Patent Application
20180296286
Robotic surgical systems have been used in minimally invasive medical procedures. During such 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 end effector is inserted into a small incision (via a cannula) or a natural orifice of a patient to position the end effector at a work site within the body of the patient. Some robotic surgical systems include a robotic console supporting a robot arm and at least one end effector such as a scalpel, a forceps, or a grasping tool that is mounted to the robot arm.
Cables may extend from the robot console, through the robot arm, and connect to wrist and/or jaw assemblies of the end effector. In some instances, the cables are actuated by motors that are controlled by a processing system including the user interface for a surgeon or clinician to be able to control the robotic surgical system including the robot arm, the wrist assembly and/or the jaw assembly.
In general, the user interface includes an input controller or handle that is moveable by the surgeon to control the robotic surgical system. Movement of the input controllers and handles is translated to movement of the robotic instruments within the surgical space.
A need exists for input devices with variable sweeping that account for biomechanical factors of users interfacing with robotic surgical systems.
The present disclosure generally relates to input devices for robotic surgical systems and methods for controlling the movement of a robotic tool of a robotic surgical system. Specifically, this disclosure is directed to input devices having control arms such that each control arm has a length corresponding to a respective digit of a clinician which engages the respective control arm. By varying the length of the control arms the input devices may account for biomechanical factors of users interfacing with the input device of robotic surgical system. In addition, this disclosure is directed to methods for controlling the movement of a tool in response to control arms of an input device of a robotic surgical system pivoting relative a shaft of the input device. Specifically, the method includes relating an angle between jaws of the tool to an angle between control arms of the input device.
In an aspect of the present disclosure, a method for controlling a robotic tool of a robotic surgical system includes pivoting a first control arm of a controller of a user interface of the robotic surgical system with respect to a shaft of the controller and moving a first jaw of the robotic tool of the robotic surgical system a first distance in a first direction relative to a tool axis defined by the robotic tool and moving a second jaw of the robotic tool in response to the pivoting of the first control arm. The second jaw moves the first distance in a second direction that is opposite the first direction.
In aspects, the user interface transmits a signal in response to pivoting the first control arm. A processing unit of the robotic surgical system may generate a control signal in response to receiving the signal indicative of pivoting the first control arm from the user interface. The processing unit may transmit the control signal to a robotic system to move the first jaw in the first direction and to move the second jaw in the second direction.
In some aspects, pivoting the first control arm with respect to the shaft of the controller includes maintaining a second control arm of the control in position with respect to the shaft. Alternatively, pivoting the first control arm with respect to the shaft of the controller includes pivoting a second control arm of the controller with respect to the shaft. The first control arm and the second control arm may define an arm angle therebetween. The movement of the first jaw the first distance and the movement of the second jaw the second distance may be proportional to a change in the arm angle in response to movement of the first and second control arms.
In certain aspects, pivoting the first control arm with respect to the shaft includes depressing a switch to actuate a function of the robotic tool. Actuating a function of the robotic tool may include ejecting a staple from one of the first or section jaws, delivering electrosurgical energy with the tool, or advancing a knife of the tool. Pivoting the first control arm with respect to the shaft may include receiving tactile feedback in response to abutting the switch before depressing the switch to actuate a function of the tool.
In another aspect of the present disclosure, a robotic surgical system includes a processing unit, a robotic system, and a user interface. The robotic system is in communication with the processing unit. The robotic system includes a robotic tool supported on a shaft that defines a longitudinal tool axis. The robotic tool has first and second jaws movable relative to one another between open and approximated configurations. The first jaw defines a first jaw angle relative to the longitudinal tool axis and the second jaw defines a second jaw angle relative to the longitudinal tool axis. The user interface includes a control that is in communication with the processing unit to manipulate the robotic tool in response to manipulation of the controller. The controller has a controller shaft and first and second control arms. The first and second control arms are pivotally coupled to an end of the shaft. The first control arm defines a first arm angle with the controller shaft and the second control arm defines a second arm angle with the control shaft. Each of the first and second arms is pivotable between open and approximated positions relative to the shaft. The sum of the first and second arm angles is operatively associated with a sum of the first and second jaw angles such that the first and second jaw angles remain equal to one another.
