SURGICAL SYSTEM ARCHITECTURE

• US 20110282357A1
• Filed: 08/12/2010
• Published: 11/17/2011
• Est. Priority Date: 05/14/2010
• Status: Abandoned Application

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Ramstad, Craig R., Cooper, Thomas G., Rogers, Theodore W., Duval, Eugene F., Brown, Jeffrey D., McGrogan, Anthony K., Holop, Robert E., Diolaiti, Nicola, Gomez, Daniel H.
• Application Number:
  US12/855,434
• Publication Number:
  US 20110282357A1
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00135 Oversleeves mounted on the endoscope prior to insertion
• CPC Class Codes: A61B 1/00142 with means for preventing contamination, e.g. by using a sanitary sheath
• CPC Class Codes: A61B 17/0218 for minimally invasive surgery A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 17/3474 Insufflating needles, e.g. Veress needles
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/3445 used as instrument channel for multiple instruments catheters A61B2017/22072
• CPC Class Codes: A61B 2017/3447 Linked multiple cannulas
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2050/3008 having multiple compartments
• CPC Class Codes: A61B 2090/5025 with a counter-balancing mechanism
• CPC Class Codes: A61B 34/00 Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 46/23 : with means to retain or hold surgical implements
• CPC Class Codes: A61B 50/00 : Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers drapes specially adapted for instruments A61B46/10
• CPC Class Codes: A61B 50/20 : Holders specially adapted for surgical or diagnostic appliances or instruments drapes with means to hold surgical instruments A61B46/23; for catheters A61M25/02
• CPC Class Codes: A61B 50/30 : Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments for wound clamps A61B17/10; for ligaturing clips A61B17/122; packages or dispensers for surgical gloves or finger-stalls A61B42/40
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: A61M 13/003 : Blowing gases other than for carrying powders, e.g. for inflating, dilating or rinsing
• CPC Class Codes: B25J 15/0066 : with different types of end effectors, e.g. gripper and welding gun B25J15/0057 and B25J15/0061 take precedence
• CPC Class Codes: B25J 15/02 : servo-actuated
• CPC Class Codes: B25J 15/04 : with provision for the remote detachment or exchange of the head or parts thereof
• CPC Class Codes: B32B 3/12 : characterised by a layer of regularly- arranged cells, e.g. a honeycomb structure
• CPC Class Codes: F16F 1/121 : adjustable, e.g. to modify spring characteristics
• CPC Class Codes: G03B 2205/0015 : by displacing one or more optical elements normal to the optical axis
• CPC Class Codes: G03B 2205/0069 : using electromagnetic actuators, e.g. voice coils
• CPC Class Codes: G03B 3/00 : Focusing arrangements of general interest for cameras, projectors or printers
• CPC Class Codes: G03B 35/00 : Stereoscopic photography
• CPC Class Codes: G03B 5/02 : Lateral adjustment of lens
• CPC Class Codes: H01F 2005/027 : wound on formers for receiving several coils with perpendicular winding axes, e.g. for antennae or inductive power transfer
• CPC Class Codes: H01F 27/2823 : Wires H01F27/2866 takes precedence
• CPC Class Codes: H01F 5/02 : wound on non-magnetic supports, e.g. formers
• CPC Class Codes: H01F 5/04 : Arrangements of electric connections to coils, e.g. leads
• CPC Class Codes: H04N 23/51 : Housings
• CPC Class Codes: H04N 23/54 : Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
• CPC Class Codes: H04N 23/55 : Optical parts specially adapted for electronic image sensors; Mounting thereof
• CPC Class Codes: H04N 23/555 : for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
• CPC Class Codes: H04N 23/57 : Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
• CPC Class Codes: H04N 23/60 : Control of cameras or camera modules
• CPC Class Codes: H04N 23/687 : by shifting the lens or sensor position
• CPC Class Codes: H05K 1/18 : Printed circuits structurally associated with non-printed electric components H05K1/0201, H05K1/023, H05K1/0243, and H05K1/16 take precedence
• CPC Class Codes: Y10T 74/20305 : Robotic arm

Abstract

Robotic surgical systems are provided. In one embodiment, the system includes a setup link for locating a remote center of motion for the robotic surgical system; a manipulator arm assembly including an active proximal link and an active distal link, the proximal link operably coupled to the setup link; and a plurality of instrument manipulators operably coupled to a distal end of the distal link, the plurality of instrument manipulators rotatable about an instrument manipulator assembly roll axis. A cannula mount is movably coupled to a proximal end of the distal link, and a cannula is coupled to the cannula mount, the cannula having a longitudinal axis substantially coincident with the instrument manipulator assembly roll axis. The system further includes an entry guide tube at least partially within the cannula, the entry guide tube rotatable about the longitudinal axis of the cannula.

