METHOD AND SYSTEM FOR MOVING A PLURALITY OF ARTICULATED INSTRUMENTS IN TANDEM BACK TOWARDS AN ENTRY GUIDE

• US 20130231680A1
• Filed: 03/07/2013
• Published: 09/05/2013
• 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: Diolaiti, Nicola, Lilagan, Paul E.
• Granted Patent: US 9,469,034 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00278 Transorgan operations, e.g. transgastric
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 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 13/025 comprising haptic means
• CPC Class Codes: B25J 19/021 Optical sensing devices

Abstract

A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide after a delay. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

Claims

1. A method for moving a plurality of articulated instruments in tandem back towards an entry guide out of which the plurality of articulated instruments extend, the method comprising:

causing the plurality of articulated instruments to assume retraction configurations after a delay which follows receiving one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide.

2. The method of claim 1, further comprising:

causing an abrupt change to a haptic force being applied against a control mechanism after the delay followed by a force slope profile which is independent of a position of the control mechanism at the time of the delay.

3. The method of claim 1, further comprising:

causing a haptic force to be applied against a control mechanism in a manner so as to progressively increase in force as commands from the control mechanism to move the plurality of articulated instruments in tandem back towards the entry guide progressively exceed a limit distance from the initial position.

4. The method of claim 1, further comprising:

causing joints used for pivoting the entry guide to be locked in place upon receiving a command to move the entry guide translationally along its longitudinal axis in a retraction direction by a distance exceeding a locking distance from the initial position; and

generating the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide from one or more commands to move the entry guide translationally along its longitudinal axis in the refraction direction after the delay.

5. The method of claim 4, further comprising:

causing the joints used for pivoting the entry guide to be unlocked after the plurality of articulated instruments has been retracted into the entry guide for such pivoting.

6. The method of claim 1, further comprising:

causing the plurality of articulated instruments to be moved in tandem back towards the entry guide in response to the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide if either each of the plurality of instruments is in a configuration which allows it to be retracted into the entry guide or each of the plurality of articulated instruments is a minimum distance away from a distal end of the entry guide.

7. The method of claim 6, wherein one of the plurality of articulated instruments is an articulated camera instrument having an image capturing end, others of the plurality of articulated instruments are articulated tool instruments having working ends, and the causing of the plurality of articulated instruments to be moved in tandem back towards the entry guide comprises:

causing the articulated camera instrument to be moved back towards the entry guide, in response to the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide, until the image capturing end enters the entry guide.

8. The method of claim 7, wherein the causing of the plurality of articulated instruments to be moved back towards the entry guide comprises:

causing each of the other articulated instruments to be moved back towards the entry guide, in response to the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide, even after its working end enters the entry guide.

9. The method of claim 6, wherein the causing of the plurality of articulated instruments to move in tandem back towards the entry guide is subject to a progressively increasing velocity limit as the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide progressively increases after the delay.

10. The method of claim 9, wherein the causing of the plurality of articulated instruments to be moved in tandem back towards the entry guide is subject to a maximum velocity limit after the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide exceed a maximum distance after the delay.

11. A robotic system comprising:

at least one input device;

an entry guide;

a plurality of articulated instruments extending out of a distal end of the entry guide;

a plurality of instrument manipulators for manipulating corresponding ones of the plurality of articulated instruments; and

a processor adapted to;

command the plurality of instrument manipulators to manipulate the plurality of articulated instruments so as to assume retraction configurations after a delay which follows receiving one or more commands from the at least one input device to move the plurality of articulated instruments in tandem back towards the entry guide.

12. The system of claim 11, wherein the processor is adapted to cause an abrupt change to a haptic force being applied against the at least one input device after the delay followed by a force slope profile which is independent of a position of the control mechanism at the time of the delay.

13. The system of claim 11, wherein the processor is adapted to cause a haptic force to be applied against the at least one input device in a manner so as to progressively increase in force as the one or more commands from the at least one input device to move the plurality of articulated instruments in tandem back towards the entry guide progressively exceed a limit distance from the initial position.

14. The system of claim 11, further comprising:

an entry guide manipulator having a plurality of joints used for pivoting the entry guide;

wherein the processor is adapted to;

cause the plurality of joints of the entry guide manipulator to be locked in place upon receiving a command from the at least one input device to move the entry guide translationally along its longitudinal axis in a retraction direction by a distance exceeding a locking distance from an initial position; and

generate commands to move the plurality of articulated instruments in tandem back towards the entry guide from commands received from the at least one input device to move the entry guide translationally along its longitudinal axis in the retraction direction after the delay.

15. The system of claim 14, wherein the processor is adapted to cause the plurality of joints of the entry guide manipulator to be unlocked after the plurality of articulated instruments has been retracted into the entry guide.

