Source: https://patents.google.com/patent/US20080147089A1/en
Timestamp: 2018-09-24 19:36:33
Document Index: 447765941

Matched Legal Cases: ['Application No. 60', 'art 406', 'art 410', 'arts 406', 'art 406', 'art 410']

US20080147089A1 - Wireless communication in a robotic surgical system - Google Patents
Wireless communication in a robotic surgical system Download PDF
US20080147089A1
US20080147089A1 US11967499 US96749907A US2008147089A1 US 20080147089 A1 US20080147089 A1 US 20080147089A1 US 11967499 US11967499 US 11967499 US 96749907 A US96749907 A US 96749907A US 2008147089 A1 US2008147089 A1 US 2008147089A1
US11967499
US8672922B2 (en )
Roman L. Devengenzo
A61B2046/234—Surgical drapes specially adapted for patients with means to retain or hold surgical implements with means for retaining a catheter
In one embodiment, a method of wireless communication in a robotic surgical system comprises providing a carriage link of a robotic manipulator including a printed circuit assembly and a link communication device, positioning a sterile drape over the robotic manipulator, mounting a removable surgical instrument on the carriage link, and passing data wirelessly in either or both directions through the sterile drape between the link communication device and the surgical instrument along with power for electrical circuitry on the instrument. A robotic manipulator and robotic surgical system are also provided.
This application is a continuation-in-part of U.S. application Ser. No. 11/613,915 filed Dec. 20, 2006, which claimed the benefit of U.S. Provisional Application No. 60/752,755, filed Dec. 20, 2005, the full disclosures of which are incorporated by reference herein for all purposes.
This application is related to U.S. application Ser. No. 11/613,578 filed Dec. 20, 2006, entitled “Cable Tensioning A Robotic Surgical System”, U.S. application Ser. No. 11/613,800 filed Dec. 20, 2006, entitled “Telescopic Insertion Axis Of A Robotic Surgical System”, U.S. application Ser. No. 11/556,484, filed Nov. 3, 2006, entitled “Indicator For Tool State and Communication In A Multi-Arm Robotic Telesurgery”, and U.S. application Ser. No. 11/613,695 filed Dec. 20, 2006, entitled “Instrument Interface In A Robotic Surgical System”, the full disclosures of which are incorporated by reference herein for all purposes.
The present invention relates generally to robotic surgical systems and, more particularly, to an apparatus, system, and method for wireless communication and power supply in a robotic surgical system.
A surgical manipulator assembly may be said to be divided into three main components that include a non-sterile drive and control component, a sterilizable end effector or surgical tool/instrument, and an intermediate connector component. The intermediate connector component includes mechanical elements for coupling the surgical tool with the drive and control component, and for transferring motion from the drive component to the surgical tool. Electrical cables, such as flexible flat cables, have been previously used to provide power, ground, and/or data signals between the components of the surgical system. Prior telerobotic surgical systems with such electrical cables are described for example in U.S. application Ser. No. 11/613,800 filed Dec. 20, 2006, entitled “Telescopic Insertion Axis Of A Robotic Surgical System”, the complete disclosure of which has been previously incorporated herein by reference for all purposes. However, issues related to small clearances, electrical noise, mechanical fatigue, and mechanical hazards can possibly lead to malfunction and decreased system robustness. Furthermore, power and data transactions for electrical circuits must cross a sterile barrier (e.g., a membrane or film) that separates the sterile field containing surgical activity from the non-sterile mechanisms of the surgical robot.
What is needed, therefore, are improved apparatus and methods for providing electrical signals and/or power through a sterile barrier in a telerobotic surgical system to surgical instruments in the sterile field.
In accordance with an embodiment of the present invention, a robotic manipulator is provided, comprising a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link. The carriage link includes a communication device that wirelessly communicates with a removable surgical instrument through a sterile drape.
In accordance with another embodiment of the present invention, a robotic surgical system is provided, the system comprising an insertion axis of a robotic manipulator, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link, the carriage link including a printed circuit assembly and a link communication device. The system further includes a sterile drape over the insertion axis, and a removable surgical instrument that wirelessly communicates with the link communication device through the sterile drape.
