Patent · US9955996B2 · B2 · US

Surgical system instrument manipulator

(11) Publication number

US9955996B2

(21) Application number

14/555,417

(22) Filing date

2014-11-26

(30) Priority date

2007-06-13

(43) Publication date

2018-05-01

(45) Date of grant

2018-05-01

(51) IPC

A61B 17/00; A61B 17/02; A61B 17/34; A61B 34/00; A61B 34/30; A61B 34/35; A61B 34/37; A61B 46/23; A61B 50/00; A61B 90/50; A61B 90/98; B25J 15/04; B32B 3/12; F16F 1/12

(52) CPC

A61B Diagnosis; surgery; identification: 17/3421, 1/00135, 1/00142, 17/00234, 17/0218, 17/29, 17/3423, 17/3474, 2017/00477, 2017/3445, 2017/3447, 2034/302, 2034/306, 2050/3008, 2090/5025, 34/00, 34/30, 34/35, 34/37, 34/70, 46/10, 46/23, 50/00, 50/20, 50/30, 90/50, 90/98
A61M Devices for introducing media into, or onto, the body; devices for transducing body media or for taking media from the body; devices for producing or ending sleep or stupor {}: 13/003
B25J Manipulators; chambers provided with manipulation devices: 15/0066, 15/02, 15/04
B32B Layered products, i.e. products built-up of strata of flat or non-flat, e.g. cellular or honeycomb, form: 3/12
F16F Springs; shock-absorbers; means for damping vibration: 1/121
G03B Apparatus or arrangements for taking photographs or for projecting or viewing them; apparatus or arrangements employing analogous techniques using waves other than optical waves; accessories therefor: 2205/0015, 2205/0069, 3/00, 35/00, 5/02
H01F Magnets; inductances; transformers; selection of materials for their magnetic properties: 2005/027, 27/2823, 5/02, 5/04
H04N Pictorial communication, e.g. television: 23/51, 23/54, 23/55, 23/555, 23/57, 23/60, 23/687
H05K Printed circuits; casings or constructional details of electric apparatus; manufacture of assemblages of electrical components: 1/18
Y10T Technical subjects covered by former us classification: 74/20305

(73) Assignee

Intuitive Surgical Operations Inc

(72) Inventors

Todd R. Solomon; Thomas G. Cooper; Eugene F. F. Duval; Nicola Diolaiti; Daniel H. Gomez; Robert E. Holop; Anthony K. McGrogan; Craig R. Ramstad; Theodore W. Rogers

(54) Title

Surgical system instrument manipulator

(57) Abstract

An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

Full text

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Claims (7)

An instrument manipulator, comprising: a frame of the instrument manipulator, the frame comprising an outer shell and an inner frame, the inner frame being attached to the outer shell to move proximally and distally while the outer shell remains stationary, the inner frame comprising a distal face, the distal face moving proximally and distally as the inner frame moves proximally and distally relative to the stationary outer shell; and a plurality of actuator drive modules coupled to the inner frame and housed within the outer shell, each of the plurality of actuator drive modules including an actuator output, each of the actuator outputs being configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output of the plurality of actuator drive modules, each of the actuator outputs distally protruding from the distal face, and each of the actuator outputs being configured to engage the corresponding actuator input of the surgical instrument, wherein the instrument manipulator further comprises a plurality of posts extending in a distal direction from a distal end of the outer shell, wherein the plurality of posts is configured to couple a sterile adapter to the instrument manipulator.
A surgical system, comprising: a setup link configured to position a remote center of motion for the surgical system; a proximal link operably coupled to the setup link; a distal link operably coupled to the proximal link, the distal link comprising a distal end; a rotatable element operably coupled to the distal end of the distal link; and a plurality of instrument manipulators operably coupled to the rotatable element, the plurality of instrument manipulators being rotated as a group by rotation of the rotatable element, each one of the plurality of instrument manipulators being configured to be coupled to a different one of a plurality of surgical instruments, each of the plurality of instrument manipulators comprising a frame of the instrument manipulator and a plurality of actuator drive modules, the frame comprising an outer shell and an inner frame, the inner frame being attached to the outer shell to move proximally and distally while the outer shell remains stationary, the inner frame comprising a distal face, the distal face moving proximally and distally as the inner frame moves proximally and distally relative to the stationary outer shell, the plurality of actuator drive modules being coupled to the inner frame and housed within the outer shell, each of the plurality of actuator drive modules including an actuator output, each of the actuator outputs being configured to engage a corresponding actuator input of a plurality of actuator inputs of a surgical instrument of the plurality of surgical instruments to independently actuate the corresponding actuator input of the plurality of actuator inputs of the surgical instrument of the plurality of surgical instruments without force input from another of the actuator outputs of the plurality of drive modules, and each of the actuator outputs distally protruding from the distal face.
The system of claim 2, wherein the plurality of actuator drive modules includes a roll actuator drive module having a roll output for actuating a roll motion of the surgical instrument of the plurality of surgical instruments, a grip actuator drive module having a grip output for actuating a grip motion of the surgical instrument of the plurality of surgical instruments, a wrist actuator drive module having a wrist output for actuating a wrist motion of the surgical instrument of the plurality of surgical instruments, and a parallel motion mechanism actuator drive module having a parallel motion mechanism output for actuating a translation motion of an end component of the surgical instrument of the plurality of surgical instruments.
The system of claim 2, wherein each one of the actuator outputs is one of a two-axis gimbal, a disc, or a lever.
The system of claim 2, further comprising a telescoping insertion mechanism having a base link and a carriage link, the base link being operably coupled to a distal link of the surgical system, and the carriage link being operably coupled to the frame of one of the plurality of instrument manipulators.
The system of claim 2, further comprising a plurality of telescoping insertion mechanisms disposed on the rotatable element, each telescoping insertion mechanism coupled to a corresponding frame of one of the plurality of instrument manipulators, wherein each frame can translate along a respective telescoping insertion mechanism independent of the other frames.
The system of claim 2, wherein a first manipulator of the plurality of instrument manipulators comprises a distal face, and wherein the distal face of the first manipulator is configured to receive a proximal face of any one of the plurality of surgical instruments.

