U.S. patent application number 12/869734 was filed with the patent office on 2011-07-21 for control portion of and device for remotely controlling an articulating surgical instrument.
Invention is credited to Jimmy C. Caputo, How-Lun Chen, Craig Conner, Mark Doyle, David Gennrich, Curt Irwin, Jose Jacquez, Corey Magers, Brooke Skora, Dave Stroup.
Application Number | 20110178531 12/869734 |
Document ID | / |
Family ID | 43628363 |
Filed Date | 2011-07-21 |
United States Patent
Application |
20110178531 |
Kind Code |
A1 |
Caputo; Jimmy C. ; et
al. |
July 21, 2011 |
Control portion of and device for remotely controlling an
articulating surgical instrument
Abstract
A control portion of a remotely controlled surgical device
comprises a first set of controls, a second set of controls, and a
function control mechanism. The first set of controls is configured
for receiving motion from a human shoulder, arm, and hand and
translating one or more of its received motion inputs into one or
more macro motion control signals for controlling one or more macro
motions associated with an articulating surgical instrument. The
second set of controls is configured for receiving motion from the
human shoulder, arm, and hand and translating one or more of its
received motion inputs into one or more micro motion control
signals for controlling one or more micro motions of the
articulating surgical instrument. The function control mechanism is
configured for receiving a function control input from a user of
the control portion. The function control input is for controlling
a function associated with the remotely controlled surgical
device.
Inventors: |
Caputo; Jimmy C.; (Carlsbad,
CA) ; Chen; How-Lun; (San Diego, CA) ; Conner;
Craig; (Madison, WI) ; Doyle; Mark; (Del Mar,
CA) ; Gennrich; David; (Fitchburg, WI) ;
Irwin; Curt; (Madison, WI) ; Jacquez; Jose;
(Spring Valley, CA) ; Magers; Corey; (Oceanside,
CA) ; Skora; Brooke; (San Diego, CA) ; Stroup;
Dave; (El Cajon, CA) |
Family ID: |
43628363 |
Appl. No.: |
12/869734 |
Filed: |
August 26, 2010 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61237042 |
Aug 26, 2009 |
|
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|
Current U.S.
Class: |
606/130 |
Current CPC
Class: |
A61B 2017/00442
20130101; A61B 2017/00539 20130101; A61B 34/76 20160201; A61B 34/30
20160201; A61B 34/37 20160201 |
Class at
Publication: |
606/130 |
International
Class: |
A61B 19/00 20060101
A61B019/00 |
Claims
1. A remotely controlled surgical device control portion, said
control portion comprising: a first set of controls configured for
receiving a motion inputs in first, second, and third degrees of
freedom from a human shoulder, arm, and hand and translating one or
more of said motion inputs in said first, second, and third degrees
of freedom into one or more macro motion control signals for
controlling one or more macro motions associated with an
articulating surgical instrument; a second set of controls coupled
with said first set of controls and configured for receiving motion
inputs in fourth, fifth, sixth, and seventh degrees of freedom from
said human shoulder, arm, and hand and translating one or more of
said motion inputs in said fourth, fifth, sixth, and seventh
degrees of freedom into one or more micro motion control signals
for controlling one or more micro motions of said articulating
surgical instrument; and a function control mechanism configured
for receiving a function control input from a user of said control
portion, said function control input for controlling a function
associated with said remotely controlled surgical device.
2. The control portion of claim 1, wherein said second set of
controls further comprises: a central frame assembly; and a grasper
handle assembly coupled with said central frame assembly, said
grasper handle assembly including a user moveable bi-directional
trigger.
3. The control portion of claim 2, wherein said second set of
controls further comprises: a rotatable arm holder assembly coupled
to said central frame assembly.
4. The control portion of claim 2, wherein said second set of
controls further comprises: a rotatable thumbwheel coupled with
said grasper handle assembly.
5. The control portion of claim 2, wherein trigger is configured
for receiving a motion input in opposing first and second
directions, said motion input for controlling an articulation
motion of an articulating surgical instrument, and wherein said
trigger comprises: a finger loop disposed within said trigger and
configured for receiving said motion input in the form of a user
squeezing said trigger in said first direction with at least one
finger or pushing said finger loop in said second direction with
said at least one finger; and a flange coupled with said trigger
and configured for receiving said motion input in the form of
pushing said flange with a thumb to cause said trigger to be pushed
in said second direction.
6. The control portion of claim 1, wherein said function control
mechanism is selected from the group of function control mechanisms
consisting of a lever, trigger, screw, button, latch, switch,
paddle, moveable pin, knob, ratcheting selector, pedal, touchless
sensor, dial, pressure sensor, or other input.
7. The control portion of claim 1, wherein said function control
mechanism is configured to control magnetization of a portion of
said articulating surgical instrument.
8. The control portion of claim 1, wherein said function control
mechanism is configured to control application of electrical energy
to a portion of said articulating surgical instrument.
9. The control portion of claim 1, wherein said function control
mechanism is configured to control an irrigation function
associated with said articulating surgical instrument.
10. The control portion of claim 1, wherein said function control
mechanism is configured to control a suction function associated
with said articulating surgical instrument.
11. The control portion of claim 1, wherein said function control
mechanism is configured to control an illumination function
associated with said articulating surgical instrument.
12. The control portion of claim 1, wherein said function control
mechanism is configured to control a remote viewing function
associated with said articulating surgical instrument.
13. The control portion of claim 1, wherein said function control
mechanism is configured to control a locking or unlocking a
function or user input of said control portion.
14. The control portion of claim 1, wherein said function control
mechanism operates to interrupt a signal between an input location
of said signal and an output of said signal located proximal to a
tool or instrument of said remotely controlled surgical device.
15. A surgical device for remotely controlling an articulating
surgical instrument, said device comprising: an articulating
surgical instrument; a control portion configured for receiving
user, said control portion comprising: a first set of controls
configured for receiving a first plurality of motion inputs from a
human shoulder, arm, and hand and translating one or more of said
first plurality of motion inputs into one or more macro motion
control signals for controlling one or more macro motions
associated with said surgical device; a second set of controls
configured for receiving a second plurality of motion inputs from
said human shoulder, arm, and hand and translating one or more of
said second plurality of motion inputs into one or more micro
motion control signals for controlling one or more micro motions of
said articulating surgical instrument; and a function control
mechanism configured for receiving a function control input from a
user of said control portion, said function control input for
controlling a function associated with said surgical device; and a
slave portion coupled between said control portion and said
articulating surgical instrument, said slave portion configured for
moving said articulating surgical instrument in response to said
one or more macro motion control signals.
16. The device of claim 15, further comprising: a tool coupled with
a distal tip of said articulating surgical instrument.
17. The device of claim 15, wherein said second set of controls
further comprises: a central frame assembly; and a grasper handle
assembly coupled with said central frame assembly, said grasper
handle assembly including a user moveable bi-directional
trigger.
18. The device of claim 17, wherein said function control mechanism
comprises a ratcheting lever configured for selectively locking a
degree of freedom of movement of said trigger.
19. The device of claim 17, wherein said function control mechanism
is disposed as a part of said grasper handle assembly.
20. The device of claim 15, wherein said at least one of said macro
motion or micro motion control signals comprises a displacement of
hydraulic fluid.
21. A method of remotely controlled surgical device control signal
generation, said method comprising: in response to movement of a
first set of controls of a control portion in one of a first
plurality of degrees of freedom, generating within said control
portion a macro motion control signal configured for controlling a
macro motion associated with an articulating surgical instrument of
a remotely controlled surgical device; in response to movement of a
second set of controls of said control portion in one of a second
plurality of degrees of freedom, generating within said control
portion a micro motion control signal configured for controlling a
micro motion of said articulating surgical instrument, wherein at
least one of said macro motion control signal and said micro motion
control signal comprises a displacement of hydraulic fluid; and in
response receiving a function control input via a function control
mechanism of said control portion, generating a function control
signal for configured controlling a function associated with said
remotely controlled surgical device.
22. The method as recited in claim 19 wherein said generating a
function control signal configured for controlling a function
associated with said remotely controlled surgical device comprises:
generating said function control signal as interrupt of a signal
between an input and an output.
Description
RELATED U.S. APPLICATION (PROVISIONAL)
[0001] This application claims priority to the co-pending
provisional patent application Ser. No. 61/237,042, entitled
"Articulated Surgical Tool," filed on Aug. 26, 2009, and assigned
to the assignee of the present invention, which is herein
incorporated by reference in its entirety.
CROSS REFERENCE TO RELATED APPLICATIONS
[0002] The instant application is related to U.S. patent
application Ser. No. ______, filed on ______, entitled "Remotely
Controlled Surgical Device and Control Thereof," with attorney
docket number ______, and assigned to the assignee of the present
invention. To the extent not repeated herein, the contents of this
related patent application are hereby incorporated herein by
reference.
[0003] The instant application is related to U.S. patent
application Ser. No. ______, filed on ______, entitled "Remotely
Controlling an Articulating Surgical Instrument," with attorney
docket number ______, and assigned to the assignee of the present
invention. To the extent not repeated herein, the contents of this
related patent application are hereby incorporated herein by
reference.
BACKGROUND
[0004] Hydraulic systems for applications in laparoscopic surgical
tools, as well as tools for other surgical procedures, are known.
Current laparoscopic surgical instruments typically have
considerable limitations, however, including difficulties in
accessing portions of the body obstructed by organs or other
objects, difficulties in sterilizing all or portions of such tools,
and difficulties in ease of use. Further, while such existing
laparoscopic surgical instruments can perform invasive surgical
procedures, the instruments are often awkward to manipulate and
have problems performing complicated movements often necessary in
surgery. In particular, such instruments can be difficult to
manipulate around corners, obstacles and to use in obstructed or
otherwise difficult to reach environments.
[0005] In addition, existing laparoscopic surgical instruments may
either have a fairly limited range of motion and/or are not capable
of performing certain sophisticated and delicate operations or
motions with precision. Further, such instruments may also be
fairly limited in their flexibility to accommodate unexpected or
unanticipated motion. Also, existing laparoscopic surgical
instruments often lack an intuitive connection between motion
initiated by the user in the control portion of the device and
corresponding motion actuated remotely in the slave portion of the
device.
[0006] Moreover, existing laparoscopic surgical instruments
typically use cables and hydraulic lines to manipulate the surgical
tip of the instruments. The hydraulics often require the use of
special hydraulic fluid that is not necessarily amenable to
surgical environments or other special environments. For example,
the use of conventional hydraulic oils in surgical environments is
ill-advised and may create an assortment of hazards, especially if
the system leaks or the hydraulic conduits are prone to rupture.
While more medically compatible hydraulic fluid may be used (e.g.,
water, mineral oils, etc.), such fluid tends to evaporate at a
significant rate. Monitoring and replenishing such fluid manually
can be costly and labor intensive. Further, the consequences of not
being vigilant concerning fluid levels could be severe,
particularly in a surgical environment.
[0007] In addition, the tools used by the device can be expensive
and difficult to clean and sterilize. Since the cleaning and
sterilization procedure must be performed after each use, any
expense incurred can substantially add to the cost of use of the
device. Alternatively, if disposable tools are used, the need for
their continual replacement can add to the cost of the overall
system. Also, disposable tools may be made from less robust
materials as those meant for multiple uses, leading to increased
potential for problems due to equipment malfunction and/or
fracture.
[0008] Moreover, laparoscopic surgical instruments using cables and
hydraulic lines to remotely manipulate the surgical tip of the
instruments can be vulnerable to accidental misuse or user
overcompensation sometimes due to a lack of direct tactile
feedback. This danger is especially significant when the apparatus
is not in deliberate use (e.g., when the device is dormant during a
critical portion of surgery where other equipment is being used),
is being serviced/stored or is not being operated by a skilled
practitioner. Inadvertent and potentially damaging maneuvers are
possible, for example, when the device is moved in between
operating theaters or when routine maintenance is being performed.
In particular, problems can arise when a user moves a control for a
laparoscopic surgical device in such a way that can cause damage
either to the device itself, to ancillary devices and/or to the
patient.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] The accompanying drawings, which are incorporated in and
form a part of this application, illustrate embodiments of the
subject matter, and together with the description of embodiments,
serve to explain the principles of the embodiments of the subject
matter. Unless noted, the drawings referred to in this brief
description of drawings should be understood as not being drawn to
scale.
[0010] FIG. 1A is a schematic diagram of one aspect of an example
device for remotely controlling an instrument or tool in a work
environment, in accordance with an embodiment;
[0011] FIG. 1B is a slave end view of one aspect of a
manually-actuated, remote surgical system including a control
portion that receives inputs to drive a slave portion, for example,
to control an instrument or tool in a work environment, in
accordance with an embodiment;
[0012] FIG. 1C is a side view the slave portion of FIG. 1A, in
accordance with an embodiment;
[0013] FIG. 1D is a front view of the system of FIG. 1A including
additional components, including an additional control portion that
may be used to drive an additional slave portion, in accordance
with an embodiment;
[0014] FIG. 2A is a detailed drawing of a side view of one
variation of an example control portion that may be used in
conjunction with embodiments of the present invention;
[0015] FIG. 2B is a detailed side view of an opposite side of the
example control portion shown in FIG. 2A, in accordance with an
embodiment;
[0016] FIG. 3A is a side view of the micro controls 50a of the
example control portion shown in FIG. 2A, in accordance with an
embodiment;
[0017] FIG. 3B is a front perspective view of the control portion
of FIG. 3A in use by a user such as a surgeon, in accordance with
an embodiment;
[0018] FIG. 4A is a side view of the macro controls of the example
control portion shown in FIG. 2A, in accordance with an
embodiment;
[0019] FIG. 4B is a side view of an opposite side of the macro
controls of the example control portion shown in FIG. 4A, in
accordance with an embodiment;
[0020] FIGS. 4C and 4D are a side view and a front perspective
view, respectively, of the macro controls in FIGS. 4A and 4B in
use, in accordance with an embodiment of the present invention;
[0021] FIGS. 5A and 5B are schematic views of one aspect of an
example mechanism that allows actuation of a control cylinder, in
accordance with an embodiment of the present invention;
[0022] FIGS. 6A and 6B are side perspective views of aspects of the
slave portion, in accordance with an embodiment of the present
invention;
[0023] FIG. 7 is a perspective view of another aspect of the slave
and control portions, in accordance with an embodiment of the
present invention;
[0024] FIG. 8 is a side view of the device in FIG. 7, in accordance
with an embodiment;
[0025] FIG. 9 is a side view from a side opposite from the view in
FIG. 8, in accordance with an embodiment;
[0026] FIG. 10 is a top view of the slave and control portions of
the device of FIG. 7, in accordance with an embodiment;
[0027] FIG. 11 is a bottom view of the slave and control portions
of the device of FIG. 7, in accordance with an embodiment;
[0028] FIG. 12A is a perspective view of an aspect of the slave
portion of the present system, illustrating an overview of three
example macro degrees of freedom of the slave portion, in
accordance with an embodiment;
[0029] FIG. 12B is a side view of an aspect of the control portion
of the system, illustrating an overview of how the three example
macro degrees of freedom shown in FIG. 12A may be actuated in the
control portion, in accordance with an embodiment;
[0030] FIG. 13A is a side view of an aspect of the control portion
of the system, including a clutch safety mechanism that may be part
of the macro controls, in accordance with various embodiments of
the invention;
[0031] FIG. 13B is a side view of a close up of the clutch safety
mechanism of FIG. 13A from the opposite side, in accordance with an
embodiment;
[0032] FIGS. 14A-14C are side views of the control portion of the
system, illustrating how an example forward/reverse pivoting motion
may be actuated by the macro controls, in accordance with an
embodiment of the present invention;
[0033] FIGS. 14D and 14E are perspective views of parts of the
slave portion of the system, illustrating a resultant example
forward/reverse pivoting motion in the slave portion that may be
actuated by the motion shown in FIGS. 14A-14C, in accordance with
an embodiment;
[0034] FIG. 14F is a close-up side view of a curved track part of
the slave portion of the system, illustrating the example
forward/reverse pivoting motion along the curved track of the slave
portion shown in FIGS. 14D and 14E, in accordance with an
embodiment;
[0035] FIGS. 15A and 15B are partial perspective views of the slave
portion of the system, illustrating the example forward/reverse
pivoting motion of the tool of the slave portion that may be
actuated by the motion shown in FIGS. 14A-14C, in accordance with
an embodiment;
[0036] FIGS. 16A-16C are a top view, a top view and a side view,
respectively, of the control portion, illustrating how an example
lateral swivel motion may be actuated by the macro controls, in
accordance with an embodiment of the present invention;
[0037] FIGS. 16D and 16E are perspective views of the slave portion
illustrating a resultant example lateral swivel motion in the slave
portion that may be actuated by the motion shown in FIGS. 16A-16C,
in accordance with an embodiment;
[0038] FIG. 16F is a perspective view of an example screw mechanism
that may actuate the example lateral swivel motion shown in FIGS.
16D and 16E, in accordance with an embodiment;
[0039] FIGS. 17A-17C are partial side views of the control portion
illustrating how an example extension/retraction motion may be
actuated by the macro controls, in accordance with an embodiment of
the present invention;
[0040] FIGS. 17D and 17E are side perspective views of an example
extension/retraction motion in the slave portion that may be
actuated by the motion shown in FIGS. 17A-17C, in accordance with
an embodiment;
[0041] FIG. 18A is a side view of an example instrument to
illustrate various articulated motions, in accordance with an
embodiment of the present invention.
[0042] FIG. 18B is a perspective side view of an example micro
control to illustrate various articulated motions, in accordance
with various embodiments of the present invention;
[0043] FIG. 19 is a perspective view of an example micro controls
for use with a hand articulated control system, in accordance with
an embodiment of the present invention;
[0044] FIG. 20 is a side view of the example micro controls for use
with a hand articulated control system, in accordance with an
embodiment of the present invention;
[0045] FIG. 21 is a side perspective view of the example micro
controls for use with a hand articulated control system, in
accordance with an embodiment of the present invention;
[0046] FIG. 22 shows is a top view of the example micro controls
for use with a hand articulated control system, in accordance with
an embodiment of the present invention;
[0047] FIG. 23 shows an example computer system that may be used,
in conjunction with various embodiments of the present
invention;
[0048] FIG. 24A is a side view of an example grasper handle which
includes a thumbwheel and a surgical assistant ratchet for use with
a hand articulated control system, in accordance with an embodiment
of the present invention;
[0049] FIG. 24B illustrates an opposite side view from FIG. 24A,
and depicts an inner plane of an example grasper handle, according
to an embodiment;
[0050] FIG. 25 illustrates a flow diagram of an example method of
manipulating an articulating surgical instrument, in accordance
with various embodiments of the present invention;
[0051] FIGS. 26A and 26B illustrate a flow diagram of an example
method of articulation control signal generation, in accordance
with various embodiments of the present invention; and
[0052] FIG. 27 illustrates a flow diagram of an example method of
remotely controlled surgical device control signal generation, in
accordance with various embodiments of the present invention.
