U.S. patent application number 16/614490 was filed with the patent office on 2020-07-02 for pedal control for robotic surgical systems.
The applicant listed for this patent is Covidien LP. Invention is credited to Jared Farlow, William Peine, Robert Pierce.
Application Number | 20200205917 16/614490 |
Document ID | / |
Family ID | 64396790 |
Filed Date | 2020-07-02 |
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United States Patent
Application |
20200205917 |
Kind Code |
A1 |
Peine; William ; et
al. |
July 2, 2020 |
PEDAL CONTROL FOR ROBOTIC SURGICAL SYSTEMS
Abstract
A user interface for a robotic system includes a processing
unit, an input handle, and a foot pedal. The input handle includes
an actuation control that has an actuated position. In the actuated
position of the input handle, the input handle transmits a handle
signal to the processing unit. The foot pedal includes an actuation
switch and has an actuated position. In the actuated position of
the foot pedal, the foot pedal transmits a foot signal to the
processing unit. The processing nit is configured to associate the
input handle with the foot pedal in response to the actuation
control being actuated and released. The processing unit is also
configured to generate a control signal configured to actuate a
tool associated with the input handle when the processing unit
simultaneously receives a handle signal from the associated input
handle and a foot signal form the foot pedal.
Inventors: |
Peine; William; (Ashland,
MA) ; Farlow; Jared; (Los Angeles, CA) ;
Pierce; Robert; (Franklin, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Covidien LP |
Mansfield |
MA |
US |
|
|
Family ID: |
64396790 |
Appl. No.: |
16/614490 |
Filed: |
May 17, 2018 |
PCT Filed: |
May 17, 2018 |
PCT NO: |
PCT/US2018/033084 |
371 Date: |
November 18, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62510502 |
May 24, 2017 |
|
|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 2017/00977
20130101; A61B 17/00 20130101; A61B 34/30 20160201; A61B 34/35
20160201; A61B 2017/00199 20130101; A61B 2090/0807 20160201; A61B
2090/067 20160201; A61B 34/37 20160201; A61B 2017/00973 20130101;
A61B 2017/00212 20130101; A61B 34/25 20160201 |
International
Class: |
A61B 34/37 20060101
A61B034/37; A61B 34/00 20060101 A61B034/00; A61B 17/00 20060101
A61B017/00 |
Claims
1. A user interface for a robotic surgical system, the user
interface comprising: a processing unit; an input handle including
an actuation control, the actuation control having an actuated
position wherein the input handle transmits a handle signal to the
processing unit; and a foot pedal including an actuation switch,
the foot pedal having an actuated position wherein the foot pedal
transmits a foot signal to the processing unit, wherein the
processing unit is configured to associate the input handle with
the foot pedal in response to the actuation control being actuated
and released, and wherein the processing unit is configured to
generate a control signal configured to actuate a tool of the
robotic system that is associated with the input handle when the
processing unit simultaneously receives a handle signal from the
associated input handle and a foot signal from the foot pedal.
2. The user interface according to claim 1, wherein the foot pedal
has an initial position and includes a lockout mechanism, the
lockout mechanism having a locked configuration wherein the lockout
mechanism prevents movement of the foot pedal from the initial
position to the actuated position, and an unlocked configuration
wherein the lockout mechanism allows movement of the foot pedal
between the initial position and the actuated position.
3. The user interface according to claim 2, wherein the lockout
mechanism includes a motor and a pin extending from the motor.
4. The user interface according to claim 3, wherein the lockout
mechanism is configured to move the foot pedal towards the initial
position as the lockout mechanism transitions from the unlocked
configuration to the locked configuration.
5. The user interface according to claim 4, wherein the pin is
configured to engage the foot pedal to move the foot pedal towards
the initial position as the lockout mechanism transitions from the
unlocked configuration to the locked configuration.
6. The user interface according to claim 3, wherein the foot pedal
includes a frame and a lever pivotally supported by the frame, the
lever including a tongue extending towards the frame.
7. The user interface according to claim 6, wherein the lockout
mechanism has a locked configuration wherein the pin is engagable
by the tongue to prevent the lever of the foot pedal from pivoting
from the initial position to the actuated position.