In accordance with another embodiment of the present invention, a method of wireless communication in a robotic surgical system is provided, the method comprising providing a carriage link of a robotic manipulator including a link communication device, positioning a sterile drape over the robotic manipulator, mounting a removable surgical instrument on the carriage link, and passing data wirelessly through the sterile drape between the link communication device and the surgical instrument.
Advantageously, the present invention allows a user to repeatedly and operably install and remove surgical instruments on the system while maintaining a sterile barrier between the patient in the sterile surgical field and the non-sterile portions of the robotic system. Furthermore, separation of the robotic surgical system's electrical circuits provides additional barrier to leakage currents.
FIG. 10A is a perspective view of a sterile drape including an instrument sterile adaptor draped over a manipulator.
FIG. 10B is a perspective view of the sterile drape of FIG. 10A illustrating a mounted accessory and an installed surgical instrument.
FIG. 11 illustrates a system in which data is communicated through a sterile barrier by a light transmitter and an optical sensor in accordance with an embodiment of the present invention.
FIG. 12 illustrates a system in which data is communicated through a sterile barrier via magnetic coupling using primary and secondary parts of a transformer in accordance with an embodiment of the present invention.
FIG. 13 illustrates a system in which data is communicated through a sterile barrier via magnetic coupling using a coil and sensor pairing in accordance with an embodiment of the present invention.
FIG. 14 illustrates a system in which data is communicated through a sterile barrier via radio waves in accordance with an embodiment of the present invention.
FIG. 15 illustrates a block diagram of a printed circuit assembly (PCA) that may be used with the embodiments of FIGS. 10 through 14 in accordance with an embodiment of the present invention.
The present invention provides a system, apparatus, and method for wireless communication in a telerobotic surgical system for performing robotically-assisted surgical procedures on a patient, particularly including neurosurgical procedures and endoscopic procedures, such as laparoscopy, arthroscopy, thoracoscopy and the like. The apparatus and method of the present invention is particularly useful as part of a telerobotic surgical system that allows the surgeon to manipulate the surgical instruments through a servomechanism at a location remote from the patient. One example of a robotic surgical system is the da Vinci® S™ surgical system available from Intuitive Surgical, Inc. of Sunnyvale, Calif. A User's Guide for the da Vinci® S™ surgical system is available from Intuitive Surgical, Inc. and is incorporated by reference herein for all purposes.
Some of the manipulators include a telescopic insertion axis 100 (FIGS. 5A-5E), although in other embodiments, all of the manipulators may include a telescopic insertion axis 100. Telescopic insertion axis 100 allows for movement of mounted instrument 5, via three operably coupled links, in one example.
FIG. 3 illustrates a perspective view of an articulated surgical tool or instrument 5. Tool 5 has a proximal housing 24 which interfaces with a tool holder or instrument interface of the manipulator, generally providing a quick release mounting engagement through a sterile adapter or interface, an example of which is disclosed in U.S. patent application Ser. No. 11/314,040, filed Dec. 20, 2005, and U.S. patent application Ser. No. 11/395,418, filed Mar. 31, 2006, which are incorporated by reference herein for all purposes. Tool 5 includes an elongated shaft 23 supporting an end effector 28 relative to proximal housing 24. Proximal housing 24 accepts and transmits drive signals or drive motion between the manipulator 8 and the end effector 28. An articulated wrist 29 may provide two degrees of freedom of motion between end effector 28 and shaft 23, and the shaft may be rotatable relative to proximal housing 24 about the axis of the shaft so as to provide the end effector 28 with three orientational degrees of freedom within the patient's body.
