U.S. patent application number 09/825614 was filed with the patent office on 2001-08-16 for manipulator positioning linkage for robotic surgery.
Invention is credited to Blumenkranz, Steven J., Rosa, David J..
Application Number | 20010013764 09/825614 |
Document ID | / |
Family ID | 22251261 |
Filed Date | 2001-08-16 |
United States Patent
Application |
20010013764 |
Kind Code |
A1 |
Blumenkranz, Steven J. ; et
al. |
August 16, 2001 |
Manipulator positioning linkage for robotic surgery
Abstract
Techniques and structures are provided for aligning robotic
elements with an internal surgical site and each other. Manually
positionable linkages support surgical instruments. These linkages
maintain a fixed configuration until a brake system is released.
While the brake is held in a released mode, the linkage allows the
operating room personnel to manually move the linkage into
alignment with the surgical site. Joints of the linkage translate
the surgical instrument in three dimensions, and orient the
surgical instrument about three axes of rotation. Sensors coupled
to the joints allow a processor to perform coordinate
transformations that can align displayed movements of robotically
actuated surgical end effectors with a surgeon's hand inputs at a
control station.
Inventors: |
Blumenkranz, Steven J.;
(Redwood City, CA) ; Rosa, David J.; (San Jose,
CA) |
Correspondence
Address: |
TOWNSEND AND TOWNSEND AND CREW
TWO EMBARCADERO CENTER
EIGHTH FLOOR
SAN FRANCISCO
CA
94111-3834
US
|
Family ID: |
22251261 |
Appl. No.: |
09/825614 |
Filed: |
April 3, 2001 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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09825614 |
Apr 3, 2001 |
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09368309 |
Aug 3, 1999 |
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6246200 |
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60095303 |
Aug 4, 1998 |
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Current U.S.
Class: |
318/568.11 |
Current CPC
Class: |
G05B 2219/45123
20130101; Y10S 128/07 20130101; A61B 2090/506 20160201; A61B 34/70
20160201; B25J 9/1689 20130101; G05B 2219/39022 20130101; G05B
2219/40166 20130101; G05B 2219/40158 20130101; A61B 2017/00477
20130101; A61B 34/37 20160201; A61B 34/71 20160201; A61B 34/30
20160201 |
Class at
Publication: |
318/568.11 |
International
Class: |
B25J 009/18; G05B
019/19 |
Claims
What is claimed is:
1. A robotic surgery system comprising: a base; a surgical end
effector; a manipulator supporting the end effector, the
manipulator having a rigid shaft; an imaging system oriented toward
the end effector, the imaging system having a field of view
defining a coordinate system; a linkage supporting the manipulator
relative to the base; a brake system restraining articulation of
the linkage, the brake system releasable to allow manual movement
of the pivot point of the manipulator relative to the base; a
servomechanism drivingly engaging the manipulator for robotic
manipulation of tissues with the end effector; a hand input
controller coupled to the servomechanism, the controller having a
controller coordinate system; a sensor system coupled to the
linkage so as to generate linkage configuration signals; and a
processor coupled to the sensor system and the servomechanism, the
processor using the linkage position signals to calculate a
coordinate system transformation so as to coordinate controller
inputs with a displayed image of the end effector.
2. The robotic system of claim 1, wherein the linkage comprises a
plurality of joints, and wherein the sensor system measures
articulation of the joints.
3. The robotic system of claim 2, wherein a plurality of the
measured joints comprise manually repositionable joints, and
further comprising a brake system for preventing articulation of
the joints during manipulation of tissue.
4. The robotic system of claim 1, further comprising an imaging
linkage supporting the imaging system relative to the base, the
sensor system coupled to the imaging linkage so as to generate
imaging linkage configuration signals, the processor further
manipulating the linkage configuration signals to transform the
controller coordinate system to the imaging coordinate system.
5. A transportable robotic surgery system comprising: a cart having
rolling elements for moving the cart between operating rooms; a
plurality of robotic arms supported by the cart; a plurality of
surgical implements supported by the arms; a control station
couplable to the cart for directing robotic surgery.
6. The transportable system of claim 5, wherein the rolling
elements include at least one non-swiveling roller and at least one
steerable roller coupled to a steering handle.
7. The transportable system of claim 5, wherein the arms comprise a
plurality of linkages and joints, wherein at least a portion of the
linkages and joints of the arms are manually movable, and wherein
the cart includes an arm position sensing system.
8. The transportable system of claim 5, wherein the cart and
control station are transportable on a standard hospital
elevator.
9. A method for preparing for robotic surgery, the method
comprising: maintaining driven joints of a robotic surgical
manipulator sufficiently near mid points of travel of the joints so
as to inhibit interference with a limit of travel of the
manipulator within an intended worksite; pre-positioning the
robotic manipulator by manually articulating a linkage while
maintaining the driven joints near the mid points; and restraining
the positioned manipulator with a brake system so as to prevent
articulation of the linkage.
10. The method of claim 9, wherein the positioning step comprises
orienting shafts towards internal access sites, the manipulators
adapted to pivot the shafts about the access sites so as to
manipulate tissues endoscopically.
11. A method for performing robotic surgery, the method comprising:
positioning a robotic surgical manipulator by manually articulating
a linkage; restraining the positioned manipulator with a brake
system so as to prevent manual articulation of the linkage; imaging
a surgical end effector, supported by the positioned manipulator,
in an imaging coordinate system; sensing a joint configuration of
the restrained linkage; and actuating the restrained manipulator
with a servomechanism by actuating a controller so as to
robotically manipulate tissue with the end effector.
12. The method of claim 11, further comprising: transforming a
controller coordinate system to the imaging coordinate system using
the sensed joint configurations of the restrained linkage; and
displaying the imaged end effector so that controller inputs
correlate with end effector movements.
13. A method for performing robotic surgery, the method comprising:
manually moving a manipulator relative to a base by articulating a
plurality of fixable joints; actuating a brake to inhibit
inadvertent manual movement of the positioned end effector from
articulation of the fixable joints; manipulating tissue with the
end effector by actuating a plurality of driven joints of the
linkage with a servomechanism; and sensing positions of the fixable
joints.