8. The user interface according to claim 6, wherein the lever of
the foot pedal has a locked out position between the initial
position and the actuated position, wherein in the locked out
position the tongue engages the pin such that the lever is
prevented from pivoting towards the actuated position.
9. The user interface according to claim 6, wherein when the
lockout mechanism is transitioned from the unlocked configuration
towards the locked configuration, with the lever of the foot pedal
between the locked out position and the actuated position, the
tongue prevents the lockout mechanism from achieving the locked
configuration.
10. The user interface according to claim 3, wherein the motor
includes a driveshaft configured to rotate the pin between the
locked configuration and the unlocked configuration.
11. The user interface according to claim 2, wherein the foot pedal
includes an activation sensor and has a locked out position between
the initial position and the actuated position, the activation
sensor configured to send an activation signal to the processing
unit when the activation sensor is contacted by the foot pedal or
the lockout mechanism.
12. The user interface according to claim 11, wherein the
processing unit is configured to transmit a feedback signal in
response to the activation signal, the user interface providing
feedback in response to the feedback signal.
13. The user interface according to claim 2, wherein the foot pedal
is biased towards the initial position.
14. A foot pedal of a user interface for a robotic surgical system,
the foot pedal comprising: a frame; a lever pivotally supported by
the frame between an initial position and an actuated position; an
actuation switch configured to transmit a signal when the lever is
in the actuated position; and a lockout mechanism having a locked
configuration wherein the lockout mechanism prevents a movement of
the lever from the initial position to the actuated position.
15. The foot pedal according to claim 14, wherein the lockout
mechanism includes a motor and a pin.
16. The foot pedal according to claim 15, wherein the motor is
configured to rotate the pin.
17. The foot pedal according to claim 15, wherein the motor is
configured to extend the pin away from the motor.
18. The foot pedal according to claim 15, wherein the pin is
configured to pivot the lever towards the initial position as the
lockout mechanism transitions from the unlocked configuration to
the locked configuration.
19. A method of actuating a tool of a robotic surgical system
having a user interface, the method comprising: associating an
input handle of the user interface with a foot pedal of the user
interface; and actuating the tool by substantially simultaneously
depressing the foot pedal to an actuated position and actuating a
trigger of the associated input handle.
20. The method according to claim 19, further comprising
disassociating the input handle from the foot pedal by associating
another input handle of the user interface with the foot pedal or
releasing the trigger of the associated input handle for a
predetermined amount of time.
Description
BACKGROUND
[0001] Robotic surgical systems have been used in minimally
invasive medical procedures. During a medical procedure, the
robotic surgical system is controlled by a surgeon interfacing with
a user interface. The user interface allows the surgeon to
manipulate an end effector that acts on a patient. The user
interface includes an input controller that is moveable by the
surgeon to control the robotic surgical system.
[0002] The input controller of the user interface includes an input
device or handle that is supported on a gimbal that is engaged by a
surgeon to allow the surgeon to manipulate the end effector. To
activate some functions of the end effector, a foot pedal may need
to be depressed. Generally, the foot pedals are assigned to
individual handles.
[0003] To increase flexibility of the robotic surgical system, it
would be advantageous for the foot pedals to be assignable to one
or more input handles during the same surgical procedure.
SUMMARY
[0004] This disclosure relates generally to a user interface for
actuating a function of a tool of a surgical robot. The user
interface includes first and second input handles and a foot pedal.
The foot pedal is selectively associatable to each of the first and
second input handles and the tool of the surgical robot is
configured to actuate in response to a control of an associated
input handle being actuated at the same time the foot pedal is
depressed.
[0005] In accordance with the present disclosure, a user interface
for a robotic surgical system includes a processing unit, an input
handle, and a foot pedal. The input handle includes an actuation
control that has an actuated position. In the actuated position,
the input handle transmits a handle signal to the processing unit.
The foot pedal includes an actuation switch that has an actuated
position. In the actuated position, the foot pedal transmits a foot
signal to the processing unit. The processing unit is configured to
associate the input handle with the foot pedal in response to the
actuation control being actuated and released. The processing unit
is also configured to generate a control signal configured to
actuate a tool of the robotic system that is associated with the
input handle when the processing unit simultaneously receives a
handle signal from the associate input handle and a foot signal
from the foot pedal.