DESCRIPTION OF EMBODIMENTS
[0053] Reference will now be made in detail to various embodiments
and aspects of the present invention, examples of which are
illustrated in the accompanying drawings. While the subject matter
will be described in conjunction with these aspects and
embodiments, it will be understood that they are not intended to
limit the subject matter to these aspects embodiments. On the
contrary, the subject matter described herein is intended to cover
alternatives, modifications and equivalents, which may be included
within the spirit and scope. In some instances, well-known methods,
procedures, objects, devices, structures, and/or circuits have not
been described in detail as not to unnecessarily obscure aspects of
the subject matter.
[0054] Unless otherwise defined, all technical and scientific terms
used herein have the same meaning as commonly understood by one of
ordinary skill in the art to which aspects and embodiments of the
present invention belong. The methods and examples provided herein
are illustrative only and not intended to be limiting.
Overview of Components
[0055] FIG. 1A is a schematic diagram of one aspect of an example
device 1 for remotely controlling an articulating surgical
instrument 4 and/or tool 7 in a work environment O, for example,
for performing surgery on a patient. Although the specific aspects
of the device may vary according to the application, FIG. 1A-D
shows the general overview of this type of device 1, according to
one embodiment.
[0056] The device 1 may include a control portion 50 operable to
receive an input 3, such as a force or motion, to drive the
articulating surgical instrument 4 and/or tool 7 which are
connected to a slave portion 70 of the device. Although described
as being separate components from slave portion 70, it is
appreciated that instrument 4 and tool 7 (when included) are also
slaved to control portion 50 and thus may be thought of as
sub-assemblies of slave portion 70. Herein, articulating surgical
instrument 4 is interchangeably referred to as "surgical
instrument" and "instrument." The input 3 is transferred from the
control portion 50 to the slave portion 70 via a transfer mechanism
5, such as a hydraulic system. Device 1 may be configured to
provide a given correlation between input 3 and the resultant
output 11 that operates instrument 4 and/or tool 7 within an
operational environment O. For example, input 3 may be a linear
and/or rotational movement, and output 11 may be a linear and/or
rotational movement, and such movements may be combined or
correlated in any fashion. For instance, a linear input 3 may be
correlated to an output 11 that is linear or rotational, and a
rotational input 3 may be correlated to an output 11 that is
rotational or linear. Also, the relative degree of transfer may be
controlled, e.g., such that a given amount of input 3 produces a
given amount of output 11. Further, transfer mechanism 5 may
additionally transfer feedback from instrument 4 and/or tool 7 back
to control portion 50, thereby providing a user with a direct,
tactile feel for the work being performed by the instrument 4
and/or tool 7. In one example of a suitable application for system
or device 1, the instrument 4 and/or tool 7 may include an
articulating portion for performing surgery within a portion of a
body of a patient. Thus, device 1 acts to control, in a precise
manner, actions of an instrument 4 and/or tool 7 in an operational
environment O from a remote location.
[0057] Variations of embodiments of the invention implemented in
devices and systems, such as device 1 as well as others, may
include a variety of possible movements and motions in both the
control and slave portions. Herein, the ability to produce such
motions in a device will be described as a "degree of freedom" or
"providing a degree of freedom." The term "degree of freedom" is
not meant to be used in a strict mathematical or physical sense.
Rather, a "degree of freedom" is meant to refer to a certain motion
or category of motions that are allowed in the control portion 50,
slave portion 70, instrument 4, or other portions of the device 1.
One skilled in the art will understand that the systems and devices
discussed herein are not limited to the degrees of freedom
explicitly described herein. Rather, the devices described herein
may be reconfigured even without adding new components such that
additional degrees of freedom are included. Further, new components
may also be added to devices described herein in order to
facilitate new degrees of freedom or to change the scope, direction
or other aspect of degrees of freedom discussed herein. Further,
the devices discussed herein may also be reconfigured in ways that
preserve the degrees of freedom discussed herein. It is to be
understood that all such changes are within the scope of
embodiments of the invention and that each of the devices
configurations and degrees of freedom discussed is merely provided
by way of example and not of limitation.
[0058] Generally speaking, a large-scale movement that translates
multifunctional portions of the device will be referred to as a
"macro" movement. However, it is to be understood that this term is
not rigorous. For example, macro movements are possible for
uni-functional aspects of the device. Macro movements are generally
employed for relatively large-scale positioning of the instrument
and/or tool closer to or further away from the operational
environment O, although macro movements can be employed for other
purposes as well. Each macro movement is considered a degree of
freedom.
[0059] Generally speaking, a small-scale movement that translates a
uni-functional portion of the device will be referred to as a
"micro" movement. However, it is to be understood that this term is
not rigorous. For example, micro movements are possible for
multi-functional aspects of the device. Micro movements are
generally employed for moving the instrument 4 and/or tool 7 within
the operational environment O in order to perform specific
operations. However, it is to be understood that micro movements
can be employed for other purposes as well. Each micro movement is
considered a degree of freedom.
[0060] Further, in device 1, the control portion 50 is capable of
actuating both macro and micro movements and the slave portion 70
is capable of carrying out both macro and micro movements.
Generally, these portions are connected via transfer mechanism 5,
such as hydraulic lines. The control portion can provide a user
interface to allow actuation of aspects of the slave portion 70 or
portions via the hydraulic lines or other mechanisms. Although a
particular configuration for the control and slave portions is
shown in FIG. 1A, it is to be understood that this is merely one
example configuration. As well be shown, several variations of the
control and slave portions are part of the spirit and scope of
embodiments of the present invention, and variations not shown or
discussed herein may also be used in conjunction with embodiments
and aspects of the present invention.
[0061] FIG. 1B shows a variation of a control portion 50 and slave
portion 70, and FIG. 1C a more detailed view of the variation of
slave portion 70, of an example device 1000 (an embodiment of
device 1), according to various embodiments of the present
invention. FIG. 1D shows another view of the control and slave
portions of FIGS. 1B and 1C, respectively. As shown in FIG. 1B, a
user U may operate the control portion 50 by grasping a grasper
handle assembly 1200. The grasper handle assembly 1200 and the
control portion 50 in general, may have various levers, triggers
and/or other actuators. These levers, triggers and/or other
actuators are usually connected via a transfer mechanism, such as
hydraulic lines, to various parts of the slave portion 70 of the
device. For example, FIGS. 1B, 1C and 1D include an instrument 4
and/or tool 7 on the distal end ("distal" end is typically the
working end of instrument 4 or tool 7 (when attached to instrument
4) that is located furthest from control portion 50) of the slave
portion 70 of the device that may be actuated using the control
portion 50 and associated hydraulic systems so that it operates in
the operational environment O (FIGS. 1C and 1D). For example,
pulling a trigger on the grasper handle assembly 1200 may extend
the instrument 4 in the direction towards the operational
environment O. Alternatively, the instrument 4 may have a number of
functionalities (e.g., cutting, grasping, gouging, and piercing)
that may be actuated by the trigger or other portions of the
grasper handle assembly 1200. Multiple instruments 4 and/or tools 7
may also be configured for use in the slave portion 70, examples of
which will be explored in greater detail below. The operational
environment O may be a surgical operating environment, an
environment such as an assembly environment or another
environment.
[0062] FIGS. 1C and 1D also show an adjustable stand 2 that may be
used to fix the control portion 50, the slave portion 70 or both to
a particular location or object. For example, the stand 2 may be
fixed to a side of a table in an operating room. Alternatively, the
stand 2 may be a self-standing apparatus for supporting the device
1 in any suitable location. As such, the stand 2 may also be fixed
in other locations, such as in an environment where mechanical or
electrical work is to be done. The stand 2 may include various
components that allow different parts of the device 1000 to be
adjustably positioned at various locations. For example, FIGS. 1C
and 1D show a series of grip handles 2a and knobs 2b that may be
used to alternatively fix and release various posts and beams 2c
providing support to parts of the device 1000. In addition, the
beams 2c, or other components, may be connected to each other or to
other objects using vices, crimpers or clamps 2d. It is to be
understood that the structure for the adjustable stand 2 shown in
FIGS. 1C and 1D is merely representative. In fact, the structure of
the stand 2 can be reconfigured, rebuilt and/or adjusted as
needed.
[0063] FIG. 2A is a detailed drawing of a side view of one
variation of an example control portion 50 that may be used in
conjunction with embodiments of the present invention. FIG. 2B
shows an opposite side of the example control portion shown in FIG.
2A. The example control portion 50 is similar to the control
portion 50 shown in FIGS. 1B and 1D and may be operated in the
manner shown in those Figures, or in ways that are not explicitly
represented in the Figures. The topmost portion of the control
portion 50 contains micro controls 50a. The specifics of the micro
controls 50a will be described in detail below, but in general the
micro controls 50a may control the micro or relatively-finer motion
of aspects of the slave portion 70. For example, the micro controls
50a may control movements of instruments 4 and/or tools 7 coupled
with the slave portion 70 and which can be located or utilized
within the operational environment O. In contrast, the macro
controls 50b shown in the lower portion of the device 1000 in FIGS.
2A and 2B may be used to control macro or relatively coarser
motions of the slave portion 70. For example, the macro controls
50b may be used to bring the instrument 4 and/or tools 7 coupled
with the slave portion 70 in proximity to the operational
environment O from another position (e.g., a position outside of
where contact between the instrument and/or tools and an object
upon which work is to be performed, or a position where the
instrument and/or tools are being serviced). However, as noted
above, these definitions are not literal, specific or rigorous and
merely serve to give a broad understanding of how various aspects
relate to one another.
[0064] The control portion 50 shown in FIG. 2B may have other
aspects that give it additional degrees of freedom in the motions
that may be transmitted from the user to the slave portion 70 of
the device. These additional aspects will be discussed in more
detail below. Generally, each degree of freedom corresponds to its
own control cylinder 100, as shown in FIG. 2B. For example, the
user may grasp the grasper handle assembly 1200 and squeeze the
trigger 1220, as well as move grasper handle assembly 1200 in
various directions. These and similar motions define an input force
or input motion 3 (FIG. 1A) that generally effect a mechanical
response in the control cylinders 100, which transmit the
mechanical response to the slave portion 70 of the device.
[0065] FIG. 3A highlights the micro controls 50a of the example
control portion shown 50 in FIGS. 2A, 2B. FIG. 3B shows the micro
controls 50a of FIG. 3A in use. FIG. 3A shows several example
features of the micro controls 50a, including a grasper handle
assembly 1200, and a trigger 1220 for interacting with the user.
Generally, the user may grasp the grasper handle assembly 1200, as
shown in FIG. 3B, and squeeze the trigger 1220. This motion and
similar motions generally affect a mechanical response in one or
more of the control cylinders 100, also shown in FIG. 3A, which
transmit the mechanical response to the slave portion 70 of the
device (FIG. 1C).
[0066] FIG. 3A also shows a closer view of example spool valves
100a attached to each of the control cylinders 100 for, among other
things, keeping the hydraulic lines filled with fluid. As shown in
FIG. 3A, the spool valves 100a are generally connected to each of
the control cylinders 100 on one end and contain a portion of the
control fluid communicating between the control cylinder 100 and
the slave portion 70 of the device. Although the fluid connections
are not explicitly shown in FIG. 3A, they may be made by any
suitable connection. Generally, one connects a hydraulic line at
the inlets in the spool valves 100a and connects the other end of
the hydraulic line to a corresponding control cylinder on the slave
portion 70 of the device. In this configuration, each degree of
freedom, typically has one control cylinder in the control portion
and one corresponding control cylinder in the slave portion 70.
These respective control cylinders may be connected using the spool
valves 100a described in U.S. Provisional Patent Application No.
61/297,630, titled "HYDRAULIC DEVICE INCLUDING A SPOOL VALVE" filed
on Jan. 22, 2010, and U.S. Provisional Patent Application No.
61/297,784 titled "OVERFORCE MECHANISM" filed on Jan. 27, 2010
which are both hereby incorporated herein by reference in their
entirety. As described in more detail in U.S. Provisional Patent
Application No. 61/297,630 another purpose of the spool valve of
embodiments of the instant invention, among others, is to control
fluid communication between the control cylinder 100 and the slave
portion 70 of the device. Although spool valves 100a may not be
shown in conjunction with each control cylinder 100 shown herein,
it is to be understood that a spool valve 100a may be used with any
of the control cylinders 100 discussed herein. Note that the
control portion 50 as shown in FIGS. 2A, 2B and 3A, and each of its
components, is a non-limiting example of one of the types of
control portions that may be used in conjunction with embodiments
of the present invention. It is to be understood that aspects of
various embodiments of the present invention can be used in
conjunction with a variety of other devices, including other
control portions.
[0067] FIGS. 4A and 4B highlight the macro controls 50b of the
example control portion shown in FIG. 2A. As shown in FIG. 4A, in
one embodiment, the macro controls 50b may include three control
cylinders 100. The control cylinders 100 may actuate different
degrees of freedom in the device 1000. Example degrees of freedom
will be discussed in more detail below. Each of the control
cylinders 100 has an associated transmission assembly 405, 505 and
605, respectively, for example, including gear assemblies thereof.
Generally, the transmission assemblies of the macro controls 50b
serve to translate user motion to the control cylinders 100, which
then translate that motion into the displacement of hydraulic fluid
in communication with corresponding control cylinders in the slave
portion 70 of device 1. As will be described herein, such a
displacement of hydraulic fluid constitutes one example of a type
of control signal that can be generated by control portion 50.
Although specific transmission assemblies 405, 505 and 605 will be
shown in the context of device 1000, it is to be understood that
they may be replaced by any suitable transmission or gear assembly
(or other actuating assembly) that serves to translate user motion
to the control cylinders 100. It is to be further understood that
the number of control cylinders and gear assemblies shown in FIGS.
4A and 4B is merely an example of the number that may be utilized.
Additional degrees of freedom may be added by adding new control
cylinders 100. Alternatively, not all of the control cylinders 100
shown in FIGS. 4A and 4B need be present or operational in the
macro controls 50b.
[0068] Generally speaking, the macro controls 50b actuate macro
motions in the slave portion 70 of the device. Such macro motions
may include, but are not limited to, positioning instrument 4
and/or tool 7 appropriately so that it may perform operations on a
specific area of the operating environment O. FIGS. 4A and 4B also
show an anchor 610 that may serve to anchor the control portion 50
to a fixed object or another portion of the device 1000. For
example, the anchor 610 may simply be a peg (as shown in FIGS. 4A
and 4B) for anchoring the control portion 50 to a stand, desk,
table or bedside by fitting into a peg receptacle on one of these
objects. Alternatively, the anchor 610 may include a clamp, screws
or fasteners for anchoring the control portion 50 to an object. In
some aspects, anchor 610 may allow fixed relative movement between
control portion 50 and the object to which it is anchored. For
example, the anchor 610 may allow relative rotational movement
between different fixed positions between the control portion 50
and the object to which it is anchored in order to fix. For
example, such relative movement may be desired for user comfort in
positioning device 1 or portions thereof relative to the user's
body. In other aspects, anchor 610 may fixedly position the control
portion 50 to the object to which it is anchored.
[0069] FIGS. 4C and 4D show the macro controls in FIGS. 4A and 4B
in use by a user U. As shown in FIGS. 4C and 4D, the user may grip
the grasper handle assembly 1200 and rest his/her elbow in arm
holder assembly 1100. The user U may generally actuate the macro
controls 50b using the forearm and the elbow in conjunction with
the arm holder assembly 1100, or other portions of his/her body.
The details of the interaction will be discussed below. It is noted
that the macro controls 50b and micro controls 50a shown herein are
merely examples. For example, the macro controls 50b and micro
controls 50a may include additional levers, triggers, screws,
buttons, latches switches, paddles, moveable pins, pedals (e.g., a
foot pedal), and touchless sensors. The macro controls 50b and
micro controls 50a may also include additional aspects that make
the user more comfortable (e.g., cushions, padding, fans, cooling
devices). Additionally, one or more function control mechanisms 50c
(see e.g., FIG. 12B for one example implementation and FIG. 13A for
another example implementation), which may take many forms, may be
included in some embodiments. Function control mechanism 50c, when
included, allows a user to control a function associated with
device 1. The function controlled is in addition to the movements
in the degrees of freedom that are controlled by macro controls 50b
and micro controls 50a.
Interaction of Control Portion with Control Cylinders
[0070] It should be noted that a number of different mechanisms for
actuating control cylinders are disclosed herein. While certain
variations of actuation mechanisms may be more appropriate for
certain applications, it is to be understood that most of the
actuation mechanisms discussed here are, to some extent,
interchangeable. That is, it would be possible to apply a
particular actuation mechanism (including various components for
manipulating mechanical motion including gears, levers, screw
members, linkages, pistons or other components) for another
suitable purpose. Many of the actuation mechanisms discussed in the
context of a particular degree of freedom may also be employed to
actuate different degrees of freedom discussed herein and different
degrees of freedom that are not discussed herein. It is to be
understood that such variations fall within the scope of
embodiments of the present invention.
[0071] FIGS. 5A and 5B illustrate an example mechanism for
controlling actuation of force or motion, in the form of a control
cylinder 100. As shown in FIGS. 5A and 5B, the control cylinder 100
includes an outer cylinder 101 which, can include a control
cylinder shaft 101a inside an inner cylinder 102. Upon application
of an input 3 of a force or motion to micro controls 50a and/or
macro controls 50b, a corresponding control cylinder 100 may be
actuated, for example, through one or more levers and/or gears,
from the retracted position shown in FIG. 5A to the extended
position shown in FIGS. 5A and 5B. It should be understood,
however, that control cylinder 100 is one of a plurality of
possible actuation mechanisms that may be used to perform the
functions described herein. For example, other actuation mechanisms
may include one or any combination of mechanical actuators,
hydraulic actuators, magnetic actuators, or the like.