14. A robotic surgery system couplable to a base, the robotic
surgery system comprising: a surgical end effector; and a robotic
linkage movably supporting the end effector relative to the base,
the linkage comprising: a plurality of driven joints coupled to a
servomechanism for moving the end effector so as to manipulate
tissues; and a plurality of releasably fixable joints for
pre-configuring the linkage; and a joint sensor system coupling the
fixable joints to the servomechanism, the sensor system generating
joint configuration signals.
15. A robotic surgical system comprising: a surgical end effector;
a linkage movably supporting the end effector; a servomechanism
coupled to the linkage for manipulating tissue with the end
effector; and means coupled to the linkage for configuring the
linkage in a pre-determined nominal configuration for a surgical
procedure.
Description
CROSS-REFERENCES TO RELATED APPLICATIONS
[0001] This application claims the benefit of priority from
(provisional) application No. 60/095,303, filed on Aug. 4, 1998,
the full disclosure of which is incorporated herein by
reference.
BACKGROUND OF THE INVENTION
[0002] This invention generally relates to surgical devices,
systems, and methods, and more particularly provides structures and
techniques for manually aligning a robotic surgery system with a
desired surgical site.
[0003] In robotically assisted or telerobotic surgery, a surgeon
typically operates a master controller to control the motion of
surgical instruments at the surgical site. The controller may be
separated from the patient by a significant distance (e.g., across
the operating room, in a different room, or in a completely
different building than the patient). Alternatively, a controller
may be positioned quite near the patient in the operating room.
Regardless, the controller will typically include one or more hand
input devices (such as joysticks, exoskeletal gloves, or the like)
which are coupled by a servomechanism to a surgical instrument.
More specifically, servo motors articulate the surgical instrument
based on the surgeon's manipulation of the hand input devices.
During an operation, the surgeon may employ, via the robotic
surgery system, a variety of surgical instruments, such as tissue
graspers, needle drivers, electrosurgical cautery probes, etc. Each
of these structures perform functions for the surgeon, for example,
holding or driving a needle, grasping a blood vessel, or
dissecting, cauterizing, or coagulating tissue.
[0004] A variety of structural arrangements might be used to
support the surgical instrument at the surgical site during robotic
surgery. It has previously been proposed to support the surgical
instrument with a mechanical linkage that is driven by the
servomotors so that movement of the hand input devices at the
master controller causes the surgical instrument to move in a
corresponding manner at the surgical site. The driven linkage or
"slave" is often called a robotic surgical manipulator.
[0005] Robotic surgery has potential applications for a wide
variety of surgical procedures and settings. Patients may benefit
from robotic surgery directed by a surgeon who is at a considerable
distance from the patient. This may allow treatment of soldiers in
a battlefield environment, or treatment of trauma victims at
considerable distances from a skilled surgical staff. Of particular
importance to the present invention, robotic surgery also may
provide significant benefits for performing minimally invasive
surgical procedures located near the surgeon, but which are best
performed within internal surgical sites which are difficult and/or
impossible to access directly using a surgeon's hands.
[0006] In traditional minimally invasive surgery, elongate surgical
instruments are introduced to an internal surgical site, often
through trocar sleeves or cannulas. The surgical site often
comprises a body cavity, such as the patient's abdomen. The body
cavity may optionally be distended using a clear fluid such as an
insufflation gas. Such minimally invasive procedures are often
performed under the direction of a surgical imaging system,
typically by introducing an endoscope to the surgical site. In
traditional minimally invasive surgery, the surgeon then
manipulates the tissues using end effectors of the elongate
surgical instruments by actuating the instrument's handles while
viewing the surgical site on a video monitor.
[0007] Robotically assisted minimally invasive surgery instead
makes use of a servomechanism to actuate the surgical end effectors
of the instruments. This allows the surgeon to operate in a
comfortable position without looking one direction (towards the
monitor) while manipulating handles of surgical instruments that
are oriented in another direction (for example, into the patient's
abdomen). As more fully described in U.S. Pat. No. 5,696,837, the
full disclosure of which is incorporated herein by reference, a
computer processor of the servomechanism can be used to maintain
the alignment between hand input devices of the controller with the
image of the surgical end effectors displayed on the monitor using
coordinate system transformations. This allows the surgeon to
operate in a natural position using anthropomorphic hand input
devices and motions aligned with the image display, despite the
fact that the actual surgical instruments are inserted via
otherwise awkward arbitrary access positions.
[0008] A variety of linkage arrangements have been proposed for use
as a robotic surgical manipulator during minimally invasive robotic
surgery. An exemplary linkage arrangement is described in U.S. Pat.
No. 5,800,423, the full disclosure of which is incorporated herein
by reference. In one embodiment, this linkage makes use of a
parallelogram arrangement of members to hold an instrument having a
shaft. Such a manipulator structure can constrain movement of the
instrument having a shaft so that the instrument pivots about a
center of spherical rotation positioned in space along the length
of the rigid shaft. By aligning this center of rotation with the
access point to the internal surgical site (for example, with the
trocar or cannula at the abdominal wall during laparoscopic
surgery), an end effector of the surgical instrument can be
positioned safely by moving the proximal end of the shaft using the
manipulator linkage without imposing dangerous forces against the
abdominal wall. Alternative manipulator structures are described,
for example, in U.S. Pat. Nos. 5,445,166; 5,855,583; 5,808,665; and
5,184,601; the full disclosures of which are incorporated herein by
reference.
[0009] While the minimally invasive robotic surgery systems
proposed to date appear to offer tremendous advantages for
performing a wide variety of procedures, still further improvements
would be desirable. In general, it would be desirable to provide
improved structures and systems for performing robotic surgery.
More specifically, it would be beneficial to enhance the efficiency
and ease of use of these systems. For example, it would be
beneficial to facilitate the alignment of a surgical manipulator
with a desired surgical access point. It would further be desirable
to allow the surgeon to begin manipulating tissues immediately upon
insertion of the surgical instruments and imaging system, with
little or no delay in aligning the hand input devices with the
actuation servomechanisms. It would further be desirable to provide
robotic surgery systems which could be moved between multiple
operating rooms without requiring major structural modifications,
complex alignment procedures, or unusual peripheral equipment for
the operating room, hospital, or procedure site. It would be best
if these improvements allowed normal operating room personnel to
rapidly arrange and prepare the robotic surgery system for surgery
with little or no specialized training, and with as little impact
as possible on the overall cost and complexity of the system.