[0006] In aspects, the foot pedal has an initial position and
includes a lockout mechanism. The lockout mechanism may have a
locked configuration where the lockout mechanism prevents movement
of the foot pedal from the initial position to the actuated
position. The lockout mechanism may also have an unlocked
configuration where the lockout mechanism allows movement of the
foot pedal between the initial position and the actuated
position.
[0007] In some aspects, the lockout mechanism includes a motor and
a pin that extends from the motor. The lockout mechanism may be
configured to move the foot pedal towards the initial position as
the lockout mechanism transitions from the unlocked configuration
to the locked configuration. The pin may be configured to engage
the foot pedal to move the foot pedal towards the initial position
as the lockout mechanism transitions from the unlocked
configuration to the locked configuration.
[0008] In certain aspects, the foot pedal includes a frame and a
lever pivotally supported by the frame. The lever may include a
tongue that extends towards the frame. The lockout mechanism can
have a locked configuration where the pin is engagable by the
tongue to prevent the lever of the foot pedal from pivoting from
the initial position to the actuated position. The lever of the
foot pedal can have a locked out position that is between the
initial position and the actuated position. In the locked out
position, the tongue may engage the pin such that the lever is
prevented from pivoting towards the actuated position.
[0009] In particular aspects, when the lockout mechanism
transitions from the unlocked configuration towards the locked
configuration, with the lever of the foot pedal between the locked
out position and the actuated position, the tongue prevents the
lockout mechanism from achieving the locked configuration. The
motor may include a driveshaft that is configured to rotate the pin
between the locked configuration and the unlocked configuration.
The foot pedal may include an activation sensor and have a locked
out position between the initial position and the actuated
position. The activation sensor may be configured to send an
activation signal to the processing unit when the activation sensor
is contacted by the foot pedal or the lockout mechanism. The
processing unit may be configured to transmit a feedback signal in
response to the activation signal. The user interface may provide
feedback in response to the feedback signal. The foot pedal can be
biased towards the initial position.
[0010] In another aspect of the present disclosure, a foot pedal of
a user interface for a robotic surgical system includes a frame, a
lever, an actuation switch, and a lockout mechanism. The lever is
supported by the frame and is pivotal between an initial position
and an actuated position. The actuation switch is configured to
transmit a signal when the lever is in the actuated position. The
lockout mechanism has a locked configuration where the lockout
mechanism prevents a movement of the lever from the initial
position to the actuated position.
[0011] In aspects, the lockout mechanism includes a motor and a
pin. The motor may be configured to rotate the pin. Additionally or
alternatively, the motor may be configured to extend the pin away
from the motor. The pin can be configured to pivot the lever
towards the initial position as the lockout mechanism transitions
from the unlocked configuration to the locked configuration.
[0012] In another aspect of the present disclosure, a method of
actuating a tool of a robotic surgical system that has a user
interface includes associating an input handle of the user
interface with a foot pedal of the user interface and actuating the
tool by substantially simultaneously depressing the foot pedal to
an actuated position and actuating a trigger of the associated
input handle.
[0013] In aspects, the method includes disassociating the input
handle from the foot pedal by associating another input handle of
the user interface with the foot pedal or releasing the trigger of
the associate input handle for a predetermined amount of time.
[0014] Further, to the extent consistent, any of the aspects
described herein may be used in conjunction with any or all of the
other aspects described herein.
BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Various aspects of the present disclosure are described
hereinbelow with reference to the drawings, which are incorporated
in and constitute a part of this specification, wherein:
[0016] FIG. 1 is a schematic illustration of a user interface and a
robotic system in accordance with the present disclosure;
[0017] FIG. 2 is a perspective view of an input handle of the user
interface of FIG. 1;
[0018] FIG. 3 is a schematic illustration of an exemplary foot
pedal of the user interface of FIG. 1 in an initial position;
[0019] FIG. 4 is a schematic illustration of the foot pedal of FIG.
3 in a locked out position;
[0020] FIG. 5 is a schematic illustration of the foot pedal of FIG.
3 in an actuated position;
[0021] FIG. 6 is a schematic illustration of another exemplary foot
pedal of the user interface of FIG. 1 in an initial position;
[0022] FIG. 7 is a schematic illustration of the foot pedal of FIG.
