Method and system for moving an articulated instrument back towards an entry guide while automatically reconfiguring the articulated instrument for retraction into the entry guide

• US 9,629,520 B2
• Filed: 08/24/2015
• Issued: 04/25/2017
• 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
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Kong, Sze-Hon
• Application Number:
  US14/833,333
• Publication Number:
  US 20160045272A1
• Time in Patent Office: 610 Days
• 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 1/00194 adapted for three-dimensional imaging
• 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 2090/062 penetration depth
• 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 5/15196 semi-automatically retracted, i.e. in which the retraction of the piercing unit requires a deliberate action by the user such as manual release of spring-biased retraction means
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

Claims

1. A method for moving an articulated instrument back towards an entry guide, out of which the articulated instrument extends, with automatic reconfiguration of the articulated instrument for retraction into the entry guide, the method comprising:

receiving, at a processor, information of a command, initiated from a control mechanism, to change the position of the articulated instrument in a direction parallel to a longitudinal axis of the entry guide;

determining, by the processor, whether the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by a distance greater than a retraction-on distance in the direction parallel to the longitudinal axis of the entry guide relative to an initial position; and

on the condition that the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position, automatically commanding, by the processor, the articulated instrument to be reconfigured towards a retraction configuration suitable for entering the entry guide while the position of the articulated instrument is being changed in response to the command initiated from the control mechanism.

2. The method of claim 1, further comprising:

on the condition that the information of the command indicates the distal end of the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position, automatically commanding, by the processor, an abrupt change to a haptic force applied against the control mechanism.

3. The method of claim 1, further comprising:

receiving, at the processor, information of a sequence of commands, initiated from the control mechanism, to change the position of the articulated instrument in the direction parallel to the longitudinal axis of the entry guide;

determining, by the processor, whether the information of the sequence of commands from the control mechanism indicates the distal end of the articulated instrument is to be moved back towards the entry guide by distances which progressively exceed a limit distance from the initial position, wherein the limit distance is less than the retraction-on distance; and

on the condition that the information of the sequence of commands from the control mechanism indicates the distal end of the articulated instrument is to be moved back towards the entry guide by distances which progressively exceed a limit distance from the initial position, automatically commanding, by the processor, a progressively increasing haptic force applied against the control mechanism in response to the sequence of commands from the control mechanism.

4. The method of claim 3, further comprising:

on the condition that the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position, automatically commanding, by the processor, movement of the articulated instrument to be subject to a progressively increasing velocity limit as the sequence of commands indicate the articulated instrument is to be moved back towards the entry guide by distances which progressively exceed the retraction-on distance from the initial position.

5. The method of claim 3, further comprising:

determining, by the processor, whether one command of the sequence of commands indicates the articulated instrument is to be moved back towards the entry guide by a distance that exceeds a maximum velocity distance from the initial position, wherein the maximum velocity distance is greater than the retraction-on distance; and

on the condition that the information of the sequence of commands indicates the articulated instrument is to be moved back towards the entry guide by the distance that exceeds the maximum velocity distance from the initial position, automatically commanding, by the processor, the articulated instrument to be moved in a manner which is subject to a maximum velocity limit.

6. A robotic system comprising:

a control mechanism;

an entry guide;

an articulated instrument extending out of a distal end of the entry guide;

an instrument manipulator configured to manipulate the articulated instrument; and

a processor programmed to;

receive information of a command, initiated from the control mechanism, to change a position of the articulated instrument in a direction parallel to a longitudinal axis of the entry guide;

determine whether the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by a distance greater than a retraction-on distance in the direction parallel to the longitudinal axis of the entry guide relative to an initial position; and

on the condition that the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position, automatically command the instrument manipulator to reconfigure the articulated instrument towards a retraction configuration suitable for entering the entry guide while the position of the articulated instrument is being changed in response to the command initiated from the control mechanism.

7. The system of claim 6, wherein the processor is programmed to:

cause an abrupt change to a haptic force being applied against the control mechanism upon the command initiated from the control mechanism indicating the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position.

8. The system of claim 6, wherein the processor is programmed to:

cause a progressively increasing haptic force to be applied against the control mechanism in response to a sequence of commands from the control mechanism to move the articulated instrument back towards the entry guide by distances which progressively exceed a limit distance from the initial position, wherein the limit distance is less than the retraction-on distance, and wherein the progressively increasing haptic force, the sequence of commands, and the distances which progressively exceed a limit distance correspond.

9. The system of claim 8, wherein the processor is programmed to:

on the condition that the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position, automatically command the instrument manipulator to move the articulated instrument so as to be subject to a progressively increasing velocity limit as the sequence of commands correspondingly indicate the articulated instrument is to be moved back towards the entry guide by distances which progressively exceed the retraction-on distance from the initial position.

10. The system of claim 8, wherein the processor is programmed to:

determine whether one of the sequence of commands indicates the articulated instrument is to be moved back towards the entry guide by a distance that exceeds a maximum velocity distance from the initial position, wherein the maximum velocity distance is greater than the retraction-on distance; and

on the condition that the information of the sequence of commands indicates the articulated instrument is to be moved back towards the entry guide by the distance that exceeds the maximum velocity distance from the initial position, automatically command the instrument manipulator to move the articulated instrument in a manner which is subject to a maximum velocity limit.