SUMMARY OF THE INVENTION
[0010] The present invention provides improved robotic surgery
systems, structures, and methods. In general, the invention
enhances the efficiency and accuracy of robotic systems by
providing techniques for aligning the motion and structure of the
robotically controlled manipulators and end effectors with both the
internal surgical site and each other. In many embodiments, the
invention makes use of manually positionable linkages supporting
the surgical instruments. These linkages will often maintain a
fixed configuration and/or position until a brake system is
released. While the brake is held in a released mode, the fixable
linkage allows the operating room personnel to manually move the
linkage into alignment with the surgical site. The brake system
will often fix the configuration of these passive linkages whenever
the operator lets go, thereby avoiding inadvertent movement of the
surgical instruments. In the exemplary embodiment, manually
repositionable joints of the positioning linkage allow the operator
to translate the surgical manipulator and instrument in three
dimensions, and to orient the surgical instrument by rotating the
manipulator and instrument about three axes of rotation.
Positioning of these structures is generally facilitated by using a
counter-balanced linkage system, and/or by using an inherently
balanced linkage system (for example, a selective Compliance
Assembly Robot Arm or "SCARA," a revolute arm in which the joint
axes are vertical).
[0011] Advantageously, once the linkages supporting the surgical
manipulator, instruments, and the imaging mechanism are in
position, the robotic system can automatically calculate the
desired coordinate system transformations so as to align hand
inputs at the master controller relative to a display system with
the displayed movements of the surgical instruments end effector.
This capability can be provided by including a sensor system
coupled to the fixable linkage. By measuring the angle of each
rotational joint and the position of each sliding joint, a
processor of the servomechanism can ensure that when the surgeon
moves a hand input device to her right, the image of the end
effector moves to the right on the controller's display. Multiple
fixable positioning linkages will often extend from a common base
to the driven linkages of the robotic surgical manipulators, so
that the manipulator structures can be easily moved to the desired
position for surgery, and so that the relative position of each
manipulator can be calculated from the sensor system. This also
allows positioning of the manipulators while the surgical
instrument is at or near the center of travel of the manipulator,
thereby decreasing the possibility that a surgical procedure will
be interrupted by a limitation in the range of motion of the
manipulator.
[0012] In a first aspect, the invention provides a robotic surgery
system comprising a base, a surgical end effector, and robotic
linkage supporting the end effector relative to the base. The
linkage comprising a plurality of driven joints coupled to a
servomechanism for moving the end effector so as to manipulate
tissues. The linkage also includes a plurality of releasably
fixable joints for pre-configuring the linkage. A joint sensor
system couples the fixable joints to the servomechanism. The sensor
system generates joint configuration signals.
[0013] In another aspect, the invention provides a support
structure for supporting a first robotic surgical manipulator
relative to a second robotic surgical manipulator. Each surgical
manipulator is coupled to a servomechanism so as to robotically
manipulate tissues of a patient body with a surgical end effector.
The support structure comprises a base coupled to the first
manipulator. The manipulator support moveably supports the second
manipulator relative to the base. A sensor system couples the
manipulator support to the servomechanism. The sensor system
transmits manipulator position signals to the servomechanism.
Servomechanism calculates a position or orientation of the first
manipulator relative to the second manipulator using the
signals.
[0014] In yet another aspect, the invention provides a robotic
surgery system comprising a base, a surgical end effector and a
manipulator supporting the end effector. The manipulator has a
rigid shaft and constrains movement of the shaft to rotation about
a pivot point along the shaft. An imaging system is oriented toward
the end effector. The imaging system has a field of view defining a
coordinate system. A linkage supports the manipulator relative to
the base. A brake system restrains articulation of the linkage. The
brake system is releasable to allow manual movement of the pivot
point of the manipulator relative to the base. A servo-mechanism
drivingly engages the manipulator for robotic manipulation of
tissues with the end effector. A hand input controller is coupled
to the servomechanism. The controller has a controller coordinate
system. A sensor system is coupled to the linkage so as to generate
linkage configuration signals. A processor is coupled to the sensor
system and the servomechanism. The processor uses the linkage
position signals to calculate a coordinate system transformation so
as to coordinate controller inputs with a displayed image of the
end effector.
[0015] In yet another system aspect, the invention provides a
transportable robotic surgery system comprising a cart having
rolling elements for moving the cart between operating rooms. A
plurality of robotic arms are supported by the cart. A plurality of
surgical implements are supported by the arms. A control station is
couplable to the cart for directing robotic surgery.
[0016] In a first method aspect, the invention provides a method
for preparing for robotic surgery. The method comprises maintaining
driven joints of a robotic surgical manipulator sufficiently near
mid-points of travel of the joints, so as to avoid interference
with a limit of travel of the manipulator within an intended
worksite. The robotic manipulator is pre-positioned by manually
articulating a linkage (the linkage generally supporting the
manipulator relative to a base) while maintaining the driven joints
near the mid-points. The positioned manipulator is restrained with
a brake system so as to prevent articulation of the linkage.
[0017] In another method aspect, the invention provides a method
for performing robotic surgery. The method comprises positioning a
robotic surgical manipulator by manually articulating a linkage.
The positioned manipulator is restrained with a brake system so as
to prevent manual articulation of the linkage. A surgical end
effector, which is supported by the positioned manipulator, is
imaged in an imaging coordinate system. The restrained manipulator
is actuated with a servomechanism by actuating a controller in a
controller coordinate system so as to robotically manipulate tissue
with the end effector. The controller coordinate system is
transformed to the imaging coordinate system by sensing joint
configurations of the restrained linkage. The imaged end effector
is displayed so that controller inputs correlate with end effector
movements.
[0018] In yet another method aspect, the invention provides a
method for performing robotic surgery. The method comprises
manually moving a manipulator relative to a base by articulating a
plurality of fixable joints. A brake is actuated to inhibit
inadvertent manual movement of the positioned end effector from
articulation of the fixable joints. Tissue is manipulated with the
end effector by actuating a plurality of driven joints of the
linkage with a servomechanism. Positions of the fixable joints are
sensed and transmitted to the servomechanism.
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] FIG. 1 is a plane view showing a robotic surgical system
performing a minimally invasive robotic surgical procedure.
[0020] FIG. 2 is a perspective view of a robotic surgical
patient-side cart system in which positioning linkages having a
series of manually articulatable, fixable joints support three
robotically actuated manipulators.
