Modularity system for computer assisted surgery

• US 7,239,940 B2
• Filed: 01/06/2005
• Issued: 07/03/2007
• Est. Priority Date: 09/07/2001
• Status: Expired due to Term

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Wright, James, Wang, Yulun, Uecker, Darrin, Mangaser, Amante, Ghodoussi, Modjtaba
• Primary Examiner(s): Black; Thomas
• Assistant Examiner(s): Marc; McDieunel
• Application Number:
  US11/031,198
• Publication Number:
  US 20050154493A1
• Time in Patent Office: 908 Days
• Field of Search: 700245-249, 700258-264, 600/102, 600/130, 606/205, 606/130, 606/139, 318/568.11, 901 1- 2, 901/9, 414 1- 2
• US Class Current: 700/245
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2018/00982 combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• 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 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: Y10S 128/923 by comparison of patient data to other data

Abstract

A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.

Claims

1. A robotic surgical system for effecting, via a network, robotic tissue manipulating movement within a patient in response to manual manipulation by a surgeon, the robotic surgical system comprising:

a first input device;

a first robotic arm;

a linkage including a second robotic arm for interacting with the tissue;

circuitry coupling the linkage to the network, the circuitry configured to communicating robotic information regarding the linkage over the network as a series of packets, each packet having an identifier indicating the source of the packet, and to interpret the packets from the network using the identifiers so that the second robotic arm is selectively moved in response to movement of the first input device without moving the first robotic arm in response to movement of the first input device.

2. The robotic surgical system of claim 1, wherein the circuitry is further configured to transmit the packets onto the network with the identifiers so that the first arm is selectively moved in response to movement of the second input device without moving the first arm in response to movement of the first input device.

3. A processor of a robotic surgical system, the robotic surgical system comprising a plurality of components for effecting robotic tissue manipulating movement within a patient in response to manual manipulation by a surgeon, the processor comprising:

an output for transmitting signals to a plurality of robotic arm ports;

an input for receiving commands from a plurality of input device ports;

a master-slave controller for deriving signals configured to effect movement of each robotic arm in response to movement of an associated input device; and

a memory embodying a start-up routine, the start-up routine configured to accommodate a hot plug of a first component of the robotic surgical system into the other components of the robotic surgical system after initialization of the system and without shutting the system down.

4. The processor of claim 3, wherein the first component comprises a robotic arm for manipulating the tissue or an input device for manipulation by the surgeon.

5. The processor of claim 4, wherein the start-up routine is configured to drive data of the first component to default values after booting the system and prior to hot plug of the first component into the system.