Medical robotic system with coupled control modes

• US 9,333,042 B2
• Filed: 12/03/2013
• Issued: 05/10/2016
• Est. Priority Date: 06/13/2007
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Diolaiti, Nicola, Larkin, David Q., Mohr, Catherine J.
• Primary Examiner(s): TO, TOAN C
• Application Number:
  US14/095,011
• Publication Number:
  US 20140222021A1
• Time in Patent Office: 889 Days
• Field of Search: 700/245, 700/247, 700/248, 700/250, 700/254, 600/407, 600/424, 901/46, 901/47
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• 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 2017/00278 Transorgan operations, e.g. transgastric
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 Micromanipulators
• 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

Abstract

In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system'"'"'s usability is enhanced by reducing the surgeon'"'"'s need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.

Claims

1. A method comprising:

commanding, by a base controller, manipulation of a base to optimize an operable workspace of a first instrument, the first instrument being coupled to the base so the first instrument moves as the base moves; and

commanding, by a first instrument controller, manipulation of the first instrument according to commanded movement of the first instrument while automatically compensating for movement of the base.

2. The method according to claim 1, the commanding, by the base controller, manipulation of the base further comprising:

commanding manipulation of the base to optimize operable workspaces of the first instrument and a second instrument, the second instrument being coupled to the base so the second instrument moves as the base moves; and

the method further comprising;

commanding, by a second instrument controller, manipulation of the second instrument according to commanded movement of the second instrument while automatically compensating for movement of the base.

3. The method according to claim 2, further comprising:

commanding, by the base manipulator controller, a position and an orientation of a distal end of an imaging system to be maintained relative to a fixed reference frame while commanding the manipulation of the base to optimize operable workspaces of the first instrument and the second instrument, wherein the imaging system is coupled to the base so that the imaging system moves as the bases moves.

4. The method according to claim 3, further comprising:

determining whether the manipulating the base to optimize operable workspaces of the first instrument and the second instrument requires a required movement of the distal end of the imaging system from the maintained position and orientation; and

providing an indication of such required movement of the distal end of the imaging system to an operator of one or more input devices, the one or more input devices generating the commanded movement of the first instrument and the commanded movement of the second instrument.

5. The method according to claim 4, wherein the providing the indication comprises providing at least one of visual, audio, and haptic indications.

6. The method according to claim 4, further comprising:

receiving an indication of a switch in priority from the operator of the one or more input devices; and

in response to receipt of the indication of the switch in priority, prioritizing the commanding manipulation of the base to optimize operable workspaces of the first instrument and the second instrument distal end of the imaging system.

7. The method according to claim 2, further comprising:

commanding, by an imaging system controller, manipulation of an imaging system to move a field of view of the imaging system to include a first end effector of the first instrument and a second end effector of the second instrument within the field of view during manipulation of the first and second instruments in response to the commanded movements of the first and second instruments.

8. The method according to claim 7, the commanding, by an imaging system controller, manipulation of the imaging system further comprising:

computing and commanding maintenance of a set point for manipulation of the imaging system based upon a centroid of the first and second end effectors in a captured image.

9. The method according to claim 8, wherein the computing of the set point comprises applying the centroid to a low pass filter and applying a dead-zone behavior in the commanded manipulation of the imaging system.

10. The method according to claim 7, further comprising:

commanding, by a third instrument controller, maintenance of a position and an orientation of a third end effector of a third instrument, the third instrument being coupled to the base so the third instrument moves as the base moves; and

the commanding, by the imaging system controller, manipulation of the imaging system to move the field of view of the imaging system comprising;

commanding, by the imaging system controller, manipulation of the imaging system to move the field of view of the imaging system, as necessary, to include the first, second and third end effectors in the field of view during manipulation of the first and second instruments in response to the commanded movements of the first and second instruments.

11. A method comprising:

receiving a retraction command from an input device;

retracting a plurality of devices extending beyond a distal end of a guide tube back together towards the guide tube in response to the retraction command; and

driving automatically one device of the plurality of devices to a retraction configuration so that the one device of the plurality of devices may freely enter the guide tube.

12. The method according to claim 11, further comprising:

sending the retraction command to a plurality of device controllers, each of the plurality of device controllers being configured to control movement of a corresponding one of the plurality of devices.

13. The method according to claim 12, further comprising:

performing the receiving of the retraction command and the sending of the retraction command to the plurality of device controllers by a guide tube controller, the guide tube controller being configured to control movement of the guide tube in a plurality of degrees of freedom, the plurality of degrees of freedom not including movement in the retraction direction.

14. The method according to claim 11, wherein the driving one device of the plurality of devices to the retraction configuration comprises:

determining when a most proximal rotated link of the one device of the plurality of devices that is not aligned to an instrument main shaft is within a threshold distance from the distal end of the guide tube; and

performing the driving the one device of the plurality of devices to the retraction configuration following determining that the most proximal rotated link of the one device is within the threshold distance from the distal end of the guide tube.

15. The method according to claim 11, wherein the plurality of devices comprises an imaging system, and the method further comprising:

sending a haptic feedback signal to the input device, the haptic feedback signal indicating movement of an image capturing end of the imaging system.

16. The method according to claim 11, wherein the plurality of devices comprises an imaging system, and the method further comprising:

sending a computer generated auxiliary view of the plurality of devices, as taken from a stable perspective, to a display.