6 in an actuated position;
[0023] FIG. 8 is a schematic illustration of another exemplary foot
pedal of the user interface of FIG. 1 in an initial position;
[0024] FIG. 9 is a schematic illustration of the foot pedal of FIG.
8 in an actuated position;
[0025] FIG. 10 is a flowchart illustrating a method of controlling
a function of a tool of a robot system with a user interface in
accordance with the present disclosure;
[0026] FIG. 11 is a schematic illustration of a user interface with
an exemplary pedal assignment mechanism in accordance with the
present disclosure; and
[0027] FIG. 12 is a schematic illustration of a user interface with
another exemplary pedal assignment mechanism in accordance with the
present disclosure.
DETAILED DESCRIPTION
[0028] Embodiments of the present disclosure are now described in
detail with reference to the drawings in which like reference
numerals designate identical or corresponding elements in each of
the several views. As used herein, the term "clinician" refers to a
doctor, a nurse, or any other care provider and may include support
personnel. Throughout this description, the term "proximal" refers
to the portion of the device or component thereof that is closest
to the clinician and the term "distal" refers to the portion of the
device or component thereof that is farthest from the
clinician.
[0029] Referring to FIG. 1, a robotic surgical system 1 is shown
generally as a robotic system 10, a processing unit 30, and a user
interface 40. The robotic system 10 generally includes linkages 12
and a robot base 18. The linkages 12 moveably support an end
effector or tool 20 which is configured to act on tissue. The
linkages 12 may be in the form of arms or links each having an end
14 that supports an end effector or tool 20 which is configured to
act on tissue. In addition, the ends 14 of the linkages 12 may
include an imaging device 16 for imaging a surgical site "S". The
user interface 40 is in communication with robot base 18 through
the processing unit 30.
[0030] The user interface 40 includes a display device 44 which is
configured to display three-dimensional images. The display device
44 displays three-dimensional images of the surgical site "S" which
may include data captured by imaging devices 16 positioned on the
ends 14 of the linkages 12 and/or include data captured by imaging
devices that are positioned about the surgical theater (e.g., an
imaging device positioned within the surgical site "S", an imaging
device positioned adjacent the patient "P", imaging device 56
positioned at a distal end of an imaging linkage 52). The imaging
devices (e.g., imaging devices 16, 56) may capture visual images,
infra-red images, ultrasound images, X-ray images, thermal images,
and/or any other known real-time images of the surgical site "S".
The imaging devices transmit captured imaging data to the
processing unit 30 which creates three-dimensional images of the
surgical site "S" in real-time from the imaging data and transmits
the three-dimensional images to the display device 44 for
display.
[0031] The user interface 40 also includes input handles 80, 80'
attached to gimbals 70 which allow a clinician to manipulate the
robotic system 10 (e.g., move the linkages 12, the ends 14 of the
linkages 12, and/or the tools 20). Each of the gimbals 70 is in
communication with the processing unit 30 to transmit control
signals thereto and to receive feedback signals therefrom.
Additionally or alternatively, each of the input handles 80, 80'
may include control interfaces which allow the surgeon to actuate
(e.g., clamp, grasp, fire, open, close, rotate, thrust, slice,
etc.) the tools 20 supported at the ends 14 of the linkages 12. The
user interface 40 further includes a foot pedal 90 that may be used
with one or both of the input handles 80, 80' to control actuation
of the tools 20.
[0032] Each of the gimbals 70 is moveable to move the ends 14 of
the linkages 12 within a surgical site "S". The three-dimensional
images on the display device 44 are orientated such that movement
of the gimbals 70 moves the ends 14 of the linkages 12 as viewed on
the display device 44. It will be appreciated that the orientation
of the three-dimensional images on the display device 44 may be
mirrored or rotated relative to view from above the patient "P". In
addition, it will be appreciated that the size of the
three-dimensional images on the display device 44 may be scaled to
be larger or smaller than the actual structures of the surgical
site "S" permitting the surgeon to have a better view of structures
within the surgical site "S". As the gimbal 70 is moved, the tools
20 are moved within the surgical site "S". Movement of the tools 20
may also include movement of the ends 14 of the linkages 12 which
support the tools 20.