The surgical tool may include a variety of articulated end effectors, such as jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, and clip appliers, that may be driven by wire links, eccentric cams, push-rods, or other mechanisms. In addition, the surgical tool may comprise a non-articulated instrument, such as cutting blades, probes, irrigators, catheters or suction devices. Alternatively, the surgical tool may comprise an electrosurgical probe for ablating, resecting, cutting or coagulating tissue. Examples of applicable adaptors, tools or instruments, and accessories are described in U.S. Pat. Nos. 6,331,181, 6,491,701, and 6,770,081, the full disclosures of which (including disclosures incorporated by reference therein) are incorporated by reference herein for all purposes. Applicable surgical instruments are also commercially available from Intuitive Surgical, Inc. of Sunnyvale, Calif.
Referring now to FIGS. 5A through 5E, manipulator 8 including an embodiment of a telescopic insertion axis 100 is shown in more detail. In one example, the insertion axis is comprised of a 3-stage telescopic linear axis including three links movably coupled to one another via rails, pulleys, and cables, with the links narrowing in width or form factor moving from the proximal link toward the distal link. Advantageously, the present invention provides for one-handed port and instrument clutching, a larger range of motion, a narrower insertion arm, and greater insertion axis stiffness and strength with reduced inertia as a function of insertion depth, thereby helping to enable a two-quadrant surgery with a single setup (e.g., a colorectal surgery), and providing for more space and visibility near the surgical field.
Base link 102 is operably coupled to a distal end of arm 50, and in one example has an accessory clamp 108 attached to a distal end of base link 102. An accessory 110, such as a cannula, may be mounted onto accessory clamp 108. An example of applicable accessory clamps and accessories are disclosed in pending U.S. application Ser. No. 11/240,087, filed Sep. 30, 2005, the full disclosure of which is incorporated by reference herein for all purposes. An example of applicable sterile adaptors and instrument housings are disclosed in U.S. application Ser. No. 11/314,040, filed Dec. 20, 2005 and in U.S. application Ser. No. 11/395,418, filed Mar. 31, 2006, the full disclosures of which are incorporated by reference herein for all purposes.
Carriage link 106 includes an instrument interface 101 for operably coupling to a sterile adaptor 109, which in turn is operably coupled to a housing 24 of an instrument 5, and controls the depth of the instrument inside a patient. In one embodiment, the sterile adaptor 109 may be part of a drape that may be draped over the robotic surgical system, and in particular the manipulator system, to establish a sterile barrier between the non-sterile PSM arms and the sterile field of the surgical procedure. An example of an applicable drape and adaptor is disclosed in pending U.S. application Ser. No. 11/240,113 filed Sep. 30, 2005 and U.S. application Ser. No. 11/314,040 filed Dec. 20, 2005, the full disclosures of which are incorporated by reference herein for all purposes.
Main PCA/transceiver 202 and remote PCA/transceiver 204 may support various wireless communication protocols, including but not limited to Bluetooth, IrDA, HomeRF, IEEE 802.11, DECT, and Wireless Telemetry. Data transmitted between remote PCA/transceiver 204 and main PCA/transceiver 202 may include information about the instrument (e.g., instrument identification, connection status to the sterile adaptor via a Hall Effect sensor, etc.), the sterile adaptor (e.g., connection status to the carriage link interface, etc.), and the state of the system (e.g., tissue manipulation mode, clutch mode, cannula presence, etc., that control for such things as LED color and blinking frequency of indicator 20). Thus, in one example, electrical signals may be communicated to and from a surgical tool, a sterile adaptor, LEDs, a clutch button, and Hall Effect sensors. Other examples of data that may be communicated are described in the User's Guide for the da Vinci® S™ surgical system available from Intuitive Surgical, Inc.
Referring now to FIGS. 8A and 8B, block diagrams of a main PCA 202 and a remote PCA 204, respectively, are illustrated showing inputs and outputs of the PCAs. In one embodiment, the remote PCA may have inputs and outputs for providing power and/or communicating with LEDs, Hall effect sensors, a sterile adaptor, an instrument, and a user interface button (e.g., for a clutch operation). The remote PCA may also include an input for receiving power and an input/output for communicating with a main PCA (e.g., processor 4 of FIG. 1). In one embodiment, the main PCA may have inputs and outputs for providing power and/or communicating with motors (e.g., the main PCA transmits position controls to the motors and processes potentiometer and encoder signals), sensors, the user interface button, the remote PCA, and other printed circuit boards on a patient side cart system via a serial communication bus. The remote PCA may include, in one example, an Embedded Serializer for Instrument Interface (ESII) PCA, and the main PCA may include, in one example, an Embedded Serializer Patient Manipulator (ESPM) PCA, both of which are manufactured by Intuitive Surgical, Inc. of Sunnyvale, Calif. It is noted that other printed circuit assemblies or boards that allow for the communication of signals related to the instrument, the sterile adaptor, the accessory, and/or the state of the system are within the scope of the present invention.
