Source: https://patents.google.com/patent/US20180185110A1/en
Timestamp: 2019-06-19 17:38:08
Document Index: 58385768

Matched Legal Cases: ['Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'art 120', 'art 120', 'art 120', 'art 120', 'art 120', 'art 120', 'art 305', 'art 308', 'arts 305', 'art 308', 'art 305']

US20180185110A1 - Multi-User Medical Robotic System for Collaboration or Training in Minimally Invasive Surgical Procedures - Google Patents
US20180185110A1
US20180185110A1 US15/866,858 US201815866858A US2018185110A1 US 20180185110 A1 US20180185110 A1 US 20180185110A1 US 201815866858 A US201815866858 A US 201815866858A US 2018185110 A1 US2018185110 A1 US 2018185110A1
US15/866,858
1998-11-20 Priority to US10930398P priority Critical
1998-11-20 Priority to US10930198P priority
1999-01-22 Priority to US11689199P priority
1999-01-22 Priority to US11684299P priority
1999-09-17 Priority to US39945799A priority
1999-11-03 Priority to US09/433,120 priority patent/US6659939B2/en
2002-01-16 Priority to US10/051,796 priority patent/US6852107B2/en
2002-08-06 Priority to US10/214,286 priority patent/US6858003B2/en
2004-12-28 Priority to US11/025,766 priority patent/US20050107808A1/en
2005-10-12 Priority to US72577005P priority
2005-12-27 Priority to US11/319,012 priority patent/US8527094B2/en
2013-08-13 Priority to US13/965,581 priority patent/US9271798B2/en
2016-01-26 Priority to US15/006,555 priority patent/US9666101B2/en
2017-05-29 Priority to US15/607,676 priority patent/US9867671B2/en
2018-01-10 Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
2018-01-10 Priority to US15/866,858 priority patent/US20180185110A1/en
2018-07-05 Publication of US20180185110A1 publication Critical patent/US20180185110A1/en
This application is a continuation of U.S. patent application Ser. No. 15/607,676, filed May 29, 2017, which is a continuation of U.S. patent application Ser. No. 15/006,555, filed Jan. 26, 2016, now U.S. Pat. No. 9,666,101, which is a divisional of U.S. patent application Ser. No. 13/965,581, filed Aug. 13, 2013, now U.S. Pat. No. 9,271,798, which is a divisional of U.S. patent application Ser. No. 11/319,012, filed Dec. 27, 2005, now U.S. Pat. No. 8,527,094, which claims priority from U.S. Provisional Application No. 60/725,770, filed Oct. 12, 2005, each of which is incorporated herein by this reference.
U.S. patent application Ser. No. 11/319,012 is also a continuation-in-part of U.S. patent application Ser. No. 11/025,766, filed Dec. 28, 2004, now abandoned, which is a continuation of U.S. patent application Ser. No. 10/214,286, filed Aug. 6, 2002, now U.S. Pat. No. 6,858,003, which is a divisional of U.S. patent application Ser. No. 09/436,982, filed Nov. 9, 1999, now U.S. Pat. No. 6,468,265, which claims priority from U.S. Provisional Patent Application No. 60/109,359, filed Nov. 20, 1998, U.S. Provisional Application No. 60/109,301, filed Nov. 20, 1998, U.S. Provisional Application No. 60/109,303, filed Nov. 20, 1998, and U.S. Provisional Application No. 60/150,145, filed Aug. 20, 1999, and which is a continuation-in-part of U.S. patent application Ser. No. 09/433,120, filed Nov. 3, 1999, now U.S. Pat. No. 6,659,939, which is a continuation-in-part of U.S. patent application Ser. No. 09/399,457, filed Sep. 17, 1999, now abandoned, which is a continuation-in-part of U.S. patent application Ser. No. 09/374,643, filed Aug. 16, 1999, now abandoned, which claims priority from U.S. Provisional Patent Application No. 60/116,891, filed Jan. 22, 1999, U.S. Provisional Patent Application No. 60/116,842, filed Jan. 22, 1999, and U.S. Provisional Patent Application No. 60/109,359, filed Nov. 20, 1998, each of which is incorporated herein by this reference.
