U.S. patent application number 17/399224 was filed with the patent office on 2021-12-02 for input device handle for robotic surgical systems capable of large rotations about a roll axis.
The applicant listed for this patent is Covidien LP. Invention is credited to William Peine.
Application Number | 20210369375 17/399224 |
Document ID | / |
Family ID | 1000005770022 |
Filed Date | 2021-12-02 |
United States Patent
Application |
20210369375 |
Kind Code |
A1 |
Peine; William |
December 2, 2021 |
INPUT DEVICE HANDLE FOR ROBOTIC SURGICAL SYSTEMS CAPABLE OF LARGE
ROTATIONS ABOUT A ROLL AXIS
Abstract
An input device handle for controlling a robotic system includes
a body and a cylinder. The body defines an opening that rotatably
receives the cylinder. The cylinder defines a roll axis such that
rotation of the cylinder relative to the body about the roll axis
is configured to rotate a tool of a robot about a first axis
defined by the tool.
Inventors: |
Peine; William; (Ashland,
MA) |
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Applicant: |
Name |
City |
State |
Country |
Type |
Covidien LP |
Mansfield |
MA |
US |
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|
Family ID: |
1000005770022 |
Appl. No.: |
17/399224 |
Filed: |
August 11, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16081728 |
Aug 31, 2018 |
11090126 |
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PCT/US2017/020341 |
Mar 2, 2017 |
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17399224 |
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62302866 |
Mar 3, 2016 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 34/74 20160201 |
International
Class: |
A61B 34/00 20060101
A61B034/00 |
Claims
1. (canceled)
2. A robotic system comprising: a robot including an arm and a tool
supported at the end of the arm, the tool defining a first axis;
and a user interface in operable communication with the robot to
control the tool, the user interface including a control arm, a
gimbal supported by the control arm and having an input shaft, and
an input device handle coupled to the input shaft, the input shaft
defining a roll axis, the input device handle including: a body
defining an opening; and a cylinder rotatably disposed within the
opening and rotatable about the roll axis, wherein rotation of the
cylinder relative to the body about the roll axis rotates the tool
about the first axis.
3. The robotic system according to claim 2, wherein the rotation of
the cylinder about the roll axis rotates the tool about the first
axis.
4. The robotic system according to claim 2, wherein rotation of the
body about the roll axis rotates the tool about the first axis.
5. The robotic system according to claim 2, wherein the robot
includes a shaft supports the tool and defines a second axis.
6. The robotic system according to claim 5, wherein rotation of the
body about the roll axis rotates the shaft about the second
axis.
7. The robotic system according to claim 2, wherein the gimbal
includes a first sensor to detect rotation of the input shaft
relative to the gimbal.
8. The robotic system according to claim 7, wherein the first
sensor is disposed within the input shaft.
9. The robotic system according to claim 7, wherein the input
device handle includes a second sensor to detect rotation of the
cylinder relative to the body.
10. The robotic system according to claim 2, wherein the tool of
the robot is physically remote and disconnected from the input
device handle, and wherein the roll axis of the cylinder is
separated from the longitudinal axis of the tool of the robot.
11. The robotic system according to claim 10, wherein rotation of
the cylinder about the roll axis is configured to rotate a shaft
pivotally supporting the tool about a second axis defined by the
shaft.
12. A method of manipulating a tool of a robot using an input
device handle of a user interface, the method comprising: rotating
a cylinder of the input device handle relative to a body of the
input device handle about a roll axis defined by an input shaft of
the user interface to rotate a tool of the robot about a first axis
defined by the tool.
13. The method according to claim 12, further comprising rotating
the body about the roll axis to rotate the tool about the first
axis.
14. The method according to claim 12, further comprising rotating
the body about the roll axis to rotate a shaft that supports the
tool about a second axis defined by the shaft.
15. The method according to claim 13, further comprising
articulating the tool relative to the shaft before rotating the
cylinder.