[0072] As noted above, an example control cylinder 100 includes an
outer cylinder 101 and an inner cylinder 102. The inner cylinder
102 is free to move within the outer cylinder 101, while the outer
cylinder 101 is connected to a shaft 101a, where the shaft 101a is
in mechanical communication with a corresponding feature of micro
controls 50a or macro controls 50b of the control portion 50. The
movements of the control portion 50, described above, cause the
outer cylinder 101 to move longitudinally with respect to the
stationary inner cylinder 102.
[0073] A piston 101b, attached to a shaft 101a, moves within the
inner cylinder 102. The distal end of the shaft 101a is configured
to be capable of attachment to the piston 101b, while the proximal
end of the shaft 101a is configured to be capable of attachment to
the outer cylinder 101. A fluid 20, such as air, saline, water,
oil, etc., is located in the inner cylinder 102 in front of the
piston 101b. When the control portion 50 is moved as described
above, the outer cylinder 101 moves forward, thereby moving the
shaft 101a and the piston 101b. Fluid 20 exits the inner cylinder
102 through an outlet, creating a displacement of hydraulic fluid
at a point in the distal end of the device. Additional fluid 20,
displaced from a slave control cylinder, enters to the back of the
piston 101b through an inlet, thereby keeping the volume of the
fluid 20 in the system constant. When the control portion 50 is
moved to a first end position, the control cylinder 100 is in its
retracted position, FIG. 5A. In this position, the piston 101b is
at the distal end of the inner cylinder 102. The fluid 20 is in the
back of the piston 101b.
[0074] Generally, the control cylinder 100 slides back and forth
within the inner cylinder 102 as shown in FIGS. 5A and 5B. In this
way, among others, the control portions use the control cylinder
100 to channel the mechanical force from the user to the instrument
4 and/or tool 7. Although broken out separately in FIG. 1A and
describes separately herein, generally speaking, components
actuated by a control cylinder 100 are referred to as the "slave"
components of the device because they move under control of signals
received from control portion 70 via one or more control cylinders
100. These slave components may include slave portion 70,
instruments 4, and/or tools 7. Tools 7 include, but are not limited
to tools such as: mechanical grippers, lever arms, cutting tools,
grasping tools and any other suitable devices. The mechanical force
can be used in any number of suitable ways by the slave portion 70
of the devices. For example, the control portions can be used to
conduct surgical procedures, move objects or to mechanically
provide force for any suitable number of applications. For example,
the control portions may be coupled to various surgical apparatus
(e.g., clamps, shears, needles, etc.) for performing a surgical
operation.
[0075] In some aspects, control cylinders 100 may include clutch
mechanisms (not shown) that shunt inadvertent over-forcing of the
macro or micro controls away from the hydraulic systems in order to
prevent damage to components. Example clutch mechanisms are
described in Applicants' co-pending U.S. Provisional Patent Appl.
No. 61/297,784 titled "OVERFORCE MECHANISM" filed on Jan. 27,
2010.
[0076] Control cylinders 100, such as those shown in FIGS. 5A and
5B, can be used to drive complex mechanical systems in conjunction
with other control cylinders. For example, one control cylinder may
be actuated by the control portion 50 of FIG. 2B and communicate
fluid, ultimately, with one or more other control cylinders in the
slave portion 70 of the device. Coupling of the hydraulics between
the control cylinders in the master and the slave portions of the
device may be accomplished by a variety of means including by
directly connecting hydraulic lines, by use of a number of suitable
connectors, valves and other fixtures. However, it may be
advantageous for the connection to contain a de-coupling mechanism
so that the slave components and control portions can be
hydraulically de-coupled from one another when not in use. Further,
as many of the lines and connections used in surgical hydraulic
systems and other similar hydraulic systems can allow evaporation
of the hydraulic fluid, it is also advantageous for connectors to
provide a mechanism of replenishing the hydraulic fluid. Example
de-coupling mechanisms and fluid replenishment mechanisms are
described in Applicants' co-pending U.S. Provisional Patent
Application No. 61/297,630 titled "HYDRAULIC DEVICE INCLUDING A
SPOOL VALVE" filed on Jan. 22, 2010.
[0077] In summary, in some aspects, some of the actuated mechanical
devices, such as the one shown in FIGS. 1A, 2B and 2C, may contain
control portions with a single control cylinder or control portions
with multiple control cylinders. These control portions with a
single control cylinder or control portions with multiple control
cylinders may serve to allow a user, such a surgeon, to actuate
mechanical operations in another portion of the device. For
example, the control portions with a single control cylinder or
control portions with multiple control cylinders may actuate and
move various tools for the implementation of surgery. Generally
speaking, the control portions (e.g., control portions with a
single control cylinder or control portions with multiple control
cylinders) are part of the control portion of the device and the
various instruments and/or tools are coupled with the slave portion
70 of the device. The connections between the control and slave
portions are primarily hydraulic in nature to allow transmission of
mechanical forces between the two portions. However, other
connections (e.g., electrical, pneumatic, electromagnetic, and
optical) may also be present in order to transmit various types of
information between the two portions of the device.
[0078] FIGS. 6A and 6B give an overview of example variations of
the slave portion 70 of variations of embodiments of the present
invention. As shown in FIGS. 6A and 6B, the slave portion 70 may
include, among other components, an Extension/Retraction actuator
portion 40 and a Pivoting/Swivel actuator portion 30 that may
relate to the macro motions discussed in detail below. The
instrument 4 and/or tool 7 that may be coupled with slave portion
70 may have a variety of components and functionalities. For
example, the instrument and/or tool may include graspers, scalpels,
scissors, tweezers and any other component suitable for the
application. Further, the instrument 4 and/or tool 7 may include or
correspond to any number of suitable control cylinders 100
appropriate for the application. The control cylinders 100 in the
instrument 4 and/or tool 7 may be independently actuated or may
work in tandem. Also, the instrument 4 and/or tool 7 may include
multiple functions (controlled by one or more function control
mechanisms 50c) and multiple instruments/tools. The instrument 4
and/or tool 7 may also be modular in nature and may allow the
substitution or exchange of various components with various
functionalities.
[0079] As shown in FIGS. 6A and 6B the slave portion 70 may include
one or more control cylinders 100 depending on the number of
desired motions and/or on the configuration of device 1. FIG. 6A
shows the example slave portion 70 fixed to a stand 2 and FIG. 6B
represents the example slave portion 70 without a stand 2. The
configurations shown in FIGS. 6A and 6B are merely example. For
example, there may be additional control cylinders 100 to those
shown in the figures, wherein one or more control cylinders100
correspond to one or more degrees of freedom in device 1 or a
portion thereof. For example, in one aspect, each of the slave
control cylinders 100 generally corresponds to at least one of the
master control cylinders 100 of the control portion 50 of the
device shown in FIGS. 2A and 2B. However, there need not be a one
to one correspondence between control cylinders 100 in the slave
and master or control portions. Each of the control cylinders 100
in the slave portion 70 is hydraulically coupled to some aspect of
the master control portion 50, such as being hydraulically coupled
to a corresponding master control cylinder 100.
[0080] FIG. 6A shows example hydraulic lines 600 that may connect
aspects of the slave 70 and control portion 50 as described above
and in other ways. Hydraulic lines 600 may be of any suitable
material or have any suitable configuration. For example, hydraulic
lines 600 may include plastic, rubber or other elastic material.
Aspects of the hydraulic lines 600 may also include metal in any
suitable form, including metal sheathing, weaving or metal
reinforcement, for example, to control expansion of the lines under
pressure, which thereby controls the transfer of motion or force
from the master to the slave portion 70. Aspects of the hydraulic
lines may also include other suitable materials including various
polymeric materials as well as foils, glasses, or any other
suitable material. Portions of the hydraulic lines 600 may be rigid
and others may be suitably flexible, as needed. Portions of the
hydraulic lines 600 may be transparent or opaque. Variations of
embodiments of the invention disclosed herein may include any
suitable number of hydraulic lines of any suitable construction or
configuration. The hydraulic lines 600 (see, e.g., FIG. 1C) may
also be made from a variety of materials, including plastics,
rubbers and/or including various fibers or metal weavings. The
hydraulic lines 600, corresponding control cylinders and spool
valves may be of any suitable size and have any suitable inner and
outer diameters for the particular applications. One type of
hydraulic line may be used, or there may be a variety of types of
hydraulic lines used in the same device 1000, for example,
depending on the pressure of a given line. It is noted that
drawings represented here of components relating to embodiments of
the present invention are not necessarily to scale. In fact, the
components and principles articulated here may operate on several
different size scales alternatively or simultaneously.
[0081] The hydraulic fluid used with hydraulic lines 600 and with
other example variations of embodiments of the present invention
may be any suitable hydraulic fluid. This suitable hydraulic fluid
may be, for example, any number of suitable oils, such as mineral
oil. The hydraulic fluid may also be a fluid that is medically
benign, such as saline or water. Any other suitable fluid may also
be used, including fluids that are not medically benign.
[0082] Connections between the hydraulic lines may be obtained
using spool valves, other valves, or other suitable hydraulic
connections. These connections may include the use of O-rings or
seal valves, for example. The connections may include other
components (e.g., caps, pipes, sockets).
[0083] Although not depicted in FIGS. 6A and 6B, other lines
besides hydraulic lines 600 (such as suction lines, irrigation
lines, electrical lines, and fiber optic lines) that control
movement of functions associated with slave portion 70, instrument
4, and/or tool 7, may similarly connect aspects of slave portion 70
and control portion 50. Additionally, one or more of these other
lines may be further routed to an instrument 4 and/or a tool 7
which is coupled with slave portion 70. A function control 50c may
convey or control information or signals over one or more or these
other lines to affect one or more functions associated with
instrument 4 and/or tool 7.
[0084] FIGS. 7-11 show variations of the device 1000. Note that the
device 1000 shown in FIGS. 7-11 includes several aspects not shown
in FIGS. 1B-6B. For example, FIGS. 7-11 show a casing 140 covering
certain aspects of the slave portion 70 of the device. It is to be
understood that any of the gears, cylinders or other components
shown herein may be covered by such a casing during operation or
storage. The casing 140 may serve to protect the components from
dust, wear or inadvertent contact with other objects, for example.
The slave portion 70 of the device shown in FIGS. 7-11 also
includes grip handles 2a and knobs 2b for fixing the slave portion
70 to some other object, including a stand 2. The grip handles 2a
and knobs 2b may also be used to adjust the position of slave
portion 70. Further, the slave portion 70 of FIGS. 7-11 is coupled
with a single instrument 4 having a connected tool 7. It is to be
understood that multiple instruments 4 and/or tools 7 may also be
connected. In addition a single device may include multiple slave
portions 70 and/or multiple control portions 50 as needed.
Macro Controls and Macro Motions
Overview
[0085] FIG. 12A shows an overview of three example macro degrees of
freedom in a variation of the slave portion 70 of the device in
accordance with aspects and embodiments of the present invention.
FIG. 12B shows an overview of how the three example macro degrees
of freedom shown in FIG. 12A may be actuated in the control
portion. These figures and discussion are meant as an introduction
to the three example degrees of freedom which will be discussed in
more detail with their associated controlling and actuating
mechanisms in the following section. It should be noted that, while
the example degrees of freedom are useful for certain applications,
they are not meant to be exhaustive. Other degrees of freedom are
within the scope of aspects and embodiments of the present
invention. Indeed, it is possible to modify the existing apparatus
as described to encompass either additional or fewer degrees of
freedom, as needed. All such modifications should be considered
within the scope of embodiments of the present invention.
[0086] In FIG. 12A, one of the example macro degrees of freedom
shown is Forward/Reverse Pivoting of the instrument 4 and related
components. Forward/Reverse Pivoting may allow instrument 4 to
pivot about a central pivot point, such as Pivot Point 2 shown in
FIG. 12A, in plane P1. This particular degree of freedom is useful
for, among other things, positioning the instrument 4 about a
particular area of interest in an operational environment O. For
example, the Forward/Reverse Pivoting degree of freedom can be used
to position a tool 7, such as a scalpel, on the end of the
instrument 4 in a position appropriate for the making of an
incision. Alternatively, Forward/Reverse Pivoting degree of freedom
can be used to position tweezers on the end of the instrument 4 in
a position appropriate for grasping a particular object (e.g., an
organ or tissue). FIG. 12B shows how the Forward/Reverse Pivoting
may be actuated, in particular by a swinging motion of the user's
forearm in conjunction with the micro controls 50a.
[0087] In FIG. 12A, another of the example macro degrees of freedom
shown is Lateral Swivel of the instrument 4 and related components.
The Lateral Swivel may allow instrument 4 to swivel about axis A in
plane P2. This particular degree of freedom is useful for, among
other things, positioning the instrument 4 about a particular area
of interest in an operational environment O. This particular degree
of freedom may, for example, compliment the Forward/Reverse
Pivoting motion such that the instrument 4 and related components
are able to assume 180.degree. of motion in the two orthogonal
planes P1 and P2 that are perpendicular to axis A. The Lateral
Swivel degree of freedom can be used, for example, to position a
scalpel on the end of the instrument 4 in a position appropriate
for the making of an incision. Alternatively, Forward/Reverse
Pivoting degree of freedom can be used to position tweezers on the
end of the instrument 4 in a position appropriate for grasping a
particular object (e.g., an organ or tissue). FIG. 12B shows how
the Forward/Reverse Pivoting may be actuated, in particular by a
lateral sweeping motion of the user's forearm in conjunction with
the micro controls 50a.
[0088] In FIG. 12A, another of the example macro degrees of freedom
shown is Extension/Retraction of the instrument 4 and related
components. Extension/Retraction may allow instrument 4 to be
brought closer to or further away from the operational environment
O. This particular degree of freedom may, for example, allow the
instrument 4 to be retracted a safe distance from objects in the
operating environment while it is repositioned using the
Forward/Reverse Pivoting and Lateral Swivel motions. Once the
instrument 4 has been repositioned, it may be brought back in
contact or in close proximity with the operational environment O
using the Extension/Retraction degree of freedom. FIG. 12B shows
how Extension/Retraction may be actuated, in particular by a
forward or backward motion of the micro control 5a assembly and
corresponding motion of portions of the macro control assembly
50b.
[0089] FIG. 12B also illustrates one embodiment of a function
control in the form of knob 50c-1, which a user may manipulate or
adjust, such as by spinning with a thumb, in order to engage or
control a function that is associated with instrument 4 and/or tool
7.
Details of the Macro Controls
[0090] FIGS. 13A-17E highlight details of the macro controls and
their operation. In the example variation of the device 1000 shown
in FIGS. 13A-17E there are three macro controls controlling three
associated macro degrees of freedom. However, it is to be
understood that this is merely example. There could be any suitable
number of macro controls controlling any associated number of
degrees of freedom. Further, although in the example variation each
macro control has an associated control cylinder 100 and an
associated single degree of freedom, it is to be understood that
other combinations are possible within the scope embodiments of the
present invention. For example, macro controls may act in
combination on the same control cylinder or on the same combination
of control cylinders. This may control one or more degrees of
freedom simultaneously.
Clutch Mechanism
[0091] FIG. 13A highlights an optional clutch safety mechanism 300
that prevents or enables operation of the macro controls 50b and
FIG. 13B shows a close up of the clutch safety mechanism 300 from
the opposite viewpoint. Generally, the clutch safety mechanism 300
includes two major components, an upper portion 300a and a lower
portion 300b. Note that the control cylinder 100 belonging to the
lower portion 300b is related to one of the three degrees of
freedom of the macro controls 50b. This control cylinder is shown
in a different position in FIGS. 13A and 13B. However, the relative
position of the control cylinder 100 is not necessarily related to
the operation of the clutch safety mechanism 300. The clutch safety
mechanism 300 can temporarily disconnect the hydraulic systems
between the macro controls 50b and their corresponding control
cylinders 100 on the slave portion 70 of the device. Alternatively,
the clutch safety mechanism 300 may be purely mechanical and
disconnect the macro controls 50b from their corresponding control
cylinders 100 on the slave portion 70 in a purely mechanical
fashion.
[0092] Generally, in one embodiment, when the device 1000 is not in
operation, the clutch safety mechanism 300 is in the upright
position shown in FIG. 13A. The upright position may be displaced
from horizontal by the arc D1. The arc D1 may be any suitable
length. The upright position generally disengages the macro
controls 50b from their corresponding control cylinders 100 on the
slave portion 70. As shown in FIG. 13A, the upright position may be
the default position taken by clutch safety mechanism 300 when not
in use. The upright position may be assumed automatically, such as
by a biasing mechanism, which may include one or more of a spring,
a lever, a hinge and/or other suitable mechanisms for positioning
the clutch to disconnect the hydraulic system when the user's arm
is not present in arm holder assembly 1100 to press downwardly on
the upper position 300a of the clutch safety mechanism 300. In the
upright position, hydraulic lines between the macro controls 50b
and their corresponding control cylinders 100 in the slave portion
70 may be disconnected, for example, by valves, plungers or other
mechanics 300c that interrupt the fluid communication between the
two portions. Disconnecting the macro controls 50b from their
corresponding control cylinders 100 in the slave portion 70 can
prevent inadvertent actuation of the degrees of freedom associated
with the macro controls 50b when the device 1000 is not in use.
This can prevent damage to the system by, for example, inadvertent
actuation of one of the control cylinders 100 of the slave portion
70 bringing the instrument 4 which is coupled with slave portion 70
into contact with an object in the operational environment O, or a
storage environment, that causes damage (e.g., from scraping,
gouging or smashing contact). Disengaging the macro controls 50b in
the upright position prevents such contact or inadvertent motion.
It should be understood, however, that the clutch mechanism may be
configured to disengage the hydraulic system at positions of the
macro controls 50b other than the upwardly biased position.
[0093] In one embodiment of an upwardly biased clutch mechanism,
when the user places his or her arm in the arm holder assembly 1100
and presses downwardly on the cradle, this downward force is
transmitted to the upper portion 300a of the clutch safety
mechanism 300. This force then brings the lower 300b and upper 300a
portions of the clutch safety mechanism 300 into contact. This
generally positions the valves, plungers or other mechanics 300c to
allow either hydraulic or mechanical communication between the
macro controls 50b and their corresponding cylinders 100 in the
slave portion 70 of the device. The engaged position is shown, for
example, in FIG. 14A. Typically, in the engaged position, the upper
300a and the lower 300b portions of the clutch safety mechanism 300
are in direct contact. However, other configurations are also
within the scope embodiments of the present invention. For example,
the clutch safety mechanism 300 may be adjustable so that the
engaged position can be adjusted according to user preference
and/or to maximize user comfort. Alternatively, the engaged
position may be accessed by more complicated motions than simply
pressing down on the arm holder assembly 1100. For example, the
engaged position may be accessed by simultaneously pressing down on
the arm holder assembly 1100 and moving the control portion in a
given direction, such as laterally (not shown). More complicated
motions to access the engaged position may also be possible.