As noted above, in one embodiment a drape may be draped over the robotic surgical system, and in particular the manipulator system, to establish a sterile and electrically-isolating barrier between the non-sterile PSM arms and the sterile field of the surgical procedure, as illustrated in FIGS. 10A and 10B. FIG. 10A is a perspective view of a sterile drape 300 including instrument sterile adaptor 109 draped over manipulator 8, manipulator arm 50, and insertion axis 100. FIG. 10B is a perspective view of sterile drape 300 of FIG. 10A illustrating a mounted accessory 110 (e.g., a cannula) and an installed surgical instrument 5 (including housing 24, shaft 23, wrist 29, and end effector 28) engaged with adaptor 109. An example of an applicable drape is disclosed in pending U.S. application Ser. No. 11/240,113 filed Sep. 30, 2005, the full disclosure of which has been previously incorporated by reference herein for all purposes.
A sterile drape is thus provided for draping portions of a telerobotic surgical system to maintain a sterile and electrically-isolating barrier between the sterile surgical field and the non-sterile robotic system. Accordingly, means and methods for transferring data and/or providing power across a sterile barrier to/from removable surgical instruments are desirable. Previously, disposable or re-usable sterilizable instrument adaptors/interfaces with electrical contacts have been employed. The present invention improves on the interface by the elimination of extra interfaces, the elimination of extra parts, and the increased reliability of a non-contact interface as compared to electrical contacts.
In accordance with the present invention, apparatus, systems, and methods for passing signals and/or power through the sterile barrier between a surgical instrument and the robotic system are provided. Referring now to FIGS. 11-14, data communication across a sterile barrier may be provided by a communication device utilizing optical, close-coupled magnetics, and/or radio wave transmission in accordance with embodiments of the present invention.
FIG. 11 illustrates an embodiment in which data is communicated by using a light transmitter 402 a (e.g., modulated light emitters, LEDS, and/or lasers) to transmit data through an optically transparent sterile barrier 300 to be received on the other side of the barrier 300 by an optical sensor 402 b (e.g., photo-diode or photo-transistor) in a surgical instrument 5. Data can travel in both directions between an insertion axis 100 of a manipulator and the instrument 5 by including a transmit and receive pair (transmitter 402 a, sensor 404 b and sensor 402 b, transmitter 404 a) on each side of the sterile barrier. In one example, a communication device includes light transmitter 402 a and optical sensor 404 b operably coupled to carriage link 106 and a printed circuit assembly (PCA) 401 for processing received and/or transmitted data (e.g., instrument identification, connection status to the sterile adaptor via a Hall Effect sensor, etc.), and optical sensor 402 b and light transmitter 404 a are operably coupled to a removable instrument. In one example, PCA 401 may be located on carriage link 106 and function as a remote PCA operably coupled to a main PCA. In alternative embodiments, PCA 401 may function as a main PCA located outside of the insertion axis.
Advantageously, optically transferred data can be sent in the presence of ambient light interference when baseline and thresholds are adjusted accordingly at rates between the higher data rate and the lower rate of change of ambient light. Alternately in embodiments where ambient light is blocked, this adjustment technique is not required.
FIG. 12 illustrates an embodiment in which data is communicated between an insertion axis 100 of a manipulator and an instrument 5 through sterile barrier 300 via magnetic coupling using primary and secondary parts of a transformer such that direct physical contact through sterile barrier 300 is not required. In one example, a communication device includes a primary transformer part 406 wound with wire or printed circuit traces and operably coupled to a PCA 408. A secondary transformer part 410 is operably coupled to a surgical instrument 5 for transfer of data between PCA 408 and the surgical instrument. For higher data requirements, separate transformer part pairs may be employed for signal and signal direction. Advantageously, data signals may be bidirectional in this embodiment.