16. An input device handle for controlling a tool of a robot that
is physically remote and disconnected from the input device handle,
the input device handle comprising: a body defining a body axis;
and a cylinder rotatably disposed within the body, the cylinder
defining a roll axis which is coincident with the body axis,
wherein: rotation of the cylinder about the roll axis is configured
to rotate the tool about a first axis defined by a longitudinal
axis of the tool, wherein the roll axis of the cylinder is
separated from the longitudinal axis of the tool of the robot; and
rotation of the body about the body axis is configured to rotate a
shaft, pivotally supporting the tool, about a second axis defined
by the shaft.
17. The input device handle according to claim 16, wherein the
cylinder frictionally engages the body such that as the body is
rotated about the roll axis, the cylinder is rotated about the roll
axis.
18. The input device handle according to claim 16, wherein the body
includes a connection portion that defines an opening for rotatable
receipt of the cylinder, the connection portion configured to
couple to an input shaft of a gimbal of a user interface.
19. The input device handle according to claim 16, further
comprising an actuation control pivotally coupled to the body and
configured to actuate jaws of the tool.
20. The input device handle according to claim 16, wherein the body
includes a button configured to control a function of the tool.
21. The input device handle according to claim 16, wherein the
rotation of the cylinder about the roll axis is scaled to rotation
of the tool about the first axis.
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 or handle that is moveable
by the surgeon to control the robotic surgical system.
[0002] Robotic surgical systems typically used a scaling factor to
scale down the motions of the surgeon's hands to determine the
desired position of the end effector within the patient so that the
surgeon could more precisely move the end effector inside the
patient. However, the larger the scaling factor, the farther the
surgeon had to move the input device handle to move the end
effector the same distance. Since the input device handle has a
fixed range of motion, this meant that for larger scaling factors
the surgeon may have reached an end of the range of motion of an
input handle more often.
[0003] In addition, during a medical procedure a surgeon may need
to rotate the end effector about a roll axis. For example, during a
suturing procedure, large rotations of an end effector may be
required. Such large rotations typically require multiple clutching
events of an input device handle or unnatural rotations of the
input device handle.
[0004] There is a need for an input device handle for a robotic
surgical system that is able to handle large rotations about the
roll axis.
SUMMARY
[0005] This disclosure generally relates to an input device handle
including a body and a cylinder that is rotatable relative to the
body. Rotation of the cylinder is configured to affect rotation of
the tool such that the tool can be rotating without rolling of the
arm of the clinician. By allowing the tool to be rotated without
rolling the arm of the clinician, the tool can be continuously
rolled without clutching of the user interface or being limited by
anatomical limits of the clinician.
[0006] In an aspect of the present disclosure, an input device
handle for controlling a robot includes a body and a cylinder. The
body defines an opening that rotatably receives the cylinder. The
cylinder defines a roll axis such that rotation of the cylinder
relative to the body about the roll axis is configured to rotate a
tool of the robot about a first axis that is defined by the tool.
The rotation of the cylinder about the roll axis may be scaled to
rotation of the tool about the first axis.
[0007] In aspects, the cylinder frictionally engages the body such
that as the body is rotated about the roll axis, the cylinder is
rotated about the roll axis. Rotation of the body about the roll
axis may be configured to rotate the tool of the robot about the
first axis. Alternatively, rotation of the body about the roll axis
may be configured to rotate a shaft supporting the tool about a
second axis that is defined by the shaft. The first and second axis
may be coincident with one another.
[0008] In some aspects, the body may include a connection portion
that defines the opening. The connection portion may be configured
to couple to an input shaft of a gimbal of a user interface.
[0009] In certain aspects, the input device handle includes an
actuation control that is pivotally coupled to the body and that is
configured to actuate jaws of the tool. The body may include a
button that is configured to control a function of the tool.
[0010] In particular aspects, the cylinder includes an engagement
feature. The engagement feature may be alternating ribs and
recesses. Additionally or alternatively, the engagement feature may
be a textured surface.
[0011] In another aspect of the present disclosure, a robotic
system includes a robot and a user interface. The robot includes an
arm and a tool that is support at the end of the arm. The tool
defines a first axis. The user interface is in operable
communication with the robot to control the tool. The user
interface includes a control arm, a gimbal, and an input shaft. The
gimbal is supported by the control arm and has an input shaft. The
input device handle is coupled to the input shaft and defines a
roll axis. The input device handle includes a body and a cylinder.