In aspects, the first and second jaws each pivot relative to one another in response to movement of the first arm. Additionally or alternatively, the first and second jaws each pivot relative to one another in response to movement of the second arm.
In some aspects, the first and second jaws remain stationary in response to a change in the first arm angle and a change in the second arm angle. The change in the first arm angle may be a decrease in the first arm angle and the change in the second arm angle may be an increase in the second arm angle such that the decrease in the first arm angle may be equal to the increase in the second arm angle. The robotic system may be configured to actuate a function of the robotic tool when the first and second buttons are depressed.
In certain aspects, the controller includes a first button positioned between the first arm and the control shaft and a second button positioned between the second arm and the control shaft. The first and second buttons may be disposed on the control shaft. The first and second buttons may be configured to provide tactile feedback when the first and second control arms engage the first and second buttons respectively. Alternatively, the first button may be disposed on the first arm and the second button may be disposed on the second arm. The first and second buttons may be configured to provide tactile feedback when the first and second buttons engage the control shaft.
Further details and aspects of exemplary embodiments of the present disclosure are described in more detail below with reference to the appended figures.
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:
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, a surgeon, 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.
Referring to
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 “S”, 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 “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.
The user interface 40 also includes input handles 42 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 input handles 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 input handles 42 may include control interfaces (not shown) 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.
Each of the input handles 42 is moveable through a predefined three-dimensional workspace to move the ends 14 of the arms 12 within a surgical site “S”. The three-dimensional images on the display device 44 are orientated such that the movement of the input handle 42 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 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 the surgeon to have a better view of structures within the surgical site “S”. As the input handles 42 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 the ends 14 of the arms 12 which support the tools 20.
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.
With reference to
The control arm 55 that supports the thumb loop 54 defines an angle “θ1” with the axis “X-X” within the plane and the control arm 56 that supports the finger loop 56 defines an angle “θ2” with the axis “X-X” within the plane. In addition, an angle “θ3”, which is the sum of angle “θ1” and angle “θ2”, is defined between the first and second control arms 55, 57. The angles “θ1”, “θ2”, “θ3” are changed as the loops 54, 56 are moved or swept within the plane towards and away from the axis “X-X”.
With additional reference to
The tool 20 defines an axis “Y-Y” that passes between the first and second jaws 22, 24. The first jaw 22 defines an angle “θ4” with the axis “Y-Y” and the second jaw 24 defines an angle “θ5” with the axis “Y-Y”. In addition, an angle “θ6”, which is the sum of angle “θ4” and angle “θ5”, is defined between the first and second jaws 22, 24.
The controller 50 is operatively associated with the tool 20 through the user interface 40 and the processing unit 30. The first and second jaws 22, 24 are operatively associated with the first and second control arms 55, 57 such that movement of the control arms 55, 57 relative to the axis “X-X” effects movement of the first and second jaws 22, 24 relative to the axis “Y-Y”.
In embodiments, the first control arm 55 is associated with the first jaw 22 such that the angle “θ1” of the first control arm 55 with the axis “X-X” is associated with the angle “θ4” of the first jaw 22 with the axis “Y-Y” such that changes in the angle “θ1” effect changes in the angle “θ4”. In addition, the second control arm 57 is associated with the second jaw 24 such that the angle “θ2” between the second control arm 57 and the axis “X-X” is associated with the angle “θ5” between the second jaw 24 and the axis “Y-Y” such that changes in the angle “θ2” effect changes in the angle “θ5”.
Changes in the angle “θ1” may be scaled to changes in the angle “θ4” by a first scaling factor “SF1” and changes in the angle “θ2” may be scaled to changes in the angle “θ5” by a second scaling factor “SF2”. The first and second scaling factors “SF1”, “SF2” may be determined by the anatomical features of the clinician.