U.S. patent application Ser. No. 11/319,012 is also a continuation-in-part application of U.S. patent application Ser. No. 10/948,853, filed Sep. 23, 2004, now U.S. Pat. No. 7,413,565, which is a divisional of U.S. patent application Ser. No. 10/246,236, filed Sep. 17, 2002, now U.S. Pat. No. 6,951,535, which is a continuation of U.S. patent application Ser. No. 10/051,796, filed Jan. 16, 2002, now U.S. Pat. No. 6,852,107, each of which is incorporated herein by this reference.
These and additional objects are accomplished by the various aspects of the present invention, wherein the embodiments of the invention are summarized by the claims below.
FIGS. 16 and 17 schematically illustrate alternative robotic telesurgical systems utilizing aspects of the present invention.
The system 100 includes a mentor master control station 101 operative by the Mentor Surgeon (M), a slave cart 120 having a plurality of slave robotic mechanisms (also referred to as “robotic arm assemblies” and “slave manipulators”) 121-123, and one or more trainee master control stations, such as trainee master control stations 131 and 161, operative by Trainee Surgeons, such as Trainee Surgeons (T1) and (TK). The mentor master control station 101, in this example, communicates directly with the slave cart 120, and the trainee master control stations communicate indirectly with the slave cart 120 through the mentor master control station 101.
The slave cart 120 is positioned alongside the Patient (P) so that surgery-related devices (such as 157) included at distal ends of the slave robotic mechanisms 121-123 may be inserted through incisions (such as incision 156) in the Patient (P), and manipulated by one or more of the participating surgeons at their respective master control stations to perform a minimally invasive surgical procedure on the Patient (P). Each of the slave robotic mechanisms 121-123 preferably includes linkages that are coupled together and manipulated through motor controlled joints in a conventional manner.
Although only one slave cart 120 is shown being used in this example, additional slave carts may be used as needed. Also, although three slave robotic mechanisms 121-123 are shown on the cart 120, more or less slave robotic mechanisms may be used per slave cart as needed.
Since the master has moved to a new position, a comparison by the bilateral controller 410 of its corresponding position in Cartesian space with the Cartesian space position of the slave corresponding to its initial position yields a deviation and a new slave position in Cartesian space. This position is then input to the slave kinematics converter 412 as indicated by arrow ABS, which computes the equivalent joint space position commands.
The Mentor master control station 101 preferably performs the slave processing for all slave robotic mechanisms 121-123, because it communicates directly with the slave robotic mechanisms 121-123, whereas the Trainee master control stations only communicate indirectly with the slave robotic mechanisms 121-123 through the Mentor master control station 101. On the other hand, the Trainee master control stations preferably perform the master processing for their respective master input devices, so that such processing may be performed in parallel with the slave processing (while maintaining time synchronization) while off-loading these processing requirements from the processor of the Mentor master control station 101. Thus, this distribution of processing makes efficient use of processor resources and minimizes processing delay.
FIG. 11 illustrates an example of input/output ports for the association module 1001, in which input ports A-F are shown on the left side of the association module 1001 for convenience, and output ports U-Z are shown on the right side of the association module 1001 for convenience.
Alternative telesurgical networks are schematically illustrated in FIGS. 16 and 17. An operator O and an Assistant 43 may cooperate to perform an operation by passing control of instruments between input devices, and/or by each manipulating their own instrument or instruments during at least a portion of the surgical procedure. Referring, now to FIG. 16, during at least a portion of a surgical procedure, for example, cart 305 is controlled by Operator O and supports an endoscope and two surgical instruments. Simultaneously, for example, cart 308 might have a stabilizer and two other surgical instruments, or an instrument and another endoscope. The surgeon or operator O and assistant 43 cooperate to perform a stabilized heating heart coronary artery bypass grafting (CABG) procedure by, for example, passing a needle or other object back and forth between the surgical instruments of carts 305, 308 during suturing, or by having the instruments of cart 308 holding the tissue of the two vessels being anastomosed while the two instruments of cart 305 are used to perform the actual suturing. Such cooperation heretofore has been difficult because of the volumetric space required for human hands to operate. Since robotic surgical end effectors require much less space in which to operate, such intimate cooperation during a delicate surgical procedure in a confined surgical space is now possible. Optionally, control of the tools may be transferred or shared during an alternative portion of the procedure.