[0021] FIG. 2A is a perspective view of a robotic surgical
manipulator for use in the cart system of FIG. 2.
[0022] FIGS. 2B and C are side and front views, respectively, of
the linkage of the robotic manipulator of FIG. 2, showing how the
manipulator maintains a remote center of rotation along a shaft of
a surgical instrument.
[0023] FIG. 3 is a perspective view of the patient-side cart
structure and positioning linkages which support the robotic
manipulators in the system of FIG. 2.
[0024] FIGS. 4A and B are front and rear perspective views,
respectively, of the patient-side cart structure, showing the
counter weighted vertical sliding joints which vertically position
the manipulators, and also showing the steering system for the
cart.
[0025] FIG. 5 is a perspective view of a positioning linkage which
allows the robotic manipulators to be pre-positioned manually, and
also illustrates the potentiometers used to sense the joint
angles.
[0026] FIG. 6 is a perspective view of a positioning linkage used
for manual positioning of a laparoscope in preparation for surgery,
and also illustrates the potentiometers used to sense the joint
angles.
[0027] FIG. 7 is a perspective view of the patient-side cart and
positioning linkages with lightweight covers protecting sensitive
portions of the system.
[0028] FIGS. 8A and B are rear and front views, respectively, of
the surgeon's console for use in the surgical system of FIG. 1.
[0029] FIGS. 9A and B illustrate a master input device for use in
the surgeon's console of the FIGS. 8A and B.
[0030] FIG. 10 is a perspective view of an alternative patient-side
cart having a modified middle arm for positioning an endoscope.
[0031] FIG. 11 is a perspective view of an exemplary articulated
surgical instrument for use in the system of FIG. 1.
DESCRIPTION OF THE SPECIFIC EMBODIMENTS
[0032] The present invention provides robotic surgery systems,
devices, and methods. Robotic surgery will generally involve the
use of multiple robotic manipulator arms. One or more of the
robotic manipulator arms will often support a surgical tool which
may be articulated (such as jaws, scissors, graspers, needle
holders, micro dissectors, staple appliers, tackers,
suction/irrigation tools, clip appliers, or the like) or
non-articulated (such as cutting blades, cautery probes,
irrigators, catheters, suction orifices, or the like). One or more
of the arms will often be used to support a surgical image capture
device such as an endoscope (which may be any of a variety of
structures such as a laparoscope, an arthroscope, a hysteroscope,
or the like), or, optionally, some other imaging modality (such as
ultrasound, fluoroscopy, magnetic resonance imaging, or the like).
Typically, the arms will support at least two surgical tools
corresponding to the two hands of a surgeon and one image capture
device.
[0033] Mounting the robotic manipulator arms to a single cart
structure allows the robotic surgery system of the present
invention to be moved efficiently from operating room to operating
room. This can avoid construction of specialized robotic operating
rooms, and can allow a hospital to take advantage of the
flexibility of robotic surgery to perform a variety of surgical
procedures, including open surgery, neurosurgical procedures (such
as stereotaxy), endoscopic procedures (such as laparoscopy,
arthroscopy, thoracoscopy), and the like.
[0034] Mounting of multiple robotic manipulator arms with the arms
supported by one or more positioning linkages attached to a common
base also allows the computer system that controls robotic
movements to determine the position of the end effectors and
robotic arms relative to each other. This can be used for a variety
of purposes, including transforming an image capture coordinate
system to a hand input controller coordinate system so as to align
the surgeon's inputs with movements of the end effectors as
displayed to the surgeon. In some embodiments, the computer may
also calculate the positions of the robotic manipulators to avoid
interference as the implements are manipulated during surgery. For
example, solid modeling of the robotic manipulator structure may be
used to prevent two arms from striking each other, thereby avoiding
damage to the robotic structure and potential injury to the
patient. This common base may also maximize access to the patient
before, during, and after the robotic surgical procedure, as the
cart will typically be situated along one side of the operating
table, leaving the other side available for access by surgeons and
surgical assistants.
[0035] In light of these capabilities, the present invention will
find applications in a variety of surgical procedures. The most
immediate applications will be to improve existing minimally
invasive surgical procedures, such as coronary artery bypass
grafting and mitral and aortic valve repair and/or replacement. The
invention will also have applications for surgical procedures which
are difficult to perform using existing minimally invasive
techniques, such as Nissen Fundoplications. Additionally, it is
anticipated that these surgical systems will find uses in entirely
new surgeries that would be difficult and/or impossible to perform
using traditional open or known minimally invasive techniques. In
the meantime, additional potential applications include vascular
surgery (such as for the repair of thoracic and abdominal
aneurysms), general and digestive surgeries (such as
cholecystectomy, inguinale hernia repair, colon resection, and the
like), gynecology (for fertility procedures, hysterectomies,
bladder neck suspensions, and the like), and a wide variety of
alternative procedures.
[0036] The positioning linkage devices, systems, and methods
described hereinbelow will generally be used within a robotic
surgery system such as the described in co-pending U.S. patent
application Ser. No. 08/975,617, filed Nov. 21, 1997, the full
disclosure of which is incorporated herein by reference.
[0037] Referring now to FIG. 1, an operator O (generally a surgeon)
performs a minimally invasive surgical procedure on patient P by
manipulating input devices at a surgeon's console 150. A computer
of console 150 directs movement of endoscopic surgical instruments
54, effecting movement of the instruments using a robotic
patient-side cart system 50. An assistant A assists in
pre-positioning of the manipulator relative to patient P in
swapping tools 54 for alternative tool structures, and the like,
while viewing the internal surgical site via an assistant display
12. The image of the internal surgical site shown to assistant A
and operator O by the assistant display and surgeon's console is
provided by one of the surgical instruments supported by cart 50.
Typically, cart 50 includes at least three robotic manipulator arms
supported by linkages, with the central arm supporting an endoscope
and the outer arms supporting tissue manipulation tools.
[0038] Generally, the arms of cart 50 will include a positioning
portion which remains in a fixed configuration while manipulating
tissue, and a driven portion which is actively articulated under
the direction of surgeon's console 150. The actively driven portion
is herein referred to as a manipulator 58. The fixable portion of
the cart linkage structures may be referred to as a positioning
linkage and/or a "set-up joint" 56, 56'.
