Surgical robot and robotic controller

• US 8,515,576 B2
• Filed: 08/08/2011
• Issued: 08/20/2013
• Est. Priority Date: 07/03/2001
• Status: Expired due to Term

• Current Assignee: Macdonald Dettwiler and Associates Limited
• Original Assignee: Macdonald Dettwiler and Associates Limited
• Inventors: Lipow, Kenneth L., Gregoris, Dennis
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US13/205,524
• Publication Number:
  US 20120035764A1
• Time in Patent Office: 743 Days
• Field of Search: 700/245, 700/259, 700/254, 700247-249, 700/260, 318/568.11, 318/568.13, 318/568.16, 318/573, 318/574
• US Class Current: 700/245
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable for prosthetic joint-implanting tools A61F2/4603
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• 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 34/25 User interfaces for surgical systems
• 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 34/72 Micromanipulators
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/75 Manipulators having means for prevention or compensation of hand tremors
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/14 : Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/20 : Surgical microscopes characterised by non-optical aspects
• CPC Class Codes: A61B 90/30 : Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• 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
• CPC Class Codes: G09B 23/28 : for medicine

Abstract

The present invention was developed by a neurosurgeon and seeks to mimic the results of primate neurological research which is indicative of a human'"'"'s actual neurological control structures and logic. Specifically, the motor proprioceptive and tactile neurophysiology functioning of the surgeon'"'"'s hands and internal hand control system from the muscular level through the intrafusal fiber system of the neural network is considered in creating the robot and method of operation of the present invention. Therefore, the surgery is not slowed down as in the art, because the surgeon is in conscious and subconscious natural agreement and harmonization with the robotically actuated surgical instruments based on neurological mimicking of the surgeon'"'"'s behavior with the functioning of the robot. Therefore, the robot can enhance the surgeon'"'"'s humanly limited senses while not introducing disruptive variables to the surgeon'"'"'s naturally occurring operation of his neurophysiology. This is therefore also a new field, neurophysiological symbiotic robotics.

Claims

1. A controller robot for performing surgical procedures, the controller comprising:

a robotics portion, the robotics portion comprising an arm, a first instrument magazine attached to the arm, and a plurality of different surgical instruments in the first instrument magazine, wherein the first instrument magazine and the plurality of surgical instruments move together with the arm;

a workstation portion, the workstation portion comprising a display and an input device;

a controller portion, the controller portion comprising hardware and software for transforming input provided by a surgeon operator via an interface portion into motion of a selected one of the surgical instruments;

an instrument tray holding a plurality of additional instrument magazines; and

wherein the controller portion further comprises instructions that cause the robotics portion to exchange the first instrument magazine with one of the additional instrument magazines from the instrument tray.

2. The controller robot of claim 1, wherein said interface portion further comprises a microphone for receiving spoken input from a surgeon operator, and wherein said controller portion selects a surgical instrument unit for engagement to the robotics arm dependant on input received via the microphone.

3. The controller robot of claim 1, wherein the robotics portion further comprises a left robotics arm and a right robotics arm, the robotics arms adapted to alternately engage varying surgical instruments.

4. The controller robot of claim 3, where said robotics portion further comprises a left instrument magazine attached to the left arm and having a plurality of surgical instruments for the left arm and a right instrument magazine attached to the right arm and having a plurality of surgical instruments for the right arm, the surgical instruments of each instrument magazine being adapted to alternately engage the robotics arms.

5. The controller robot of claim 4, wherein the controller portion further comprises capability to direct the left and right robotics arms to select specific surgical instruments for engagement to the robotics arms.

6. The controller robot of claim 5, wherein the varying surgical instrument units are selected dependant on a procedure to be performed.

7. The controller robot of claim 6, wherein the surgical instruments making up the left instrument magazine are not identical to the varying surgical instruments making up the right instrument magazine.

8. A controller robot for performing surgical procedures, the controller comprising:

a robotics portion, the robotics portion comprising an arm, a first surgical instrument unit having a plurality of different surgical instruments that move together with the arm;

a workstation portion, the workstation portion comprising a display and an input device;

a controller portion, the controller portion comprising hardware and software for transforming input provided by a surgeon operator via an interface portion into motion of a selected one of the surgical instruments;

an instrument tray holding a plurality of additional surgical instrument units; and

wherein the controller portion further comprises instructions that cause the robotics portion to exchange the first surgical instrument unit with one of the additional surgical instrument units from the instrument tray.

9. A robotic system for surgical procedures, comprising:

a workstation having a dock configured to mate with an operating table such that the workstation is indexed to a known location relative to the table;

a robotics portion comprising a handle configured to be grasped by an operator, an arm, and a first surgical instrument unit having a plurality of different surgical instruments that move together with the arm; and

a controller operatively coupled to the handle and to the arm, wherein the controller is configured to transform input provided by the surgeon operator via the handle into motion of the surgical instrument unit;

an instrument tray holding a plurality of additional surgical instrument units; and

wherein the controller further comprises instructions that cause the robotics portion to exchange the first surgical instrument unit with one of the additional surgical instrument units from the instrument tray.

10. The robotic system of claim 9, wherein the robotic portion comprises a first handle and a second handle, a first arm associated with the first handle and a second arm associated with the second handle, the first surgical instrument unit has a first plurality of instruments configured to be carried by the first arm, and the system further comprises a second surgical instrument unit having a second plurality of instruments configured to be carried by the second arm.

11. The robotic system of claim 10 wherein the workstation further comprises rollers configured to transport the workstation.

12. The robotic system of claim 10 wherein the robotics portion further comprises an interchange block carried by the arm, and wherein the interchange block and the surgical instruments are configured so that the surgical instruments are interchangeably attachable to the interchange block.

13. The robotic system of claim 10 wherein the first surgical instrument unit further comprises a magazine and the plurality of surgical instruments are carried by the magazine.

14. The robotic system of claim 13 wherein the magazine comprises a tray proximate to the arm.

15. The robotic system of claim 14 wherein the magazine comprises a rotary instrument holder attached to the arm and configured to rotate about a longitudinal axis of the magazine.