The body defines an opening that rotatably receives the cylinder.
The cylinder is disposed within the opening defined in the body and
is rotatable about a roll axis such that rotation of the cylinder
relative to the body about the roll axis rotates the tool about the
first axis.
[0012] In aspects, rotation of the cylinder about the roll axis
rotates the tool about the first axis. Rotation of the body about
the roll axis may rotate the tool about the first axis.
[0013] In some aspects, the robot includes a shaft that supports
the tool and defines a second axis. Rotation of the body about the
tool axis may rotate the shaft about the second axis.
[0014] In particular aspects, the gimbal includes a first sensor
that is configured to detect rotation of the input shaft relative
to the gimbal. The first sensor can be disposed within the input
shaft. The input device handle can include a second sensor that is
configured to detect rotation of the cylinder relative to the
body.
[0015] In another aspect of the present disclosure, a method of
manipulating a tool of a robot using an input device handle of a
user interface includes rotating a cylinder of the input device
handle relative to a body of the input device handle about a roll
axis that is defined by an input shaft of the user interface to
rotate a tool of the robot about a first axis which is defined by
the tool.
[0016] In aspects, the method further includes rotating the body
about the roll axis to rotate the tool about the first axis. The
method may include rotating the body about the roll axis to rotate
a shaft that supports the tool about a second axis defined by the
shaft. The method may include articulating the tool relative to the
shaft before rotating the cylinder. Articulating the tool relative
to the shaft may include articulating the first axis relative to
the second axis.
[0017] Further details and aspects of exemplary embodiments of the
present disclosure are described in more detail below with
reference to the appended figures.
BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Various aspects of the present disclosure are described
herein below with reference to the drawings, which are incorporated
in and constitute a part of this specification, wherein:
[0019] FIG. 1 is a schematic illustration of a user interface and a
robotic system in accordance with the present disclosure;
[0020] FIG. 2 is a perspective view of a input device handle
supported on an end of a control arm of the user interface of FIG.
1;
[0021] FIG. 3 is a cutaway view of a body cavity of a patient
showing a tool of the robotic surgical system of FIG. 1 inserted in
the body cavity;
[0022] FIG. 4 is a side perspective view of the input device handle
of FIG. 2; and
[0023] FIG. 5 is a perspective view of the tool of FIG. 3.
DETAILED DESCRIPTION
[0024] 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. In
addition, as used herein the term "neutral" is understood to mean
non-scaled.
[0025] This disclosure generally relates to an input device handle
for use with a user interface to control a robotic system. The
input device handle includes a rotation control that is associated
with one or more roll axes of a tool of the robotic system. The
rotation control includes a cylinder capable of rotation about a
roll axis of a gimbal of the user interface relative to a body of
the input device handle. The cylinder may be associated with
rotation of the tool about a tool axis defined between jaws of the
tool. In addition, rotation of the body of the input device handle
about the roll axis of the gimbal may be associated with rotation
about the tool axis. Alternatively, the tool may be articulated
relative to a shaft supporting the tool and rotation of the body of
the input device handle about the roll axis of the gimbal may be
associated with rotation about a shaft axis defined by the
shaft.
[0026] Referring to FIG. 1, a robotic surgical system 1 in
accordance with the present disclosure 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 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 arms 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.
[0027] 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 arms 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 "5", an imaging
device positioned adjacent the patient "P", imaging device 56
positioned at a distal end of an imaging arm 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 "5".
The imaging devices transmit captured imaging data to the
processing unit 30 which creates three-dimensional images of the
surgical site "5" in real-time from the imaging data and transmits
the three-dimensional images to the display device 44 for
display.
[0028] The user interface 40 also includes gimbals 42 which are
supported on control arms 43 which allow a clinician to manipulate
the robotic system 10 (e.g., move the arms 12, the ends 14 of the
arms 12, and/or the tools 20). Each of the gimbals 42 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 gimbals 42 may include
input devices handles 100 (FIG. 2) which allow the surgeon to
manipulate (e.g., clamp, grasp, fire, open, close, rotate, thrust,
slice, etc.) the tools 20 supported at the ends 14 of the arms
12.