[0039] Robotic arm cart 50 is shown in isolation in FIG. 2. Cart 50
includes a base 52 from which three surgical implements 54 are
supported. More specifically, implements 54 are each supported by a
positioning linkage 56 and a robotic manipulators 58. It should be
noted that these linkage structures are here illustrated with
protective covers extending over much of the robotic linkage. It
should be understood that these protective covers are optional, and
may be limited in size or entirely eliminated in some embodiments
to minimize the inertia that is manipulated by the servomechanism,
and to limit the overall weight of cart 50.
[0040] Cart 50 will generally have dimensions suitable for
transporting the cart between operating rooms. The cart will
typically fit through standard operating room doors and onto
standard hospital elevators. The cart should have a weight and
wheel (or other transportation) system that allows the cart to be
positioned adjacent an operating table by a single attendant. The
cart should have sufficient stability in the transport
configuration to avoid tipping at minor discontinuities of the
floor, and to easily withstand overturning moments that will be
imposed at the ends of the robotic arms during use.
[0041] Referring now to FIGS. 2A-C, robotic manipulators 58
preferably include a linkage 62 that constrains movement of tool
54. More specifically, linkage 62 includes rigid links coupled
together by rotational joints in a parallelogram arrangement so
that tool 54 rotates around a point in space 64, as more fully
described in issued U.S. Pat. No. 5,817,084, the full disclosure of
which is incorporated herein by reference. The parallelogram
arrangement constrains rotation to pivoting about an axis 64a,
sometimes called the pitch axis. The links supporting the
parallelogram linkage are pivotally mounted to set-up joints 56 so
that tool 54 further rotates about an axis 64b, sometimes called
the yaw axis. The pitch and yaw axes intersect at the remote center
64, which is aligned along a shaft 66 of tool 54.
[0042] Tool 54 has still further driven degrees of freedom as
supported by manipulator 58, including sliding motion of the tool
along insertion axis 64c (the axis of shaft 66), sometimes referred
to as insertion. As tool 54 slides along axis 64c relative to
manipulator 58, remote center 64 remains fixed relative to base 68
of manipulator 58. Hence, the entire manipulator is generally moved
to re-position remote center 64.
[0043] Linkage 62 of manipulator 58 is driven by a series of motors
70 (see FIG. 2B). These motors actively move linkage 62 in response
to commands from a processor. Motors 70 are further coupled to tool
54 so as to rotate the tool about axis 64c, and often to articulate
a wrist at the distal end of the tool about at least one, and often
two, degrees of freedom. Additionally, motors 70 can be used to
actuate an articulatable end effector of the tool for grasping
tissues in the jaws of a forceps or the like. Motors 70 may be
coupled to at least some of the joints of tool 54 using cables, as
more fully described in U.S. Pat. No. 5,792,135, the full
disclosure of which is also incorporated herein by reference. As
described in that reference, the manipulator will often include
flexible members for transferring motion from the drive components
to the surgical tool. For endoscopic procedures, manipulator 58
will often include a cannula 72. Cannula 72, which may be
releasably coupled to manipulator 58, supports tool 54, preferably
allowing the tool to rotate and move axially through the central
bore of the cannula.
[0044] As described above regarding FIG. 2, manipulator 58 is
generally supported by a positioning linkage 56. Exemplary
positioning linkage structures are illustrated in FIG. 3. The
exemplary positioning linkage system includes three types of
structures. First, a vertical column 80 supports vertically sliding
joints 82 that are used to position manipulator 58 along the
vertical or Z axis. Second, rotary joints 84 separated by rigid
links 86 are used to horizontally position manipulators 58 in the
X-Y plane. Third, another series of rotary joints 84 mounted
adjacent a manipulator interface 88 rotationally orients the
manipulators.
[0045] The structure of column 80, vertical sliding joints 82, and
base 52 can be understood with reference to FIGS. 4A and B.
Beginning with base 52, the base will generally distribute the
weight of the robotic structures and the forces imposed on the
entire slave system. When used for surgery, base 52 will be fixedly
supported by a series of jacks 90 to avoid inadvertent movement of
the robotic arms. Jacks 90 will typically be threadably coupled to
the remainder of base 52, so that the jacks can be retracted for
transport. When jacks 90 are retracted by rotating their handles,
base 52 rests on wheels 92.
[0046] To prevent the cart from tipping as it is rolled on wheels
92, the wheels located near the front of the cart will preferably
be non-swiveling. In other words, the wheels will rotate about a
fixed axis relative to the base. Wheels 92 adjacent a rear portion
of the cart will preferably be coupled to steering handle 94 so
that the wheels and handle rotate about a steering axis. This
facilitates maneuvering of the cart and positioning of the cart
adjacent the operating table. Passively swiveling "outrigger"
wheels 93 may be disposed outboard of the steerable wheels 92 to
provide additional support if the cart begins to tip.
[0047] As the weight of base 52 generally enhances the tipping
stability of the slave cart structure, and as a box section
enhances stiffness, the exemplary base comprises box steel tubing,
which may be welded or bolted together.
[0048] Column 80 extends upward from base 52, and may optionally
also comprise a box steel structure. Sliding joints 82, including
vertical tracks 96 on which sliders 98 ride, are counterbalanced by
weights 100 mounted within column 80. More specifically, a cable
extends upward from slider 98 and over a pulley 102, and then down
from the pulley to weight 100 within column 80. Weight 100
preferably has a mass that is substantially equal to the combined
mass of the slider 98, positioning linkage 56, manipulator 58, and
tool 54. This allows the robotic arms to be re-positioned upward or
downward with very little effort. It should be understood that
weight 100 is schematically illustrated, and may have an actual
length of about 24 in. or more.
[0049] To prevent inadvertent movement of sliding joint 82, pulleys
102 are coupled to column 80 by brakes 104. These brakes prevent
rotation of the pulleys when slider 98 is positioned, as will be
described in more detail hereinbelow.
[0050] As described above, it is often advantageous to identify the
configuration of the manually movable, as well as the active,
joints so as to allow the processor of the robotic system to
perform coordinate transformations, calculate relative positions of
surgical end effectors, and the like. Toward that end, sliding
joints 82 include sensors 106 coupled to sliders 98 or
counterweights 100 by cables 108. Sensors 106 comprise accurate
potentiometers that generate electrical signals which vary with the
position of sliders 98 along tracks 96. As the structure and
position of sliding joints 82 relative to column 80 is known,
knowing the axial position of sliders 98 allows the processor to
perform transformations between first and second slider coordinate
systems 110, 112 and a reference base coordinate system 114.