For example, movement of the first control arm 55 is effected by movement of the thumb loop 54 that is engaged by the thumb of a clinician and the first scaling factor “SF1” may be scaled relative to the movement of the thumb of a clinician from a closed position, where the thumb is adjacent or in contact with the shaft 52, to a fully extended position, where the thumb is extended away from the shaft 52. Similarly, movement of the second control arm 57 is effected by movement of the finger loop 56 that is engaged by the index finger of a clinician and the second scaling factor “SF2” may be scaled relative to the movement of the index finger of a clinician from a closed position, where the index finger is adjacent or in contact with the shaft 52, to a fully extended position, where the index finger is extended away from the shaft 52. In such embodiments, the first and second scaling factors “SF1”, “SF2” are calibrated such that movement of the thumb of the clinician between the closed position and the extended position effects a change in the angle “θ4” of the first jaw 52 that is equal to the change in the angle “θ5” of the second jaw 54 when the index finger is moved between the closed position and the extended position. It will be appreciated that in such a configuration, movement of the first jaw 52 is independent of movement of the second jaw 54. It is contemplated, that the first and second scaling factors “SF1”, “SF2” may be set during manufacturing of controller 50, may be set by a central system of the medical facility based on a clinician using the surgical system 1, or may be set by a calibration routine before the start of a procedure by measuring the movements of a clinician using the surgical system 1.
In some embodiments, the first control arm 55 is associated with the first jaw 22 and the second control arm 57 is associated with the second jaw 24 such that changes in the angle “θ3”, defined between the first and second control arms 55, 57, effects changes in the angle “θ6”, defined between the first and second jaws 22, 24.
Changes in the angle “θ3” may be scaled to changes in the angle “θ6” by a third scaling factor “SF3”. For example, the movement of the control arms 55, 57 may be scaled down such that a change of 30° of the angle “θ3” between the control arms 55, 57 may result in a change of 15° in angle “θ6” between the first and second jaws 22, 24. It is also contemplated that the movement of the control arms 55, 57 may be scaled up such that a change of 15° of the angle “θ3” between the control arms 55, 57 may result in a change of 30° in angle “θ6” between the first and second jaws 22, 24. It will be appreciated that in such embodiments, movement of the first and second jaws 22, 24 is related to one another. It is within the scope of this disclosure that one of the first or second jaws 22, 24 may be fixed relative to the axis “Y-Y” such that changes in the angle “θ3” between control arms 55, 57 effect movement of only one of the first or second jaws 22, 24 based on the change in the angle “θ3”. Such embodiments may be advantageous when one jaw (e.g., second jaw 24) of the tool 20 has a stationary jaw and the other jaw (e.g., the first jaw) is moveable relative to the stationary jaw to transition the jaws between the open and closed configurations; for example, when the tool 20 is a stapling instrument.
In some embodiments, a control axis (not explicitly shown) passes through the second end 52b of the shaft 52, defines an angle with the axis X-X in the plane, and passes between the control arms 55, 57. In such embodiments, the angle θ1 is defined between the control arm 55 and the control axis and the angle θ2 is defined between the control arm 57 and the control axis. By defining the angles θ1 and θ2 relative to the control axis, the movement of the control arms 55, 57 may correspond to the anatomical features of the clinician. In particular embodiments, the control axis may be aligned with one of the control arms 55, 57 such that a respective one of the angles θ1 and θ2 may be substantially 0° to represent a tool 20 with a stationary jaw (e.g., a stapling instrument) such that movement of either control arm 55, 57 moves the non-stationary jaw relative to the stationary jaw.
In some embodiments, a tool axis (not explicitly shown) passes through a pivot point between the first and second jaws 22, 24 of the tool 20, defines an angle with the axis Y-Y, and passes between the first and second jaws 22, 24. In such embodiments, the angle θ4 is defined between the first jaw 22 and the tool axis and the angle θ5 is defined between the second jaw 24 and the control axis. By defining the angles θ4 and θ5 relative to the tool axis, the movement of the first and second jaws 22, 24 may correspond to the anatomical features of the clinician. It is contemplated that the tool axis may define an angle with the axis Y-Y that is similar to an angle defined between the control axis and the axis X-X.