[0094] FIG. 13A also illustrates one embodiment of a function
control in the form of foot pedal 50c-2, which a user may
manipulate or adjust, such as by depressing with a foot of the
user, in order to engage or control a function that is associated
with instrument 4 and/or tool 7.
First Example MACRO Degree of Freedom
Forward/Reverse Pivoting
[0095] FIGS. 14A-14E highlight a first example degree of freedom of
the macro controls associated with a forward translation of the
slave portion 70. FIGS. 14A-14C show how the motion may be actuated
in the macro controls 50b and FIGS. 14D and 14E show an example
resultant motion in the slave portion 70 and FIG. 14F highlights
that motion along the curved track of the slave portion 70. FIGS.
15A and 15B show the resultant forward/reverse pivoting motion of
the instrument 4 which is coupled with the slave portion 70.
[0096] As shown in FIGS. 14A-14C, the user may actuate a forward
translation of the slave portion 70 by swiveling the entire micro
controls 50a throughout arc D2. As shown in FIGS. 14A-14C, the
micro controls 50a may swivel about pivot point 401. FIG. 14C shows
an example gear setup of transmission assembly 405 that may be used
to translate this swiveling motion of the micro controls 50a about
the arc D2 to a linear motion of a control cylinder 100. For
example, swiveling the micro controls 50a about pivot point 401 may
cause gear 405a to turn and engage gear 405b. Gear 405b may then
engage linear gear 405c which can be fixed to the control cylinder
100, as shown in FIG. 14C. This gear motion, in either direction,
then may cause the piston of the control cylinder show in FIG. 14C
to move in the lateral direction D3, pumping hydraulic fluid to a
corresponding control cylinder 100 on the slave portion 70 of the
device (as shown and discussed in the context of FIGS. 5A and
5B).
[0097] The control cylinder 100, the micro controls 50a and the
gear setup of transmission assembly 405 may be configured such that
any suitable combination of motions is possible. For example,
moving the micro controls 50a in a clockwise direction D2 about
pivot point 401 may ultimately cause hydraulic fluid to be pumped
to the slave portion 70 of the device. In this case, moving the
micro controls 50a in a counter clockwise direction D2 about pivot
point 401 may ultimately cause hydraulic fluid to be pumped to the
control portion of the device. Alternatively, moving the micro
controls 50a in a clockwise direction D2 about pivot point 401 may
ultimately cause hydraulic fluid to be pumped to the control
portion of the device. In this case, moving the micro controls 50a
in a counter clockwise direction D2 about pivot point 401 may
ultimately cause hydraulic fluid to be pumped to the slave position
of the device.
[0098] FIGS. 14D and 14E show how the motion of the micro controls
50a described in FIGS. 14A-4C may be translated into motion of the
slave portion 70 of the device. Hydraulic fluid is either pumped in
or out of the control cylinder 100 in FIGS. 14D and 14E on the
slave portion 70 of the device according to motion of the micro
controls 50a discussed above with reference to FIGS. 14A-14C.
[0099] In FIG. 14D, the control cylinder 100 receiving or expelling
hydraulic fluid associated with the first example degree of freedom
is shown in an inset. Typically, the control cylinder 100 will be
housed in a casing 140, which is also shown in FIG. 14D. FIG. 14E
shows the setup in FIG. 14D without the casing 140 and without the
instrument 4. As shown in FIGS. 14D and 14E, the control cylinder
100 may be mechanically coupled to a track 450 in which a chain
450a may translate. The chain 450a and the track 450 are shown in
more detail with respect to the casing 140 in FIG. 14F.
[0100] Generally, the chain 450a may be coupled on one end to an
instrument holder 4a. An example coupling 450b is shown in more
detail in FIG. 14E. The coupling 450b may have any suitable form
for connecting the instrument holder 4a to the chain 450a such
that, for example, the instrument holder 4a moves as the chain 450a
slides along the track. For example, coupling 450b may include a
carriage having wheels that ride along track 450. In some
embodiments, track 450 may include a groove or a rail to guide the
carriage and/or wheels. In turn, the other end of the chain 450a
may be coupled to the control cylinder 100 shown in FIG. 14E such
that motion of the control cylinder 100 (see FIG. 5A) pushes or
pulls the chain 450a along the track 450.
[0101] In general, a piston head and shaft of the control cylinder
may move along the direction D4 shown in FIGS. 14D and 14E, causing
the chain 450a to slide along direction D5 shown in FIGS. 14D-14F.
FIG. 15A shows an example resultant motion of the instrument 4 and
the instrument holder 4a in response to actuation by the motion of
the control cylinder 100 along direction D4. FIG. 15B highlights
the pivoting motion of the coupling 450b along direction D5. As
shown in FIGS. 15A and 15B, the structure of the curved shape of
the track 450 causes coupling 450b and, therefore, the instrument
4, to pivot about an effective Pivot Point. For example, as the
chain 450a moves away from the casing 140 along direction D5, the
mechanical coupling 450b sweeps through a series of positions P1-P5
about the Pivot Point 1. This causes the instrument 4 and the
instrument holder 4a to sweep through the series of positions about
Pivot Point 2. Since the chain may be positioned such that the
mechanical coupling 450b adopts any of the positions P1-P5, or any
other suitable position along D5, the instrument 4 may effectively
adopt any position about the Pivot Point 2. This may allow the
instrument 4 and the user U to operate on any portion of the
operational environment O that may be accessed with such
motion.
Second Example MACRO Degree of Freedom
Lateral Swivel
[0102] FIG. 16A-16F highlight a second example degree of freedom of
the macro controls associated with a lateral swivel of the slave
portion 70. FIGS. 16A-16C show how the motion may be actuated in
the macro controls 50b and FIGS. 16D and 16E show an example
resultant motion in the slave portion 70. FIG. 16F highlights an
example screw mechanism that may actuate the example lateral swivel
motion.
[0103] As shown in FIGS. 16A-16F, the user may actuate a lateral
swivel, e.g., a rotation in a plane substantially perpendicular to
axis A (see FIGS. 16D and 16E) of the slave portion 70 by swiveling
the entire micro controls 50a throughout arc D6 about pivot point
501. FIG. 16C shows an example gear setup of transmission assembly
505 that may be used to translate this swiveling motion of the
micro controls 50a about the arc D6 to a horizontal motion of a
control cylinder 100. The INSET in FIG. 16C shows another view of
example gears in the gear setup of transmission assembly 505. For
example, swiveling the micro controls 50a may swivel gear 505a
shown in the INSET. Gear 505a may then engage gear 505b, which in
turn can engage linear gear 505c, which can be fixed to the control
cylinder 100. This series of gear motion, in either direction, then
may cause the piston of the control cylinder 100 to move in the
lateral direction D7, pumping hydraulic fluid to a corresponding
control cylinder 100 on the slave portion 70 of the device (as
shown and discussed in the context of FIGS. 5A and 5B).
[0104] The control cylinder 100; the micro controls 50a and the
gear setup of transmission assembly 505 may be configured such that
any suitable combination of motions is possible. For example,
moving the micro controls 50a in a clockwise direction along arc D6
about pivot point 501 may ultimately cause hydraulic fluid to be
pumped to the slave portion 70 of the device. In this case, moving
the micro controls 50a in a counter clockwise direction along arc
D6 about pivot point 501 may ultimately cause hydraulic fluid to be
pumped to the control portion of the device. Alternatively, moving
the micro controls 50a in a clockwise direction along arc D6 about
pivot point 501 may ultimately cause hydraulic fluid to be pumped
to the control portion of the device. In this case, moving the
micro controls 50a in a counter clockwise direction along arc D6
about pivot point 501 may ultimately cause hydraulic fluid to be
pumped to the slave portion 70 of the device.
[0105] FIGS. 16D and 16E show how the macro motion described in
FIGS. 16A-C may be translated into motion of the slave portion 70
of the device. In an embodiment, an example setup in FIG. 16D
includes two control cylinders 100 (one is shown in the inset
because it would otherwise be obscured by other components, and the
other is visible). In this embodiment, in between the control
cylinders is a screw member 550 that is attached to a shaft 550a.
Hydraulic fluid is either pumped in or out of the control cylinders
100 in FIGS. 16D and 16E on the slave portion 70 of the device
according to macro motions discussed above with reference to FIGS.
16A-16C.
[0106] More specifically, in FIG. 16D, the control cylinders 100
receiving or expelling hydraulic fluid associated with the second
example degree of freedom are shown. FIG. 16E shows the setup in
FIG. 16D without the casing 140 and without the instrument 4. As
shown in FIGS. 16D and 16E, the control cylinders 100 may be
coupled to a screw member 550, itself coupled to a shaft 550a. Axis
A is the axis of rotation for the shaft 550a. The shaft 550a may
additionally be coupled to a track 450 via coupling 550c, such as a
link. Coupling 550c between the shaft 550a and the track 450 allows
motion in the screw to ultimately be translated to the instrument 4
because the instrument 4 is coupled to the instrument holder 4a,
which is movably connected to the track 450.
[0107] The coupling 550c may have any suitable form for connecting
shaft 550a to track 450 such that, for example, rotating the shaft
550a in the direction D8 about axis A ultimately rotates the track
450 in the same direction. Since the instrument 4 and holder 4a are
coupled to the track 450, this motion ultimately turns the
instrument 4 and holder 4a in the direction D8 as well.
[0108] FIG. 16F shows a more detailed view of the screw member and
its coupling to the control cylinders 100. In addition to being
coupled to the shaft 550a, the screw member 550 may have threads
550d that mate with opposing threads in a screw receiving member
552. Generally, though not exclusively, the screw receiving member
52 is coupled to the two control cylinders 100 such that when the
two control cylinders 100 are moved in response to the flow of
hydraulic fluid from actuation of the control portion of the
device, the screw receiving member 552 moves with the control
cylinders 100. In general, the control cylinders 100 may move along
the direction D9 (FIG. 16E) causing the screw member 550 to rotate
in direction D8, which ultimately correspondingly rotates
instrument 4.
[0109] The shaft 550a may be rotated such that the instrument 4 is
positioned at any angle in the 360 degrees of rotation along D8
about axis A. This may allow the instrument 4 and the user U to
operate on any portion of the operational environment O that may be
accessed with such motion.
Third Example MACRO Degree of Freedom
Extension/Retraction
[0110] FIG. 17A-17E highlight a third example degree of freedom of
the macro controls associated with an extension/retraction of the
part of the slave portion 70. FIGS. 17A-17C show how the motion may
be actuated in the macro controls 50b and FIGS. 17D and 17E show an
example resultant motion in the slave portion 70.
[0111] As shown in FIGS. 17A-17E, the user may actuate an extension
or retraction of the slave portion 70 by translating the macro
controls 50b along direction D10. As shown in FIGS. 17A-17C, the
macro controls 50b can include two sub-sub-portions 600a and 600b
that may move relative to each other, and relative to static
portion 300b, as shown in FIG. 17A. FIG. 17C shows an example gear
setup of transmission assembly 605 that may be used to translate
the macro controls 50b along the direction D10 to actuate control
cylinder 100.
[0112] For example, translating the macro control sub-portions 600a
and 600b as shown in FIGS. 17A and 17B along direction D10 may
cause gears in the gear setup of transmission assembly 605 to turn.
In the example variation shown in FIGS. 17A-17C, static portion
300b is held stationary with respect to anchor 610, while both
macro control sub-portions and 600b are allowed to move with
respect to anchor 610. However, it is to be understood that other
configurations are also possible. Anchor 610 may be fixed to
another portion of the device, to a stand or to another immobile or
mobile object. On the other hand, macro control sub-portion 600a
may be fixed to the micro controls 50a, as shown in FIG. 17C.
Generally, the control cylinder 100 may have one end fixed to macro
control portion 300b and the other fixed to macro control
sub-portion 600a such that relative motion of these two components
causes either compression or expansion of the control cylinder
(e.g., as shown in FIGS. 5A and 5B). When the micro controls 50a
are moved along direction D10 (FIG. 17C), the macro control
sub-portion 600a may be moved along the same direction causing a
relative translation of sub-portion 600a with respect to macro
control sub-portion 600b. This, in turn, may compress or open the
control cylinder 100 thereby expelling or drawing in hydraulic
fluid to the control portion and having the opposite effect on the
corresponding control cylinder in fluid communication in the slave
portion 70.
[0113] The control cylinder 100, portion 300b, sub-portion 600a,
sub-portion 600b and the gear setup of transmission assembly 605
may be configured such that any suitable combination of motions is
possible. For example, moving sub-portions 600a and 600b away from
one another along direction D10 may ultimately cause fluid to be
pumped to the slave portion 70 of the device. In this case, moving
sub-portions 600a and 600b in an opposite direction, e.g., towards
one another along direction D10, may ultimately cause fluid to be
pumped to the control portion of the device. Alternatively, moving
sub-portions 600a and 600b toward one another along direction D10
may ultimately cause hydraulic fluid to be pumped to the slave
portion 70 of the device. In this case, moving sub-portions 600a
and 600b in an opposite sense, e.g., away from one another along
direction D8, may ultimately cause hydraulic fluid to be pumped to
the control portion of the device.
[0114] FIGS. 17D and 17E show how the motion of portion 300b,
sub-portion 600a, sub-portion 600b and the gear setup of
transmission assembly 605 described in FIGS. 17A-C may be
translated into motion of the slave portion 70 of the device. In
the example setup shown in FIG. 17D there is one control cylinder
100 connected to the Extension/Retraction actuator portion 40.
Fluid is either pumped in or out of the control cylinder 100 in
FIGS. 17D and 17E on the slave portion 70 of the device according
to motion of portion 300b, sub-portion 600a, sub-portion 600b and
the gear setup of transmission assembly 605 discussed above with
reference to FIGS. 17A-17C.
[0115] In FIG. 17D, the control cylinder 100 in the
Extension/Retraction actuator portion 40 receives or expels fluid
associated with the third example degree of freedom. FIG. 17E shows
the setup in FIG. 17D without the instrument 4 or the instrument
holder 4a. As shown in FIG. 17D, the instrument 4 and the
instrument holder 4a may be coupled to control cylinder 100 in the
Extension/Retraction actuator portion 40 via coupling 650a, such as
a linkage. Coupling 650a may connect the control cylinder 100 in
the Extension/Retraction actuator portion 40 and the instrument
holder 4a in a manner that allows motion in the control cylinder
100 in the Extension/Retraction actuator portion 40 to be
translated to the instrument 4 because the instrument 4 is coupled
to the instrument holder 4a.
[0116] For example, in one embodiment, instrument holder 4a may
include coupling 650a fixedly connected to instrument 4 at a first
position, and a coupling 650b movably connected to instrument 4 at
a second position. Coupling 650b may be fixed to a base 40a of
Extension/Retraction actuator portion 40 via a linkage 650c and
coupling 450a, such as a wheeled carriage. As such, based on
actuation of Extension/Retraction actuator portion 40, coupling
650a translates such actuation to extend or retract instrument 4
relative to coupling 650b. Thus, the connections between
Extension/Retraction actuator portion 40 and instrument 4 may be
configured to allow extension/retraction of instrument 4 at a fixed
position controlled by the position of coupling 650b.
[0117] For example, instrument holder 4a and/or the couplings 650a,
650b, and 650c may have any suitable form for connecting the
instrument 4 to the control cylinder 100 in the
Extension/Retraction actuator portion 40 such that, for example,
moving the control cylinder 100 in the direction D11 moves the
instrument 4 in direction D12, which may be the same direction as
D11. In this embodiment, direction D12 corresponds to a
longitudinal axis of instrument 4, and such movement is referred to
as an extension or retraction of instrument 4, e.g., relative to an
operational environment O (see FIG. 1A). Thus, in one embodiment,
the control cylinder 100 in the Extension/Retraction actuator
portion 40 may move along the direction D11 shown in FIGS. 17D and
17E causing the instrument 4 to move along direction D12, as shown
in FIGS. 17D-17E. This may allow the instrument 4 and the user U to
operate on any portion of the operational environment O that may be
accessed with such motion.
Micro Controls and Micro Motions
Overview
[0118] In this section, the micro controls and associated micro
motions will be discussed in brief. The details of micro controls
and associated micro motions will be discussed more thoroughly with
respect to their actuating mechanisms in the section that follows.
Although the control cylinders of the micro controls are numbered
differently than the control cylinders 100 associated with the
macro controls, it is to be understood that aspects of all control
cylinders discussed herein are, in principle, interchangeable.
Therefore, each feature and related mechanism discussed in the
context of control cylinders 100 may apply equally well to the
control cylinders of the micro controls and the instrument and/or
tool discussed below. Similarly, each feature and related mechanism
discussed in the context of the control cylinders of the micro
controls and the tool discussed below may apply equally well to the
control cylinders 100. Similarly, any of the hydraulic components
discussed herein are, in principle, interchangeable. All such
changes, substitutions and modifications are to be considered
within the scope embodiments of the present invention.
[0119] FIG. 18A shows an overview of four example micro degrees of
freedom in an instrument 4 and/or tool 7 which may be coupled with
the slave portion 70 of the device in accordance with embodiments
of the present invention. FIG. 18B shows an overview of how the
four example micro degrees of freedom shown in FIG. 18A may be
actuated in the control portion. The four example degrees of
freedom will be discussed in more detail below. Note that FIG. 18A
shows several example slave control cylinders (1410', 1420', 1430'
and 1440') that may be used with the example degrees of freedom
discussed herein as well as with additional example degrees of
freedom. It should be noted that, while the example degrees of
freedom are useful for certain applications, they are not meant to
be exhaustive. Other degrees of freedom are within the scope of
embodiments of the present invention. Indeed, it is possible to
modify the existing apparatus as described to encompass either
additional or fewer degrees of freedom, as needed. Additionally,
although slave control cylinders are illustrated as being located
within instrument 4, one or more of these slave control cylinders
can be located external to instrument 4 and then coupled to
internal portions of instrument 4 such as via a pushrod, screw,
shaft, or the like. Further, mappings that are described between
control cylinders in control portion 50 and cylinders within or
coupled with instrument 4/tool 7 are provided by way of example,
and may be altered from what is shown. Likewise, mappings that are
described herein between control cylinders in control portion 50
and cylinders in slave portion 70 are provided by way of example,
and may be altered from what is shown. Moreover, in some
embodiments, control signals generate by macro control portion 50B
may be mapped to control micro motions of instrument 7/tool 4. In a
similar fashion, in some embodiments, control signals generated by
micro control portion 50A may be mapped to control micro motions of
slave portion 7. All such modifications should be considered within
the scope of embodiments of the present invention.