Similarly, by knowing the angles defined by each rotary joint 84,
transformations between the slider joints and a manipulator base
can also be calculated. It should be understood that these interim
coordinate system transformations need not be performed, but that
they are representative of the total transformation to be
performed. Regardless, where the configuration of all joints
between base 52 and the end effectors of tools 54 are known, the
processor can accurately determine the position and orientation of
the end effector, as well as how to effect movement in a desired
direction by articulating one or more of the driven joints.
[0051] Each sensor preferably may comprise redundant potentiometers
that "self-check" one another. That is, information from the
redundant potentiometers may be compared with a selected tolerance
to ensure to a degree of accuracy that the positioning of the
corresponding joint is correctly known. If the information from the
redundant potentiometers fail to match, the operator may be
informed of this fact and/or the set-up may be interrupted or
delayed until corrective action is taken. Additionally, the
operator may be able to override such an interrupt if desired.
Potentiometers on the set-up linkage may be also checked for
movement, to warn an operator of unintended movement of the
normally locked and stationary set-up linkages during an operation,
such as might be due to an assistant unintentionally leaning
against the linkage.
[0052] The structure of positioning linkage 56 is illustrated in
more detail in FIG. 5. Positioning linkage 56 is supported by
slider 98, and include first and second elongate links 120, 122.
First link 120 is coupled to slider 98 by rotational joint 84a, and
is coupled to second link 122 by rotational joint 84b. As described
above, slider 98 moves up and downward (along the z-axis) to
vertically position the manipulator and remote center of rotation.
Pivoting of the first and second linkages relative to the slider
and to each other allows the manipulator to move horizontally (in
the X-Y plane). As rotational joints 84a and 84b rotate about
vertical axes, the height of the manipulator does not change when
these joints rotate and no counterbalancing is required.
[0053] Rotational joints 84 generally include a brake 124 and a
sensor 126. Brake 124 prevents rotation about the joint unless the
brake is released. In other words, the brake is normally on (so
that the joint is in a fixed configuration). This prevents
inadvertent articulation of positioning linkage 56 during a
surgical procedure, and also avoids movement if power to the
robotic system is lost. The brakes may be safely overcome (so as to
articulate the joints without damage) with a reasonable amount of
manual force against the linkage or manipulator, thereby providing
a safety feature if power is lost.
[0054] A wide variety of alternative brake structures could be used
in place of the exemplary embodiment described above. Suitable
brakes may be actuated electrically, pneumatically, hydraulically,
or the like, and may be located at the joint axis (as shown) or may
coupled to the joint using gears, cables, rigid linkages, or the
like.
[0055] Sensors 126 of joints 84 generate electrical signals which
indicate the rotational angle defined by the joint. Sensors 126
preferably generate absolute angle indication signals that vary
with the absolute angle defined by the joint, rather than
generating a signal which indicates a change in the angle. This
avoids having to regularly return the joints to a zero position to
provide an accurate angle measurement. Although absolute angle
measurement devices are generally preferred, in some embodiments
sensors 126 may comprise encoders that measure a number of discrete
changes in the joint angle, or a wide variety of alternative
structures.
[0056] Links 120 and 122 may be formed of a wide variety of high
strength, light weight materials. Alternative structures might
include aluminum or composites, such as graphite or the like. In
general, minimizing the weight of the set-up joints and manipulator
structures can dramatically decrease the total weight of the
robotic cart, as the structures are often counterbalanced and any
added weight generally increases the cart base weight to avoid
tipping.
[0057] Positioning of the manipulator in preparation for surgery is
facilitated by providing a handle 128 affixed to the distal end of
second link 122. Handle 128 has an actuation button 130 that
releases brakes 124 so as to allow movement of set-up joints 56. As
described above, the joints will preferably remain locked unless a
signal is provided by circuitry coupled to actuation button 130.
Affixing handle 128 on or near the manipulator support interface
allows the positioning linkage to be moved without imposing undue
forces against the servomechanism of the manipulator structure.
[0058] In addition to the positional capabilities of positioning
linkage 56, rotational joints 84c, d, and e allow the manipulator
structure to be rotated to a desired orientation. Including the
vertical adjustability provided by sliding joint 82, positioning
linkage 56 allows the manipulator to be positioned with six degrees
of freedom relative to base 52 of the robotic arm cart. As
illustrated, one or more orientational degrees of freedom may be
provided between the handle and the manipulator. As each of the
rotational joints 84 and the sliding joint 82 include a sensor
coupled to a processor of the servomechanism, the servomechanism
can calculate a position and orientation of a manipulator interface
132 on which the manipulator is mounted, and can also perform the
coordinate system transformations described hereinabove.
[0059] In the exemplary embodiment, the brakes 124 at all of the
joints on one of the three positioning linkage 56 supporting a
manipulator 58 are actuated in unison by actuation button 130 on
handle 128, allowing the operating room personnel to position and
orient the manipulator freely. The manipulator structure will
preferably be balanced about rotational joints 84d and 84e, as
these joints may rotate about axes that are at an angle from
vertical. Fabricating the manipulator or adding counterbalance
weights to the manipulator so that the center of mass of the
manipulator is aligned along the axes of rotation of these two
joints (as illustrated in FIG. 3) will prevent the operating room
personnel from having to overcome a righting moment when
rotationally positioning the manipulator.
[0060] Referring now to FIG. 6, it may not be necessary to provide
a full six degrees of freedom for each set of the set-up joints.
For example, positioning linkage 56' provide each of the positional
degrees of freedom described above, but with more limited
orientational adjustment capabilities. When, for example, an
endoscope is supported by a manipulator having four degrees of
freedom (such as pitch, yaw, insertion, and roll about the scope's
axis) the manipulator need not be supported by a positioning
linkage with six degrees of freedom for many surgical procedures.
Manipulator interface 132 is here coupled to the distal end of
second link 122 by a single rotational joint 84c. As the
manipulator structure will have multiple degrees of freedom for the
surgical implement supported thereon, this provides sufficient
endoscope positioning and orienting flexibility with reduced
complexity.