[0033] For a detailed discussion of the construction and operation
of a robotic surgical system 1, reference may be made to U.S. Pat.
No. 8,828,023, the entire contents of which are incorporated herein
by reference.
[0034] With additional reference to FIG. 2, an exemplary input
handle 80 is shown in accordance with the present disclosure. It is
envisioned that the input handles 80 may take a plurality of shapes
and sizes. Further, the input handle 80 can include control
elements specific for tools 20 associated with the respective input
handle 80. For the purposes of this disclosure, the input handle 80
includes a switch 82 and an actuation control 84 (e.g., a trigger).
The switch 82 is associated with the repositioning (i.e.,
clutching) of the input handle 80 while maintaining the position of
or scaling down the motion of a tool 20 associated with the input
handle 80. For example, when the switch 82 is actuated, the tool 20
maintains position within the surgical site "S" as the input handle
80 is repositioned within the workspace of the user interface 40.
The actuation control 84 is associated with a function of the tool
20 (e.g., clamping, grasping, firing, opening, closing, rotating,
thrusting, sealing, coagulating, cutting, slicing, etc.).
[0035] Continuing to refer to FIGS. 1 and 2, a method of actuating
a tool of a robotic surgical system is described in accordance with
the present disclosure. As shown in FIG. 1, the user interface 40
includes a first or right input handle 80 operably attached to a
first or right control arm 60, and a second or left input handle
80' operably attached to a second or left control arm 60. During a
surgical procedure, the foot pedal 90 is selectively associated
with either of the right or left input handles 80, 80' to actuate a
tool 20 associated with the respective one of the right or left
input handles 80, 80'.
[0036] To actuate the tool 20 associated with the right input
handle 80, the actuation control 84 of the right input handle 80 is
actuated and released to associate the foot pedal 90 with the right
input handle 80. After the foot pedal 90 is associated with the
right input handle 80, the tool 20 is actuated by simultaneously
depressing the foot pedal 90 and actuating actuation control 84 of
the right input handle 80. It will be appreciated that the tool 20
can be actuated multiple times by depressing and holding the foot
pedal 90 a single time and repeatedly actuating the actuation
control 84. Alternatively, the tool 20 can be actuated multiple
times by holding the actuation control 84 in an actuated position
and repeatedly depressing the foot pedal 90. It is envisioned that
by requiring both the depressing of the foot pedal 90 and the
actuating of the actuation control 84, inadvertent actuation of the
function of the tool 20 may be prevented.
[0037] In accordance with the present disclosure, once the foot
pedal 90 is associated with a respective input handle (e.g., the
right input handle 80), the foot pedal 90 will stay associated with
the respective input handle until the actuation control 84 of
another input handle (e.g., the left input handle 80') is actuated.
Additionally or alternatively, the foot pedal 90 may stay
associated with the respective input handle (e.g., the right input
handle 80) for a predetermined time period after the actuation
control 84 of the respective input handle is actuated before the
foot pedal 90 is disassociated from the respective input handle.
The predetermined time period may be reset with each actuation of
the actuation control 84 (e.g., actuation of the tool 20). The
predetermined time period may be in a range of about 15 seconds to
about 2 minutes. It is also envisioned that the foot pedal 90 may
disassociate from the respective input handle when the switch 82 of
the respective input handle is depressed to reposition the
respective input handle within the workspace of the user interface
40. When the switch 82 is released, the respective input handle may
automatically reassociate with the foot pedal 90 or the actuation
control 84 of the respective input handle may be required to be
actuated to reassociate the respective input handle with the foot
pedal 90.
[0038] It is contemplated that a variety of methods can be used to
associate and disassociate the foot pedal 90 with a respective
input handle. For example, the foot pedal 90 can be associated to a
respective input handle by quickly actuating the actuation control
84 twice. It is contemplated that the user interface 40 may also be
configured to accept voice controls to associate or disassociate
the foot pedal 90 with a respective input handle. Further, the user
interface 40 may include a GUI on the display 44 that allows the
clinician to associate or disassociate the foot pedal 90 with a
respective input handle. Additionally or alternatively, the foot
pedal 90 can be disassociated from the respective input handle by
releasing both the foot pedal 90 and actuation control 84 of the
respective input handle and then quickly actuating, or depressing,
either the foot pedal 90 or the actuation control 84 twice.