Description

In robotically-assisted or telerobotic surgery, the surgeon typically operates a master controller to remotely control the motion of surgical instruments at the surgical site from a location that may be remote from the patient (e.g., across the operating room, in a different room or a completely different building from the patient). The master controller usually includes one or more hand input devices, such as joysticks, exoskeletal gloves or the like, which are coupled to the surgical instruments with servo motors for articulating the instruments at the surgical site. The servo motors are typically part of an electromechanical device or surgical manipulator (“the slave”) that supports and controls the surgical instruments that have been introduced directly into an open surgical site or through trocar sleeves into a body cavity, such as the patient's abdomen. During the operation, the surgical manipulator provides mechanical articulation and control of a variety of surgical instruments, such as tissue graspers, needle drivers, electrosurgical cautery probes, etc., that each performs various functions for the surgeon, e.g., holding or driving a needle, grasping a blood vessel, or dissecting, cauterizing or coagulating tissue.

The number of degrees of freedom (DOFs) is the number of independent variables that uniquely identify the pose/configuration of a telerobotic system. Since robotic manipulators are kinematic chains that map the (input) joint space into the (output) Cartesian space, the notion of DOF can be expressed in any of these two spaces.

Citations (120)

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Record as JSON

{
  "publication_number": "US9955996B2",
  "country": "US",
  "kind": "B2",
  "title": "Surgical system instrument manipulator",
  "abstract": "An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.",
  "claims": [
    "1. An instrument manipulator, comprising: a frame of the instrument manipulator, the frame comprising an outer shell and an inner frame, the inner frame being attached to the outer shell to move proximally and distally while the outer shell remains stationary, the inner frame comprising a distal face, the distal face moving proximally and distally as the inner frame moves proximally and distally relative to the stationary outer shell; and a plurality of actuator drive modules coupled to the inner frame and housed within the outer shell, each of the plurality of actuator drive modules including an actuator output, each of the actuator outputs being configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output of the plurality of actuator drive modules, each of the actuator outputs distally protruding from the distal face, and each of the actuator outputs being configured to engage the corresponding actuator input of the surgical instrument, wherein the instrument manipulator further comprises a plurality of posts extending in a distal direction from a distal end of the outer shell, wherein the plurality of posts is configured to couple a sterile adapter to the instrument manipulator.",
    "2. A surgical system, comprising: a setup link configured to position a remote center of motion for the surgical system; a proximal link operably coupled to the setup link; a distal link operably coupled to the proximal link, the distal link comprising a distal end; a rotatable element operably coupled to the distal end of the distal link; and a plurality of instrument manipulators operably coupled to the rotatable element, the plurality of instrument manipulators being rotated as a group by rotation of the rotatable element, each one of the plurality of instrument manipulators being configured to be coupled to a different one of a plurality of surgical instruments, each of the plurality of instrument manipulators comprising a frame of the instrument manipulator and a plurality of actuator drive modules, the frame comprising an outer shell and an inner frame, the inner frame being attached to the outer shell to move proximally and distally while the outer shell remains stationary, the inner frame comprising a distal face, the distal face moving proximally and distally as the inner frame moves proximally and distally relative to the stationary outer shell, the plurality of actuator drive modules being coupled to the inner frame and housed within the outer shell, each of the plurality of actuator drive modules including an actuator output, each of the actuator outputs being configured to engage a corresponding actuator input of a plurality of actuator inputs of a surgical instrument of the plurality of surgical instruments to independently actuate the corresponding actuator input of the plurality of actuator inputs of the surgical instrument of the plurality of surgical instruments without force input from another of the actuator outputs of the plurality of drive modules, and each of the actuator outputs distally protruding from the distal face.",
