MEDICAL ROBOTIC SYSTEM WITH COUPLED CONTROL MODES

• US 20100274087A1
• Filed: 05/14/2010
• Published: 10/28/2010
• 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., Mohr, Catherine J., Diolaiti, Nicola
• Granted Patent: US 8,620,473 B2
• Time in Patent Office: Days
• US Class Current: 600/118
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 2017/00278 Transorgan operations, e.g. transgastric
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/3447 Linked multiple cannulas
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• 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 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 Micromanipulators
• 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

Abstract

In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system'"'"'s usability is enhanced by reducing the surgeon'"'"'s need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.

Claims

1. A robotic system comprising:

a master input device;

first and second slave manipulators; and

means for commanding the second slave manipulator to move in response at least in part to commanded movement of the first slave manipulator when the first slave manipulator moves in response to movement of the master input device and commanding the first slave manipulator to move in response at least in part to commanded movement of the second slave manipulator when the second slave manipulator moves in response to movement of the master input device.

2. The robotic system according to claim 1, wherein the first slave manipulator is adapted to move an instrument coupled to a base and the second slave manipulator is adapted to move the base, wherein the means for commanding the second slave manipulator commands the second slave manipulator to move the base so as to optimize a workspace of the instrument when the first slave manipulator is commanded to move the instrument in response to movement of the master input device.

3. The robotic system according to claim 2, wherein the means for commanding the first slave manipulator commands the first slave manipulator to maintain a working end of the instrument at a desired position and orientation when the second slave manipulator is commanded to move the base in response to movement of the master input device.

4. The robotic system according to claim 3, wherein the base comprises a guide tube to which the instrument is coupled so as to be extendable beyond a distal end of the guide tube and to move when the guide tube moves.

5. The robotic system according to claim 1, wherein the first slave manipulator is adapted to move an instrument and the second slave manipulator is adapted to move an imaging system, wherein the means for commanding the second slave manipulator commands the second slave manipulator to move the imaging system so as to maintain a working end of the instrument within a field of view of the imaging system when the first slave manipulator is commanded to move the instrument in response to movement of the master input device.

6. The robotic system according to claim 5, wherein the means for commanding the first slave manipulator commands the first slave manipulator to move the instrument so as to follow movement of the imaging system when the second slave manipulator is commanded to move the imaging system in response to movement of the master input device.

7. The robotic system according to claim 1, wherein the first slave manipulator is adapted to move an imaging system coupled to a base and the second slave manipulator is adapted to move the base, wherein the means for commanding the second slave manipulator commands the second slave manipulator to move the base so as to optimize a workspace of the imaging system when the first slave manipulator is commanded to move the imaging system in response to movement of the master input device.

8. The robotic system according to claim 7, wherein the means for commanding the first slave manipulator commands the first slave manipulator to move the imaging system so as to maintain an image capturing end of the imaging system at a desired position and orientation when the second slave manipulator is commanded to move the base in response to movement of the master input device.

9. The robotic system according to claim 8, wherein the base comprises a guide tube to which the imaging system is coupled so as to be extendable beyond a distal end of the guide tube and to move when the guide tube moves.

10. A robotic system comprising:

a first instrument;

a base that the first instrument is coupled to so that the first instrument moves when the base moves;

a base controller means for causing the base to be moved so as to optimize a workspace of the first instrument as the first instrument moves; and

a first instrument controller for moving the first instrument according to commanded movement while compensating for movement of the base.

11. The robotic system according to claim 10, further comprising:

a second instrument coupled to the base so that the second instrument moves when the base moves;

wherein the base controller means causes the base to be moved so as to continuously optimize workspaces of both the first and second instruments as the first and second instruments move; and

a second instrument controller for moving the second instrument according to commanded movement while compensating for movement of the base.