[0039] The foot pedal 90 includes an indication light 91 disposed
on a surface of the foot pedal 90 that is visible to a clinician.
As shown, the indication light 91 is disposed on a front surface of
the foot pedal 90; however, it is envisioned that the indication
light 91 could be disposed on the lever 94 or a side surface of the
foot pedal 90. The indication light 91 provides visual indicia to a
clinician of the status of the foot pedal 90. It is contemplated
that the indication light 91 can be turned off or unilluminated
when the foot pedal 90 is disassociated from the input handles 80,
80' and can be illuminated in a red color when in a locked
configuration as detailed below. Alternatively, when the foot pedal
90 is disassociated from the input handles 80, 80', the indication
light 91 is illuminated in a red color and when the foot pedal 90
is associated with one of the input handles 80, 80', the foot pedal
90 is illuminated in a green color. It is envisioned that the
indication light 91 can indicate which input handle 80, 80' that
the foot pedal 90 is associated. For example, the indication light
91 can include a right arrow that is illuminated when the foot
pedal 90 is associated with the right input handle 80 and a left
arrow that is illuminated when the foot pedal 90 is associated with
the left input handle 80'. Additionally or alternatively, the
indication light 91 can illuminate in a first color (e.g., green)
when the foot pedal 90 is associated with the right input handle 80
and can illuminate in a second color (e.g., blue) different from
the first color when the foot pedal 90 is associated with the left
input handle 80'.
[0040] Referring now to FIGS. 3-5, the foot pedal 90 may include a
lockout mechanism 100 that prevents the foot pedal 90 from being
actuated when the foot pedal 90 is disassociated from the right and
left input handles 80, 80'. The foot pedal 90 includes a frame 92,
a lever 94, and an actuation switch 96. The frame 92 pivotally
supports the lever 94 between an initial position (FIG. 3) and an
actuated position (FIG. 5). In the initial position, the lever 94
is spaced-apart from the actuation switch 96. In the actuated
position, the lever 94 is moved or pivoted such that the actuation
switch 96 is depressed. For example, in FIG. 5, the lever 94
directly depresses the actuation switch 96. The actuation switch 96
is in communication with the processing unit 30 (FIG. 1) to provide
a signal to the processing unit 30 when the lever 94 is in the
actuated position. The actuation switch 96 may be any suitable
mechanical, electrical, or electromechanical switch for detecting
contact with the lever 94 or for detecting repositioning of the
lever 94 between relatively far and relatively near locations
(e.g., in the manner of a Hall-Effect switch).
[0041] The foot pedal 90 may include a biasing member 93 that urges
the lever 94 towards the initial position. The biasing member 93
may be in the form of a torsion spring, a compression spring,
etc.
[0042] With particular reference to FIG. 4, the lever 94 may also
have a locked out position between the initial position and the
actuated position. The foot pedal 90 includes an activation switch
and the lever 94 includes a tongue 95 that extends from a lower
surface of the lever 94 towards the frame 92. In the initial
position, the tongue 95 of the lever 94 is spaced apart from the
activation switch 98. The activation switch 98 is in communication
with the processing unit 30 (FIG. 1) to provide a signal to the
processing unit 30 when the tongue of the lever 94 is between the
locked out position and the actuated position. The activation
switch 98 may be any suitable mechanical, electrical, or
electromechanical switch for detecting contact with the lever 94 or
for detecting repositioning of the lever 94 between relatively far
and relatively near locations (e.g., in the manner of a Hall-Effect
switch).
[0043] With reference to FIGS. 3-5, the lockout mechanism 100
prevents the lever 94 from depressing the actuation switch 96 when
the foot pedal 90 is not associated with an input handle (e.g.,
input handles 80, 80'). The lockout mechanism 100 includes a motor
or solenoid 102 and a pin 104. The solenoid 102 is in communication
with the processing unit (FIG. 1) and moves the pin 104 between an
unlocked configuration (FIG. 3) and a locked configuration (FIG.
