Surgical tools for laser marking and laser cutting

• US 10,368,838 B2
• Filed: 03/31/2008
• Issued: 08/06/2019
• Est. Priority Date: 03/31/2008
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Williams, Matthew Reagan, Dachs, II, Gregory William, Shafer, David
• Primary Examiner(s): Eiseman, Lynsey C
• Application Number:
  US12/060,112
• Publication Number:
  US 20090248041A1
• Time in Patent Office: 4,145 Days
• Field of Search: 348 43, 600103, 600111, 600166, 600429, 606 1, 606 13, 606130, 607 88- 89
• CPC Class Codes: A61B 18/22 the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2018/2025 with a pilot laser
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/3614 using optical fibre
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 34/71 Manipulators operated by drive cable mechanisms
• 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 8/445 Details of catheter construction
• CPC Class Codes: A61B 8/4488 the transducer being a phased array
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

In one embodiment of the invention, a robotic surgical system includes a combined laser imaging robotic surgical tool, a control console, and a laser generator/controller. The tool is mounted to a first robotic arm of a patient side cart. The tool has a wristed joint and an end effector coupled together. The end effector has a laser-emitting device to direct a laser beam onto tissue in a surgical site and an image-capturing device to capture images of the tissue in the surgical site. The control console, in communication with the tool, receives the captured images of tissue in the surgical site and displays the captured images on a display device to a user. The laser generator/controller is coupled to the tool and the control console to control the emission of the laser beam onto tissue of the surgical site.

Claims

1. A method of using endoscopic surgical tools, the method comprising:

inserting a first endoscopic surgical tool into a body cavity having a surgical site, the endoscopic surgical tool comprising a hermetically sealed enclosure including an image capture device and a laser emitting device;

capturing images of tissue in the surgical site with the image capture device;

displaying the images on a display device;

overlaying a computer generated bulls-eye target on the display device, the computer generated bulls-eye target overlaid at a first location where the laser emitting device is focused to target tissue with a laser light beam;

energizing the laser emitting device to emit the laser light beam out of the first surgical tool and onto the targeted tissue in the surgical site at the computer generated bulls-eye target;

generating a first virtual dot on the image of the surgical site displayed by the display device to mark the first location where the laser emitting device was energized; and

wherein moving the computer generated bulls-eye target and energizing the laser emitting device generates a second virtual dot on the image of the surgical site at a second location;

wherein the computer generated bull-eye target is generated by one or more processors in communication with the first surgical tool, the display device, and the laser emitting device.

2. The method of claim 1, further comprising:

adjusting power of the laser light beam to cut tissue, and

wherein the energizing of the laser emitting device cuts tissue in the surgical site.

3. The method of claim 1, further comprising:

adjusting power of the laser light beam to mark tissue, and

wherein the energizing of the laser emitting device marks tissue in the surgical site.

4. The method of claim 3, further comprising:

capturing video images of tissue in the surgical site with a second surgical tool;

viewing the video images including the marked tissue;

performing surgery on tissue within the surgical site using a third surgical tool and a fourth surgical tool in the surgical site using the video images of the marked tissue as a guide.

5. The method of claim 4, wherein

the first surgical tool is controlled by a first user to mark tissue;

the second surgical tool, the third surgical tool, and the fourth surgical tool are controlled by a second user to perform surgery on tissue within the surgical site guided by the marked tissue; and

the method further comprises pointing to anatomy in the surgical site with the second surgical tool using a low power laser.

6. The method of claim 1, wherein

the captured images are ultrasound images captured by an ultrasound probe in the first surgical tool and displayed onto the display device.

7. The method of claim 6, wherein

the capturing of ultrasound images includes positioning the ultrasound probe near tissue in the surgical site.

8. The method of claim 7, wherein

the capturing of ultrasound images further includes moving the ultrasound probe over the tissue to capture a plurality of ultrasound images.

9. The method of claim 1, wherein

the captured images are video images captured by at least one video camera in the first surgical tool and displayed onto the display device.