16. The system of claim 14, further comprising:

a viewer for displaying processed images originating from the articulated camera instrument;

wherein the processor is adapted to command the plurality of instrument manipulators to manipulate the plurality of articulated instruments so as to move in tandem back towards the entry guide in response to commands from the at least one input device in such a fashion as to provide an operator of the at least one input device an impression that the operator is pushing the displayed processed images away while the operator is viewing the viewer and manipulating the at least one input device in a manner that results in commanding the entry guide to move translationally along its longitudinal axis in the retraction direction.

17. The system of claim 16, wherein the at least one input device comprises left and right input devices respectively operated by left and right hands of the operator, pivot points of the left and right input devices defining a handle bar axis which passes through the pivot points, and the processor is adapted to:

command the entry guide manipulator to rotate the entry guide about a first axis in response to movement of the first and second input devices in opposite forward and back directions prior to the plurality of joints of the entry guide manipulator being locked in place, command the entry guide manipulator to rotate the entry guide about a second axis in response to movement of the first and second input device in opposite up and down directions prior to the plurality of joints of the entry guide manipulator being locked in place, command the entry guide manipulator to rotate the entry guide about a third axis in response to pivoting the first and second input devices in a same angular direction about the handle bar axis prior to the plurality of joints of the entry guide manipulator being locked in place, and command the at least one instrument manipulator to move the plurality of articulated instruments in common directions parallel to the longitudinal axis of the entry guide in response to moving the left and right input devices forward and backward in unison regardless of whether the plurality of joints of the entry guide manipulator are locked in place.

18. The system of claim 11, wherein the processor is adapted to cause the plurality of articulated instruments to be moved back towards the entry guide in response to the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide if either each of the plurality of instruments is in a configuration which allows it to be retracted into the entry guide or each of the plurality of articulated instruments is a minimum distance away from a distal end of the entry guide.

19. The system of claim 18, wherein the processor is adapted to command the at least one instrument manipulator to manipulate the plurality of articulated instruments so as to be moved in tandem back towards the entry guide subject to a progressively increasing velocity limit as the commands from the at least one input device to move the plurality of articulated instruments in tandem back towards the entry guide increases after the delay.

20. The system of claim 19, wherein the processor is adapted to command the plurality of instrument manipulators to manipulate the plurality of articulated instruments so as to be moved in tandem back towards the entry guide subject to a maximum velocity limit after the commands from the at least one input device to move the plurality of articulated instruments in tandem back towards the entry guide exceed a maximum distance after the delay.

21. The system of claim 18, wherein one of the plurality of articulated instruments is an articulated camera instrument having an image capturing end, others of the plurality of articulated instruments are articulated tool instruments having working ends, and the processor is adapted to command the plurality of instrument manipulators to manipulate the plurality of articulated instruments so as to be moved in tandem back towards the entry guide by manipulating the articulated camera instrument so as to be moved back towards the entry guide, in response to the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide, until the image capturing end enters the entry guide.

22. The system of claim 21, wherein the processor is adapted to command the at least one instrument manipulator to manipulate the plurality of articulated instruments to be moved in tandem back towards the entry guide by manipulating each of the other articulated instruments so as to be moved back towards the entry guide, in response to the one or more commands to move the plurality of articulated instruments in tandem back towards the entry guide, even after its working end enters the entry guide.

23. A method for switching modes of a robotic system, the method comprising:

receiving an indication that a mode change has been initiated;

providing a haptic detent on an input device after a delay following the receiving of the indication that the mode change has been initiated; and

changing an operating mode of a robotic system after the input device has been manipulated past the haptic detent.

24. The method of claim 23, further comprising:

initiating a counter to count to a delay count upon receiving the indication that the mode change has been initiated;

resetting the counter upon receiving an indication that the mode change is not to be initiated; and

determining that the delay has occurred after the counter has counted to the delay count.

25. The method of claim 23, wherein the haptic detent is followed by a force slope profile which is independent of a position of the input device at the time of the delay.

26. A robotic system comprising:

an input device; and

a processor programmed to receive an indication that a mode change has been initiated, cause a haptic detent to be provided on an input device after a delay following the receiving of the indication that the mode change has been initiated, and change an operating mode of the robotic system after the input device has been manipulated past the haptic detent.

27. The robotic system of claim 26, wherein the processor is programmed to initiate a counter to count to a delay count upon receiving the indication that the mode change has been initiated, reset the counter upon receiving an indication that the mode change is not to be initiated, and determine that the delay has occurred after the counter has counted to the delay count.

28. The robotic system of claim 26, wherein the haptic detent is followed by a force slope profile which is independent of a position of the input device at the time of the delay.