Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2001-09-25
2003-07-01
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S246000, C700S247000, C700S248000, C700S251000, C700S258000, C700S259000, C700S260000, C700S264000, C600S102000, C600S407000, C600S427000, C600S424000, C600S429000, C600S595000, C606S001000, C606S130000, C606S139000, C318S568110, C318S568120, C318S568210, C318S568250, C901S001000, C128S897000
Reexamination Certificate
active
06587750
ABSTRACT:
BACKGROUND OF THE INVENTION
The present invention is generally related to input devices for use with robots and the like, and particularly to robotic surgical devices, systems, and methods. In an exemplary embodiment, the invention provides a surgical robotic input device which can input both movement (for example, by moving the handle in both translation and orientation), and actuation (for example, by variably squeezing first and second grip members together), and which allows unlimited rotation of the handle about an axis of the handle.
Advances in minimally invasive surgical technology could dramatically increase the number of surgeries performed in a minimally invasive manner. Minimally invasive medical techniques are aimed at reducing the amount of extraneous tissue that is damaged during diagnostic or surgical procedures, thereby reducing patient recovery time, discomfort, and deleterious side effects. The average length of a hospital stay for a standard surgery may also be shortened significantly using minimally invasive surgical techniques. Thus, an increased adoption of minimally invasive techniques could save millions of hospital days, and millions of dollars annually in hospital residency costs alone. Patient recovery times, patient discomfort, surgical side effects, and time away from work may also be reduced with minimally invasive surgery.
The most common form of minimally invasive surgery may be endoscopy. Probably the most common form of endoscopy is laparoscopy, which is minimally invasive inspection and surgery inside the abdominal cavity. In standard laparoscopic surgery, a patient's abdomen is insufflated with gas, and cannula sleeves are passed through small (approximately ½ inch) incisions to provide entry ports for laparoscopic surgical instruments. The laparoscopic surgical instruments generally include a laparoscope (for viewing the surgical field) and working tools. The working tools are similar to those used in conventional (open) surgery, except that the working end or end effector of each tool is separated from its handle by an extension tube. As used herein, the term “end effector” means the actual working part of the surgical instrument and can include clamps, graspers, scissors, staplers, and needle holders, for example. To perform surgical procedures, the surgeon passes these working tools or instruments through the cannula sleeves to an internal surgical site and manipulates them from outside the abdomen. The surgeon monitors the procedure by means of a monitor that displays an image of the surgical site taken from the laparoscope. Similar endoscopic techniques are employed in, e.g., arthroscopy, retroperitoneoscopy, pelviscopy, nephroscopy, cystoscopy, cisternoscopy, sinoscopy, hysteroscopy, urethroscopy and the like.
There are many disadvantages relating to current minimally invasive surgical (MIS) technology. For example, existing MIS instruments deny the surgeon the flexibility of tool placement found in open surgery. Most current laparoscopic tools have rigid shafts, so that it can be difficult to approach the worksite through the small incision. Additionally, the length and construction of many endoscopic instruments reduces the surgeon's ability to feel forces exerted by tissues and organs on the end effector of the associated tool. The lack of dexterity and sensitivity of endoscopic tools is a major impediment to the expansion of minimally invasive surgery.
Minimally invasive telesurgical robotic systems are being developed to increase a surgeon's dexterity when working within an internal surgical site, as well as to allow a surgeon to operate on a patient from a remote location. In a telesurgery system, the surgeon is often provided with an image of the surgical site at a computer workstation. While viewing a three-dimensional image of the surgical site on a suitable viewer or display, the surgeon performs the surgical procedures on the patient by manipulating master input or control devices of the workstation. The master controls the motion of a servomechanically operated surgical instrument. During the surgical procedure, the telesurgical system can provide mechanical actuation and control of a variety of surgical instruments or tools having end effectors such as, e.g., tissue graspers, needle drivers, or the like, that perform various functions for the surgeon, e.g., holding or driving a needle, grasping a blood vessel, or dissecting tissue, or the like, in response to manipulation of the master control devices.
While the proposed robotic surgery systems offer significant potential to increase the number of procedures that can be performed in a minimally invasive manner, still further improvements are desirable. In particular, known robotic input or master control devices do not generally provide a surgeon with the freedom of movement that may be available in open surgery. While existing input devices such as three-dimensional joysticks, exoskeletal gloves, and the like, provide significant freedom of movement in both orientation and translation within a virtual workspace, the structures often impose limits on the total amount of rotation. More specifically, surgeons in both open and minimally invasive surgical procedures are free to release a handle of a surgical device in one orientation and grasp it an alternative orientation. This releasing and re-grasping may occur several times during a procedure, so that the surgical instrument is, in total, rotated several times about its axis. Work in connection with the present invention has indicated that the limited rotation capabilities of known robotic surgical input devices can be a source of delay of the surgical procedure.
Still further refinements in input devices for robotic surgery would be desirable. For example, it is generally desirable to avoid inadvertent movement of a surgical end effector. Additionally, it is generally desirable to provide differing input devices for use with different surgical end effectors, or for use by differing surgeons or other system operators.
In light of the above, it would generally be desirable to provide improved input devices for directing movement of robots, and particularly for use in robotic surgery.
SUMMARY OF THE INVENTION
The present invention generally provides improved input devices, systems using such input devices, and related methods. In particular, the invention provides robotic systems having input devices that are particularly well suited for use in robotic surgery. The surgical input devices will often include a handle which can be both moved and actuated by a hand of a system operator. The hand will often actuate the handle by variably squeezing a pair of grip members together so as to articulate jaws of a surgical end effector, such as forceps, scissors, clamps, needle holders, and the like. Rather than sensing actuation of the handle with a sensor mounted on the handle itself, a signal may be transmitted from the handle to a sensor mounted on a linkage supporting the handle via one or more joints. The signal will preferably be sent using a mechanical actuation indicator which moves in response to the actuation input, the actuation indicator often comprising a compression rod which is arranged co-axially with an axis of rotation of the joint coupling the member to the handle. Advantageously, this arrangement can allow the sensor to detect actuation independent of movement about the joint, and also allows unlimited rotation of the handle. This arrangement also facilitates removal and replacement of the actuable handle, allowing alternative handles having differing characteristics to be mounted for different surgical end effectors, different system operators, different surgical procedures, or the like.
The invention also provides input devices which include sensors to verify that a hand of a system operator is in contact with the handle. Such a sensor can avoid inadvertent movement of the handle and surgical end effector, for example, when the linkage supporting the handle is accidentally bumped as the s
Duval Eugene F.
Gerbi Craig Richard
Guthart Gary S.
Hager Bob
Madhani Akhil
Barrish, Esq. Mark D.
Cuchlinski Jr. William A.
Intuitive Surgical Inc.
Marc McDieunel
Townsend&Townsend&CrewLLP
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