12. The robotic system according to claim 11, further comprising:

an imaging system having an image capturing end and coupled to the base so that the imaging system moves when the base moves;

wherein the base controller means causes the base to be moved so as to optimize workspaces of both the first and second instruments subject to a constraint that maintains a position and orientation of the image capturing end relative to a fixed reference frame.

13. The robotic system according to claim 12, further comprising:

a surgeon console having operator manipulatable first and second input devices; and

wherein the base controller means determines whether movement of the base to optimize workspaces of the first and second instruments requires movement from the maintained position and orientation of the image capturing end and provides an indication of such requirement to an operator of the first and second input devices.

14. The robotic system according to claim 13, wherein the indication is at least one of visual, audio and haptic indications.

15. The robotic system according to claim 13, wherein the base controller means causes the base to be moved so as to optimize workspaces of the first and second instruments as a priority over an imaging system controller means maintaining the position and orientation of the image capturing end following receipt of an indication of such priority switch from the operator of the first and second input devices.

16. The robotic system according to claim 11, further comprising:

an imaging system having an image capturing end and coupled to the base so that the imaging system moves when the base moves; and

an imaging system controller means for causing the imaging system to be moved so as to maintain an image of first and second end effectors respectively of the first and second instruments within a field of view of the image capturing end as the first and second instruments are commanded to move.

17. The robotic system according to claim 16, wherein the imaging system controller means causes the image capturing end to move so as to maintain the image of the first and second end effectors within the field of view by calculating and causing maintenance of a set point for manipulation of the imaging system based upon a calculated centroid of the first and second end effectors in the image.

18. The robotic system according to claim 17, wherein the imaging system controller means computes the set point by applying the calculated centroid to a low pass filter and applying a dead-zone behavior in causing movement of the imaging system.

19. A method for controlling movement of one or more instruments coupled to a base so that the instruments move as the base moves, the method comprising:

commanding manipulation of the base so as to optimize an operable workspace of a first instrument; and

commanding manipulation of the first instrument according to commanded movement while compensating for movement of the base.

20. The method according to claim 19, further comprising:

commanding manipulation of the base so as to optimize operable workspaces of the first instrument and a second instrument coupled to the base so the second instrument moves as the base moves; and

commanding manipulation of the second instrument according to commanded movement while compensating for movement of the base.

21. The method according to claim 20, further comprising:

commanding a position and orientation of an image capturing end of an imaging system to be maintained relative to a fixed reference frame while commanding the manipulation of the base so as to optimize operable workspaces of the first and second instruments, wherein the imaging system is coupled to the base so that the imaging system moves as the bases moves.

22. The method according to claim 21, further comprising:

determining whether manipulation of the base to optimize the workspaces of the first and second instruments requires movement from the maintained position and orientation of the image capturing end; and

providing an indication of such required movement of the image capturing end to an operator of one or more input devices generated the commanded movement of the first and second instruments.

23. The method according to claim 22, wherein the providing of the indication comprises providing at least one of visual, audio and haptic indications.

24. The method according to claim 22, further comprising:

receiving an indication of a switch in priority from the operator of the one or more input devices; and

commanding manipulation of the base so as to optimize workspaces of the first and second instruments as a priority over commanding maintenance of the position and orientation of the image capturing end following receipt of the indication of such priority switch.

25. The method according to claim 20, further comprising:

commanding manipulation of an imaging system so as to maintain an image captured by the image capturing device of first and second end effectors respectively of the first and second instruments within a field of view of the imaging system while commanding manipulation of the first and second instruments.

26. The method according to claim 25, further comprising:

commanding manipulation of the imaging system so as to maintain the image of the first and second end effectors of the first and second surgical instruments within a field of view of the imaging system by computing and commanding maintenance of a set point for manipulation of the imaging system based upon a centroid of the first and second end effectors in the captured image.

27. The method according to claim 26, wherein the computing of the set point comprises applying the calculated centroid to a low pass filter and applying a dead-zone behavior in the commanded manipulation of the imaging system.