[0120] In FIG. 18A, one of the example micro degrees of freedom
shown is the forearm rotation 1800a of the instrument 4 and related
components. Forearm rotation 1800a may allow instrument 4 to rotate
about a primary axis 1901 of the instrument 4. This particular
degree of freedom is useful for, among other things, positioning
the instrument 4 about a particular area of interest in an
operational environment O. For example, the forearm rotation 1800a
degree of freedom can be used to position a tool 7, such as
scalpel, on the end of the instrument 4 in a position appropriate
for the making of an incision. Additionally, for example, the
forearm rotation 1800a degree of freedom can be used to sweep a
cutting motion with the scalpel on the end of the instrument 4. In
another example, the forearm rotation 1800a degree of freedom can
be used to position a tool 7, such as tweezers, on the end of the
instrument 4 in a position appropriate for grasping a particular
object (e.g., an organ or tissue). FIG. 18B shows how the forearm
rotation 1800a degree of freedom may be actuated, in particular by
a rotating motion 1800b of the user's forearm in conjunction with
the micro controls 50a about forearm rotate axis F.
[0121] Also in FIG. 18A, another one of the example micro degrees
of freedom shown is the wrist bend 1801a of the instrument 4 and
related components. Wrist bend 1801a may allow instrument 4 to bend
with respect to the primary axis of instrument 4. This particular
degree of freedom is useful for, among other things, positioning a
portion of the instrument 4 and/or a tool 7 about a particular area
of interest in an operational environment O. For example, the wrist
bend 1801a degree of freedom can be used to position a scalpel on
the end of the instrument 4 in a position appropriate for the
making of an incision. For instance, the wrist bend 1801a degree of
freedom can be used to sweep a cutting motion with scalpel on the
end of the instrument 4. In another example, the wrist bend 1801a
degree of freedom can be used to position tweezers on the end of
the instrument 4 in a position appropriate for grasping a
particular object (e.g., an organ or tissue). FIG. 18B shows how
the wrist bend 1801a degree of freedom may be actuated, in
particular by a bending motion of the user's wrist in conjunction
with the micro controls 50a to rotate 1801b a portion of micro
controls 50a about wrist bend axis W.
[0122] Further, in FIG. 18A, two additional example micro degrees
of freedom shown are tip rotation 1802a and tip grasp 1803a of the
instrument 4 and related components. Tip rotation 1802a may allow
instrument 4 and/or tool 7 to rotate about primary axis 1901, or to
rotate about a secondary axis 1902 formed after bending a portion
of instrument 4 relative to primary axis 1901. Tip grasp 1803a may
allow instrument 4 and/or tool 7 to bend with respect to the
primary axis 1901 of the instrument 4, or to bend about a secondary
axis 1902 formed after bending a portion of instrument 4 relative
to primary axis 1901. Further, for example, tip grasp 1803a may
allow a relative bending or pivoting of two corresponding
instrument or tool portions, e.g., pincher arms, to grasp or
release an item. These particular degrees of freedom are useful
for, among other things, positioning the instrument 4 and/or tool 7
about a particular area of interest in an operational environment
O. For example, the tip rotation 1802a and tip grasp 1803a degrees
of freedom can be used to position a scalpel on the end of the
instrument 4 in a position appropriate for the making of an
incision. Additionally, for example, the tip rotation 1802a and tip
grasp 1803a degrees of freedom can be used to sweep a cutting
motion with scalpel on the end of the instrument 4. In another
example, the tip rotation 1802a and tip grasp 1803a degrees of
freedom can be used to position tweezers on the end of the
instrument 4 in a position appropriate for grasping or releasing a
particular object (e.g., an organ or tissue). FIG. 18B shows how
the tip grasp 1803a degree of freedom may be actuated by rotating
1803b about grasp axis G, in particular by gripping certain aspects
of the micro controls 50a that will be described in more detail
below. FIG. 18B shows how the tip rotation 1802a degree of freedom
may be actuated, in particular by rotating 1802b certain aspects of
the micro controls 50a, that will be described in more detail
below, about tip rotate axis T.
Micro Controls
[0123] FIG. 19 shows example micro controls 50a in accordance with
embodiments of the present invention. The micro controls 50a may
include an arm holder assembly 1100 and a grasper handle assembly
1200 connected by a central frame assembly 1300. The arm holder
assembly 1100, grasper handle assembly 1200 and central frame
assembly 1300 may be configured to allow various inputs 3 (FIG.
1A), such as linear and/or rotational movements, to generate
corresponding outputs 11 (FIG. 1A) that result in the
above-described micro motions.
[0124] In one variation of an embodiment of the present invention,
the micro controls 50a control four degrees of freedom, including a
forearm rotate 1800a, a wrist bend 1801a, a tip rotation 1802a, and
a tip grasp 1803a (see FIG. 18A). The user places an arm into the
arm holder assembly 1100 and inserting index and middle fingers
through finger loops 1212 and 1214 provided on a grasper handle
1210, which is supported at the distal end of the micro controls
50a. A user may generally actuate the degrees of freedom of the
system by moving one or more aspects of the micro controls 50a,
including the arm holder assembly 1100 and components of the
grasper handle assembly 1200. As shown in FIG. 18B, the user may
rotate 1800b the entire micro controls 50a to actuate the forearm
rotation 1800a degree of freedom. As also shown in FIG. 18B, the
user may rotate 1801b an aspect of the grasper handle assembly 1200
to actuate the wrist bend 1801a degree of freedom and rotate 1802b
another aspect of the grasper handle assembly 1200 to actuate the
tip rotation 1802a degree of freedom. Further, FIG. 18B also shows
that the user may trigger or squeeze other aspects of the grasper
handle assembly 1200 in order to actuate the tip grasp 1803a degree
of freedom by rotating a portion of micro controls 50a about tip
grasp axis G. These motions will be discussed in more detail
below.
[0125] The micro controls 50a are attached to a lower control
assembly, which controls the other three degrees of freedom, namely
the larger macro motions of extending the instrument 4 in and out
of the patient and the two tilt axes, forward/backward and
left/right (not shown).
[0126] Movements of the micro controls 50a are translated into
hydraulic motion by controls that include one or more cylinders,
such as a set of master cylinders, a tip rotate master cylinder
1410, a grasp axis master cylinder 1420, a wrist bend master
cylinder 1430 and a forearm rotation master cylinder 1440. The
master cylinders 1410, 1420, 1430 and 1440 are hydraulically
connected to a set of slave control cylinders (1410', 1420', 1430',
and 1440') to translate the forearm, wrist and finger motions of
the user into mechanical controlling motions of a surgical
instrument 4. The master cylinders 1410, 1420, 1430 and 1440 use
various methods of translation, such as link arrangements and screw
pistons, for example, to convert rotational and/or linear movement
into a displacement of hydraulic fluid applied to the slave control
cylinders. Moreover, the master cylinders 1410, 1420, 1430 and 1440
may be provided with a clutch mechanism (not shown) to disengage
the translation of motion when such motion reaches a threshold,
e.g., to prevent aggressive or overreaching movements of the micro
controls 50a. In particular, the clutch mechanism automatically
disengages function of the master cylinders 1410, 1420, 1430 and
1440 in the event an excessive pressure is generated, preventing
damage to the hydraulics of the device 1000 and possible
detrimental impact on the operational environment a (FIG. 1B-C),
such as on a patient.
First Example MICRO Degree of Freedom
Forearm Rotation
[0127] In an embodiment, arm holder assembly 1100 is connected to
central frame assembly 1300 to provide relative rotation 1800b
about a forearm rotation axis F. For example, the central frame
assembly 1300 may include a primary support plate 1310, a forward
center axle support 1312, a rear center axle support 1314, an upper
rack beam 1320, and a lower center beam 1330. A center axle 1340 is
rotatably supported by the forward and rear center axle supports,
1312 and 1314, respectively, which are both fixed on one side to
the primary support plate 1310. Forward and rear hinge brackets,
1342 and 1344, respectively, are fixed to a lower surface of the
upper rack beam 1320. The center axle 1340 extends through the
hinge brackets 1342, 1344, which are connected to the center axle
1340 so that the upper rack beam 1320 rotates 1800b the center axle
1340 about a forearm axis of rotation F when the forearm of a user
(not shown) rotates.
[0128] As shown in FIG. 19, the forearm rotation master cylinder
1440 is situated substantially below the arm holder assembly 1100
and supported on the lower center beam by a bracket 1442. Rotation
1800b of the forearm is translated into rotation of the center axle
1340 about the forearm rotation axis F which, in turn, may drive a
pendulum gear 1445 fit to the distal end of the center axle 1340
extending forward of the forward center axle support 1312. The
pendulum gear 1445 may drive a turn gear 1447 to drive a forearm
screw piston 1249, for example, into or out of the forearm rotation
master cylinder 1440, depending on the direction of rotation
indicated by the forearm. The screw piston 1249 may be provided
with a sealed nut (not shown) on an end internal to the Forearm
rotation master cylinder 1440, for example, the linear movement of
which is caused by rotation of the screw piston 1249. The
rotational motion of the forearm is thus translated by the screw
piston 1249 into a linear piston motion which may compress or
decompress a hydraulic fluid provided in the Forearm rotation
master cylinder 1440. Pressure (or release thereof) is transferred
from the forearm rotation master cylinder 1440 to a corresponding
slave control cylinder 1440' (see FIGS. 5A, 5B, and 18A) via
displacement of hydraulic fluid to drive a rotation of the surgical
instrument 4 (see FIG. 18A) through a hydraulic line (not shown),
for example. The hydraulic line may comprise flexible tubing.
Although flexible, the tubing may be manufactured from a hard
plastic, or with expansion resisting components such as metal
fibers, to avoid extensive expansion of the tubing due to pressure
and extended use. Furthermore, in some embodiments, the tubing may
be supported with a metal-reinforced sleeve, for example, to
prevent rupture of the thin wall while maintaining a degree of
flexibility for increased modularity and mobility of the device
1000.
[0129] The hydraulic fluid is preferably sterilized distilled
water, however, a saline solution, a perfluorinated hydrocarbon
liquid, air or any other physiologically compatible fluid could
also be used. A "physiologically compatible fluid" is a fluid that
once exposed to tissues and organs, does not exacerbate a reaction,
such as a rash or immune response, in the patient, and does not
adversely interfere with the normal physiological function of the
tissues or organs to which it is exposed. In addition, a
physiologically compatible fluid can remain in a patient's body or
in contact with a tissue or an organ without the need to remove the
fluid.
[0130] Although movements of the micro controls 50a are described
herein as being hydraulically actuated to control associated
movements of a slave apparatus, the movements may generate
electrical signals that are sent through wires to control the slave
portion(s) 70 of the device 1000. The electrical signal, for
example, may actuate a motor in the corresponding slave module to
actuate the motion desired. In addition, motors may be used to
enhance a hydraulically actuated movement, thus assisting a user in
achieving the designated motion with less user applied force, which
may be of benefit to the increased endurance of a user, for
example, during long procedures.
Second Example MICRO Degree of Freedom
Wrist Bend
[0131] In accordance with an embodiment of the present invention,
the wrist bend 1801a motion of the surgical instrument 4 (see FIG.
18A) may be controlled by the wrist bend master cylinder 1430. As
shown in FIGS. 19-21, the grasper handle assembly 1200 includes a
grasper frame 1230. One end of the grasper frame 1230 is connected
to the upper rack beam 1320 at a wrist bend pivot point 1240 and at
the other end to the grasper handle 1210 at a tip rotation pivot
point 1250. A wrist bend, link member 1260 is provided between the
grasper frame 1230 and the wrist bend master cylinder 1430. The
user may actuate a wrist bend 1801a motion in the surgical
instrument 4 (see FIG. 18A) by pivoting 1801b the grasper frame
1230 around a wrist bend axis W of the wrist bend pivot point 1240.
The pivoting of the grasper frame 1230 may push or pull the wrist
bend link member 1260, which, in turn, may linearly push or pull a
piston in the wrist bend master cylinder 1430. The corresponding
displacement of hydraulic fluid in the wrist bend master cylinder
1430 is transferred to a slave control cylinder 1430' for actuating
the wrist bend 1801a motion in the surgical instrument 4. As shown
in FIG. 22, the wrist bend master cylinder 1430 is secured to the
upper rack beam 1320 by a bracket 1435.
Third and Fourth Example Micro Degrees of Freedom
Rotational and Grasp Control of Tip
[0132] Various embodiments of the present invention may provide
rotational and grasp control of the tip of the instrument 4 (see
FIG. 18A). As shown in FIGS. 19-21, the user may insert one or more
fingers through each of finger loops 1212 and 1214 which are
provided on grasper handle 1210. To actuate an articulation motion
of instrument 4, such as tip grasp 1803a motion, the user may
squeeze or push trigger 1220, causing the trigger to rotate 1803b
about the tip grasp axis G in a counterclockwise or clockwise
motion, toward or away from the user. Thus, trigger 1220 is capable
of bi-directional user imitated movement. The trigger 1220 may be
formed with an extension 1221 connected to the grasp axis master
cylinder 1420, so that pivoting 1803b of trigger 1220 around grasp
axis G may push or pull extension 1221, which in turn, may linearly
push or pull a piston in the grasp axis master cylinder 1420. The
corresponding displacement of hydraulic fluid in the grasp axis
master cylinder 1420 forms a control signal that is transferred to
a slave control cylinder 1420' for actuating a motion, such as a
grasp motion (e.g., tip grasp 1803a motion as shown in FIG. 18A),
in surgical instrument 4.
[0133] To assist the user in pushing the trigger 1220, trigger 1220
may be provided with a flange 1222 that extends away from the main
body of trigger 1220. The flange 1222 provides a mechanism by which
the user may, for example use a thumb to apply pressure against
flange 1222 to force trigger 1220 to rotate away from the user,
creating the reverse motion from the motion that is created by
squeezing trigger 1220 with one or more fingers that are engaging
finger loop 1214. It is appreciated that finger loop 1214 is a
portion of trigger 1220, and thus moves when trigger 1220 is moved
in either of its two opposing directions of movement. Conversely
finger loop 1212, which is also a part of grasper handle 1210,
remains immobile in response to movement of trigger 1220 and finger
loop 1214 through user motion inputs such as squeezing or pushing.
As discussed above movement of trigger 1220 creates a control
signal. In one embodiment, squeezing (pulling) trigger 1220 may
cause tip graspers 1730 on surgical instrument 4 to close in
vice-like fashion (see FIG. 18A). Conversely, pushing trigger 1220
by applying pressure to flange 1222 may cause tip graspers 1730 to
open. Accordingly, a user may control the speed and degree of the
tip grasping motion by applying more or less force to trigger 1220
and setting the relative position of trigger 1220 in relation to
being either fully open or fully closed.
[0134] As shown in FIG. 19, the grasper handle 1210 may be free to
rotate 1802b around the tip rotate axis T to provide rotational
control 1802a of the tip of the instrument 4 (see FIG. 18A). The
grasper handle 1210 may be pivotally mounted onto the grasper frame
at the tip rotate pivot point 1250. A sector gear 1251 may be
coupled to the grasper handle 1210 so that rotation 1802b of the
grasper handle 1210 about the tip rotate pivot point 1250 causes
the sector gear 1251 to rotate counterclockwise or clockwise. The
sector gear 1251 may work in tandem with a multiplier gear 1253 and
a second sector gear 1254 attached to the tip rotate master
cylinder 1410 to translate the rotational movement of the grasper
handle 1210 into linear motion of a screw piston, for example, in
the tip rotate master cylinder 1410. As shown in FIG. 20, the tip
rotate master cylinder 1410 may mount onto the grasper frame 1230
and the grasper frame 1230 may provide rotatable support to the
gears 1253 and 1254. Accordingly, the pivoting of the grasper
handle 1210 about the tip rotation pivot point 1250 may linearly
push or pull the screw piston, for example, in the tip rotate
master cylinder 1410. The corresponding displacement of hydraulic
fluid in the tip rotate master cylinder 1410 is transferred to a
slave control cylinder 1410' for actuating the tip rotate motion
1802a in the instrument 4 (see FIG. 18A).
Support Structure and Adjustability of the Micro Controls
[0135] The arm holder assembly 1100 has a support structure that
includes left and right mounting plates, 1110 and 1120,
respectively, supporting an arm bracket 1130. A horizontal arm rest
1140, a vertical left arm support 1142 and a vertical right arm
support 1144 are mounted to the arm bracket 1130 to effectively
cradle and support the arm of the user during a procedure. The
horizontal arm rest 1140 may be formed to be adjustable left or
right by sliding along the arm bracket 1130.
[0136] The arm holder assembly 1100 may be adjusted both
horizontally and vertically. The left and right mounting plates
1110, 1120 are provided with vertical slots 1111, 1121. A lateral
support 1150, e.g., a bolt, may be provided that extends through
the vertical slots 1111 and 1121 on the left and right mounting
plates 1110, 1120 and may include a locking nut 1152 (see FIG. 21)
and a handle clamp 1154. By releasing the handle clamp 1154, the
arm holder assembly 1100 may be raised or lowered. By locking the
handle clamp 1154, the arm holder assembly 1100 may be locked into
a set position. As shown in FIGS. 19-21, the left and/or right
mounting plates 1110, 1120 may be provided with a scale 1115 or
similar markings to indicate the relative adjusted height of the
arm holder assembly 1100. In this manner, the user may note the
height indication for quick and easy vertical adjustment of the arm
holder assembly 1100, each time using the device 1000. As shown in
FIG. 21, the lateral support 1150 connects the arm holder assembly
1100 to the horizontal upper rack beam 1320 through a brace
mechanism 1170. The brace mechanism 1170 engages and surrounds the
upper rack beam 1320 while permitting linear movement of the brace
mechanism 1170 along the upper rack beam 1320. By sliding the arm
holder assembly 1100 longitudinally along the upper rack beam 1320,
a horizontal distance between the arm holder assembly 1100 and the
grasper handle 1210 may be adjusted. Similar markings may be
provided on the upper rack beam 1320, for example, to allow quick
and easy horizontal adjustment of the arm holder assembly 1100. The
arm holder assembly 1100 may thus be adjusted both vertically and
horizontally to provide a comfortable and customizable arrangement
for supporting the user's arm during the length of a procedure.