[0029] With additional reference to FIG. 2, each of the input
devices handles 100 is moveable through a predefined workspace to
move the ends 14 of the arms 12 within a surgical site "5". The
three-dimensional images on the display device 44 are orientated
such that the movement of the input handle 42, as a result of the
movement of the input device handles 100, moves the ends 14 of the
arms 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 permitting a clinician to have a better view of
structures within the surgical site "S". As the input devices
handles 100 are moved, the tools 20 are moved within the surgical
site "S" as detailed below. As detailed herein, movement of the
tools 20 may also include movement of the ends 14 of the arms 12
which support the tools 20.
[0030] 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.
[0031] Referring to FIGS. 2 and 3, the input device handle 100 is
supported on a connection arm 46 of the gimbal 42. The connection
arm 46 defines a roll axis "R" of the user interface 40. It will be
appreciated that rotation of the connection arm 46 about the roll
axis "R" rotates the tool 20 about tool roll axis "R.sub.T" as
shown in FIG. 3.
[0032] With reference to FIG. 4, the input device handle 100 in
accordance with the present disclosure includes a body 110, an
actuation control 120, one or more control buttons 132-136, and a
rotation control 140. The body 110 includes a connection portion
112 and a handle 116 extending proximally from the connection
portion 112. The connection portion 112 that defines an opening 114
which rotatably receives the rotation control 140. The actuation
control 120 may be in the form of a trigger that is pivotally
coupled to the body 110. Pivoting the actuation control 120 between
a first position and a second position may actuate jaws 22, 24
(FIG. 3) of the tool 20 between a first or open configuration and a
second or closed configuration. The buttons 132-136 are in operable
communication with the processing unit 30 (FIG. 1) to selectively
control functions of the tool 20. For example, button 132 may fix
the configuration of the jaws 22, 24 relative to one another,
button 134 may fire a fastener (not shown) from one of jaws 22, 24,
and button 136 may actuate a knife (not shown) through the jaws 22,
24. Additionally or alternatively, one of the buttons 132-136 may
activate a source of electrosurgical energy such that
electrosurgical energy is delivered to tissue via the tool 20.
[0033] The rotation control 140 includes a coupling neck 142, an
end cap 144, and a cylinder 146. The coupling neck 142 is disposed
about the connection arm 46 of the gimbal 42 to couple the input
device handle 100 to the connection arm 46. The coupling neck 142
is rotatably fixed to the connection arm 46 and the cylinder 146
such that rotation of the cylinder 146 rotates the connection arm
46 about the roll axis "R" of the gimbal 42. The cylinder 146 is
rotatably disposed within the opening 114 of the body 110 such that
the cylinder 146 may be rotated relative to the body 110. The
cylinder 146 may be frictionally engaged with the body 110 such
that the cylinder 146 rotates with the body 110 in response to the
body 110 being rotated about the roll axis "R" of the gimbal 42.
The cylinder 146 may include engagement features 148 that are
engagable by a clinician to rotate the cylinder 146 relative to the
body 110. It is envisioned that the cylinder 146 may be engaged by
the thumb of a clinician gripping the handle 114. The engagement
features 148 may be alternating ribs and recesses as shown in FIG.
4. Additionally or alternatively, the engagement features 148 may
include a textured surface or any known surface or feature that
enhances engagement of a finger of a clinician with the cylinder
146.
[0034] Rotation of the cylinder 146 is measured by a rotation
sensor, such as a rotary encoder 152, in the connection arm 46
supporting the input device handle 100. It is envisioned that the
rotatory encoder 152 can be disposed within the connection arm 46
and/or within the gimbal 42 to detect rotation of the connection
arm 46 about the roll axis "R". In addition, the rotational
position of the cylinder 146 relative to the input device handle
100 could also be measured using a second sensor or encoder 154 in
the body 110, which may allow improved gravity compensation of the
input device handle 100 and other more advanced control functions.
As described above, rotation of the cylinder 146 can be
accomplished by rotating the entire input device handle 100 and
allowing the friction between the cylinder 146 and the input device
handle 100 to rotate the cylinder 146, or the input device handle
100 can be held fixed and the cylinder 146 can be rotated relative
to the input device handle 100 by a thumb of a clinician. In both
cases, rotation of the cylinder 146 about the roll axis "R" of the
gimbal 42 is measured and is used to control rolling motion of the
instrument 20.
