INDICATOR FOR TOOL STATE AND COMMUNICATION IN MULTI-ARM ROBOTIC TELESURGERY

Abstract

Medical and/or robotic devices, systems and methods provide an indicator associated with a manipulator assembly of a multi-arm telerobotic or telesurgical system. An example of an indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic plan view of a portion of an operating theater illustrating a robotic surgical system in use, including a master surgeon console or workstation for inputting a surgical procedure and a robotic manipulator system for robotically moving surgical instruments having surgical end effectors at a surgical site within a patient.

FIG. 2 is a perspective view of an embodiment of a manipulator system, including positioning linkages or set up joints which allow at least two patient side robotic manipulators and one endoscope or camera robotic manipulator to be pre-configured for surgery.

FIG. 3 is a perspective view of an example of an articulated surgical instrument for use in the system of FIG. 1.

FIG. 4 is a perspective from above of an alternative manipulator system including a plurality of positioning linkages, each supporting a manipulator assembly.

FIG. 5 is a perspective view of a manipulator for use in a manipulator system in accordance with an embodiment of the present invention.

FIG. 6 is a detailed view of an interface portion of the manipulator of FIG. 5, showing a tool holder and adjacent indicator section for outputting visual signals.

FIGS. 7A and 7B show a front view and a side view, respectively, of the tool holder portion including the indicator and radiation patterns.

FIGS. 8A and 8B show perspective views of the indicator section in isolation in accordance with an embodiment of the present invention.

FIGS. 9A and 9B illustrate a surface texture of the indicator section in accordance with an embodiment of the present invention.

FIG. 10 illustrates the indicator section including a magnet for operably coupling to a metal tab in accordance with an embodiment of the present invention.

FIG. 11 is a schematic block diagram of an embodiment of an alternative robotic system and method for its use by a plurality of system operators.

FIG. 12 is a flow chart schematically describing a method for reconfiguring a manipulator assembly in response to an identifiable signal from an associated indicator.

FIG. 13 is a listing of separately identifiable visual signals which may be generated by the indicator of FIG. 6, along with their associated meanings, in accordance with an embodiment of the present invention.

FIG. 14 illustrates colors which can be generated by the indicator of FIG. 6, along with the general meanings of those colors, in accordance with an embodiment of the present invention.

Claims

1. A surgical manipulator assembly, comprising: a manipulator movably supporting a tool holder; andan indicator section operably coupled to the manipulator for indicating state or identity information, the indicator section including a multiple-color light emitting diode (LED) and a translucent housing.

2. The assembly of claim 1, wherein the multiple-color LED is a tri-colored LED capable of displaying red, green, and blue.

3. The assembly of claim 1, wherein the translucent housing has a rough exterior surface and a smooth interior surface.

4. The assembly of claim 1, wherein the translucent housing is comprised of a material selected from the group consisting of polycarbonate and a clear plastic.

5. The assembly of claim 1, wherein the state information is selected from the group consisting of a state of a tool mounted on the tool holder, and a state of the manipulator assembly.

6. The assembly of claim 1, wherein the identity information is selected from the group consisting of an identity of a mounted tool, and an identity of the manipulator assembly.

7. The assembly of claim 1, further comprising a tool mountable on the tool holder.

8. The assembly of claim 7, wherein the tool is selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, cautery probes, irrigators, catheters, and suction orifices.

9. The assembly of claim 1, further comprising a manipulator clutch switch threaded into the housing.

10. The assembly of claim 1, further comprising a magnet in the indicator section for operably coupling to a metal tab of a sterile drape used to substantially cover the surgical manipulator assembly from a sterile field.

11. The assembly of claim 1, further comprising a metal tab in the indicator section for operably coupling to a magnet of a sterile drape used to substantially cover the surgical manipulator assembly from a sterile field.

12. The assembly of claim 1, further comprising a grip point located on a surface of the indicator section selected from the group consisting of a front, back, and side surface.

13. A surgical manipulator assembly, comprising: a manipulator movably supporting a tool holder for mounting a tool; andan indicator section operably coupled to the manipulator for indicating state or identity information, the indicator section including a multiple-color light emitting diode (LED), a translucent housing, and a magnet for operably coupling to a metal tab of a sterile drape used to substantially cover the surgical manipulator assembly from a sterile field.

14. The assembly of claim 13, wherein the tool is selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, cautery probes, irrigators, catheters, and suction orifices.

15. The assembly of claim 13, wherein the multiple-color LED is a tri-colored LED capable of displaying red, green, and blue.

16. The assembly of claim 13, wherein the translucent housing has a rough exterior surface and a smooth interior surface.

17. The assembly of claim 13, wherein the state information is selected from the group consisting of a state of the tool mounted on the tool holder, and a state of the manipulator assembly.

18. The assembly of claim 13, wherein the identity information is selected from the group consisting of an identity of the tool mounted on the tool holder, and an identity of the manipulator assembly.

19. The assembly of claim 13, further comprising a manipulator clutch switch threaded into the housing.

20. The assembly of claim 13, further comprising a grip point located on a surface of the indicator section selected from the group consisting of a front, back, and side surface.

21. A robotic surgical manipulator system, comprising: a manipulator assembly, including: a manipulator movably supporting a tool holder, andan indicator section operably coupled to the manipulator for indicating state or identity information, the indicator section including a multiple-color light emitting diode (LED) and a translucent housing;a tool mounted on the tool holder; anda processor operably coupled to the manipulator assembly for inducing the LED to indicate state or identity information.

22. The system of claim 21, wherein the multiple-color LED is a tri-colored LED capable of displaying red, green, and blue.

23. The system of claim 21, wherein the translucent housing has a rough exterior surface and a smooth interior surface.

24. The system of claim 21, wherein the state information is selected from the group consisting of a state of a tool mounted on the tool holder, and a state of the manipulator assembly.

25. The system of claim 21, wherein the identity information is selected from the group consisting of an identity of a mounted tool, and an identity of the manipulator assembly.

26. The system of claim 21, wherein the manipulator assembly further comprises a manipulator clutch switch threaded into the housing.

27. The system of claim 21, wherein the manipulator assembly further comprises a magnet in the indicator section for operably coupling to a metal tab of a sterile drape used to substantially cover the surgical manipulator assembly from a sterile field.

28. The system of claim 21, wherein the manipulator assembly further comprises a grip point located on a surface of the indicator section selected from the group consisting of a front, back, and side surface.

29. The system of claim 21, wherein the tool is selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, cautery probes, irrigators, catheters, and suction orifices.