    "3. The system of claim 2, wherein the plurality of actuator drive modules includes a roll actuator drive module having a roll output for actuating a roll motion of the surgical instrument of the plurality of surgical instruments, a grip actuator drive module having a grip output for actuating a grip motion of the surgical instrument of the plurality of surgical instruments, a wrist actuator drive module having a wrist output for actuating a wrist motion of the surgical instrument of the plurality of surgical instruments, and a parallel motion mechanism actuator drive module having a parallel motion mechanism output for actuating a translation motion of an end component of the surgical instrument of the plurality of surgical instruments.",
    "4. The system of claim 2, wherein each one of the actuator outputs is one of a two-axis gimbal, a disc, or a lever.",
    "5. The system of claim 2, further comprising a telescoping insertion mechanism having a base link and a carriage link, the base link being operably coupled to a distal link of the surgical system, and the carriage link being operably coupled to the frame of one of the plurality of instrument manipulators.",
    "6. The system of claim 2, further comprising a plurality of telescoping insertion mechanisms disposed on the rotatable element, each telescoping insertion mechanism coupled to a corresponding frame of one of the plurality of instrument manipulators, wherein each frame can translate along a respective telescoping insertion mechanism independent of the other frames.",
    "7. The system of claim 2, wherein a first manipulator of the plurality of instrument manipulators comprises a distal face, and wherein the distal face of the first manipulator is configured to receive a proximal face of any one of the plurality of surgical instruments."
  ],
  "description_excerpt": "In robotically-assisted or telerobotic surgery, the surgeon typically operates a master controller to remotely control the motion of surgical instruments at the surgical site from a location that may be remote from the patient (e.g., across the operating room, in a different room or a completely different building from the patient). The master controller usually includes one or more hand input devices, such as joysticks, exoskeletal gloves or the like, which are coupled to the surgical instruments with servo motors for articulating the instruments at the surgical site. The servo motors are typically part of an electromechanical device or surgical manipulator (“the slave”) that supports and controls the surgical instruments that have been introduced directly into an open surgical site or through trocar sleeves into a body cavity, such as the patient's abdomen. During the operation, the surgical manipulator provides mechanical articulation and control of a variety of surgical instruments, such as tissue graspers, needle drivers, electrosurgical cautery probes, etc., that each performs various functions for the surgeon, e.g., holding or driving a needle, grasping a blood vessel, or dissecting, cauterizing or coagulating tissue.\n\nThe number of degrees of freedom (DOFs) is the number of independent variables that uniquely identify the pose/configuration of a telerobotic system. Since robotic manipulators are kinematic chains that map the (input) joint space into the (output) Cartesian space, the notion of DOF can be expressed in any of these two spaces.",
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  ],
  "assignees": [
    "Intuitive Surgical Operations Inc"
  ],
  "inventors": [
    "Todd R. Solomon",
    "Thomas G. Cooper",
    "Eugene F. F. Duval",
    "Nicola Diolaiti",
    "Daniel H. Gomez",
    "Robert E. Holop",
    "Anthony K. McGrogan",
    "Craig R. Ramstad",
    "Theodore W. Rogers"
  ],
  "filing_date": "2014-11-26",
  "publication_date": "2018-05-01",
  "grant_date": "2018-05-01",
  "priority_date": "2007-06-13",
  "application_number": "US-201414555417-A",
  "family_id": "44121151",
  "cited_by_count": 10,
  "citations": [
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