Methods and devices for remotely controlling movement of surgical tools

• US 9,241,770 B2
• Filed: 09/30/2011
• Issued: 01/26/2016
• Est. Priority Date: 09/30/2011
• Status: Active Grant

• Current Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Stokes, Michael J., Plescia, David N., Stefanchik, David, Vakharia, Omar J., Yoo, Andrew, Spivey, James T., Hess, Christopher J.
• Primary Examiner(s): STRANSKY, KATRINA MARIE
• Application Number:
  US13/249,714
• Publication Number:
  US 20130085509A1
• Time in Patent Office: 1,579 Days
• Field of Search: 606/1, 606/130
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• 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 34/70 Manipulators specially adapted for use in surgery

Abstract

Methods and devices are provided for controlling movement of a distal end of a surgical instrument. In general, the methods and devices can allow for controlling movement of surgical tools, and in particular for causing mimicked motion between an external control unit and a surgical tool positioned within a patient'"'"'s body. In one embodiment, a surgical system is provided having a master assembly including an input tool and a slave assembly including a surgical instrument. The master assembly and the slave assembly can be configured to be electronically coupled together such that movement of the master assembly can be electronically communicated to the slave assembly to cause mimicked movement of the slave assembly.

Claims

1. A surgical method, comprising:

advancing first and second elongate shafts through a tissue surface to position distal ends of the first and second elongate shafts within a body cavity;

moving a first master sensor of an input tool disposed external to the body cavity in at least two degrees of freedom to cause the distal end of the first elongate shaft to mimic the movement of the first master sensor only by slidably translating the first elongate shaft along at least two of x, y, and z axes without rotational movement about the respective axes; and

moving a second master sensor of the input tool to cause the distal end of the second elongate shaft to mimic the movement of the second master sensor, the first master sensor being in electronic communication with the first elongate shaft and the second master sensor simultaneously being in electronic communication with the second elongate shaft without a physical linkage extending between the first and second master sensors and the first and second elongate shafts.

2. The method of claim 1, wherein the input tool comprises a surgical instrument, and moving at least one of the first and second master sensors comprises user manipulation of the surgical instrument.

3. The method of claim 1, wherein at least one of the first and second master sensors are positioned on a hand of a user, and moving at least one of the first and second master sensors comprises moving the hand.

4. The method of claim 3, wherein the input tool comprises one of a glove and a plurality of wearable bands, and the first and second master sensors are mounted on fingers of the user.

5. The method of claim 1, wherein moving at least one of the first and second master sensors causes the distal end of at least one of the first and second elongate shafts to move in six degrees of freedom.

6. The method of claim 1, further comprising, before moving the first and second master sensors, zeroing a position of the first and second master sensors.

7. The method of claim 1, further comprising positioning a camera within the body cavity to visualize the distal end of at least one of the first and second elongate shafts within the body cavity;

wherein moving at least one of the first and second master sensors disposed external to the body cavity also causes the camera to move within the body cavity to provide continuous visualization of the distal end of the at least one of the first and second elongate shafts within the body cavity.

8. The method of claim 1, further comprising positioning a camera within the body cavity to visualize the distal end of at least one of the first and second elongate shafts within the body cavity;

and

moving one or more additional master sensors disposed external to the body cavity in at least one degree of freedom to cause the camera to mimic the movement of the one or more additional master sensors;

wherein moving the first and second master sensors does not cause movement of the camera, and moving the one or more additional master sensors does not cause movement of the distal ends of the elongate shafts.

9. The method of claim 1, further comprising moving at least one of the first and second master sensors to cause the distal end of at least one of the first and second elongate shafts to mimic the movement of the at least one of the first and second master sensors by rotating the distal end of the at least one of the first and second elongate shafts about a longitudinal axis of the at least one of the first and second elongate shafts.

10. The method of claim 1, wherein positioning the distal end of at least one of the first and second elongate shafts within the body cavity comprises positioning an end effector at the distal end of the at least one of the first and second elongate shafts within the body cavity.

11. The method of claim 10, wherein the end effector includes one of a clamp, a camera, forceps, a grasper, a dissector, a needle driver, scissors, a stapler, a clip applier/remover, a suction tool, a suturing tool, an energy device, and an irrigation tool.

12. The method of claim 1, wherein the at least two degrees of freedom includes first, second, and third degrees of freedom, and the first elongate shaft only slidably translates along all of the x, y, and z axes.

13. A surgical method, comprising:

positioning a slave assembly through a surgical access point in a tissue surface and into a body cavity such that a forward end of the slave assembly is within the body cavity; and

moving first and second sensors positioned on a proximal portion of an input tool of a master assembly toward one another so as to cause third and fourth sensors positioned on a distal portion of the input tool to move away from one another, the input tool being disposed external to the body cavity and electronically coupled to the forward end of the slave assembly to cause the forward end of the slave assembly to mimic the movement of the third and fourth sensors within the body cavity in three translational degrees of freedom and three rotational degrees of freedom, the movement in the three translational degrees of freedom being caused by translation of the forward end of the slave assembly along first, second, and third perpendicular axes such that the forward end of the slave assembly can only move in straight lines to achieve the movement in the three translational degrees of freedom.

14. The method of claim 13, further comprising rotating the input tool about a longitudinal axis of the master assembly to cause corresponding rotation of the forward end of the slave assembly about a longitudinal axis of the slave assembly.

15. The method of claim 13, wherein positioning the slave assembly through the surgical access point comprises advancing an elongate shaft through the tissue surface to position a distal end of the elongate shaft within the body cavity.

16. The method of claim 13, further comprising transferring mimicked movement of the input tool on the master assembly to the forward end of the slave assembly through a mechanical movement assembly.

17. The method of claim 16, wherein transferring mimicked movement through the mechanical movement assembly includes transferring opening and closing of the input tool to effect substantially identical opening and closing of an end effector at the forward end of the slave assembly.

18. A surgical system, comprising:

a slave assembly including an elongate shaft having a distal end configured to be positioned within a body cavity and perform a surgical procedure therein, and a mechanical movement assembly comprising first, second, and third rails respectively configured to provide linear movement of the elongate shaft along x, y, and z axes, the first, second, and third rails limiting movement of the elongate shaft to linear movement along the x, y, and z axes without rotational movement about the respective axes, and at least one of the first, second, and third rails being coupled directly to the elongate shaft; and

a master assembly including one or more master sensors configured to be in electronic communication with the mechanical movement assembly such that movement of the one or more master sensors outside of the body cavity is configured to cause the mechanical movement assembly to move such that the movement of the one or more master sensors is mimicked by the elongate shaft so as to move the distal end of the elongate shaft within the body cavity.

19. The system of claim 18, further comprising a processor configured to analyze the movement of the one or more master sensors outside of the body cavity and to instruct the mechanical movement assembly to move based on the analysis.

20. The system of claim 19, further comprising a detector configured to detect motion of the one or more master sensors relative thereto and to communicate the motion to the processor for the processor to analyze.

21. The system of claim 18, wherein the first rail is moveable along the x axis relative to the second and third rails, the second rail is moveable along the y axis relative to the first and third rails, and the third rail is moveable along the z axis relative to the first and second rails.