[0061] Referring now to FIG. 7, in the exemplary robotic cart, two
six degree of freedom positioning linkages 56 are supported by
column 80 on either side of a four degree of freedom positioning
linkages 56'. This central set-up joint is particularly well
adapted for use in supporting an image capture device such as a
laparoscope, endoscope, or the like. Six degree of freedom
positioning linkages 56 may be used to pre-position manipulators
supporting surgical implements used for manipulating tissue. This
arrangement is well adapted for use by a surgeon controlling a
surgical tool with each hand while viewing the procedure through
the endoscope. When re-positioning of the endoscope is desired, a
manipulator structure coupling the endoscope to positioning linkage
56' may be actuated with a servomechanism so as to pivot the
endoscope about the insertion point, as described above.
[0062] FIG. 7 also illustrates a series of protective covers 140
mounted over the brakes and sensors of joints 84. Additionally, a
column cover 142 protects the pulleys and their associated brakes.
These covers help avoid injury to attending operating room
personnel by limiting the number of pinch points, and also provide
a more finished appearance. Similar appearance benefits are
provided by mounting base and column covers 144 on their associated
cart structures.
[0063] An exemplary surgeon's workstation is illustrated in FIGS.
8A and B. Control station 150 includes processors 152 for the
robotic servomechanism. Also included in controller station 150 are
a stereo imaging system 154 and a pair of controllers 156 (shown in
FIGS. 9A and 9B), which hang below the imaging system.
[0064] The surgeon will generally manipulate tissues using the
robotic system by moving the controllers within a three dimensional
controller workspace of controller station 150. In the exemplary
embodiment, the surgeon will manipulate these controllers while
viewing the surgical site through display 154. Processor 152 can
calculate an image capture coordinate system via the sensors in
positioning linkage 56' and manipulator 58 supporting the
laparoscope, and can perform coordinate system transformations so
as to generate signals to the manipulator structure that maintain
alignment between the three dimensional image of the end effector
as viewed through display 154 and the hand controller within the
controller workspace. By maintaining this alignment as the
physician moves the hand controller in both position and
orientation, the robotic surgery system allows the surgeon to
manipulate the surgical tools as if the handle in the surgeon's
hand and the end effector in the surgeon's field of view define a
single contiguous surgical instrument. This provides an enhanced
sense of presence and allows the surgeon to operate efficiently and
accurately without performing mental coordinate transformations.
The correlation between movement of the input device and image of
the end effector is more fully described in U.S. Pat. No. 5,808,665
while an exemplary method and structure for performing the
coordinate system transformation calculations is detailed in
Provisional U.S. patent application Ser. No. 60/128,160 filed on
Apr. 7, 1999 for a "Camera Referenced Control in a Minimally
Invasive Surgical Apparatus", the full disclosures of which are
incorporated herein by reference.
[0065] An exemplary master control input device or controller 156
is seen in FIGS. 9A and B. Generally, controller 156 includes an
articulate arm portion 156A and a wrist or gimbal portion 156B.
Articulate arm 156A primarily accommodates and senses positional or
translational movement in the controller workspace, while gimbal
156B accommodates and senses an orientation of a handle 160.
Articulate arm 156A includes joints which accommodate pivotal
rotation about axis A, B, and C, while gimbal 156B includes
rotational joints which accommodate and sense movement about
orientational axis 1, 2, and 3. Gimbal 156B also moves relative to
articulate arm 156A about a fourth orientational axis 4 when
mounted to the arm, thereby providing a redundant orientational
degree of freedom for the master input control handle. This
exemplary input device is more fully described in co-pending
Provisional U.S. Patent Application Ser. No. 60/111,710 filed on
Dec. 8, 1998 for a "Master Having Redundant Degrees of Freedom",
the full disclosure of which is incorporated herein by
reference.
[0066] Referring now to FIG. 10, an alternative cart 50', including
a positioning linkage 56' with less than six degrees of freedom,
supported between two six degrees of freedom positioning linkages
56. Six degree of freedom linkages 56 generally extend radially
outwardly from column 80 and will often be arranged to support the
surgical tools 54 (including the tissue manipulating tools and the
endoscope,), so that the elongated shafts of these endoscopic
instruments extend radially outwardly from a pattern of apertures
into an internal surgical sites, as illustrated in FIG. 1. This
gives the cart system 50' an "elbows out" appearance in use, which
helps enhance the clearance between the manipulators so as to avoid
collisions as the manipulators move in the space over patient P
during a surgical procedure. An endoscope manipulator 170 and its
associated linkage 56' will often be arranged so as to extend
substantially from column 80 to the endoscope, as also illustrated
in FIG. 1. Endoscope manipulator 170 may not include all of the
tool actuation drive system provided for articulated surgical
instruments, which are typically included in manipulators 58. An
exemplary endoscope manipulator is more fully described in
Provisional U.S. Patent Application Ser. No. 60/112,990 filed on
Dec. 16, 1998, the full disclosure of which is incorporated herein
by reference.
[0067] An exemplary articulated endoscopic surgical instrument 54
is illustrated in FIG. 11. Instrument 54 includes an elongate shaft
66 supporting an end effector 174 relative to a proximal housing
176. Proximal housing 176 is adapted for releasably mounting
instrument 54 to a manipulator, and for transmitting drive signals
and/or motion between the manipulator and end effector 174. As
described above, a wrist 178 may provide two degrees of freedom of
motion between end effector 174 and shaft 66, and the shaft may be
rotatable relative to proximal housing 176 so as to provide the end
effector with three substantially orientational degrees of freedom
within the patient P body. Preferably, the shaft 172, wrist 178,
and one or both members of end effector 174 of instrument 54 may
include visible distance markings along their outer surfaces (see
FIG. 11), such as in millimeters or portions of inches. Such
markings aid a surgeon to understand the distances involved at the
surgical site while performing remote telesurgery. The surgeon may
use the information provided by the ruler markings on the
instrument, for example, to gauge the proximity of his/her
instruments to various organs or tissue portions, the proximity of
the instruments to one another, and the size of various features of
the surgical site. Such information may prove valuable when the
surgical site is magnified, in 2-D or 3-D, to the point where it
may be difficult for the surgeon to relate the magnified image to
real scale. Additionally, the operator's console might be arranged
with an information "pop-up" capability, with the surgeon being
able to call up, when desired, information such as a virtual ruler
simply by pushing a button, for example, or activating any other
appropriate input device such as voice control. The ruler
preferably would be moveable on the viewing screen using a mouse,
for example, so that the surgeon could then measure a distance of
interest using said virtual ruler. A variety of exemplary tools are
more fully described in co-pending Provisional U.S. Patent
Application Ser. No. 60/116,844 filed on Jan. 22, 1999, the full
disclosure of which is incorporated herein by reference.
