Surgical robotic tools, data architecture, and use

• US 20050149003A1
• Filed: 12/17/2004
• Published: 07/07/2005
• Est. Priority Date: 12/12/1996
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Cooper, Thomas, Guthart, Gary S., Julian, Chris, Tierney, Michael J., Younge, Robert G., Blumenkranz, Stephen J.
• Granted Patent: US 9,795,453 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• 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

1-12. -12. (canceled)

13. A robotic surgical tool for use with a robotic surgical system having a processor that directs movement of a tool holder, 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 driven elements that are releasably coupleable to the tool holder of the robotic surgical system;

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

a tool memory coupled to the probe body, the tool memory defining a signal for transmission via the interface to the processor of the robotic surgical system.

14. The robotic surgical tool of claim 13 wherein the end effector is coupled to the distal end of the probe body with a wrist structure.

15. The robotic surgical tool of claim 14 wherein the end effector comprises Potts scissors.

16. The robotic surgical tool of claim 14 wherein the end effector comprises Debakey forceps.

17. The robotic surgical tool of claim 14 wherein the end effector comprises microforceps.

18. The robotic surgical tool of claim 14 wherein the end effector comprises clip appliers.

19. The robotic surgical tool of claim 14 wherein the end effector is configured to deliver electrical energy.

20. The robotic surgical tool of claim 19 wherein the end effector comprises a 15 degree electrical scalpel.

21. The robotic surgical tool of claim 19 wherein the end effector comprises an electrocautery element.

22. The robotic surgical tool of claim 13 wherein the end effector defines a field of view.

23. The robotic surgical tool of claim 13 wherein the tool memory comprises non-volatile memory.

24. The robotic surgical tool of claim 13 wherein the signal transmitted from the tool memory indicates compatibility of the robotic surgical tool with the robotic surgical system.

25. The robotic surgical tool of claim 13 wherein the signal transmitted from the tool memory comprises a unique tool identifier signal.

26. The robotic surgical tool of claim 13 wherein the signal transmitted from the tool memory comprises an identifier signal included in a table accessible to the processor for comparison with the signal, the table comprising a plurality of compatible tool identification signals.

27. The robotic surgical tool of claim 13 wherein the signal transmitted from the tool memory comprises an arbitrary compatibility data string.

28. The robotic surgical tool of claim 13 wherein the signal transmitted from the tool memory indicates a tool-type of the robotic surgical tool.

29. The robotic surgical tool of claim 13 wherein the signal transmitted from the tool memory indicates tool calibration offsets of the robotic surgical tool.

30. The robotic surgical tool of claim 13 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.

31. The robotic surgical tool of claim 13 wherein the interface comprises a magnet that is configured to interact with a magnetically actuated sensor disposed on the tool holder.

32. The robotic surgical tool of claim 13 further comprising a sterile adapter 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.

22-1. The robotic surgical tool of claim 13 wherein the tool memory comprises circuitry.

33. A robotic surgical tool for use with a robotic surgical system having a processor that directs movement of a tool holder, the tool comprising:

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

surgical means disposed adjacent the distal end of the probe body;

interface means disposed adjacent the proximal end of the probe body, the interface means being releasably coupleable to the tool holder of the robotic surgical system;

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

means for transmitting a signal via the interface to the processor of the robotic surgical system.