Referring now to both FIGS. 16 and 17, cooperation between systems is also possible. The choice of how many masters and how many corresponding slaves to enable on a cooperating surgical system is somewhat arbitrary. Within the scope of the present invention, one may construct a single telesurgical system's architecture to handle five or six manipulators (e.g., two masters and three or four slaves) or ten or twelve manipulators (e.g., four masters and six or eight manipulators), although any number is possible. For a system having multiple master controls, the system may be arranged so that two operators can operate the same surgical system at the same time by controlling different slave manipulators and swapping manipulators as previously described.
As can be understood with reference to FIG. 16, a simple manner of having two surgical systems, each having an operator, to cooperate during a surgical procedure is to have a single image capture device, such as an endoscope, produce the image for both operators. The image can be shared with both displays by using a simple image splitter. If immersive display is desired, the two systems might additionally share a common point of reference, such as the distal tip of the endoscope, from which to calculate all positional movements of the slave manipulators. With the exception of the imaging system, each control station might be independent of the other, and might be operatively coupled independently to its associated tissue manipulation tools. Under such a simple cooperative arrangement, no swapping of slave manipulators from one system to another would be provided, and each operator would have control over only the particular slave manipulators attached directly to his system. However, the two operators would be able to pass certain objects back and forth between manipulators, such as a needle during an anastomosis procedure. Such cooperation may increase the speed of such procedures once the operators establish a rhythm of cooperation. Such an arrangement scenario may, for example, be used to conduct a typical CABG procedure, such that one operator would control the endoscope and two tissue manipulators, and the other operator would control two or three manipulators to aid in harvesting the internal mammary artery (IMA) and suturing the arterial blood source to the blocked artery downstream of the particular blocked artery in question. Another example where this might be useful would be during beating heart surgery, such that the second operator could control a stabilizer tool in addition to two other manipulators and could control the stabilizer while the first operate performed an anastomosis.
A slightly more complicated arrangement of surgical manipulators on two systems within the scope of the present invention, occurs when operators are provided with the ability to “swap” control of manipulator arms. For example, the first operator is able to procure control over a manipulator arm that is directly connected to the second operator's system. Such an arrangement is depicted in FIG. 16.
With the ability to operatively hook multiple telesurgical systems together, an arrangement akin to a surgical production line can be envisioned. For example, a preferred embodiment of the present invention is shown in FIG. 17. Therein, a single master surgeon O occupies a central master control operating room. Satellite operating rooms (ORs) 952, 954 and 956 are each operatively connected to the central master console via switching assembly 958, which is selectively controlled by Operator O. While operating on a first patient P1 in OR 956, the patients in ORs 954 and 952 are being prepared by assistants A2 and A3, respectively. During the procedure on patient P1, patient P3 becomes fully prepared for surgery, and A3 begins the surgery on the master control console dedicated to OR 952 by controlling manipulator assembly 964. After concluding the operation in OR 956, Operator O checks with Assistant 43 by inquiring over an audio communications network between the ORs whether Assistant 43 requires assistance. OR 950 might additionally have a bank of video monitors showing the level of activity in each of the ORs, thereby permitting the master surgeon to determine when it would be best to begin to participate in the various ongoing surgeries, or to hand control off to others to continue or complete some of the surgeries.
Returning to the example, if Assistant 43 requests assistance, O selects OR 952 via switching assembly 958, selects a cooperative surgery set-up on an OR-dedicated switching assembly 960, and begins to control manipulator assembly 962. After completion of the most difficult part of the surgery in OR 952, O switches over to OR 954, where patient P2 is now ready for surgery.
The principles behind this playback feature can be built upon by using a live hand of a second operator instead of simple data playback. For example, two master control consoles may be connected together in such a way that both masters are assigned to a single set of surgical instruments. The master controls at the subordinate console would follow or map the movements of the masters at the primary console, but would preferably have no ability to control any of the instruments or to influence he masters at the primary console. Thus, the student seated at the subordinate console again could “experience” a live surgery by viewing the same image as the surgeon and experiencing how the master controls are moved to achieve desired manipulation of the slaves.