[0137] Although embodiments of the invention have been shown
primarily as being manually and/or hydraulically actuated, it is to
be understood that one or more embodiments of the invention may
alternatively or additionally be electrically actuated or actuated
via computer interface. Embodiments of the present invention may be
implemented using hardware, software or a combination thereof and
may be implemented in one or more computer systems or other
processing systems. In one variation, embodiments of the present
invention are directed toward one or more computer systems capable
of carrying out the functionality described herein. An example of
such a computer system 2300 is shown in FIG. 23. For example,
computer system 2300 may receive input 3 (FIG. 1A) and generate
output 11 using electrical control signals to control motors to
perform the above-described movements.
Example Computer System
[0138] Computer system 2300 is an example computer system which may
be utilized in conjunction with some embodiments of device 1.
Computer system 2300 includes one or more processors, such as
processor 2310. The processor 2310 is connected to a communication
infrastructure 2320 (e.g., a communications bus, cross-over bar, or
network). Various software embodiments are described in terms of
this example computer system. After reading this description, it
will become apparent to a person skilled in the relevant art(s) how
to implement various aspects and embodiments of the present
invention using other computer systems and/or architectures.
[0139] Computer system 2300 can include a display interface 2330
that forwards graphics, text, and other data from the communication
infrastructure 2320 (or from a frame buffer not shown) for display
on the display unit 2340. Computer system 2300 also includes a main
memory 2350, preferably random access memory (RAM), and may also
include a secondary memory 2360. The secondary memory 2360 may
include, for example, a hard disk drive 2362 and/or a removable
storage drive 2364, representing a floppy disk drive, a magnetic
tape drive, an optical disk drive, etc. The removable storage drive
2364 reads from and/or writes to a removable storage unit 2365 in a
well-known manner. Removable storage unit 2365, represents a floppy
disk, magnetic tape, optical disk, etc., which is read by and
written to removable storage drive 2364. As will be appreciated,
the removable storage unit 2365 includes a computer usable storage
medium having stored therein computer software (computer readable
instructions for control of processor 2310) and/or data.
[0140] In alternative variations, secondary memory 2360 may include
other similar devices for allowing computer programs or other
instructions to be loaded into computer system 2300. Such devices
may include, for example, a removable storage unit 2367 and an
interface 2366. Examples of such may include a program cartridge
and cartridge interface (such as that found in video game devices),
a removable memory chip (such as an erasable programmable read only
memory (EPROM), or programmable read only memory (PROM)) and
associated socket, and other removable storage units 2367 and
interfaces 2366, which allow software/instructions and data to be
transferred from the removable storage unit 2367 to computer system
2300.
[0141] Computer system 2300 may also include a communications
interface 2370. Communications interface 2370 allows software and
data to be transferred between computer system 2300 and external
devices. Examples of communications interface 2370 may include a
modem, a network interface (such as an Ethernet card), a
communications port, a Personal Computer Memory Card International
Association (PCMCIA) slot and card, etc. Software/instructions and
data transferred via communications interface 2370 may be in the
form of signals 2371, which may be electronic, electromagnetic,
optical or other signals capable of being received by
communications interface 2370. These signals 2371 arc provided to
communications interface 2370 via a communications path (e.g.,
channel) 2372. This path 2372 carries signals 2371 and may be
implemented using wire or cable, fiber optics, a telephone line, a
cellular link, a radio frequency (RF) link and/or other
communications channels. In this document, the terms "computer
program medium" and "computer usable/readable medium" are used to
refer generally to tangible storage media such as a removable
storage drive 2364/removable storage unit 2365, and a hard disk
installed in hard disk drive 2362. These computer program products
provide software or other forms of instruction to processor 2310
and/or other portions of computer system 2300, which can instruct
computer system 2300 to carry out certain actions and/or
processes.
[0142] Computer programs (also referred to as computer control
logic or instructions) are stored in main memory 2350 and/or
secondary memory 2360. Computer programs may also be received via
communications interface 2370. Such computer programs, when
executed by processor 2310 and/or other portions of computer system
2300, enable the computer system 2300 to perform the features in
accordance with various embodiments of the present invention, as
discussed herein. In particular, the computer programs, when
executed, enable the processor 2310 to perform the features of
certain aspects of embodiments of the present invention.
Accordingly, such computer programs represent controllers of the
computer system 2300.
[0143] In one variation where aspects of the present invention are
implemented using software, the software may be stored in a
computer program product (e.g., a computer readable storage
media/medium) and loaded into computer system 2300 using removable
storage drive 2364 and/or hard drive 2362. The control
logic/instructions, when executed by the processor 2310, cause the
processor 2310 to perform the functions in accordance with one or
more embodiments of the present invention, as described herein. In
another variation, one or more aspects of the present invention are
implemented primarily in hardware using, for example, hardware
components, such as application specific integrated circuits
(ASICs). For example, implementation of a hardware state machine so
as to perform one or more of the functions described herein will be
apparent to persons skilled in the relevant art(s).
Additional Embodiments
[0144] FIG. 24A is a side view of an example grasper handle 1200
which includes a thumbwheel and a surgical assistant ratchet for
use with a hand articulated control system, in accordance with an
embodiment of the present invention. FIG. 24A illustrates features
such as thumbwheel 2410 and surgical assistant ratchet 2450, either
or both of which may be included in some embodiments of micro
control assembly 50A.
[0145] In an embodiment, thumbwheel 2410 is connected to grasper
handle at a location which allows a user thumb to provide relative
rotational motion in either of the two directions, illustrated by
arrows 2430, about axis TW. Such rotational movement is spins a
gear 2430 which interacts with other components such as a screw
piston (not visible) to convert the rotational motion into linear
motion which moves master cylinder 2440 in one of two linear
directions depending on the direction of rotation direction of
thumbwheel 2410. The linear movement of master cylinder 2440
displaces hydraulic fluid in response to rotation of thumbwheel
2410. This displacement of hydraulic fluid forms a control signal
which in one embodiment may serve the same purpose as a control
signal generated by rotation of a forearm. Similarly, in one
embodiment, thumbwheel 2410 may be coupled with a gear such as a
worm gear which is turned in response to rotation of thumbwheel
2410, and then translates rotation of thumbwheel 2410 into linear
motion coupled to a shaft of master cylinder 2440. Thus, with
reference to FIGS. 18A and 18B, instead of the user may rotating
1800b the entire micro controls 50a to actuate the forearm rotation
1800a degree of freedom, a user may rotate thumbwheel 2410 about
axis TW to actuate the forearm rotation 1800a degree of freedom of
instrument 4. Moreover, in some embodiments, the control signals
generated by rotation of thumbwheel 2410 may be mapped (e.g.,
hydraulically coupled to one or more slave hydraulic cylinders) to
effect other movements of instrument 4 and or tool 7 besides
forearm rotation 1800a.
[0146] Referring again to FIG. 24A, surgical assistant "ratchet"
2450 may be actuated by the same user thumb which is used to
actuate thumbwheel 2410. Lever 2455 of ratchet 2450 can be rotated
by the user to mechanically lock one of the seven degrees of
freedom of control portion 50. For example, in one embodiment
ratchet 2450 can be utilized o lock an axis of movement associated
with a grasp/dissect motion input of tool 7. In this manner,
ratchet 2450 is used to lock the jaws of an attached instrument 4
down on a piece of tissue, needle, artery, vessel, etc. to allow
the surgeon to loosen her grip on finger loop 1214 of trigger 1220.
This reduces fatigue for the surgeon and facilitates a more
controlled grip on the tissue or matter between the jaws than if
the surgeon had to maintain constant pressure on finger loop 1214.
In one embodiment, ratchet 2450 can be set into one of three
positions which are selected by the surgeon via rotation of lever
2455. Although not depicted as such, in some embodiments, lever
2455 of ratchet 2450 may be incorporated into thumb flange
1222.
[0147] FIG. 24B illustrates an opposite side view from FIG. 24A,
and depicts an inner plane of grasper handle 1200, according to an
embodiment. As can be seen lever 2455 is coupled with a single
tooth pawl component 2453 (illustrated in three possible positions
2453A, 2453B, and 2453C) which is pivotally mounted with to trigger
1220. The tooth of pawl component 2453 catches on rack of teeth
2451 which is a stationary component mounted within grasper handle
1200. Cam 2452 is pivotally mounted to trigger 1220, which sets
pawl 2453 into the correct orientation according to the position
which the surgeon activates via lever 2550 (FIG. 24A). Spring 2454
is a compression spring which is fixed on a distal end from pawl
2453 and used to apply a force against pawl 2453 to maintain
correct orientation as set by cam 2452. According to one
embodiment, the three positions of cam 2450, which may be selected
via rotation of lever 2455 are: 1) "released," which allows a user
to temporarily disengage ratchet 2450, such as to open jaws of a
tool 7; 2) "locked," which allows a user to lock a position of
trigger 1220, such as to close jaws of a tool 7 and keep them
closed without continually manually applying closing force; and 3)
"defeated," which allows a user to disengage ratchet 2450 so that
trigger 1220 can be opened and closed without engagement between
rack of teeth 2451 and pawl 2453. By virtue of controlling a degree
of freedom of movement of control portion 50 (and thus locking down
or allowing a user input), ratchet 2450 is one implementation of a
function control mechanism.
Example Methods of Use and Operation
Example Method of Manipulating an Articulating Surgical
Instrument
[0148] FIG. 25 is a flow diagram 2500 of an example method of
manipulating an articulating surgical instrument, according to one
embodiment. According to one embodiment, flow diagram 2500
illustrates an example method of manipulating articulating surgical
instrument 4 in response to input via control portion 50. Although
specific procedures are disclosed in flow diagram 2500, such
procedures are example. That is, embodiments of the present
invention are well suited to performing various other procedures or
variations of the procedures recited in flow diagram 2500. It is
appreciated that the procedures in flow diagram 2500 may be
performed in an order different than presented, and that not all of
the procedures described in flow diagram 2500 may be performed in
every embodiment. In the description of the procedures of the
method of flow diagram 2500, reference will be made to elements of
FIGS. 1A-23, to include reference to control portion 50 (and
components thereof), slave portion 70 (and components thereof),
and/or instrument 4 (and components thereof).
[0149] At 2510 of flow diagram 2500, in one embodiment, an
articulating surgical instrument is pivoted about a pivot point
external to an operating environment. That is, in one embodiment
the articulating surgical instrument is the instrument which the
device remotely controls. The articulating surgical instrument is
associated with or a portion of a "device" for remotely controlling
an articulating surgical instrument. Device 1 is one example of
such a device for remotely controlling an articulating surgical
instrument, and instrument 4 is one example of an articulating
surgical instrument that may be controlled by device 1. In one
embodiment, as illustrated in FIG. 1A, 1C, 7-12A, 14D, 15A, 16D,
16E, 17D, and 17E articulating surgical instrument 4 is coupled
with a slave portion 70 of device 1.
[0150] "Remote control" and "remotely controlling" as used herein
mean that a user can manipulate instrument 4 while being located
remotely from the patient or operating room, by controlling
instrument 4 remotely via manipulation of a control, such as
control portion 50. The distance of the remoteness may vary from
control from a few feet away to control from a separate room from
instrument 4, or to control via tele-manipulation from much greater
distances away from surgical instrument 4. When the remote location
of control is fairly close, such as a few feet away or in the next
room, there may be direct coupling, such as via hydraulic means,
electrical means, mechanical means, and the like between control
portion 50 and slave portion 70 and/or between control portion 50
and articulating surgical instrument 4. When the distance of remote
control is great, such as miles, there may be telecommunications
involved to communicate control signals generated at control
portion 50 such that they are replicated at the location of slave
portion 70 and instrument 4.
[0151] As has been described herein in conjunction with FIGS.
14A-14E and FIGS. 15A-15E, in one embodiment the pivoting about the
pivot point occurs in response to a movement along a first degree
of freedom of all or some portion of control portion 50 of device
1. The movement along a first degree of freedom of movement can be
imparted to control portion 50 by a human shoulder, arm, and/or
hand of a user of device 1. In one embodiment, the pivoting of
articulating surgical instrument 4 about the pivot point occurs in
response to a displacement of hydraulic fluid that is generated in
control portion 50 by the movement along the first degree of
freedom. As has been described previously, a user may input a first
motion, by swiveling the entire micro control assembly 50a along
arc D2 about pivot point 401. Macro control portion 50b then
translates swiveling motion along arc D2 to a linear motion of one
or more master control cylinders 100. Hydraulic lines may then
transmit control signals, in the form of a displacement of
hydraulic fluid, generated from the linear motion of control
cylinder(s) 100 to one or more corresponding slave control
cylinders 100 in slave portion 70 to effect motion of components of
slave 70 that are coupled to the corresponding slave control
cylinder(s) in slave portion 70. This causes instrument holder 4a
and the instrument 4 (coupled thereto) to pivot about Pivot Point 2
(FIGS. 15A and 15B). In one embodiment, Pivot Point 2 is designed
to be located external to an operating environment (that is,
external to the body of a patient being operated upon), however in
other embodiments, Pivot Point 2 may be within an operating
environment. In other embodiments the translated movement may be in
a different plane may be produced or motion may be produced
depending on the orientation of components in a slave portion. In
the interest of brevity and clarity, reference is made to FIGS.
14A-14E and 15A-15E for further description of the mechanics and
process of pivoting instrument 4 about a pivot point in response to
motion imparted by a user to control portion 50 of device 1.
[0152] At 2520 of flow diagram 2500, in one embodiment, the
articulating surgical instrument may be laterally swiveled about a
shaft of the slave portion 70. In one embodiment, such a shaft is
external to the operating environment. This lateral swiveling
occurs in response to movement of all or some portion of control
portion 50 along a second degree of freedom. The movement along the
second degree of freedom can be imparted to control portion 50 by
the same human shoulder, arm, and/or hand used to impart motion
along the first degree of freedom. The second degree of freedom is
a different degree of freedom of movement of control portion 50
than the first degree of freedom.
[0153] As has been described herein in conjunction with FIGS.
16A-16F, in one embodiment, this swiveling motions comprises
swiveling (see arc D8 of FIGS. 16D-16E) instrument 4 about shaft
550 (as is depicted and described in conjunction with FIGS.
16D-16F) in response to a motion being imparted to macro controls
50b, such as swiveling macro controls 50b along arc D6 (see FIG.
16A). In one embodiment, the laterally swiveling of articulating
surgical instrument 4 about shaft 550a occurs in response to a
displacement of hydraulic fluid generated in the control portion by
the movement along the second degree of freedom. In one embodiment,
macro control portion 50b translates swiveling motion along arc D6
to a linear motion of one or more master control cylinders 100.
Hydraulic lines may then transmit control signals, in the form of a
displacement of hydraulic fluid, generated from the linear motion
of master control cylinder(s) 100 to one or more corresponding
slave control cylinders 100 in slave portion 70 to effect motion of
components of slave 70 (such as motion of shaft 550a) that are
coupled to the corresponding slave control cylinder(s) in slave
portion 70. This causes instrument 4, which is coupled to shaft
550a, to laterally swivel about arc D8 (FIGS. 16D-16E). It is
appreciated that other motions, swiveling or otherwise, can be
produced by orienting components in a different fashion within
slave portion 70. In the interest of brevity and clarity, reference
is made to FIGS. 16A-16E for further description of the mechanics
and process of laterally swiveling instrument 4 along arc D8 in
response to motion imparted by a user to control portion 50 of
device 1.
[0154] At 2530 of flow diagram 2500, in one embodiment, the
articulating surgical instrument is translated along a longitudinal
axis of the articulating surgical instrument. In one embodiment,
this longitudinal axis extends through the pivot point (e.g., Pivot
Point 2) about which the articulating surgical instrument can be
pivoted. This translating along the longitudinal axis occurs in
response to movement of at least a portion of control portion 50
along a third degree of freedom. The movement along the third
degree of freedom of movement of control portion 50 can be imparted
to control portion 50 by the same human arm that is used to impart
motion along the first and second degrees of freedom. The third
degree of freedom is a different degree of freedom of movement of
control portion 50 than the first and second degrees of
freedom.
[0155] As has been described herein in conjunction with FIGS.
17A-17E, in one embodiment, this comprises extending and retracting
actuator 40 of slave portion 70 along direction D11 (as is depicted
and described in conjunction with FIGS. 17D-16E) in response to a
motion being imparted to macro controls 50b, such as translating
macro controls 50b along direction D10 (see FIGS. 17A-17C). As
instrument 4 is coupled with actuator 40 via instrument holder 4a,
translation of actuator 40 along direction D10 correspondingly
translates instrument 4 along direction D12. In one embodiment, the
translating of articulating surgical instrument 4 along direction
D12 occurs in response to a displacement of hydraulic fluid
generated in the control portion by the movement along the third
degree of freedom. In one embodiment, macro control portion 50b
translates the motion along direction D10 to a linear motion of one
or more master control cylinders 100. Hydraulic lines may then
transmit control signals, in the form of displacement of hydraulic
fluid, generated from the linear motion of master control
cylinder(s) 100 to one or more corresponding slave control
cylinders 100 in slave portion 70 to effect motion of components of
slave 70 (such as motion of actuator 40 along direction D11) that
are coupled to the corresponding slave control cylinders in slave
portion 70. This causes instrument 4, which is coupled to actuator
40 via instrument holder 4a, to correspondingly translate
(extend/retract) along direction D12 (FIGS. 17D-16E). It is
appreciated that other motions, translating or otherwise, can be
produced by orienting components in a different fashion within
slave portion 70. In the interest of brevity and clarity, reference
is made to FIGS. 17A-17E for further description of the mechanics
and process of translating instrument 4 along direction D12 in
response to motion imparted by a user to control portion 50 of
device 1.
[0156] At 2540 of flow diagram 2500, in one embodiment, the
articulating surgical instrument is rotated about a primary axis of
the articulating surgical instrument. According to one embodiment,
FIG. 18A illustrates one example of such rotation by depicting
rotation 1800a of instrument 4 about primary axis 1901. This
rotation about a primary axis of the articulating surgical
instrument occurs in response to movement of a portion of control
portion 50 along a fourth degree of freedom. For example, with
reference to FIG. 18B, rotation 1800b of arm holder assembly 1100
of micro controls 50a can comprise the movement along the fourth
degree of freedom. The movement along the fourth degree of freedom
of movement of control portion 50 can be imparted to control
portion 50 by the same human arm that is used to impart motion
along the first, second, and third degrees of freedom. The fourth
degree of freedom is a different degree of freedom of movement of
control portion 50 than the first, second, and third degrees of
freedom.