Referring back to
Referring now to
Initially and with particular reference to
When the control arms 55, 57 are in the first approximated position, the control arms 55, 57 abut the switches 64, 66 positioned on the shaft 52, the switches 65, 67 positioned on the control arms 55, 57 abut the shaft 52, and the first and second jaws 22, 24 of the tool 20 are in the approximated configuration. The switches 64-67 are biased to the unactuated position such that each of the switches 64-67 provides tactile feedback when the switches 64-67 abut the shaft 52 or are abutted by the control arms 55, 57, respectively. It will be appreciated that the tactile feedback of the switches 64-67 may prevent in advertent actuation of the switches 64-67.
When the control arms 55, 57 move from the first approximated position to the second approximated position, the control arms 55, 57 depress switches 64, 66 to the actuated position and the switches 65, 67 engage the shaft 52 to depress to the actuated position, and the first and second jaws 22, 24 of the tool 20 remain in the approximated configuration. As the switches 64-67 are moved to the actuated position, a function associated with each switch 64-67 or each pair of switches (e.g., switches 64 and 66 or switches 65 and 67) is activated such that the tool 20 performs a desired function, as detailed above.
In an aspect of the present disclosure, the controller 50 is manipulated to grasp and release tissue with the first and second jaws 22, 24 of the tool 20 until a desired portion of the tissue is grasped between the first and second jaws 22, 24. Then, the controller 50 is manipulated such that the tool 20 completes a desired function to the desired portion of the tissue. Specifically, the thumb loop 54 and the finger loop 56 are manipulated to move the control shafts 55, 57 between the open and first approximated position to move the first and second jaws 22, 24 between the open and approximated configurations to grasp, release, and reposition tissue. When the first and second jaws 22, 24 are in the approximated configuration with a desired portion of tissue therebetween, the thumb loop 54 and the finger loop 56 are manipulated to move the control shafts 55, 57 from the first approximated configuration to the second approximated configuration such that the switches 64-67 are depressed or moved to the actuated position. As the switches 64-67 reach the actuated position, electrosurgical energy is delivered to the desired portion of tissue with the tool 20.
Referring now to
Referring now to
In response to the signal from the user interface 40, the processing unit 30 generates a control signal (Step 240). The processing unit 30 transmits the control signal to a robotic system 10 (Step 250). In response to the control signal, the robotic system 10 moves first and second jaws relative to one another such that an angle “θ6” defined between the first and second jaws of the robotic system changes proportional to the change in the angle “θ3” (Step 252).
When the first or second control arms are pivoted, the control arm may abut a switch (e.g., switch 64-67) (Step 220) such that tactile feedback is received through a loop (e.g., thumb loop 54, 154 or finger loop 56, 156) (Step 222). After the tactile feedback is received, subsequent pivoting of the control arm towards the shaft depresses the switch (Step 224). In such instances, signal transmitted by the user interface (Step 230) is indicative of the button being depressed, such that the control signal generated and transmitted by the processing unit (Steps 240, 250) actuates a function of the robotic tool of the robotic system (Step 254). It is contemplated that pivoting the first control arm may first move the first and second jaws an angle “θ6” and then actuate a function of the robotic tool.
The user interface 40 and the processing unit 30 may generate and transmit the signal and control signal, respectively, in a wired or wireless manner. Such wireless connections detailed herein (e.g., between controller 63 and the processing unit 30) may be via radio frequency, optical, WIFI, Bluetooth® (an open wireless protocol for exchanging data over short distances (using short length radio waves) from fixed and mobile devices, creating personal area networks (PANs)), ZigBee® (a specification for a suite of high level communication protocols using small, low-power digital radios based on the IEEE 802.15.4-2003 standard for wireless personal area networks (WPANs)), etc.
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.
This application claims the benefit of and priority to U.S. Provisional Patent Application No. 62/244,762 filed Oct. 22, 2015, the entire disclosure of which is incorporated by reference herein.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/US2016/057784 | 10/20/2016 | WO | 00 |
| Number | Date | Country | |
|---|---|---|---|
| 62244762 | Oct 2015 | US |
