GRIP STRENGTH WITH TACTILE FEEDBACK FOR ROBOTIC SURGERY

• US 20080154246A1
• Filed: 01/18/2008
• Published: 06/26/2008
• Est. Priority Date: 04/07/1999
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Guthart, Gary S., Cooper, Thomas G., Nowlin, William C., Gerbi, Craig, Younge, Robert G., Hoornaert, Dean F., Blumenkranz, Stephen J.
• Granted Patent: US 7,778,733 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• 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 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/36455 Sensor, tactile feedback, operator feels forces of tool on workpiece
• CPC Class Codes: G05B 2219/37396 Tactile feedback, operator feels reaction, force reflection
• CPC Class Codes: G05B 2219/40146 Telepresence, teletaction, sensor feedback from slave to operator
• CPC Class Codes: G05B 2219/45169 Medical, rontgen, x ray
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.

Claims

1-47. -47. (canceled)

48. In a medical robotic system, a handle coupled to first and second end effector elements through a processor so as to manipulate a separation between the first and second end effector elements through operator manipulation of the handle, the handle comprising:

first and second grip elements coupled together at conjoining ends of the first and second grip elements and defining a separation between free ends of the first and second grip elements; and

at least one spring coupled to at least one of the first and second grip elements, wherein the at least one spring exhibits a first spring constant while the separation exceeds a separation transition point that corresponds to the free end of the first end effector element making contact with the free end of the second end effector element and exhibits a second spring constant greater than the first spring constant when the separation is less than the separation transition point.

49. The handle according to claim 48, wherein the at least one spring comprises:

first and second springs, wherein the first and second springs are configured so that the first spring is compressible throughout a full range of the separation and the second spring is compressible while the separation is less than the separation transition point.

50. The handle according to claim 49, wherein the first and second springs have different coil diameters so that one of the first and second springs is disposed within the coil of the other of the first and second springs.

51. The handle according to claim 50, wherein one end of the first spring is coupled to the first grip element and the other end of the first spring is coupled to the second grip element, and one end of the second spring is left free and the other end of the second spring is coupled to the second grip element so that the second spring is not compressed until after the first spring has been compressed to a point where the free end of the second spring makes contact with the first grip element.

52. The handle according to claim 48, wherein the at least one spring comprises:

a variable rate spring having first and second sections, wherein the first section has a first coil spacing and the second section has a second coil spacing that is larger than the first coil spacing.

53. The handle according to claim 52, wherein the first section is no longer compressible at the separation transition point and the second section is compressible at the separation transition point.

54. The handle according to claim 53, wherein the first section comprises a plurality of sections and the second section is coupled to and disposed between two of the plurality of sections.

55. The handle according to claim 48, wherein the second grip element has a stop and the at least one spring comprises:

a variable rate spring having first and second sections, wherein the first section has a first coil diameter smaller than a diameter of the stop and the second section has a second coil diameter that is larger than the diameter of the stop so that the first section compresses against the stop when the stop is disposed within the second section and the variable rate spring is compressed to at least the separation transition point.

56. A method for a robotic system to automatically configure its programming for controlling movement of a tool, the method comprising:

retrieving a tool-type identification code stored in a memory attached to the tool; and

configuring the programming of the robotic system according to the tool-type identification code.

57. The method according to claim 56, wherein the configuring of the programming of the robotic system comprises:

modifying a control relationship between a sensed position of a master manipulator and a desired position of a slave manipulator according to the tool-type identification code, wherein the tool is manipulated by the slave manipulator in response to operator manipulation of the master manipulator according to the control relationship.

58. The method according to claim 57, wherein the control relationship is characterized by a first function operative up to a transition point for determining the desired position of the slave manipulator in response to the sensed position of the master manipulator and a second function operative past the transition point for determining the desired position of the slave manipulator in response to the sensed position of the master manipulator.

59. The method according to claim 58, wherein the first function remains fixed regardless of the tool-type identification code and the second function changes depending upon the tool-type identification code.

60. The method according to claim 58, wherein the first function is a continuous, invertible function.

61. The method according to claim 58, wherein the tool includes first and second end effector elements and the transition point corresponds to a point where the first end effector element contacts the second end effector element in response to operator manipulation of the master manipulator.

62. A robotic system comprising:

a tool coupled to a slave manipulator;

a master manipulator; and

a processor configured to retrieve a tool-type identification code stored in a memory attached to the tool, configure programming of the robotic system according to the tool-type identification code, and control movement of the slave manipulator and the tool in response to movement of the master manipulator according to the configured programming.

63. The robotic system according to claim 62, wherein the processor is configured to modify a control relationship between a sensed position of the master manipulator and a desired position of the slave manipulator according to the tool-type identification code.

64. The robotic system according to claim 63, wherein the control relationship is characterized by a first function operative up to a transition point for determining the desired position of the slave manipulator in response to the sensed position of the master manipulator and a second function operative past the transition point for determining the desired position of the slave manipulator in response to the sensed position of the master manipulator.

65. The robotic system according to claim 64, wherein the first function remains fixed regardless of the tool-type identification code and the second function changes depending upon the tool-type identification code.

66. The robotic system according to claim 64, wherein the first function is a continuous, invertible function.

67. The robotic system according to claim 64, wherein the tool includes first and second end effector elements and the transition point corresponds to a point where the first end effector element contacts the second end effector element in response to the movement of the master manipulator.