In accordance with another embodiment of the present invention, power transfer across sterile barrier 300 without electrical contact may be provided by AC magnetic coupling of separated primary and secondary transformer parts 406 and 410. This transformer can be the same as the transformer noted above with respect to FIG. 12 used for data transmission for lower bandwidth systems by multiplexing power transmission and data transmission. For higher data requirements, separate transformer part pairs may be employed for signals and power.
Concentration of magnetic field lines is advantageous to reduce emissions and susceptibility to stray magnetic fields as well as to increase the efficiency of power and data transfer. In some cases, a concentration of magnetic field lines may be used to increase the specificity of the data and power coupling. Such a concentration can be achieved through the use of magnetically permeable cores, including ferrite, powdered iron, and amorphous metallic materials. Common shapes available for this purpose include pot cores, E cores, and U cores.
In one example, primary transformer part 406 is wound with wire or printed circuit traces, and secondary transformer part 410 is operably coupled to switching power circuits, for example having a bridge rectifier 412 and a capacitor 414, used to provide isolated power. Applicable switching circuits include but are not limited to forward converters, flyback converters, and other isolated converters.
FIG. 13 illustrates an embodiment in which data is communicated between an insertion axis 100 of a manipulator and an instrument 5 through sterile barrier 300 via magnetic coupling using a coil (416 a, 418 b) and sensor (416 b, 418 a) pairing. Coil 416 a, operably coupled to a carriage link, transmits data by modulation of current through a coil, which can be wound wire or printed circuit traces in one example. Sensor 416 b, operably coupled to a surgical instrument, receives the data from coil 416 a through barrier 300. Sensor 416 b can be mechanical or electronic, including but not limited to Hall Effect and magneto-resistive sensors, that reads current in the coil of coil 416 a at a distance for bit information. Data may be communicated in both directions by including another coil 418 b and sensor 418 a pair on each side of the sterile barrier. Coil 418 b and sensor 418 a may be substantially similar to coil 416 a and sensor 416 b, respectively, as described above.
FIG. 14 illustrates an embodiment in which data is communicated between an insertion axis 100 of a manipulator and an instrument 5 across sterile barrier 300 via radio waves. A PCA 420 operably coupled to a carriage link of an insertion axis may wirelessly communicate through the sterile barrier with a PCA 422 operably coupled to an instrument. In one example, PCAs 420 and 422 support various wireless communication protocols, including but not limited to Bluetooth, HomeRF, IEEE 802.11, DECT, as well as non-public purpose designed protocols.
FIG. 15 illustrates a block diagram of a remote printed circuit assembly (PCA) (e.g., PCA 401, 408, or 420) that may be used with the embodiments of FIGS. 10 through 14 in accordance with an embodiment of the present invention. The PCA block diagram illustrates inputs and outputs of the PCA, and in one embodiment, the PCA may have inputs and outputs for providing wireless power and/or wireless communication with LEDs, Hall effect sensors, a sterile adaptor, an instrument, and/or a user interface button (e.g., for a clutch operation). The PCA may also include an input for receiving power and an input/output for communicating with a main PCA (e.g., processor 4 of FIG. 1). The remote PCA may include, in one example, an Embedded Serializer for Instrument Interface (ESII) PCA, which is manufactured by Intuitive Surgical, Inc. of Sunnyvale, Calif. It is noted that other printed circuit assemblies or boards that allow for the communication of signals related to the instrument, the sterile adaptor, the accessory, and/or the state of the system are within the scope of the present invention.
