Force and torque sensing in a surgical robot setup arm

• US 9,895,813 B2
• Filed: 03/31/2008
• Issued: 02/20/2018
• Est. Priority Date: 03/31/2008
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Blumenkranz, Stephen J, Prisco, Guiseppe M, DiMaio, Simon Peter, Dachs, II, Gregory William, Dostmohamed, Hanifa, Hasser, Christopher J, Guthart, Gary S
• Primary Examiner(s): Towa, Rene
• Assistant Examiner(s): NGUYEN, HUONG Q
• Application Number:
  US12/060,004
• Publication Number:
  US 20090248038A1
• Time in Patent Office: 3,613 Days
• Field of Search: 600587, 600595, 31856811, 31856821, 901 8- 9, 901 33- 34, 901 48
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• 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 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: G05B 2219/40582 Force sensor in robot fixture, base

Abstract

An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a robotic surgical manipulator system, a robotic surgical system, and a method for improved sensing of forces on a robotic surgical instrument and/or manipulator arm are disclosed.

Claims

1. A robotic surgical system, comprising:

a fixable setup linkage arm comprising a proximal link, a joint coupled to the proximal link, a distal link coupled to the joint, and a free end distal to the joint;

a servo-driven manipulator arm comprising a base coupled to the free end of the fixable setup linkage arm distal to the distal link of the fixable setup linkage arm, wherein the base is a proximal end of the servo-driven manipulator arm;

a force and torque (F/T) sensor operably coupled between the free end of the fixable setup linkage arm and the base of the servo-driven manipulator arm, wherein the F/T sensor comprises;

a housing operably coupled to the fixable setup linkage arm, an internal hub operably coupled to the servo-driven manipulator arm, a strut, a strain gauge, and a spring counterbalance positioned between the housing and the internal hub,

the housing comprising a proximal end, a distal end, and a lengthwise axis, the proximal end of the housing being operably coupled to the fixable setup linkage arm, the lengthwise axis of the housing extending between the proximal and distal ends of the housing,

the internal hub comprising a proximal end, a distal end, a sidewall, and a lengthwise axis, the sidewall connecting the proximal end of the internal hub to the distal end of the internal hub, the distal end of the internal hub being operably coupled to the base of the servo-driven manipulator arm, the lengthwise axis of the internal hub extending between the proximal and distal ends of the internal hub, the lengthwise axis of the housing extending in a same direction as the lengthwise axis of the internal hub, the internal hub being positioned within the housing,

the spring counterbalance extending from an inner wall of the housing to an exterior surface of the sidewall of the internal hub, the spring counterbalance comprising a first end, a second end, and a lengthwise axis, the first end of the spring counterbalance contacting the inner wall of the housing, the second end of the spring counterbalance contacting the exterior surface of the sidewall of the internal hub, and the lengthwise axis of the spring counterbalance extending between the first and second ends of the spring counterbalance, wherein the spring counterbalance is configured to counteract weight of the servo-driven manipulator arm and an overhanging load moment of the servo-driven manipulator arm, and wherein the lengthwise axis of the spring counterbalance intersects the lengthwise axis of the internal hub,

the strut extending from the inner wall of the housing to the exterior surface of the sidewall of the internal hub, and

the strain gauge being mounted on the strut;

an F/T sensor interface operably coupled to the F/T sensor for decoding signals from the F/T sensor; and

a master control assembly including one or more masters, wherein at least one or more of the one or more masters is configured to control the servo-driven manipulator arm, wherein information from the F/T sensor is provided to a user of the robotic surgical system through the master control assembly.

2. The system of claim 1, wherein the base of the servo-driven manipulator arm is a location from which at least three degrees of freedom for the servo-driven manipulator arm are provided.

3. The system of claim 1, wherein the servo-driven manipulator arm includes an insertion axis having a base link and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument mechanical interface.

4. The system of claim 3, wherein the instrument mechanical interface is configured to mount an instrument including a plurality of strain gauges on a distal end of an instrument shaft.

5. The system of claim 4, wherein the plurality of strain gauges are operably couplable to an instrument signal interface, and the instrument signal interface is configurable to decode signals from the plurality of strain gauges.

6. The system of claim 1, wherein the fixable setup linkage arm is passive or motorized.

7. The system of claim 1, wherein the F/T sensor includes a mechanical interface and an electrical connector interface that operably couple to the fixable setup linkage arm on a first side of the F/T sensor and to the servo-driven manipulator arm on a second side of the F/T sensor.

8. The system of claim 7, wherein the mechanical interface includes sliding engagement means and the electrical connector interface includes D-type connectors.

9. The system of claim 7, wherein an electrical connector interface on a first side of the F/T sensor is electrically coupled to an electrical connector interface on a second side of the F/T sensor by a wire routed around or through a main body of the F/T sensor.

10. The system of claim 7, wherein the electrical connector interface includes a serial bus through which the F/T sensor provides signals to the F/T sensor interface.

11. The system of claim 1, further comprising:

a surgical instrument operably coupled to a distal end of the servo-driven manipulator arm.