4). In the unlocked configuration of the pin 104, the lever 94 is
pivotal between the initial position and the actuated position. In
the locked configuration of the pin 104, the lever 94 is prevented
from pivoting beyond the locked configuration such that the lever
94 is pivotal between the initial position and the locked out
position. The processing unit 30 may prevent the pin 104 from being
moved to the locked configuration when the lever 94 is beyond the
locked configuration or the lever 94 may mechanically prevent the
pin 104 from being moved to the locked configuration when the lever
94 is between the locked out position and the actuated
position.
[0044] As detailed above, during a surgical procedure the foot
pedal 90 is used to actuate a function of a tool 20 associated with
a respective input handle (e.g., input handle 80, 80') of the user
interface 40. Initially, the pin 104 of the lockout mechanism 100
is in the locked configuration preventing the lever 94 from being
depressed. If a clinician attempts to depress the lever 94, the
lever 94 pivots from the initial position to the locked out
position. When the lever 94 reaches the locked out position, the
pin 104 provides tactile or mechanical feedback to the clinician
that the foot pedal 90 is locked out from actuating the tool 20. In
embodiments including the activation switch 98, the activation
switch 98 provides a signal to the processing unit 30 that the
lever 94 is in the locked out position which may provide visual,
audible, or tactile feedback, via the input handle 80, 80', the
display 44, or the foot pedal 90, to the clinician that the
actuation of the tool 20 is unavailable.
[0045] When a respective input handle (e.g., input handle 80, 80')
is associated with the foot pedal 90, the processing unit 30 sends
a signal to the solenoid 102 to transition the pin 104 to the
unlocked configuration. When the clinician depresses the foot pedal
90, the lever 94 pivots to the actuated position and contacts the
actuation switch 96. In response to the depressing of the actuation
switch 96, the foot pedal 90 transmits a signal to the processing
unit 30. When the actuation switch 96 of the foot pedal 90 and the
actuation control 84 of the input handle 80, 80' are simultaneously
providing signals to the processing unit 30, the processing unit 30
sends a control signal to the tool 20 to actuate the associated
function of the tool 20.
[0046] Referring to FIGS. 6 and 7, the foot pedal 90 includes
another lockout mechanism 110 in accordance with the present
disclosure including a solenoid 112 and a pin 114. The solenoid 112
and the pin 114 of the lockout mechanism 110 are similar to the
solenoid 102 and the pin 104 of the lockout mechanism 100, as such
only the differences will be described for reasons of brevity.
[0047] The solenoid 112 is positioned within the frame 92 of the
foot pedal 90 and the pin 114 extends from the solenoid 112 towards
a lower surface of the lever 94. The lever 94 defines a retaining
well 97 to receive the pin 114. In an unlocked configuration of the
pin 114, the pin 114 is substantially within the frame 92 such that
the lever 94 is pivotal to the actuated position. In the locked
configuration of the pin 114, the pin 114 is extended by the
solenoid such that the pin 114 prevents the lever 94 from pivoting
beyond the locked configuration. When the lever 94 is in the locked
configuration and the pin 114 is in the locked configuration, the
pin 114 is engaged with the well 97 of the lever 94. During a
surgical procedure, if the pedal 90 is between the locked out
position and the actuated position without an input handle
associated with the foot lever 94, the solenoid 112 extends the pin
114 into the well 97 of the lever 94 to pivot the lever 94 to the
locked out position. As the solenoid 112 extends the pin 114, the
lever 94 may move a foot of a clinician to provide tactile feedback
that the respective input handle is no longer associated with the
foot lever 94.
[0048] Referring to FIGS. 8 and 9, the foot pedal 90 includes
another lockout mechanism 120 provided in accordance with the
present disclosure including a motor 122 and a pin or tab 124. The
motor 122 is mounted to the frame 92 with the tab 124 rotatably
coupled to a drive shaft 123 of the motor 122. The tab 124 is
rotatable between a locked configuration and an unlocked
configuration. In the locked configuration (FIG. 8), the motor 122
positions the tab 124 such that the tab 124 prevents the lever 94
from pivoting beyond the locked out position. It is envisioned that
the tab 124 may be biased towards the locked configuration. In the
unlocked configuration (FIG. 9), the tab 124 is positioned to
permit the lever 94 to pivot between the initial position and the
actuated position. The motor 122 is configured to rotate the tab
124 between the locked configuration and the unlocked
configuration.
