Surgical manipulator for a telerobotic system

• US 7,648,513 B2
• Filed: 07/20/2005
• Issued: 01/19/2010
• Est. Priority Date: 06/07/1995
• Status: Expired due to Fees

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Green, Philip S., Jensen, Joel F.
• Primary Examiner(s): Philogene, Pedro
• Application Number:
  US11/186,654
• Publication Number:
  US 20050273086A1
• Time in Patent Office: 1,644 Days
• Field of Search: 606/130, 606/1, 606/19, 606/205, 600/101, 600/102, 600/106, 600/104, 600/201, 600/204, 600/218, 600/219, 600/225
• US Class Current: 606/130
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• 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 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 2090/0813 Accessories designed for easy sterilising, i.e. re-usable
• 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 34/35 for telesurgery
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B25J 15/04 with provision for the remote detachment or exchange of the head or parts thereof
• CPC Class Codes: B25J 18/04 rotatable
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: F16B 2200/69 Redundant disconnection blocking means
• CPC Class Codes: F16B 2200/71 Blocking disengagement of catches or keys

Abstract

The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) fixable by passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner (300) for constraining the instrument to rotate a point coincident with the entry incision and an inclinometer (350) for preventing gravitational forces acting on the system'"'"'s mechanisms from being felt by the surgeon.

Claims

1. A surgical instrument comprising:

an elongate member comprising a proximal portion, a bendable and steerable distal portion, and an inner lumen;

an end effector coupled to the bendable and steerable distal portion of the elongate member;

an actuator assembly coupled to the proximal portion of the elongate member, the actuator assembly comprising a drive assembly and an instrument holder, the instrument holder releasably coupled to the proximal portion of the elongate member, the drive assembly operatively coupled to the instrument holder to provide the elongate member with at least two degrees of freedom, the drive assembly releasably coupleable to a robotic manipulator assembly.

2. The surgical instrument of claim 1, wherein the inner lumen receives one or more control wires for controlling steering of the distal portion of the elongate shaft.

3. The surgical instrument of claim 2, wherein a first end of the control wires are coupled to the bendable and steerable distal portion of the elongate member and a second end of the control wires are coupled to the actuator assembly.

4. The surgical instrument of claim 3, wherein the actuator assembly comprises one or more control motors coupled to the control wires to operate the control wire(s).

5. The surgical instrument of claim 1, wherein the actuator assembly comprises a movable actuator pin laterally extending from the actuator assembly and extending through an axially extending slot in the elongate member to releasably couple the actuator assembly to the robotic manipulator assembly.

6. The surgical instrument of claim 1, the instrument holder comprising an actuator driver, the actuator driver driven by the drive assembly to actuate the end effector.

7. The surgical instrument of claim 6, wherein the end effector comprises jaws, wherein the actuator driver moves the jaw between an open position and a closed position.

8. The surgical instrument of claim 1, wherein the end effectors are coupled to the bendable and steerable distal portion of the elongate member with a wrist.

9. The surgical instrument of claim 1, wherein the end effector has at least three degrees of freedom.

10. The surgical instrument of claim 1 further comprising a cannula configured to be insertable through a percutaneous incision in the body of a patient during a surgical procedure, the cannula comprising an axial passage for supporting and receiving the elongate member therethrough so that the end effector is disposed adjacent a target site within the body of the patient.

11. The surgical instrument of claim 10, wherein the cannula comprises a force sensing element.