[0157] As has been described herein in conjunction with FIGS.
18A-18B, in one embodiment, this comprises rotating 1800a
instrument 4 about axis 1901 in response to a motion being imparted
to micro controls 50a, such as rotating 1800b arm holder assembly
1100 about axis F or alternatively by rotating thumbwheel 2410 (as
is described in conjunction with FIG. 24A). In one embodiment,
rotating articulating surgical instrument 4 about primary axis 1901
occurs in response to a displacement of hydraulic fluid, generated
in control portion 50 by the rotation of arm holder assembly 1100
in the fourth degree of freedom or the rotation of thumbwheel 2410
in a fourth degree of freedom. For example, in one embodiment,
micro control portion 50a translates rotation of arm holder
assembly 1100 about axis F or the rotation of thumbwheel 2410 into
a linear motion of one or more master control cylinders 100.
Hydraulic lines may then transmit control signals, in the form of
displacement of hydraulic fluid, generated from the linear motion
of master control cylinder(s) 100, to one or more corresponding
slave control cylinders of instrument 4 (such as slave control
cylinder 1440'). This causes instrument 4, to rotate 1800a about
primary axis 1901. It is appreciated that other motions, rotating
or otherwise, can be produced by orienting components in a
different fashion within instrument 4 and/or slave portion 70. In
the interest of brevity and clarity, reference is made to FIGS. 18A
and 18B for further description of the mechanics and process of
rotating instrument 4 about a primary axis of instrument 4 in
response to motion imparted by a user to control portion 50 of
device 1.
[0158] At 2550 of flow diagram 2500, in one embodiment, a wrist
bend motion is actuated in the articulating surgical instrument.
According to one embodiment, FIG. 18A illustrates one example of
such a wrist bend by wrist bend motion 1801a of instrument 4. This
wrist bend motion 1801a of the articulating surgical instrument
occurs in response to movement of a portion of control portion 50
along a fifth degree of freedom. For example, with reference to
FIG. 18B, pivoting 1801b of grasper frame 1230 around axis W of
micro controls 50a can comprise the movement along the fifth degree
of freedom. The movement along the fifth degree of freedom of
movement of control portion 50 can be imparted to control portion
50 by the same human shoulder, arm, and/or hand used to impart
motion along the first, second, third and fourth degrees of
freedom. For example, the fifth degree of motion may be imparted by
using a wrist bend motion of the user's wrist while the user grasps
grasper handle assembly 1200. The fifth degree of freedom is a
different degree of freedom of movement of control portion 50 than
the first, second, third, and fourth degrees of freedom.
[0159] As has been described herein in conjunction with FIGS.
18A-18B, in one embodiment, this comprises bending 1801a a portion
of instrument 4 in response to a motion being imparted to micro
controls 50a, such as pivoting grasper frame 1230 of micro controls
50a about axis W. In one embodiment, bending 1801a in articulating
surgical instrument 4 occurs in response to a displacement of
hydraulic fluid, generated in control portion 50 by the pivoting of
grasper frame 1230 in the fifth degree of freedom. For example, in
one embodiment, micro control portion 50a translates pivoting of
grasper frame 1230 about axis W into a linear motion of one or more
master control cylinders 100. Hydraulic lines may then transmit
control signals, in the form of displacement of hydraulic fluid,
generated from the linear motion of master control cylinder(s) 100,
to one or more corresponding slave control cylinders in instrument
4 (such as slave control cylinder 1430') to effect a bending motion
1801a of instrument 4. It is appreciated that other motions,
bending or otherwise, can be produced by orienting components in a
different fashion within instrument 4 and/or slave portion 70. In
the interest of brevity and clarity, reference is made to FIGS. 18A
and 18B for further description of the mechanics and process of
performing a wrist bend motion 1801a with instrument 4 in response
to motion imparted by a user to control portion 50 of device 1.
[0160] At 2560 of flow diagram 2500, in one embodiment, a tip
rotate motion is actuated in the articulating surgical instrument.
According to one embodiment, FIG. 18A illustrates one example of
such a tip rotate motion 1802a of instrument 4. This tip rotate
motion 1802a of the articulating surgical instrument occurs in
response to movement of a portion of control portion 50 along a
sixth degree of freedom. For example, with reference to FIG. 18B,
rotating 1802b grasper handle 1210 around axis T of micro controls
50a can comprise the movement along the sixth degree of freedom.
The movement along the sixth degree of freedom of movement of
control portion 50 can be imparted to control portion 50 by the
same human shoulder, arm, and/or hand used to impart motion along
the first, second, third, fourth, and fifth degrees of freedom. For
example, the sixth degree of motion may be imparted by using a
wrist rotate motion while the user grasps grasper handle assembly
1200. The sixth degree of freedom is a different degree of freedom
of movement of control portion 50 than the first, second, third,
fourth, and fifth degrees of freedom.
[0161] As has been described herein in conjunction with FIGS.
18A-18B, in one embodiment, this comprises rotating 1802a a tip
portion of instrument 4 in response to a motion being imparted to
micro controls 50a, such as rotating grasper handle 1210 of micro
controls 50a about axis T. In one embodiment, tip rotating 1802a in
articulating surgical instrument 4 occurs in response to a
displacement of hydraulic fluid, generated in control portion 50 by
the rotating of grasper handle 1210 in the sixth degree of freedom.
For example, in one embodiment, micro control portion 50a
translates rotation 1802b of grasper handle 1210 about axis T into
a linear motion of one or more master control cylinders 100.
Hydraulic lines may then transmit control signals, in the form of
displacement of hydraulic fluid, generated from the linear motion
of master control cylinder(s) 100, to one or more corresponding
slave control cylinders in instrument 4 (such as slave control
cylinder 1410') to effect a tip rotating motion 1802a of instrument
4. It is appreciated that other motions, tip rotating or otherwise,
can be produced by orienting components in a different fashion
within instrument 4 and/or slave portion 70. In the interest of
brevity and clarity, reference is made to FIGS. 18A and 18B for
further description of the mechanics and process of performing a
tip rotate motion with instrument 4 in response to motion imparted
by a user to control portion 50 of device 1.
[0162] At 2570 of flow diagram 2500, in one embodiment a tip grasp
motion is actuated in the articulating surgical instrument.
According to one embodiment, FIG. 18A illustrates one example of
such a tip grasp motion 1803a of instrument 4. This tip grasp
motion 1803a of the articulating surgical instrument occurs in
response to movement of a portion of control portion 50 along a
seventh degree of freedom. For example, with reference to FIG. 18B,
rotating 1803b trigger 1220 around grasp axis G (by squeezing or
pushing trigger 1220) of micro controls 50a can comprise the
movement along the seventh degree of freedom. The movement along
the seventh degree of freedom of movement of control portion 50 can
be imparted to control portion 50 by the same human shoulder, arm,
and/or hand used to impart motion along the first, second, third,
fourth, fifth, and sixth degrees of freedom. For example, the
seventh degree of motion may be imparted by squeezing trigger 1220
with one or more fingers or pushing thumb flange 1222 with a thumb
or with the same fingers used for squeezing, while the user grasps
grasper handle assembly 1200. The seventh degree of freedom is a
different degree of freedom of movement of control portion 50 than
the first, second, third, fourth, fifth, and sixth degrees of
freedom.
[0163] As has been described herein in conjunction with FIGS.
18A-18B, in one embodiment, this comprises performing a tip grasp
motion 1803a with a tip portion of instrument 4 in response to a
motion being imparted to micro controls 50a, such as a squeeze or
push of trigger 1220 of micro controls 50a. In one embodiment, tip
grasping 1803a in articulating surgical instrument 4 occurs in
response to a displacement of hydraulic fluid, generated in control
portion 50 by the pivoting of trigger 1220 in the seventh degree of
freedom. For example, in one embodiment, micro control portion 50a
translates pivoting of, trigger 1220 about axis G into a linear
motion of one or more master control cylinders 100. Hydraulic lines
may then transmit control signals, in the form of displacement of
hydraulic fluid, generated from the linear motion of master control
cylinder(s) 100, to one or more corresponding slave control
cylinders in instrument 4 (such as slave control cylinder 1420') to
effect a tip grasping motion 1803a (which can include both open and
close motions of the tip) of instrument 4. It is appreciated that
other motions, grasping or otherwise, can be produced by orienting
components in a different fashion within instrument 4 and/or slave
portion 70. In the interest of brevity and clarity, reference is
made to FIGS. 18A and 18B for further description of the mechanics
and process of performing a tip grasping motion with instrument 4
in response to motion imparted by a user to control portion 50 of
device 1
Example Method of Articulation Control Signal Generation
[0164] FIGS. 26A and 26B illustrate a flow diagram 2600 of an
example method of articulation control signal generation, according
to one embodiment. According to one embodiment, flow diagram 2600
illustrates an example method of control portion 50 generating
articulation control signals for the control of slave portion 70
and/or articulating surgical instrument 4. Although specific
procedures are disclosed in flow diagram 2600, such procedures are
example. That is, embodiments of the present invention are well
suited to performing various other procedures or variations of the
procedures recited in flow diagram 2600. It is appreciated that the
procedures in flow diagram 2600 may be performed in an order
different than presented, and that not all of the procedures
described in flow diagram 2600 may be performed in every
embodiment. In the description of the procedures of the method of
flow diagram 2600, reference will be made to elements of FIGS.
1A-23, to include reference to control portion 50 (and components
thereof), slave portion 70 (and components thereof), and instrument
4 (and components thereof).
[0165] At 2610 of flow diagram 2600, in one embodiment, a first
control signal is generated within the control portion in response
to movement along a first degree of freedom of a control portion of
a "device" for remotely controlling an articulating surgical
instrument. The first control controls pivot of an articulating
surgical instrument, associated with the device. That is, in one
embodiment the articulating surgical instrument is the instrument
which the device remotely controls. The pivoting takes place about
a pivot point which, in one embodiment, is located external to an
operating environment (where the operating environment is
considered to be the environment within a patient being operated on
by the articulating surgical instrument). Device 1 is one example
of such a device for remotely controlling an articulating surgical
instrument, control portion 50 is one example of a control portion,
and instrument 4 is one example of an articulating surgical
instrument that may be controlled by control portion 50 of device
1. In one embodiment, as illustrated in FIG. 1A, 1C, 7-12A, 14D,
15A, 16D, 16E, 17D, and 17E articulating surgical instrument 4 is
coupled with a slave portion 70 of device 1.
[0166] As has been described herein in conjunction with FIGS.
14A-14E and FIGS. 15A-15E, in one embodiment the pivoting about the
pivot point occurs in response to a movement along a first degree
of freedom of all or some portion of control portion 50 of device
1. The movement along a first degree of freedom of movement can be
imparted to control portion 50 by a human shoulder, arm, and/or
hand of a user of device 1. In one embodiment, the pivoting of
articulating surgical instrument 4 about the pivot point occurs in
response to a first control signal, in the form of a third
displacement of hydraulic fluid, that is generated in the control
portion by the movement along the first degree of freedom. In one
embodiment, a user may input a motion in a first degree of freedom
of motion, by swiveling the entire micro control assembly 50a along
arc D2 about pivot point 401. In one embodiment, macro control
portion 50b of control portion 50 then translates swiveling motion
along arc D2 to a linear motion of one or more master control
cylinders 100 to generate the first control signal. Hydraulic lines
may then transmit this first control to one or more corresponding
slave control cylinders 100 in slave portion 70 to effect motion of
components of slave 70 that are coupled to the corresponding slave
control cylinder(s) in slave portion 70. In this, the first control
signal causes instrument holder 4a and the instrument 4 (coupled
thereto) and portions of slave portion 70 to pivot about Pivot
Point 2 (FIGS. 15A and 15B). In one embodiment, Pivot Point 2 is
designed to be located external to an operating environment (that
is, external to the body of a patient being operated upon), however
in other embodiments, Pivot Point 2 may be within an operating
environment. In the interest of brevity and clarity, reference is
made to FIGS. 14A-14E and 15A-15E for further description of the
mechanics and process of pivoting instrument 4 about a pivot point
in response to motion imparted by a user to control portion 50 of
device 1.
[0167] At 2620 of flow diagram 2600, in one embodiment, a second
control signal is generated within the control portion in response
to movement of the control portion along a second degree of
freedom. The second control signal controls lateral swivel of the
articulating surgical instrument about a shaft of the slave
portion. The shaft is located external to the operating
environment. This lateral swiveling occurs in response to movement
of all or some portion of control portion 50 along a second degree
of freedom. The movement along the second degree of freedom can be
imparted to control portion 50 by the same human shoulder, arm,
and/or hand used to impart motion along the first degree of
freedom. The second degree of freedom is a different degree of
freedom of movement of control portion 50 than the first degree of
freedom.
[0168] As has been described herein in conjunction with FIGS.
16A-16F, in one embodiment, the swiveling controlled by the second
control signal comprises swiveling (see arc D8 of FIGS. 16D-16E)
instrument 4 about shaft 550 (as is depicted and described in
conjunction with FIGS. 16D-16F). The second control signal is
generated in response to a motion being imparted to macro controls
50b, such as swiveling macro controls 50b along arc D6 (see FIG.
16A). In one embodiment, the laterally swiveling of articulating
surgical instrument 4 about shaft 550a occurs in response to a
second control signal, in the form of a second displacement of
hydraulic fluid, generated in the control portion by the movement
along the second degree of freedom. In one embodiment, macro
control portion 50b of control portion 50 translates swiveling
motion along arc D6 to a linear motion of one or more master
control cylinders 100 to generate the second control signal.
Hydraulic lines may then transmit the second control signal to one
or more corresponding slave control cylinders 100 in slave portion
70 to effect motion of components of slave 70 (such as motion of
shaft 550a) that are coupled to the corresponding slave control
cylinder(s) in slave portion 70. In this manner, the second control
signal causes instrument 4, which is coupled to shaft 550a, to
laterally swivel about arc D8 (FIGS. 16D-16E). In the interest of
brevity and clarity, reference is made to FIGS. 16A-16E for further
description of the mechanics and process of laterally swiveling
instrument 4 along arc D8 in response to motion imparted by a user
to control portion 50 of device 1.
[0169] At 2630 of flow diagram 2600, in one embodiment, a third
control signal is generated in response to movement of the control
portion along a third degree of freedom. The third control signal
controls translation of the articulating surgical instrument along
a longitudinal axis of the articulating surgical instrument. In one
embodiment, this longitudinal axis extends through the pivot point
(e.g., Pivot Point 2) about which the articulating surgical
instrument can be pivoted. This translating along the longitudinal
axis occurs in response to movement of at least a portion of
control portion 50 along a third degree of freedom. The movement
along the third degree of freedom of movement of control portion 50
can be imparted to control portion 50 by the same human shoulder,
arm, and/or hand used to impart motion along the first and second
degrees of freedom. The third degree of freedom is a different
degree of freedom of movement of control portion 50 than the first
and second degrees of freedom.
[0170] As has been described herein in conjunction with FIGS.
17A-17E, in one embodiment, the longitudinal translation controlled
by the third control signal comprises control cylinder 100 (of
extending and retracting actuator 40 of slave portion 70) moving
along direction D11 (as is depicted and described in conjunction
with FIGS. 16E-17D). The third control signal is generated in
response to a motion being imparted to macro controls 50b, such as
translating macro controls 50b along direction D10 (see FIGS.
17A-17C). As instrument 4 is coupled with extending/retracting
actuator 40 via instrument holder 4a, translation of actuator 40
along direction D10 correspondingly translates instrument 4 along
direction D12. In one embodiment, the translating of articulating
surgical instrument 4 along direction D12 occurs in response to a
third control signal, in the form of a third displacement of
hydraulic fluid, generated in control portion 50 by the movement
along the third degree of freedom. Macro control portion 50b
translates motion along direction D10 to a linear motion of one or
more master control cylinders 100 to generate the third control
signal. Hydraulic lines may then transmit the third control signal
to one or more corresponding slave control cylinders 100 in slave
portion 70 to effect motion of components of slave 70 (such as
motion of actuator 40 along direction D11) that are coupled to the
corresponding slave control cylinders in slave portion 70. In this
manner, the third control signal causes instrument 4, which is
coupled to actuator 40 via instrument holder 4a, to correspondingly
translate (extend/retract) along direction D12 (FIGS. 17D-16E). In
the interest of brevity and clarity, reference is made to FIGS.
17A-17E for further description of the mechanics and process of
translating instrument 4 along direction D12 in response to motion
imparted by a user to control portion 50 of device 1.
[0171] At 2640 of flow diagram 2600, in one embodiment, a fourth
control signal is generated within the control portion in response
to rotation of an arm holder assembly of the control portion in a
fourth degree of freedom. Additionally or alternatively, in some
embodiments the fourth control signal is generated within the
control portion in response to rotation of thumbwheel 2410 in a
fourth degree of freedom. The fourth control signal controls
rotation of the articulating surgical instrument about a primary
axis of the articulating surgical instrument. According to one
embodiment, FIG. 18A illustrates one example of such rotation by
depicting rotation 1800a of instrument 4 about primary axis 1901.
With reference to FIG. 18B, rotation 1800b of arm holder assembly
1100 of micro controls 50a or thumb wheel 2410 of micro controls
50a can comprise the movement along the fourth degree of freedom
causes generation of the fourth control signal. The movement along
the fourth degree of freedom of movement of control portion 50 can
be imparted to control portion 50 by the same human shoulder, arm,
and/or hand used to impart motion along the first, second, and
third degrees of freedom. The fourth degree of freedom is a
different degree of freedom of movement of control portion 50 than
the first, second, and third degrees of freedom.
[0172] As has been described herein in conjunction with FIGS.
18A-18B, in one embodiment, the motion controlled by the fourth
control signals comprises rotating 1800a instrument 4 about axis
1901 in response to a motion being imparted to micro controls 50a,
such as rotating 1800b arm holder assembly 1100 about axis F. In
one embodiment, rotating articulating surgical instrument 4 about
primary axis 1901 occurs in response to a fourth control signal, in
the form of a fourth displacement of hydraulic fluid, generated in
control portion 50 by the rotation of arm holder assembly 1100 in
the fourth degree of freedom. For example, in one embodiment, micro
control portion 50a translates rotation of arm holder assembly 1100
about axis F or rotation of thumbwheel 2410 into a linear motion of
one or more master control cylinders 100 to generate the fourth
control signal. Hydraulic lines may then transmit the fourth
control signal to one or more corresponding slave control cylinders
of instrument 4 (such as slave control cylinder 1440'). In this
manner, the fourth control signal causes instrument 4, to rotate
1800a about primary axis 1901. In the interest of brevity and
clarity, reference is made to FIGS. 18A and 18B for further
description of the mechanics and process of rotating instrument 4
about a primary axis of instrument 4 in response to motion imparted
by a user to control portion 50 of device 1.