[0049] With reference to FIG. 10, an exemplary method for actuating
a tool of a surgical robot with a foot pedal is illustrated in
accordance with the present disclosure. Initially, an input handle
is associated with the foot pedal. When the foot pedal is
associated with the input handle, the foot pedal transitions to an
unlocked configuration. The foot pedal and the input handle are
then simultaneously depressed to actuate the tool. The tool can be
actuated multiple times by simultaneously depressing the foot pedal
and input handle multiple times as detailed above. The foot pedal
is then disassociated from the input handle by releasing either the
foot pedal or a trigger of the input handle for a predetermined
amount of time or associating another input handle with the foot
pedal.
[0050] With reference to FIG. 11, an exemplary embodiment of the
user interface 40 includes a pedal assignment mechanism 400 in
accordance with the present disclosure. The pedal assignment
mechanism 400 includes a rotary table 410 that supports pedals 90,
190, 290, 390. Each of the pedals 90, 190, 290, 390 is similar to
the pedal 90 and will not be detailed individually in favor of
brevity.
[0051] The rotary table 410 is in communication with the processing
unit 30 (FIG. 1) such that the rotary table 410 rotates in response
to a signal from the processing unit 30. The processing unit 30
rotates the rotary table 410 such that a selected one of the foot
pedals 90, 190, 290, 390 is accessible to the clinician such that
when the selected one of the foot pedals 90, 190, 290, 390 is
associated with one of the input handles 80, 80', the selected one
of the foot pedals 90, 190, 290, 390 actuates a function of a tool
20 (FIG. 1) assigned to the associated input handle 80, 80'.
[0052] The clinician can select which one of foot pedals 90, 190,
290, 390 to associate with the input handle 80 by interacting with
the user interface 40. For example, the user interface 40 can
accept voice commands and/or include a GUI on the display 44 that
allows the clinician to selected one of the foot pedals 90, 190,
290, 390. Additionally or alternatively, the processing unit 30 can
detect a tool 20 (FIG. 1) which is coupled to an arm 12 of the
surgical robot 10 and select a foot pedal 90, 190, 290, 390 that
corresponds to the detected tool 20.
[0053] Referring now to FIG. 12, another exemplary embodiment of
the user interface 40 includes a pedal assignment mechanism 500 in
accordance with the present disclosure. The pedal assignment
mechanism 500 includes a rack 510 that supports pedals 90, 190,
290, 390.
[0054] The rack 510 is in communication with the processing unit 30
(FIG. 1) such that an indication light 91, 191, 291, 391 on an
associated foot pedal 90, 190, 290, 390 provides an indication that
the foot pedal 90, 190, 290, 390 is associated with an input handle
80, 80' in response to a signal from the processing unit 30. The
selected one of the foot pedals 90, 190, 290, 390 actuates a
function of a tool 20 (FIG. 1) assigned to the associated input
handle 80, 80'. As shown, the rack 510 includes a single tier with
all four foot pedals 90, 190, 290, 390; however, it is contemplated
the rack 510 can include multiple tiers with one or more foot
pedals on each tier.
[0055] The clinician can select which one of foot pedals 90, 190,
290, 390 to associate with the input handle 80 by interacting with
the user interface 40. For example, the user interface 40 can
accept voice commands and/or include a GUI on the display 44 that
allows the clinician to selected one of the foot pedals 90, 190,
290, 390. Additionally or alternatively, the processing unit 30 can
detect a tool 20 (FIG. 1) which is coupled to an arm 12 of the
surgical robot 10 and select a foot pedal 90, 190, 290, 390 that
corresponds to the detected tool 20.
[0056] While several embodiments of the disclosure have been shown
in the drawings, it is not intended that the disclosure be limited
thereto, as it is intended that the disclosure be as broad in scope
as the art will allow and that the specification be read likewise.
Any combination of the above embodiments is also envisioned and is
within the scope of the appended claims. Therefore, the above
description should not be construed as limiting, but merely as
exemplifications of particular embodiments. Those skilled in the
art will envision other modifications within the scope of the
claims appended hereto.
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