[0035] By providing a cylinder 146 that is rotatable relative to
the body 110 of the input device handle 100, the dexterity of the
clinician can be increased by allowing large rotations of the tool
20 about the tool roll axis "R.sub.T" (FIG. 5) with minimal or no
rotation of the handle 116 about the roll axis "R" of the gimbal
42.
[0036] With additional reference to FIG. 5, a tool 20 may include
first and second jaws 22, 24 that are pivotally supported at an end
of a tool shaft 26. The first and second jaws 22, 24 define the
tool roll axis "R.sub.T" that passes through a center line between
the first and second jaws 22, 24 and the tool shaft 26 defines a
shaft roll axis "R.sub.S". In such embodiments, rotation of the
cylinder 146 and/or the handle 116 about the roll axis "R" of the
gimbal 42, rotates the first and second jaws 22, 24 about the tool
roll axis "R.sub.T". Alternatively, rotation of the cylinder 146
about the roll axis "R" of the gimbal 42 may rotate the first and
second jaws 22, 24 about the tool roll axis "R.sub.T" and rotation
of the handle 116 about the roll axis "R" of the gimbal 42 may
rotate the tool 20 about the shaft roll axis "R.sub.S".
[0037] It is contemplated that the rotation of the cylinder 146
and/or the handle 116 about the roll axis "R" may be scaled in a
positive, neutral, or negative manner to rotation of the tool roll
axis "R.sub.T" and/or the shaft roll axis "R.sub.S". For a detailed
discussion of scaling of rotation reference may be made to U.S.
Provisional Patent Application Ser. No. 62/265,457, filed Dec. 10,
2015, entitled "ROBOTIC SURGICAL SYSTEMS WITH INDEPENDENT ROLL,
PITCH, AND YAW SCALING" (now U.S. Pat. No. 10,893,913), the entire
contents of which are hereby incorporated by reference.
[0038] It will be appreciated that during a surgical procedure that
the pitch and yaw motions of the input device handle 100 remain
correctly mapped to the tool pitch axis "PT" and the tool yaw axis
"YT" as viewed on the display 44. For example, if the clinician
rotates the first and second jaws 22, 24 about the tool roll axis
"R.sub.T" using the cylinder 146, pitching the input device handle
100 down will continue to pitch the tool 20 down relative to the
tool pitch axis "PT".
[0039] It is envisioned that the cylinder 146 can be used to
control functions or features of the system other than rolling the
tool 20 about the tool roll axis "R.sub.T". For example, the
cylinder 146 could be used to roll a camera associated with the
cylinder, navigate through a graphical user interface (GUI) on the
display 44, actuate a function of the tool 20 (e.g., fire staples
from one of the first or second jaw 22, 24), etc.
[0040] As detailed above and shown in FIG. 1, the user interface 40
is in operable communication with the robot system 10 to perform a
surgical procedure on a patient "P"; however, it is envisioned that
the user interface 40 may be in operable communication with a
surgical simulator (not shown) to virtually actuate a robot system
and/or tool in a simulated environment. For example, the surgical
robot system 1 may have a first mode where the user interface 40 is
coupled to actuate the robot system 10 and a second mode where the
user interface 40 is coupled to the surgical simulator to virtually
actuate a robot system. The surgical simulator may be a standalone
unit or be integrated into the processing unit 30. The surgical
simulator virtually responds to a clinician interfacing with the
user interface 40 by providing visual, audible, force, and/or
haptic feedback to a clinician through the user interface 40. For
example, as a clinician interfaces with the input device handles
100, the surgical simulator moves representative tools that are
virtually acting on tissue at a simulated surgical site. It is
envisioned that the surgical simulator may allow a clinician to
practice a surgical procedure before performing the surgical
procedure on a patient. In addition, the surgical simulator may be
used to train a clinician on a surgical procedure. Further, the
surgical simulator may simulate "complications" during a proposed
surgical procedure to permit a clinician to plan a surgical
procedure.
[0041] 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.
* * * * *