Minimally invasive surgical system

• US 9,060,678 B2
• Filed: 06/13/2007
• Issued: 06/23/2015
• Est. Priority Date: 06/13/2006
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Larkin, David Q., Cooper, Thomas G., Mohr, Catherine J., Rosa, David J.
• Primary Examiner(s): HENDERSON, RYAN N
• Application Number:
  US11/762,165
• Publication Number:
  US 20080065105A1
• Time in Patent Office: 2,932 Days
• Field of Search: 600/104, 600/106, 600139-152, 600/107, 600109-118, 600/127, 600/129, 600/101, 600/102, 600/160, 600/166, 600169-172, 600/417, 606/1, 606/130, 604523-528
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/00154 using guiding arrangements for insertion
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/00165 with light-conductive means, e.g. fibre optics A61B1/07 takes precedence
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/002 having rod-lens arrangements A61B1/055 takes precedence
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/06 with illuminating arrangements
• 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 2017/00225 Systems for controlling multiple different instruments, e.g. microsurgical systems
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00318 Steering mechanisms
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/0034 adapted to be inserted through a working channel of an endoscope
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00477 : Coupling A61B2017/0046 takes precedence
• 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 2090/062 : penetration depth
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/32 : operating autonomously
• 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 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 : Micromanipulators
• CPC Class Codes: A61B 5/0086 : using infrared radiation
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/67 : for remote operation

Abstract

The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends trough a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.

Claims

1. A surgical apparatus comprising:

a robotic manipulator arm comprising a distal end;

a platform mounted at the distal end of the robotic manipulator arm;

a first actuator assembly mounted on the platform, the first actuator assembly comprising a plurality of telemanipulation actuators, the plurality of telemanipulation actuators comprising one or more motors;

a guide tube comprising a distal end;

a surgical instrument comprising a transmission mechanism and a distal portion, part of the surgical instrument being inserted through the guide tube so that the distal portion of the surgical instrument is beyond the distal end of the guide tube, the surgical instrument being removably mounted on the first actuator assembly, the transmission mechanism being configured to mate with the plurality of telemanipulation actuators and to transmit actuation forces from the plurality of telemanipulation actuators to the distal portion of the surgical instrument to move the distal portion of the surgical instrument with at least five of six Cartesian degrees of freedom independently of movement of the guide tube;

a stereoscopic imaging system comprising an image capture component, wherein the stereoscopic imaging system extends through the guide tube so that the image capture component is beyond the distal end of the guide tube; and

a second actuator assembly mounted on the platform, the second actuator assembly comprising a second plurality of telemanipulation actuators, wherein when the second plurality of telemanipulation actuators is mated with the stereoscopic imaging system, the second plurality of telemanipulation actuators moves the image capture component with two or more Cartesian degrees of freedom;

wherein the two or more Cartesian degrees of freedom of the image capture component are independent of the degrees of freedom of the guide tube.

2. The surgical apparatus of claim 1, further comprising:

at least one telemanipulation actuator being configured to move the guide tube.

3. A method comprising:

assembling a plurality of telemanipulation actuators in a configuration to mate with a transmission mechanism of a surgical instrument, the plurality of telemanipulation actuators comprising one or more motors;

mounting a platform at the distal end of a robotic manipulator arm; and

mounting the assembled plurality of telemanipulation actuators on the platform,

wherein following mating the plurality of telemanipulation actuators with the transmission mechanism of the surgical instrument, the transmission mechanism is configured to transmit forces from the plurality of telemanipulation actuators to a distal portion of the surgical instrument to move the distal portion with at least five of six Cartesian degrees of freedom independently of movement of a guide tube through which the distal portion of the surgical instrument is inserted;

assembling a second plurality of telemanipulation actuators in a configuration to mate with a stereoscopic imaging system; and

mounting the assembled second plurality of telemanipulation actuators on the platform,

wherein when the stereoscopic imaging system is mated with the second plurality of telemanipulation actuators with part of stereoscopic imaging system being inserted through the guide tube, the second plurality of telemanipulation actuators apply forces to the stereoscopic imaging system that move a distal end image capture component of the stereoscopic imaging system with two or more Cartesian degrees of freedom independently of movement of the guide tube.

4. The method of claim 3, further comprising:

assembling at least one telemanipulation actuator in a configuration to move the guide tube.

5. A surgical system comprising:

a robotic manipulator arm comprising a distal end;

a platform mounted at the distal end of the robotic manipulator arm;

a first actuator assembly mounted on the platform and moveable relative to the platform, the first actuator assembly comprising a plurality of telemanipulation actuators, the plurality of telemanipulation actuators including one or more motors;

a guide tube comprising a distal end; and

a surgical instrument comprising a transmission mechanism and a distal end, the distal end of the surgical instrument being movable in six Cartesian degrees of freedom, part of the surgical instrument being inserted through the guide tube so that the distal end of the surgical instrument is beyond the distal end of the guide tube, the surgical instrument being removably mounted on the first actuator assembly, the transmission mechanism being configured to mate with the plurality of telemanipulation actuators and being configured to transmit actuation forces from the plurality of telemanipulation actuators to the distal portion of the surgical instrument to move the distal end of the surgical instrument with at least five of six Cartesian degrees of freedom;

wherein the six Cartesian degrees of freedom of the distal end of the surgical instrument are independent of degrees of freedom of the guide tube;

a stereoscopic imaging system comprising an image capture component, wherein the stereoscopic imaging system extends through the guide tube so that the image capture component is beyond the distal end of the guide tube; and

a second actuator assembly mounted on the platform, the second actuator assembly comprising a second plurality of telemanipulation actuators, wherein when the second plurality of telemanipulation actuators is mated with the stereoscopic imaging system, the second plurality of telemanipulation actuators moves the image capture component with two or more Cartesian degrees of freedom;

wherein the two or more Cartesian degrees of freedom of the image capture component are independent of the degrees of freedom of the guide tube.

6. The surgical system of claim 5:

wherein the guide tube is substantially rigid.

7. The surgical system of claim 5, further comprising:

at least one telemanipulation actuator being configured to move the guide tube.

8. The surgical system of claim 5:

wherein the guide tube comprises a flexible segment.

9. The surgical system of claim 8:

wherein the flexible segment is effectively lockable to maintain a flexed position.

10. The surgical system of claim 8:

wherein compliance of the flexible segment is controlled to be continuously variable between an effectively flaccid state and an effectively rigid state.

11. The surgical system of claim 5:

wherein the guide tube comprises a fiber optic bend sensor.

12. The surgical system of claim 5:

wherein the guide tube comprises a stereoscopic image capture component.

13. The surgical system of claim 5:

wherein the surgical instrument comprises a fiber optic bend sensor.

14. The surgical system of claim 5, further comprising:

a second surgical instrument comprising a distal end, wherein the second surgical instrument extends through the guide tube so that the distal end of the second surgical instrument is beyond the distal end of the guide tube; and

a third actuator assembly mounted to the platform, the third actuator assembly comprising a third plurality of telemanipulation actuators, wherein when the third plurality of telemanipulation actuators is mated with the second surgical instrument, the third plurality of telemanipulation actuators moves the distal end of the second surgical instrument with at least five of six Cartesian degrees of freedom;

wherein the degrees of freedom of the distal end of the second surgical instrument are independent of the degrees of freedom of the guide tube.

15. The surgical system of claim 5:

wherein a longitudinal axis is defined between a proximal end and the distal end of the guide tube; and

wherein the two or more Cartesian degrees of freedom of the image capture component comprise pitch and yaw with reference to the longitudinal axis of the guide tube at the distal end of the guide tube.