28. The method according to claim 25, further comprising:

commanding maintenance of a position and orientation of a third end effector of a third instrument coupled to the base relative to a fixed reference frame; and

commanding manipulation of the imaging system so as to maintain the image of the first, second and third end effectors within the field of view of the imaging system while commanding manipulation of the first and second instruments in response to commanded movement.

29. A robotic system comprising:

a plurality of devices each manipulated by a corresponding one of a plurality of slave manipulators;

a master input device; and

means for commanding the plurality of slave manipulators to move their respective devices in a common degree-of-freedom direction in response to movement of the master input device.

30. The robotic system according to claim 29, wherein the common degree-of- freedom direction is a direction in which distal tips of the plurality of devices each move in a line that is parallel to corresponding lines of the other distal tips.

31. The robotic system according to claim 29, further comprising:

a guide tube through which the plurality of devices are disposed so as to be extendable beyond a distal end of the guide tube and the common degree-of-freedom is defined relative to the guide tube.

32. The robotic system according to claim 31, wherein the common degree-of- freedom is movement in a surge direction relative to a distal end of the guide tube.

33. The robotic system according to claim 31, further comprising:

a plurality of device controllers for controlling movement of the plurality of slave manipulators; and

a guide tube controller for controlling movement of the guide tube in a plurality of degrees of freedom not including translational motion parallel to a longitudinal axis of the guide tube, wherein the guide tube controller is configured to receive commanded movement from the master input device, control movement of the guide tube for commanded movement in the plurality of degrees of freedom, and command the plurality of device controllers to control movement of the plurality of devices for commanded movement parallel to the longitudinal axis of the guide tube.

34. The robotic system according to claim 33, wherein each of the plurality of slave manipulators is configured to retract its respective device back towards the guide tube in response to a retraction command indicated by the commanded movement from the guide tube controller and drive the device to a retraction configuration so that the device may freely enter the guide tube.

35. The robotic system according to claim 34, wherein each of the plurality of device controllers is configured to determine when a most proximal rotated link of the device is within a threshold distance from the distal end of the guide tube and drive the device to its retraction configuration upon such determination.

36. The robotic system according to claim 33, wherein each of the plurality of device controllers is configured to extend its respective device away from the guide tube in response to an insertion command indicated by the commanded movement from the guide tube controller.

37. The robotic system according to claim 33, wherein the plurality of device controllers are configured to retract the plurality of devices back in unison towards the guide tube in response to a retraction command indicated by the commanded movement from the guide tube controller.

38. The robotic system according to claim 37, wherein the plurality of device controllers are configured to drive the plurality of devices to retraction configurations so that the plurality of devices may freely enter the guide tube in response to the retraction command.

39. The robotic system according to claim 33, wherein the plurality of device controllers are configured to extend the plurality of devices away in unison from the guide tube in response to an insertion command indicated by the commanded movement from the guide tube controller.

40. The robotic system according to claim 39, wherein the plurality of device controllers are configured to drive the plurality of devices to operational configurations defined by information of joint positions stored in a memory device in response to the insertion command.

41. The robotic system according to claim 40, wherein the operational configurations indicate configurations previously assumed by the plurality of devices and information of which have been stored in the memory device.

42. The robotic system according to claim 29, wherein one of the plurality of devices comprises an imaging system, and the system further comprises:

a surgeon console having the master input device and a display, wherein images captured by the imaging system are processed and displayed on the display..

43. The robotic system according to claim 42, further comprising:

means for providing haptic feedback on the master input device to indicate movement of an image capturing end of the imaging system.

44. The robotic system according to claim 42, further comprising:

means for providing a computer generated auxiliary view of the plurality of devices as taken from a stable perspective.

45. The robotic system according to claim 42, further comprising:

means for modifying reference frames used for computing kinematics of the master input device and one of the plurality of slave manipulators such that a position and orientation of the master input device with respect to a display viewable by an operator as the operator moves the master input device constantly corresponds to a position and orientation of a tip of a device manipulatable by the one of the plurality of slave manipulators with respect to an image capturing end of the imaging system.