An alternative to this “on-off” clutching whereby the instructor surgeon is either subordinate to the student or in command would be a variable clutch arrangement. For example, again the instructor is subordinate to the student's performance of a procedure, and has his masters follow the movement of the student's master controls. When the instructor desires to participate in the procedure, but does not desire to wrest all control from the student, the instructor could begin to exert some control over the procedure by partially clutching and guiding the student through a certain step. If the partial control was insufficient to achieve the instructor's desired result, the instructor could then completely clutch in and demonstrate the desired move, as above. Variable clutching could be achieved by adjusting an input device, such as a dial or a foot pedal having a number of discrete settings corresponding to the percentage of control desired by the instructor. When the instructor desires some control, he or she could operate the input device to achieve a setting of, for example, 50 percent control, in order to begin to guide the student's movements. Software could be used to calculate the movements of the end effectors based on the desired proportionate influence of the instructor's movements over the student's. In the case of 50% control, for example, the software would average the movements of the two sets of master controls and then move the end effectors accordingly, producing resistance to the student's desired movement, thereby causing the student to realize his error. As the surgeon desires more control, he or she could ratchet the input device to a higher percentage of control, finally taking complete control as desired.
an arbitrator that can operate in an exclusive mode to control access and control movement of said robot exclusively by said first remote station or second remote station, said arbitrator provides a mechanism that allows said first remote station to exclusively access and control movement of said robot, said mechanism denies exclusive access to said robot by said second remote station.
2. A robot system, comprising:
a first robot and a second robot that each have a camera that can generate an image, a monitor, a speaker and a microphone that can generate audio;
a second remote station that can access said first and second robots, said second remote station including a camera, a monitor that can receives said image from said first and second robots, a microphone and a speaker that can produce audio provided by said first and second robots; and
a server coupled to said first and second robots and said first and second remote stations, said server allows exclusive access to said first robot by said first remote station such that said image and audio from said first robot is provided to said first remote station and said image and audio are not provided to said second remote station and even though said second remote station is prevented from accessing said first robot said server allows said second remote station to access said second robot.
US15/866,858 1998-11-20 2018-01-10 Multi-User Medical Robotic System for Collaboration or Training in Minimally Invasive Surgical Procedures Pending US20180185110A1 (en)
US11689199P true 1999-01-22 1999-01-22
US11684299P true 1999-01-22 1999-01-22
US39945799A true 1999-09-17 1999-09-17
US09/433,120 US6659939B2 (en) 1998-11-20 1999-11-03 Cooperative minimally invasive telesurgical system
US10/214,286 US6858003B2 (en) 1998-11-20 2002-08-06 Performing cardiac surgery without cardioplegia
US11/025,766 US20050107808A1 (en) 1998-11-20 2004-12-28 Performing cardiac surgery without cardioplegia
US72577005P true 2005-10-12 2005-10-12
US15/607,676 Continuation US9867671B2 (en) 1998-11-20 2017-05-29 Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US20180185110A1 true US20180185110A1 (en) 2018-07-05
US11/319,012 Active 2025-06-07 US8527094B2 (en) 1998-11-20 2005-12-27 Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US13/965,581 Active US9271798B2 (en) 1998-11-20 2013-08-13 Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US15/006,555 Active US9666101B2 (en) 1998-11-20 2016-01-26 Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US15/006,549 Active US9636186B2 (en) 1998-11-20 2016-01-26 Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US15/607,676 Active US9867671B2 (en) 1998-11-20 2017-05-29 Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US15/866,858 Pending US20180185110A1 (en) 1998-11-20 2018-01-10 Multi-User Medical Robotic System for Collaboration or Training in Minimally Invasive Surgical Procedures
US (6) US8527094B2 (en)
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2017-05-29 US US15/607,676 patent/US9867671B2/en active Active
2018-01-10 US US15/866,858 patent/US20180185110A1/en active Pending
US20160166345A1 (en) 2016-06-16
US20170258537A1 (en) 2017-09-14
US20060178559A1 (en) 2006-08-10
US20130331859A1 (en) 2013-12-12
US8527094B2 (en) 2013-09-03
US9271798B2 (en) 2016-03-01
US20160140875A1 (en) 2016-05-19
US9636186B2 (en) 2017-05-02
US9666101B2 (en) 2017-05-30
US9867671B2 (en) 2018-01-16