Advantageously, the present invention allows a user to repeatedly and operably install and remove surgical instruments on the system while maintaining a sterile barrier between the patient in the sterile surgical field and the non-sterile portions of the robotic system. Furthermore, separation of the electrical circuits of the robotic surgical system provides a barrier to leakage currents that might otherwise cause electrical harm to patients and/or medical staff. Accurate data transmission between the system and the instrument is made possible even in the presence of high electromagnetic noise caused by energy tools commonly used in surgery by the mentioned techniques of magnetic field concentration.
Embodiments described above illustrate but do not limit the invention. It should also be understood that numerous modifications and variations are possible in accordance with the principles of the present invention. For example, numerous PCAs and respective wireless communication devices placed in various system locations is within the scope of the present invention. Furthermore, the system is not limited to four robotic manipulator assemblies, but may include two or more in other examples. Accordingly, the scope of the invention is defined only by the following claims.
1. A robotic manipulator, comprising:
an insertion axis that supports a surgical instrument; and
a communication device that wirelessly communicates with the surgical instrument through a sterile drape.
2. The manipulator of claim 1, wherein the communication device includes one of a light transmitter and an optical sensor, a portion of a transformer, and a wireless transceiver.
3. The manipulator of claim 1, wherein the communication device includes a portion of a transformer and provides power to the surgical instrument through the sterile drape.
4. The manipulator of claim 1, wherein the communication device receives data selected from the group consisting of instrument identification and an instrument state.
5. The manipulator of claim 1, wherein the communication device further comprises a printed circuit assembly for transmitting data selected from the group consisting of a system state, a sterile adaptor state, an instrument state, an instrument identification, LED control, a clutch button state, and a Hall-effect sensor state.
6. The manipulator of claim 1, wherein the insertion axis includes:
a carriage link movably coupled to the base link, wherein the carriage link includes an instrument interface, a user interface, and a manipulator clutch button.
7. The manipulator of claim 6, further comprising an idler link movably coupled between the base link and the carriage link.
8. A robotic surgical manipulator system, comprising:
an insertion axis of a robotic manipulator, including:
a carriage link movably coupled to the base link, the carriage link including a link communication device;
a sterile drape over the insertion axis; and
a surgical instrument that wirelessly communicates with the link communication device through the sterile drape.
9. The system of claim 8, wherein the surgical instrument includes an instrument data transmitter.
10. The system of claim 9, wherein the instrument data transmitter includes one of a light transmitter, a portion of a transformer, and a wireless transceiver.
11. The system of claim 8, wherein the surgical instrument includes a sensor that receives data from the link communication device through the sterile drape.
12. The system of claim 8, wherein the link communication device includes one of a light transmitter and an optical sensor, a portion of a transformer, and a wireless transceiver.
13. The system of claim 8, wherein the link communication device includes a portion of a transformer and provides power to the surgical instrument through the sterile drape.
14. The system of claim 8, wherein the link communication device receives data from the instrument selected from the group consisting of an instrument identification and an instrument state.
15. The system of claim 8, wherein the link communication device further comprises a printed circuit assembly for transmitting data selected from the group consisting of a system state, a sterile adaptor state, an instrument state, an instrument identification, LED control, a clutch button state, and a Hall-effect sensor state.
16. The system of claim 8, wherein the surgical instrument has an end effector 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 devices.
providing a robotic manipulator including a link communication device;
positioning a sterile drape over the robotic manipulator;
mounting a removable surgical instrument on the robotic manipulator; and
passing data wirelessly through the sterile drape between the link communication device and the surgical instrument.
18. The method of claim 17, wherein data is passed from the link communication device using one of a light transmitter, a portion of a transformer, and a wireless transceiver.
19. The method of claim 17, wherein the passed data is selected from the group consisting of an instrument identification, an instrument state, a system state, a sterile adaptor state, an instrument identification, LED control, a clutch button state, and a Hall-effect sensor state.
20. The method of claim 17, further comprising providing power to the removable surgical instrument through the sterile drape using a portion of a transformer.
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Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:LOH, ALAN;DEVENGENZO, ROMAN L;SIGNING DATES FROM 20080103 TO 20080129;REEL/FRAME:020612/0415
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:INTUITIVE SURGICAL, INC.;REEL/FRAME:032109/0691