12. The system of claim 11, wherein the base of the servo-driven manipulator arm is a location from which at least three degrees of freedom for the surgical instrument are provided.

13. The system of claim 11, wherein the servo-driven manipulator arm includes an insertion axis having a base link and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument interface.

14. The system of claim 13, wherein the surgical instrument is mounted to the instrument interface, the surgical instrument including a plurality of strain gauges on a distal end of an instrument shaft.

15. The system of claim 14, wherein the plurality of strain gauges is operably coupled to an instrument signal interface, and the instrument signal interface is configured to decode signals from the plurality of strain gauges.

16. The system of claim 11, further comprising a sterile drape between the F/T sensor and the surgical instrument, the drape separating a non-sterile part of the robotic surgical system from a sterile surgical field.

17. A method of operating a robotic surgical system, comprising:

sensing a force on a surgical instrument,

wherein the sensing uses a force and torque (F/T) sensor operably coupled between a free end of a fixable setup linkage arm of the robotic surgical system and a base of a servo-driven manipulator arm of the robotic surgical system,

wherein the F/T sensor comprises;

a housing operably coupled to the fixable setup linkage arm, an internal hub operably coupled to the servo-driven manipulator arm, a strut, a strain gauge, and a spring counterbalance positioned between the housing and the internal hub,

the housing comprising a proximal end, a distal end, and a lengthwise axis, the proximal end of the housing being operably coupled to the free end of the fixable setup linkage arm, the lengthwise axis of the housing extending between the proximal and distal ends of the housing,

the internal hub comprising a proximal end, a distal end, a sidewall, and a lengthwise axis, the sidewall connecting the proximal end of the internal hub to the distal end of the internal hub, the distal end of the internal hub being operably coupled to the base of the servo-driven manipulator arm, the lengthwise axis of the internal hub extending between the proximal and distal ends of the internal hub, the lengthwise axis of the housing extending in a same direction as the lengthwise axis of the internal hub, the internal hub being positioned within the housing,

the spring counterbalance extending from an inner wall of the housing to an exterior surface of the sidewall of the internal hub, the spring counterbalance comprising a first end, a second end, and a lengthwise axis, the first end of the spring counterbalance contacting the inner wall of the housing, the second end of the spring counterbalance contacting the exterior surface of the sidewall of the internal hub, and the lengthwise axis of the spring counterbalance extending between the first and second ends of the spring counterbalance, wherein the spring counterbalance is configured to counteract weight of the servo-driven manipulator arm and an overhanging load moment of the servo-driven manipulator arm, and wherein the lengthwise axis of the spring counterbalance intersects the lengthwise axis of the internal hub,

the strut extending from the inner wall of the housing to the exterior surface of the sidewall of the internal hub, and

the strain gauge being mounted on the strut,

wherein the surgical instrument is mounted to a distal end of the servo-driven manipulator arm,

wherein the fixable setup linkage arm comprises a proximal link, a joint coupled to the proximal link, a distal link coupled to the joint, and the free end distal to the joint,

and

wherein the base is a proximal end of the servo-driven manipulator arm;

passing signals from the F/T sensor to an interface operably coupled to the F/T sensor, wherein the interface decodes the signals from the F/T sensor; and

passing information from the F/T sensor to a master control assembly to provide a user of the robotic surgical system feedback through the master control assembly, wherein the master control assembly includes one or more masters for controlling the servo-driven manipulator arm.

18. The method of claim 17, wherein the sensed force on the surgical instrument is one of an interaction of the surgical instrument with an internal patient anatomy, and an interaction of the surgical instrument with another surgical instrument.

19. The method of claim 17, wherein the sensed force on the surgical instrument is one of suture tension, a collision with another surgical instrument, tissue dissection, retraction, and palpation.

20. The method of claim 17, further comprising increasing backdrivability of the servo-driven manipulator arm during manual positioning using data from the F/T sensor.

21. The method of claim 17, further comprising using a notch filter on a signal from the F/T sensor.

22. The method of claim 17, further comprising using a low-pass filter on a signal from the F/T sensor to reduce F/T sensor noise.

23. The method of claim 17, further comprising applying a threshold to a signal from the F/T sensor to eliminate forces at or below a F/T sensor noise level.

24. The method of claim 17, further comprising applying a variable gain on a signal from the F/T sensor to attenuate or strengthen the sensed force, wherein the variable gain is inversely dependent on a surgical instrument tip velocity or a servo-driven manipulator arm velocity.

25. The method of claim 17, further comprising draping the servo-driven manipulator arm with a sterile drape such that the surgical instrument is on a sterile side of the drape and the F/T sensor is on a non-sterile side of the drape.

26. The method of claim 17, further comprising:

sensing an axial force along a lengthwise axis of an instrument shaft of the surgical instrument,

wherein the sensing the axial force uses the F/T sensor, and

wherein the surgical instrument includes a plurality of strain gauges on a distal end of the instrument shaft; and

sensing side forces on the surgical instrument using the plurality of strain gauges.

27. The method of claim 17, further comprising distinguishing between forces on the servo-driven manipulator arm which are internal and external to a patient body based upon a magnitude of a signal from the F/T sensor.