46. The robotic system according to claim 29, further comprising:

a fenestrated guide tube through which the plurality of devices are disposed so as to be extendable beyond a distal end of the fenestrated guide tube and the common degree- of-freedom is movement parallel to a longitudinal axis of the guide tube.

47. The robotic system according to claim 46, wherein the means for commanding the plurality of slave manipulators to move their respective devices in a common degree-of-freedom direction in response to movement of the master input device comprises:

means for directly controlling one of the plurality of slave manipulators in response to movement of the master input device; and

means for indirectly controlling another of the plurality of slave manipulators in response to commanded movement of the directly controlled one of the plurality of slave manipulators.

48. The robotic system according to claim 47, wherein the directly controlled slave manipulator of the plurality of slave manipulators, manipulates a first instrument and the indirectly controlled slave manipulator of the plurality of slave manipulators manipulates a second instrument that is interposed between the first instrument and an opening in the fenestrated guide tube when the first instrument is retracted into the guide tube.

49. The robotic system according to claim 47, wherein the directly controlled slave manipulator of the plurality of slave manipulators, manipulates an instrument and the indirectly controlled slave manipulator of the plurality of slave manipulators manipulates an imaging system.

50. The robotic system according to claim 49, further comprising:

means for modifying reference frames used for computing kinematics of the master input device and the directly controlled slave manipulator of the plurality of slave manipulators such that a position and orientation of the master input device with respect to a display viewable by an operator as the operator moves the master input device constantly corresponds to a position and orientation of a tip of the instrument with respect to an image capturing end of the imaging system.

51. A method for retracting a plurality of devices back into a guide tube, the method comprising:

receiving a retraction command from an input device;

retracting a plurality of devices extending beyond a distal end of a guide tube back together towards the guide tube in response to the retraction command; and

driving the plurality of devices to retraction configurations so that each of the plurality of devices may freely enter the guide tube.

52. The method according to claim 51, further comprising:

providing the retraction command to a plurality of device controllers configured to control movement of corresponding of the plurality of devices.

53. The method according to claim 52, wherein the receiving of the retraction command and the providing of the retraction command to the plurality of device controllers is performed by a guide tube controller configured to control movement of the guide tube in a plurality of degrees of freedom not including movement in the retraction direction.

54. The method according to claim 52, wherein the driving of the plurality of devices to retraction configurations comprises:

determining when a most proximal rotated link of each of the plurality of devices is within a threshold distance from the distal end of the guide tube; and

driving each of the plurality of devices to its retraction configuration upon determining that the most proximal rotated link of the device is within the threshold distance from the distal end of the guide tube.

55. The method according to claim 51, wherein the plurality of devices comprises an imaging system, and the method further comprising:

providing haptic feedback on the input device to indicate movement of an image capturing end of the imaging system.

56. The method according to claim 51, wherein the plurality of devices comprises an imaging system, and the method further comprising:

providing a computer generated auxiliary view of the plurality of devices, as taken from a stable perspective, on a display.

57. The method according to claim 51, wherein the plurality of devices comprises an imaging system, and the method further comprising:

modifying reference frames used for computing kinematics of the input device and a slave manipulator for manipulating one of the plurality of devices such that a position and orientation of the input device with respect to a display viewable by an operator as the operator moves the input device constantly corresponds to a position and orientation of a tip of the one of the plurality of devices with respect to an image capturing end of the imaging system.

58. The method according to claim 51, wherein the guide tube is a fenestrated guide tube and the retracting of the plurality of devices comprises:

directly controlling the retraction of one of the plurality of devices in response to the retraction command; and

indirectly controlling the retraction of another of the plurality of devices in response to commanded movement of the directly controlled one of the plurality of devices.

