprising:

determining a boundary of the first field of view of the imaging device using stored boundary information.

14. The method of claim 10, further comprising:

determining a boundary of the first field of view of the imaging device using machine vision algorithms.

15. The method of claim 10, wherein the imaging device has the first field of view at a first position adjacent a distal end of a guide tube, and wherein the imaging device has the second field of view at a second position distal to the distal end of the guide tube, the guide tube being configured to have a portion of the imaging device and a portion of the teleoperated instrument extend through the guide tube into the patient.

16. The method of claim 10 further comprising:

recording second motion of the teleoperated instrument within the patient as the teleoperated instrument traces boundaries of a second range of motion of the teleoperated instrument within the second field of view of the imaging device while the imaging device has the second field of view, the second range of motion being limited to motion within the second field of view and to motion in which the teleoperated instrument does not collide with tissue;

defining a second instrument volume using the second recorded motion, the second instrument volume being a volume in which instruments can be moved within the patient without colliding with tissue;

changing the second field of view of the imaging device to a third field of view; and

controlling, when the imaging device has the third field of view, the teleoperated instrument to stay within a second combined volume as the teleoperated instrument is moved inside and outside the third field of view while the imaging device has the third field of view, the second combined volume being a combination of the instrument volume, the second instrument volume, and a volume defined based on the third field of view, wherein a portion of the second combined volume is outside the volume defined based on the third field of view, the portion of the second combined volume outside the volume based on the third field of view being within at least one of the instrument volume and the second instrument volume.

17. A teleoperated system comprising:

an imaging system;

a teleoperated instrument; and

a control system connected to the imaging system and to the teleoperated instrument;

the control system being configured to command movement of the teleoperated instrument in response to input received from a master device;

the control system being configured to record motion of the teleoperated instrument within a patient as the teleoperated instrument traces boundaries of a range of motion of the teleoperated instrument within a first field of view of the imaging system, while the imaging system has the first field of view;

the control system being configured to define an instrument volume using the recorded motion, the instrument volume being a volume in which the teleoperated instrument can be moved, within the patient and within the first field of view, without colliding with tissue;

the control system being configured to define a combined volume when the first field of view of the imaging system changes to a second field of view, the combined volume being a combination of the instrument volume and a volume defined by a second field of view boundary, wherein a portion of the combined volume is outside the volume defined by the second field of view boundary, the portion of the combined volume outside the volume defined by the second field of view boundary being within the instrument volume; and

the control system being configured to constrain motion of the teleoperated instrument to within the combined volume as the teleoperated instrument is moved inside and outside the second field of view boundary when the imaging system has the second field of view.

18. The teleoperated system of claim 17, the imaging system including a memory having stored therein field of view boundary information of the imaging system.

19. The teleoperated system of claim 17, further comprising:

a platform coupled to a guide tube configured to have a portion of the imaging system and a portion of the teleoperated instrument extend through the guide tube into the patient, wherein movement of the platform moves the guide tube, the imaging system, and the teleoperated instrument.

20. The teleoperated system of claim 17, the imaging system further comprising a distal body segment, a parallel motion mechanism, and an image capture unit, the parallel motion mechanism being coupled between the distal body segment and the image capture unit, wherein movement of the parallel motion mechanism changes the field of view of the imaging system by changing a position of the image capture unit without changing an orientation of the image capture unit.