Claims

1. A robotic surgical system, comprising:

a setup link for locating a remote center of motion for the robotic surgical system;

a manipulator arm assembly including an active proximal link and an active distal link, the proximal link operably coupled to the setup link;

a plurality of instrument manipulators operably coupled to a distal end of the distal link, the plurality of instrument manipulators rotatable about an instrument manipulator assembly roll axis;

a cannula mount coupled to a proximal end of the distal link;

a cannula coupled to the cannula mount, the cannula having a longitudinal axis substantially coincident with the instrument manipulator assembly roll axis; and

an entry guide tube at least partially within the cannula, the entry guide tube rotatable about the longitudinal axis of the cannula.

2. The system of claim 1, wherein the setup link includes a vertical-axis setup link and two horizontal-plane setup links.

3. The system of claim 1, wherein the manipulator arm assembly has a constantly vertical yaw axis that intersects with the instrument manipulator assembly roll axis at the remote center of motion.

4. The system of claim 3, wherein the distal link has a constant form factor when the distal link is rotated about the yaw axis.

5. The system of claim 1, wherein the distal link includes three links operably coupled to one another.

6. The system of claim 1, wherein the proximal link has a constant L-shaped form factor.

7. The system of claim 1, wherein the plurality of instrument manipulators are operably coupled to a rotatable base plate at the distal end of the distal link.

8. The system of claim 1, wherein each of the plurality of instrument manipulators are operably coupled to the distal end of the distal link by a telescoping insertion mechanism along which the instrument manipulator moves.

9. The system of claim 1, wherein each of the plurality of instrument manipulators includes a distal face from which a plurality of actuator outputs distally protrude.

10. The system of claim 9, further comprising a plurality of surgical instruments, each surgical instrument having a proximal face of a force transmission mechanism coupled to the distal face of a corresponding instrument manipulator.

11. The system of claim 10, wherein a surgical instrument has a shaft with a proximal curved section and a distal straight section.

12. The system of claim 10, wherein the surgical instrument is selected from the group consisting of articulated tools with end effectors, such as jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, and clip appliers, and non-articulated tools, such as cutting blades, cautery probes, irrigators, catheters, and suction orifices.

13. A robotic surgical system, comprising:

a setup link for locating a remote center of motion for the robotic surgical system;

a manipulator arm assembly including an active proximal link and an active distal link, the proximal link operably coupled to the setup link;

a plurality of instrument manipulators operably coupled to a distal end of the distal link, the plurality of instrument manipulators rotatable about an instrument manipulator assembly roll axis, wherein each of the plurality of instrument manipulators includes a distal face from which a plurality of actuator outputs distally protrude;

a cannula mount coupled to a proximal end of the distal link;

a cannula coupled to the cannula mount, the cannula having a longitudinal axis substantially coincident with the instrument manipulator assembly roll axis;

an entry guide tube at least partially within the cannula, the entry guide tube rotatable about the longitudinal axis of the cannula; and

a plurality of surgical instruments, each surgical instrument having a proximal face of a force transmission mechanism coupled to the distal face of a corresponding instrument manipulator, wherein each surgical instrument has a shaft passing through the entry guide tube and the cannula.

14. The system of claim 13, wherein the manipulator arm assembly has a constantly vertical yaw axis that intersects with the instrument manipulator assembly roll axis at the remote center of motion.

15. The system of claim 14, wherein the distal link has a constant form factor when the distal link is rotated about the yaw axis.

16. The system of claim 13, wherein the distal link includes three links operably coupled to one another.

17. The system of claim 13, wherein the proximal link has a constant L-shaped form factor.

18. The system of claim 13, wherein the plurality of instrument manipulators are operably coupled to a rotatable base plate at the distal end of the distal link.

19. The system of claim 13, wherein each of the plurality of instrument manipulators are operably coupled to the distal end of the distal link by a telescoping insertion mechanism along which the instrument manipulator moves.

20. The system of claim 13, wherein a surgical instrument has a shaft with a proximal curved section and a distal straight section.