Multifunctional handle for a medical robotic system

• US 8,939,891 B2
• Filed: 06/10/2011
• Issued: 01/27/2015
• Est. Priority Date: 12/08/2001
• Status: Expired due to Fees

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Sanchez, Dan, Uecker, Darrin
• Primary Examiner(s): Nia, Alireza
• Application Number:
  US13/157,481
• Publication Number:
  US 20110301616A1
• Time in Patent Office: 1,327 Days
• Field of Search: 600/102, 600/101, 600/118, 600/159, 606/1, 318/626
• US Class Current: 600/102
• 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 34/25 User interfaces for surgical systems
• 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 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G05G 2009/04774 with additional switches or sensors on the handle

Abstract

A handle used to control movement of a medical instrument. The medical instrument may be coupled to a robotic arm that is connected to a controller. The medical instrument may have a plurality of functions such as wrist locking and motion scaling. One of the functions may be selected through a graphical user interface operated by the end user. The handle may have a plurality of buttons. One of the buttons may allow the end user to control the selected function. For example, when wrist locking/unlocking is selected, depressing the button can toggle the medical instrument wrist between a locked state and an unlocked state.

Claims

1. A method implemented in a controller for controlling movement of a medical device in a medical robotic system, comprising:

receiving an indication that a user has selected motion scaling from among a plurality of user selectable functions;

changing a motion scale factor to a next motion scale factor in a set of motion scale factors in response to each actuation of a user operated switch mechanism after the user has selected motion scaling, wherein the set of motion scale factors includes a plurality of motion scale factors of different non-zero magnitudes;

receiving information of user movement of a control input device, wherein the control input device is gripped by a hand of the user and the switch mechanism is positioned relative to the control input device so as to be switchable by a digit of the hand without the hand releasing a grip of the control input device; and

causing the medical device to be moved in response to the user movement of the control input device by applying the motion scale factor to the commanded movement.

2. The method of claim 1, wherein the indication that the user has selected motion scaling is received from a graphical user interface.

3. The method of claim 1, wherein the indication that the user has selected motion scaling is received from a voice recognition system.

4. The method of claim 1, wherein the indication that the user has selected motion scaling is received from a user operated input device.

5. The method of claim 1, further comprising:

receiving an indication that the user has selected a second one of the plurality of user selectable functions;

changing an association of the switch mechanism from the previously selected motion scaling to the second one of the plurality of user selectable functions; and

causing the medical device to be moved in response to the user movement of the control input device in accordance with the second one of the plurality of user selectable functions.

6. A method implemented in a controller for providing multifunctional control of a medical device having a lockable wrist joint, wherein a control input device used for controlling movement of the medical device is gripped by a hand of a user, wherein a switch mechanism is positioned relative to the control input device so as to be switchable by a digit of the hand without the hand releasing a grip of the control input device, the method comprising:

receiving an indication that the user has selected one of a plurality of user selectable functions, wherein the plurality of user selectable functions includes a motion scaling function and a wrist locking function;

changing a motion scale factor to a next motion scale factor in a set of motion scale factors in response to each actuation of the switch mechanism if the selected one of the plurality of user selectable functions is the motion scaling function; and

locking the lockable wrist joint in response to a first actuation of the switch mechanism if the selected one of the plurality of user selectable functions is the wrist locking function.

7. The method of claim 6, further comprising:

unlocking the lockable wrist joint in response to a subsequent actuation of the switch mechanism after having locked the lockable wrist joint.