Hyperdexterous surgical system

• US 10,376,337 B2
• Filed: 10/09/2014
• Issued: 08/13/2019
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Kilroy, Pablo Eduardo Garcia, Egan, Thomas D., Koenig, Karen Shakespear
• Primary Examiner(s): Bockelman, Mark
• Application Number:
  US14/510,566
• Publication Number:
  US 20150157410A1
• Time in Patent Office: 1,769 Days
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• 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 2090/571 for clamping a support arm to a bed or other supports
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61B 90/60 Supports for surgeons, e.g. chairs or hand supports seats for dentists or surgeons associated with dental chairs or operating chairs A61G15/00
• CPC Class Codes: G05B 2219/39135 For multiple manipulators operating at same time, avoid collision

Abstract

A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Claims

1. A surgical system, comprising:

at least one electromechanical arm coupleable to a fixture;

at least one electromechanical tool supported by the at least one electromechanical arm to define at least one electromechanical arm and tool assembly;

an electronic control system configured to communicate electronically with and control the operation of the electromechanical arm and tool assembly;

at least one portable handheld controller actuatable to operate the electromechanical arm and tool assembly via the control system; and

a visualization system configured to communicate with the control system, the visualization system configured to display at least one image of a surgical workspace on one or more monitors,

wherein the control system is configured to electronically control the electromechanical arm and tool assembly in a plurality of frames of reference and dynamically switch between different frames of reference for the control of the electromechanical arm and tool assembly and for the display of the image of the surgical workspace, wherein at least one frame of reference is associated with an orientation of a wrist of a surgeon holding the portable handheld controller and another frame of reference different than the at least one frame of reference is associated with an orientation of another wrist of the surgeon, thereby allowing the surgeon to move to different orientations relative to a patient during a surgical procedure and to control the electromechanical arm and tool assembly from said different orientations.

2. The surgical system of claim 1, wherein the control system is configured to control the electromechanical arm and tool assembly in a frame of reference of a camera in the surgical workspace to thereby provide the surgeon with an immersive view of the surgical workspace.

3. The surgical system of claim 1, wherein the control system is configured to control the electromechanical arm and tool assembly in a frame of reference outside a body of a patient.

4. The surgical system of claim 2, wherein the control system is configured to control the electromechanical arm and tool assembly while dynamically switching between the frame of reference of the camera and a frame of reference outside a body of a patient.

5. The surgical system of claim 1, wherein the control system is configured to switch mapping of one or more portable handheld controllers held by the surgeon between a plurality of electromechanical arm and tool assemblies to thereby allow the surgeon to reposition him or herself to a different point of view relative to the patient.

6. The surgical system of claim 1, wherein the visualization system displays the image of the surgical workspace in a frame of reference that follows the orientation of the wrist of the surgeon.

7. The surgical system of claim 6, wherein the visualization system displays the image of the surgical workspace on the one or more monitors such that the displayed motion of at least a portion of the electromechanical arm and tool assembly matches movement of the wrist of the surgeon.

8. The surgical system of claim 1, wherein the control system is configured to establish a new frame of reference in response to engagement of a clutch.

9. The surgical system of claim 1, wherein movements of the portable handheld controller controls movements of the electromechanical arm and tool assembly.

10. The surgical system of claim 9, wherein the visualization system is configured to display the image of the surgical workspace with an adjustable zoom factor.

11. The surgical system of claim 10, wherein the control system is configured to scale the relationship between the movements of the portable handheld controller and the movements of the electromechanical arm and tool assembly according to at least one of a selected zoom factor and a selected point of view of the displayed image.

12. The surgical system of claim 10, wherein the portable handheld controller may be used to adjust the adjustable zoom factor.

13. The surgical system of claim 1 wherein the at least one frame of reference is operable to be rotated up to ninety degrees with respect to the another frame of reference.

14. The surgical system of claim 1 wherein in any one of the images of the surgical workspace, the visualization system displays the electromechanical arm and tool assembly in the at least one frame of reference and the at least one frame of reference is based on an axial direction of any one of the right and left wrists of the surgeon with which the surgeon operates the electromechanical arm and tool assembly, and displays a manual tool in the another frame of reference and the another frame of reference is based on an axial direction of the other of the right and left wrists of the surgeon with which the surgeon operates the manual tool.

15. The surgical system of claim 1 wherein the at least one frame of reference is dynamically associated with the wrist of the surgeon, and the another frame of reference is dynamically associated with the another wrist of the surgeon.