[0068] A number of refinements may be included in the positioning
linkages to expedite and facilitate pre-positioning the
manipulators in preparation for surgery. For example, it may be
desirable to drive the manipulators to a position at which they
support their associated surgical instruments near a center of
travel of the manipulator while the positioning linkages are being
moved into a proper position and orientation for surgery. This will
help insure that the assistant A aligns the manipulators with the
internal surgical site near the center of travel of the
manipulators, thereby avoiding interruptions of the surgical
procedure when the movement of the tool is inhibited by a limit of
travel of the manipulator.
[0069] In some embodiments, it may be beneficial to actively drive
one or more of the joints of a positioning linkage. For example,
processor 152 of workstation 150 may actively drive at least one
(and possibly all) of the joints of the positioning linkages to a
pre-determined "nominal" configuration, so as to support each
manipulator at a position and/or orientation appropriate for a
surgical procedure. The processor might optionally drive the
positioning linkages to selectively different pre-determined
nominal configurations for differing surgical procedures so as to
expedite the set-up process, for example, moving the manipulators
to position the surgical instruments and endoscope for a typical
coronary bypass grafting in response to a first input from operator
O, or for a Nissen Fundoplication in response to an alternative
input from the operator O. The assistant A may then optionally move
the positioning linkages from the nominal configuration slightly as
desired for a procedure on a particular patient P. After a
procedure is complete, actively driving the positioning linkages
clear of the patient P and/or to a cart storage/transportation
configuration (with the manipulators tucked in low along side
column 80) can enhance the overall number of procedures which might
be performed by the robotic system in a given time.
[0070] To further aid in positioning the manipulators for surgery,
the optionally releasably attached cannula 72 may be inscribed on
its outer surface with markings (see FIG. 2B). Such markings may
extend along the entire length of the cannula, or begin at the
point along its length corresponding to the remote center of motion
64. These markings, which may comprise, for example, the distance
markings on a ruler, aid a surgeon's assistant in placing the
cannula so that the remote center of motion of the manipulator
roughly corresponds to the center of the depth of necessary
incision in the patient's body to permit insertion of the cannula.
For coronary surgery, for example, the markings would permit easier
placement of the center of motion at the midpoint of the depth of
the incision between the patient's ribs. Such markings also permit
an assistant to realize how far a cannula has been inserted into a
patient's body.
[0071] A variety of alternative means for guiding positioning
linkages 56, 56' to one or more nominal configurations might be
provided. Referring again to FIG. 5, a joint of positioning linkage
56 is shown having nominal positioning indicators 180 and 182. To
pre-configure cart 50 to a nominal configuration for a first
procedure, first nominal position indicators 180 are aligned on one
or more of the rotational joints 84 and sliding joints 82. A second
set of nominal position indicators 182 might be brought into
alignment by moving the manipulator so as to configure a cart for a
different procedure. The various sets of nominal position
indicators may be differentiated by color, graphics, alpha-numeric
markings, or the like. Still further alternatives are possible,
including software which actuates the brakes of the positioning
linkages when each joint is moved into a desired position, so that
moving the manipulator arm generally towards the correct
orientation will, one-by-one, lock the joints into the desired
nominal position. Final positioning may then be effected by gently
oscillating the manipulator about the joints of the positioning
linkage in any remaining degrees of freedom until the sensors
indicate that the desired unlocked joints are sufficiently close to
the nominal configuration so as to actuate the brakes.
[0072] The cart systems of the present invention can incorporate a
number of advantageous features and structures. It is generally
preferred to orient the first degree of the positioning linkages
extending from a fixable base in a vertical orientation,
particularly when movement about the first degree of freedom is
counterbalanced. Each consecutive positioning link may be smaller
and lighter from the base toward the manipulator, as clearly
illustrated in FIG. 5, due to the reduced moment arm of forces
applied against the manipulator. Preferably, the positioning
linkage members will be designed so as to support forces against
the manipulator with substantially equal contributions to the
stiffness of the link structure. A particularly advantageous design
approach is to initially assume that a plurality of the major
structural elements of the positioning linkages, typically
including the joint, axles, hubs, links and/or bearings, contribute
substantially equal amounts to the total deflection when the
positioning linkage is configured for surgery. In this way, no
single member is over-designed in a way which increases its weight
unnecessarily, and thereby avoiding a system of structural members
whose overall stiffness is predominantly limited by the most
compliant members. Many of the components of positioning linkages
described above are commercially available from a wide variety of
vendors, for example, tapered roller bearings, electrically
releasable brakes, and the like.
[0073] While the exemplary embodiments of the present invention
have been described in some detail by way of example and for
clarity of understanding, a number of adaptations, modifications,
and changes will be obvious to those of skill in the art. For
example, although this invention has been described with reference
to a preferred remote center of motion apparatus embodiment, the
scope of the inventions described herein should not be so limited,
as would be obvious to one of skill in the art. While the preferred
embodiment disclosed herein has multiple robotic arms mounted to a
common base 80, other arrangements of robotic arms having
positioning linkages fall within the scope of this invention. For
example, in another embodiment of the invention, each of the
robotic surgical arms is mounted to the ceiling of an operating
room. The attachment points on the ceiling may need to be
reinforced to bear the weight of the robotic arms, depending upon
their weight. The operating room may be dedicated to robotic
surgery, or have other uses, in which case the arms may be
retracted out of the normal operating space by repositioning the
positioning linkages. Alternatively, the arms may be releasably
attached to the ceiling, and may be detached after an operation for
storage elsewhere or for maintenance. In order to accurately
position the arms relative to one another, the attachment points on
the ceiling will preferably be known relative to one another. With
that information and the information from the sensor array along
each arm, the positions of the end effectors can be accurately
calculated and manipulated at the surgical site. As a result, the
present invention is limited solely by the appended claims.
* * * * *