[0173] At 2650 of flow diagram 2600, in one embodiment, a fifth
control signal is generated within the control portion in response
to pivoting of a grasper handle assembly of the control portion in
a fifth degree of freedom. The fifth control signal controls
actuation of a wrist bend motion in the articulating surgical
instrument. According to one embodiment, FIG. 18A illustrates one
example of such a wrist bend by wrist bend motion 1801a of
instrument 4. This wrist bend motion 1801a of the articulating
surgical instrument occurs in response to movement of a portion of
control portion 50 along a fifth degree of freedom. For example,
with reference to FIG. 18B, pivoting 1801b of grasper frame 1230
around axis W of micro controls 50a can comprise the movement along
the fifth degree of freedom. The movement along the fifth degree of
freedom of movement of control portion 50 can be imparted to
control portion 50 by the same human shoulder, arm, and/or hand
used to impart motion along the first, second, third and fourth
degrees of freedom. For example, the fifth degree of motion may be
imparted by using a wrist bend motion 1801b of the user's wrist
while the user grasps grasper handle assembly 1200. The fifth
degree of freedom is a different degree of freedom of movement of
control portion 50 than the first, second, third, and fourth
degrees of freedom.
[0174] As has been described herein in conjunction with FIGS.
18A-18B, in one embodiment, the motion controlled by the fifth
control signal comprises bending 1801a a portion of instrument 4 in
response to a motion being imparted to micro controls 50a, such as
pivoting grasper frame 1230 of micro control 50a about axis W. In
one embodiment, bending 1801a in articulating surgical instrument 4
occurs in response to a fifth control signal, in the form of a
fifth displacement of hydraulic fluid, generated in control portion
50 by the pivoting of grasper frame 1230 in the fifth degree of
freedom. For example, in one embodiment, micro control portion 50a
translates pivoting of grasper frame 1230 about axis W into a
linear motion of one or more master control cylinders 100 to
generate the fifth control signal. Hydraulic lines may then
transmit the fifth control signal, to one or more corresponding
slave control cylinders in instrument 4 (such as slave control
cylinder 1430') to effect a bending motion 1801a of instrument 4.
In the interest of brevity and clarity, reference is made to FIGS.
18A and 18B for further description of the mechanics and process of
performing a wrist bend motion with instrument 4 in response to
motion imparted by a user to control portion 50 of device 1.
[0175] At 2660 of flow diagram 2600, in one embodiment, a sixth
control signal is generated within the control portion. The sixth
control signal controls actuation of a tip rotate motion in the
articulating surgical instrument. The sixth control signal is
generated in response to rotation of said grasper handle assembly
in a sixth degree of freedom. According to one embodiment, FIG. 18A
illustrates one example of such a tip rotate motion 1802a of
instrument 4. This tip rotate motion 1802a of the articulating
surgical instrument occurs in response to movement of a portion of
control portion 50 along a sixth degree of freedom. For example,
with reference to FIG. 18B, rotating 1802b grasper handle 1210
around axis T of micro controls 50a can comprise the movement along
the sixth degree of freedom. The movement along the sixth degree of
freedom of movement of control portion 50 can be imparted to
control portion 50 by the same human shoulder, arm, and/or hand
used to impart motion along the first, second, third, fourth, and
fifth degrees of freedom. For example, the sixth degree of motion
may be imparted by using a wrist rotate motion while the user
grasps grasper handle assembly 1200. The sixth degree of freedom is
a different degree of freedom of movement of control portion 50
than the first, second, third, fourth, and fifth degrees of
freedom.
[0176] As has been described herein in conjunction with FIGS.
18A-18B, in one embodiment, the motion controlled by the sixth
control signal comprises rotating 1802a a tip portion of instrument
4 in response to a motion being imparted to micro controls 50a,
such as rotating grasper handle 1210 of micro controls 50a about
axis T. In one embodiment, tip rotating 1802a in articulating
surgical instrument 4 occurs in response to a sixth control signal,
in the form of a sixth displacement of hydraulic fluid, generated
in control portion 50 by the rotating of grasper handle 1210 in the
sixth degree of freedom. For example, in one embodiment, micro
control portion 50a translates rotation 1802b of grasper handle
1210 about axis T into a linear motion of one or more master
control cylinders 100 to generate the sixth control signal.
Hydraulic lines may then transmit the sixth control signal, to one
or more corresponding slave control cylinders in instrument 4 (such
as slave control cylinder 1410') to effect a tip rotating motion
1802a of instrument 4. In the interest of brevity and clarity,
reference is made to FIGS. 18A and 18B for further description of
the mechanics and process of performing a tip rotate motion with
instrument 4 in response to motion imparted by a user to control
portion 50 of device 1.
[0177] At 2670 of flow diagram 2600, in one embodiment, a seventh
control signal is generated within the control portion. The seventh
control signal controls actuation of a tip grasp motion in the
articulating surgical instrument in response to pivoting of a
trigger of the grasper handle assembly in a seventh degree of
freedom. According to one embodiment, FIG. 18A illustrates one
example of such a tip grasp motion 1803a of instrument 4. This tip
grasp motion 1803a of the articulating surgical instrument occurs
in response to movement of a portion of control portion 50 along a
seventh degree of freedom. For example, with reference to FIG. 18B,
rotating 1803b trigger 1220 around grasp axis G (by squeezing or
pushing trigger 1220) of micro controls 50a can comprise the
movement along the seventh degree of freedom. The movement along
the seventh degree of freedom of movement of control portion 50 can
be imparted to control portion 50 by the same human shoulder, arm,
and/or hand used to impart motion along the first, second, third,
fourth, fifth, and sixth degrees of freedom. For example, the
seventh degree of motion may be imparted by squeezing finger loop
1214 of trigger 1220 with one or more fingers or pushing trigger
thumb flange 1222 with a thumb or pushing on finger loop 1214 with
the same finger(s) used for squeezing, while the user grasps
grasper handle assembly 1200. The seventh degree of freedom is a
different degree of freedom of movement of control portion 50 than
the first, second, third, fourth, fifth, and sixth degrees of
freedom.
[0178] As has been described herein in conjunction with FIGS.
18A-18B, in one embodiment, the motion controlled the seventh
control signal comprises performing a tip grasp motion 1803a with a
tip portion of instrument 4 in response to a motion being imparted
to micro controls 50a, such as a squeeze or push of trigger 1220 of
micro controls 50a. In one embodiment, tip grasping 1803a in
articulating surgical instrument 4 occurs in response to a seventh
control signal, in the form of a seventh displacement of hydraulic
fluid, generated in control portion 50 by the pivoting of trigger
1220 in the seventh degree of freedom. For example, in one
embodiment, micro control portion 50a translates pivoting of
trigger 1220 about axis G into a linear motion of one or more
master control cylinders 100 to generate the seventh control
signal. Hydraulic lines may then transmit the seventh control
signal to one or more corresponding slave control cylinders in
instrument 4 (such as slave control cylinder 1420') to effect a tip
grasping motion 1803a (which can include both open and close
motions of the tip) of instrument 4. In the interest of brevity and
clarity, reference is made to FIGS. 18A and 18B for further
description of the mechanics and process of performing a tip
grasping motion with instrument 4 in response to motion imparted by
a user to control portion 50 of device 1.
Example Method of Remotely Controlled Surgical Device Control
Signal Generation
[0179] FIG. 27 illustrates a flow diagram 2700 of an example method
of remotely controlled surgical device 1 control signal generation,
according to one embodiment. According to one embodiment, flow
diagram 2700 illustrates an example method of control portion 50
generating control signals. These control signals can comprise
articulation control signals for the control of slave portion 70
and/or articulating surgical instrument 4. These control signals
can also comprise one or more function control signals for
controlling a function associated with remotely controlled surgical
device 1. A function control signal may be generated to control a
function associated with any portion of device 1, including:
control portion 50, slave portion 70, and/or articulating surgical
instrument 4. In some instances a function control signal may
include the generation of no signal at all, such as by locking a
control signal in a manner that it cannot be altered by a user
input (e.g., via ratchet 2450). Although specific procedures are
disclosed in flow diagram 2700, such procedures are example. That
is, embodiments of the present invention are well suited to
performing various other procedures or variations of the procedures
recited in flow diagram 2700. It is appreciated that the procedures
in flow diagram 2700 may be performed in an order different than
presented, and that not all of the procedures described in flow
diagram 2700 may be performed in every embodiment. In the
description of the procedures of the method of flow diagram 2700,
reference will be made to various elements of FIGS. 1A-23, and 26A
and 26B to include reference to control portion 50 (and components
thereof), slave portion 70 (and components thereof), and instrument
4 (and components thereof).
[0180] At 2710 of flow diagram 2700, in one embodiment, a macro
motion control signal is generated within the control portion. The
macro motion control signal is configured for controlling a macro
motion associated with an articulating surgical instrument of a
remotely controlled surgical device. The macro motion control
signal is generated in response to movement of all or a part of a
first set of controls 50b (which are a subset of control portion
50) in one of a first plurality of degrees of freedom. As
previously described in 2610, 2620, and 2630 of the method of flow
diagram 2600, macro controls 50b can be moved in at least three
separate degrees of freedom of movement (described in conjunction
with the method of flow diagram 2600 as first, second, and third
degrees of freedom of movement) to generate macro control signals
for controlling movements of slave portion 70 which is coupled to
and thus moves instrument 4 in one or more macro motions.
[0181] With reference to flow diagram 2600, in one embodiment, an
shoulder, arm, and/or hand of a user may of input movements to
macro controls 50b in any of these three separate degrees of
freedom of movement. For example, an input in the first degree of
freedom of movement causes macro controls 50b to generate an
articulation control signal for controlling pivot of an
articulating surgical instrument 4 of device 1; while an input in
the second degree freedom of movement causes macro controls 50b
generate a control signal for control lateral swivel of the
articulating surgical instrument 4 about a shaft of the slave
portion 70; and while an input in the third degree of freedom of
movement causes macro controls 50b to generate a control signal
control for controlling translation (extension/retraction) of
articulating surgical instrument 4 along a longitudinal axis of the
articulating surgical instrument 4. Any of the inputs in the first
plurality of degrees of freedom of movement may occur
simultaneously with one another or independently in time from one
another.
[0182] As previously described, in some embodiments, a macro motion
control signal may comprise a displacement of hydraulic fluid
within control portion 50 that may then be coupled via hydraulic
lines to one or more control cylinders within slave portion 70 as
hydraulic signals for controlling of the motion of these one or
more slave control cylinders. In other embodiments, the macro
motion control signal may comprise an electrical signal, a
mechanical signal (movement of a cable or rod) or some combination
of hydraulic, electrical, and mechanical signals.
[0183] At 2720 of flow diagram 2700, in one embodiment, a micro
motion control signal is generated within the control portion. The
micro motion control signal is configured for controlling a micro
motion of the articulating surgical instrument of a remotely
controlled surgical device. The micro motion control signal is
generated in response to movement of all or a part of a set of
micro controls 50a (which are a subset of control portion 50) in
one of a second plurality of degrees of freedom. As previously
described in 2610, 2620, and 2630 of the method of flow diagram
2600, macro controls 50b can be moved in at least four separate
degrees of freedom of movement (described in conjunction with the
method of flow diagram 2600 as fourth, fifth, sixth, and seventh
degrees of freedom of movement) to generate macro control signals
for controlling movements of slave portion 70 which is coupled to
and thus moves instrument 4 in one or more macro motions. These
four separate degrees of freedom of movement are separate and
different from the first plurality of degrees of freedom of
movement.
[0184] With reference to flow diagram 2600, in one embodiment, the
same shoulder, arm, and/or hand of a user that are used to input
any of the first plurality of degrees of movement to macro controls
50b may provide input movements to micro controls 50a in any of the
four separate degrees of freedom of movement of the second
plurality of degrees of freedom of movement. For example, an input
in the first degree of freedom of movement causes macro controls
50b to generate an articulation control signal for controlling
pivot of an articulating surgical instrument 4 of device 1; while
an input in the second degree freedom of movement causes macro
controls 50b generate a control signal for control lateral swivel
of the articulating surgical instrument 4 about a shaft of the
slave portion 70; and while an input in the third degree of freedom
of movement causes macro controls 50b to generate a control signal
control for controlling translation (extension/retraction) of
articulating surgical instrument 4 along a longitudinal axis of the
articulating surgical instrument 4. Any of the inputs in the second
plurality of degrees of freedom of movement may occur
simultaneously with one or independently in time from one another.
Similarly, any input in the first plurality of degrees of freedom
of movement may occur simultaneously or independently in time from
inputs in the first plurality of degrees of freedom of movement.
This means that control portion 50 may generate macro and micro
control signals simultaneously or one at a time, depending on the
number of and timing of movement inputs which are received by
control portion 50.
[0185] As previously described, in some embodiments, a micro motion
control signal may comprise a displacement of hydraulic fluid
within control portion 50 that may then be coupled via hydraulic
lines to one or more control cylinders within instrument 4 as
hydraulic signals for controlling of the motion of these one or
more slave control cylinders. In other embodiments, the micro
motion control signal may comprise an electrical signal, a
mechanical signal (e.g., movement of a cable, rod, or linkage) or
some combination of hydraulic, electrical, and mechanical
signals.
[0186] At 2730 of flow diagram 2700, in one embodiment, a function
control signal is generated within the control portion. The
function control signal is configured for controlling a function
associated with remotely controlled surgical device 1. The function
may control a function of any portion of device 1. In one
embodiment, the function control signal is an interrupt which
interrupts some other signal between its source and its destination
proximal to an instrument 4 and/or tool 7. The function control
signal is generated in response to receiving an input via a
function control mechanism of control portion 50. For example,
function control mechanism 50c may a lever, trigger, screw, button,
latch, switch, paddle, moveable pin, knob, ratcheting selector,
pedal (e.g., a foot pedal), touchless sensor, dial, pressure
sensor, or other input. In one embodiment, function control
mechanism 50c may be disposed as a portion of grasper handle
assembly 1200; such that it may be directly manipulated by the same
shoulder, arm, and/or hand which provides inputs to micro controls
50a and macro controls 50b. For example, as illustrated in FIG.
12B, function control mechanism 50c is implemented as knob 50c-1
which disposed upon grasper handle assembly 1200 such that it may
be spun by a finger or thumb of user U while utilizing grasper
handle assembly 1200. Lever 2455 of ratchet 2450 is another example
of a function control mechanism. The input motion may be a
different degree of freedom of movement than any of the first and
second pluralities of degrees of freedom of movement. In another
embodiment, a function control mechanism 50c may be disposed at a
physically separate location from micro controls 50a and 50b, such
as in the form of a foot pedal 50c-2 (as illustrated in FIG. 13A)
which a user may move with a foot to trigger/control a function of
device 1. In one embodiment, function control mechanism 50c may be
imbedded within micro controls 50a or macro controls 50b. For
example, a pressure sensor coupled to a control cylinder could be
utilized to receive coded inputs (such as three quick and timed tip
rotate 1802b inputs) for interpretation by processor 2310 as a user
input which causes processor 2310 to generate function control
signal to control a function of device 1.
[0187] Some examples of functions of device 1 that may a function
control signal may be generated to control include, but arc not
limited to: illumination, control locking, irrigation, suction,
magnetization, viewing (e.g., camera), cauterization, therapeutic
energy emission (e.g., ultrasonic, light, heat, laser emissions
from instrument 4). Illumination can comprise turning on/off or
varying intensity of an illumination function of instrument 4. Such
an illumination function may comprise, for example, light supplied
via fiber optic fiber routed from control portion 50 to instrument
4 or light generated by electricity at some location on instrument
4 (such as by a light emitting diode disposed near a distal tip of
instrument 4). Control locking can comprise locking out all or part
of control portion 50, such that the locked out portion(s) cannot
generate inputs which cause movement of instrument 4. Irrigation
can comprise enabling/disabling and/or controlling the flow rate of
irrigation fluid, such as saline or water, that is routed to and
expelled from a portion of instrument 4 (e.g., at a location near
the distal tip). Suction can comprise enabling/disabling and/or
controlling the rate of suction that is routed to and available for
use at portion of instrument 4 (e.g., at a location near the distal
tip). Viewing can comprise turning on/off or adjusting the
viewpoint of a camera or viewing device (e.g., a lens coupled with
a fiber optic fiber) which is positioned on a portion of instrument
4 (e.g., proximal to a distal tip). Magnetization can comprise
enabling/disabling and/or adjusting the intensity of magnetization
of a portion of instrument 4. For example, a distal tip portion of
instrument 4 may be magnetized by an electromagnet to engage and
hold in place a tool 7 and demagnetized to allow release of tool 7.
In a similar manner, a function control signal may be generated to
control application/removal and/or variance of the amount of power
supplied to any electrically powered function or portion associated
with device 1, instrument 4, and/or a tool 7. Electrical lines and
or control signal lines for routing one or more function control
signals may be routed along or through instrument 4 to desired
points. For example, electrical power may be applied/removed and/or
varied to control cauterization by a cauterizing instrument (e.g.,
a heated element) or a therapeutic energy emission point (e.g.,
ultrasonic, laser, light) which is positioned on a portion of
instrument 4 (e.g., proximal to a distal tip).
[0188] Although embodiments of the invention have been described
with reference to various embodiments of the present invention and
examples with respect to a surgical instrument, it is within the
scope and spirit to incorporate or use with any suitable mechanical
device. Further, while some aspects and embodiments of the
invention have been described with reference to a surgeon as a
user, the aspects and embodiments of the present invention may be
used with another user, depending on circumstances in which the
invention is used.
[0189] The foregoing descriptions of specific embodiments have been
presented for purposes of illustration and description. They are
not intended to be exhaustive or to limit the presented technology
to the precise forms disclosed, and obviously many modifications
and variations are possible in light of the above teaching. The
embodiments were chosen and described in order to best explain the
principles of the presented technology and its practical
application, to thereby enable others skilled in the art to best
utilize the presented technology and various embodiments with
various modifications as are suited to the particular use
contemplated. Thus, it should be understood that numerous and
various modifications may be made without departing from the spirit
of embodiments of the invention.
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