59. The method according to claim 58, wherein the direct controlling of the retraction of the one of plurality of devices in response to the retraction command comprises directly controlling the retraction of a first instrument in response to the retraction command;

and the indirect controlling of the retraction of the another of the plurality of devices in response to the commanded movement of the directly controlled one of the plurality of devices comprises indirectly controlling the retraction of a second instrument interposed between an opening of the fenestrated guide tube and the first instrument when the first instrument is retracted into the guide tube.

60. The method according to claim 58, wherein the direct controlling of the retraction of the one of plurality of devices in response to the retraction command comprises directly controlling the retraction of an instrument in response to the retraction command;

and

the indirect controlling of the retraction of the another of the plurality of devices in response to the commanded movement of the directly controlled one of the plurality of devices comprises indirectly controlling the retraction of an imaging system.

61. The method according to claim 60, wherein the driving of the plurality of devices to retraction configurations so that each of the plurality of devices may freely enter the guide tube comprises:

driving the imaging system to a retraction configuration in which an image capturing end of the imaging system is controlled so to capture images of a distal tip of the instrument including when the image capturing end of the imaging system and the distal tip of the instrument are both retracted into the guide tube.

62. The method according to claim 61, further comprising:

modifying reference frames used for computing kinematics of the input device and a slave manipulator for manipulating the instrument such that a position and orientation of the input device with respect to a display viewable by an operator as the operator moves the input device constantly corresponds to a position and orientation of a tip of the instrument with respect to the image capturing end of the imaging system.

63. A robotic system comprising:

a plurality of instruments each manipulated by a corresponding one of a plurality of slave manipulators;

an imaging system manipulated by an imaging system manipulator;

a master input device; and

means for commanding the plurality of slave manipulators to move the plurality of instruments in response to movement of the imaging system when the imaging system manipulator moves in response to movement of the master input device.

64. The robotic system according to claim 63, wherein the means for commanding the plurality of slave manipulators comprises a plurality of subunits each coupled to a corresponding one of the plurality of slave manipulators for commanding the corresponding one of the plurality of slave manipulators to move in response to movement of the master input device.

65. The robotic system according to claim 63, wherein the means for commanding the plurality of slave manipulators commands the plurality of slave manipulators to move their respective instruments so as to be within a field of view of the imaging system as the imaging system manipulator moves in response to movement of the master input device.

66. The robotic system according to claim 63, wherein the means for commanding the plurality of slave manipulators commands the plurality of slave manipulators to move their respective instruments so as to maximize their available ranges of motion.

67. The robotic system according to claim 63, further comprising:

a guide tube through which the plurality of instruments and the imaging system are disposed within and extendable beyond a distal end of the guide tube.

68. The robotic system according to claim 67, further comprising:

a guide tube manipulator for manipulating the guide tube; and

means for commanding the guide tube manipulator to move so as to avoid the imaging system from reaching a boundary limit relative to the guide tube as the imaging system manipulator moves the imaging system in response to movement of the master input device.

69. A method for coupling control of an imaging system with other devices in a robotic system, the method comprising:

causing a plurality of instruments to move so as to follow an image capturing end of an imaging system as the imaging system moves in response to movement of a master input device.

70. The method according to claim 69, wherein the imaging system and the plurality of instruments are disposed within a guide tube and extendable beyond a distal end of the guide tube, wherein the causing the plurality of instruments to move comprises:

causing the plurality of instruments to extend out of the distal end of the guide tube as the imaging system is extended out of the distal end of the guide tube in response to movement of a master input device.

71. The method according to claim 70, further comprising:

causing the guide tube to move so that the imaging system does not reach a boundary limit relative to the guide tube as the imaging system moves in response to movement of a master input device.

72. The method according to claim 70, further comprising:

causing the plurality of instruments to move so as to maximize their respective ranges of motion after the imaging system reaches a desired viewing point at a work site.

73. The method according to claim 72, wherein the causing of the plurality of instruments to move comprises causing the plurality of instruments to move so as to be within a field of view of the imaging system after the imaging system reaches the desired viewing point at the work site.