17. The method according to claim 11, wherein the plurality of devices comprises an imaging system, the method further comprising:

modifying reference frames used for computing kinematics of the input device and a slave manipulator for manipulating one of the plurality of devices such that a position and an orientation of the input device with respect to a display viewable by an operator as the operator moves the input device constantly corresponds to a position and an orientation of a tip of the one of the plurality of devices with respect to an image capturing end of the imaging system.

18. The method according to claim 11, wherein the guide tube is a fenestrated guide tube and the retracting of the plurality of devices further comprises:

directly controlling the retraction of one of the plurality of devices in response to the retraction command; and

indirectly controlling the retraction of another of the plurality of devices in response to commanded movement of the directly controlled one of the plurality of devices.

19. The method according to claim 18:

wherein the direct controlling of the retraction of the one of the plurality of devices in response to the retraction command further comprises directly controlling the retraction of a first instrument in response to the retraction command; and

wherein the indirect controlling of the retraction of the another of the plurality of devices in response to the commanded movement of the directly controlled one of the plurality of devices further comprises indirectly controlling the retraction of a second instrument interposed between an opening of the fenestrated guide tube and the first instrument when the first instrument is retracted into the fenestrated guide tube.

20. The method according to claim 18:

wherein the direct controlling of the retraction of the one of the plurality of devices in response to the retraction command further comprises directly controlling the retraction of an instrument in response to the retraction command; and

wherein the indirect controlling of the retraction of the another of the plurality of devices in response to the commanded movement of the directly controlled one of the plurality of devices further comprises indirectly controlling the retraction of an imaging system.

21. The method according to claim 20, wherein the driving one or more devices of the plurality of devices to retraction configurations so that each of the plurality of devices may freely enter the guide tube further comprises:

driving the imaging system to a retraction configuration in which an image capturing end of the imaging system is controlled so to capture images of a distal tip of the instrument including when the image capturing end of the imaging system and the distal tip of the instrument are both retracted into the fenestrated guide tube.

22. The method according to claim 21, further comprising:

modifying reference frames used for computing kinematics of the input device and a slave manipulator for manipulating the instrument such that a position and an orientation of the input device with respect to a display viewable by an operator as the operator moves the input device constantly corresponds to a position and an orientation of a tip of the instrument with respect to the image capturing end of the imaging system.

23. The method of claim 11 further comprising:

driving automatically a second device of the plurality of devices to a retraction configuration so that the second device of the plurality of devices may freely enter the guide tube.

24. A method comprising:

commanding, by an imaging system controller, an imaging system manipulator to move an imaging system in response to a commanded movement of the imaging system; and

commanding, by a plurality of instrument controllers, a plurality of instrument manipulators to move corresponding ones of a plurality of instruments to automatically follow the commanded movement of the imaging system.

25. The method according to claim 24:

wherein the imaging system and the plurality of instruments are disposed within a guide tube and are movable beyond a distal end of the guide tube;

wherein the commanded movement of the imaging system comprises a commanded movement of the imaging system out of the distal end of the guide tube; and

wherein the commanding, by a plurality of instrument controllers, a plurality of instrument manipulators to move corresponding ones of the plurality of instruments to automatically follow the commanded movement of the imaging system comprises commanding, by the plurality instrument manipulators, the plurality of instrument manipulators to move the plurality of instruments out of the distal end of the guide tube to follow the movement of the imaging system.

26. The method according to claim 25, further comprising:

commanding, by the guide tube controller, a guide tube manipulator to move the guide tube so that the imaging system does not reach a boundary limit relative to the guide tube as the imaging system moves in response to the commanded movement of the imaging system.

27. The method according to claim 25, further comprising:

commanding, by the plurality of instrument controllers, the plurality of instrument manipulators to move the plurality of instruments to maximize their respective ranges of motion after the imaging system reaches a desired viewing point at a work site.

28. The method according to claim 27, wherein the commanding, by the plurality of instrument controllers, the plurality of instrument manipulators to move the plurality of instruments further comprises commanding, by the plurality of instrument controllers, the plurality of instrument manipulators to move the plurality of instruments to be within a field of view of the imaging system after the imaging system reaches the desired viewing point at the work site.

29. In a computer-assisted medical device, a method comprising:

at an instrument controller, in response to an input by an operator, commanding a movement of an instrument extending through a guide tube;

at a guide tube controller, commanding a movement of the guide tube in response to the commanded movement of the instrument; and

the commanded movement of the instrument automatically compensating for the movement of the guide tube.

30. The method of claim 29, the commanding movement of the guide tube further comprising:

commanding manipulation of the guide tube, in response to an input by the operator to a second instrument, the second instrument being coupled to the guide tube so the second instrument moves as the guide tube moves; and

the method further comprising;

at a second instrument controller, in response to the input by the operator to the second instrument, commanding a movement of the second instrument while automatically compensating for movement of the guide tube.

31. The method according to claim 30, further comprising:

at the guide tube controller, commanding a position and an orientation of a distal end of an imaging system to be maintained relative to a fixed reference frame while commanding the manipulation of the guide tube in response to either or both of the commanded movement of the first instrument and the commanded movement of the second instrument, wherein the imaging system is coupled to the guide tube so that the imaging system moves as the tube moves.

32. In a computer-assisted medical device, a method comprising:

at a control system for a plurality of devices that extend through a guide tube, in response to a retraction command from an operator input device, commanding the plurality of devices to retract together into the guide tube,

the commanding of the plurality of devices to retract together into the guide tube comprising commanding each device in the plurality of devices that is not in a retraction configuration to move to the retraction configuration, and

the retraction configuration permitting retraction into the guide tube.