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Patent US8142447 - Mechanical actuator interface system for robotic surgical tools - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsRobotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible...http://www.google.com/patents/US8142447?utm_source=gb-gplus-sharePatent US8142447 - Mechanical actuator interface system for robotic surgical toolsAdvanced Patent SearchPublication numberUS8142447 B2Publication typeGrantApplication numberUS 12/407,150Publication dateMar 27, 2012Filing dateMar 19, 2009Priority dateDec 8, 1998Also published asDE69942281D1, EP1146830A1, EP1146830A4, EP1146830B1, EP2135577A2, EP2135577A3, EP2298216A2, EP2298217A2, EP2298218A2, EP2298218A3, EP2298219A2, EP2298219A3, EP2338432A1, EP2338433A1, EP2356951A1, EP2359769A1, EP2359770A1, EP2360708A1, EP2363091A2, EP2363091A3, US6331181, US6491701, US6866671, US7048745, US7524320, US8608773, US20020032451, US20020032452, US20020072736, US20030083673, US20050149003, US20070012135, US20090234371, US20090248043, WO2000033755A1Publication number12407150, 407150, US 8142447 B2, US 8142447B2, US-B2-8142447, US8142447 B2, US8142447B2InventorsThomas G. Cooper, Chris A. Julian, Stephen J. Blumenkranz, Robert G. YoungeOriginal AssigneeIntuitive Surgical Operations Inc.Export CitationBiBTeX, EndNote, RefManPatent Citations (107), Non-Patent Citations (15), Referenced by (4), Classifications (29) External Links: USPTO, USPTO Assignment, EspacenetMechanical actuator interface system for robotic surgical toolsUS 8142447 B2Abstract Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
CROSS-REFERENCES TO RELATED APPLICATIONS The present application is a divisional of U.S. patent application Ser. No. 10/316,666 filed on Dec. 10, 2002 now U.S. Pat. No. 7,524,320. U.S. patent application Ser. No. 10/316,666 is a continuation of U.S. patent application No. 09/929,453 filed on Aug. 13, 2001, now U.S. Pat. No. 7,048,745 and is a divisional application of U.S. patent application No. 09/759,542 filed Jan. 12, 2001, now U.S. Pat. No. 6,491,701, which is a continuation application of U.S. patent application No. 09/418,726 filed Dec. 6, 1999, now U.S. Pat. No. 6,331,181, and in turn also claims priority to U.S. Provisional Patent Application No. 60/111,713 filed on Dec. 8, 1998; U.S. patent application No. 09/398,958 filed Sep. 17, 1999, now U.S. Pat. No. 6,394,998; and U.S. Provisional Patent Application No. 60/116,844 filed on Jan. 2, 1999, entitled �Surgical Tools For Use In Minimally Invasive Telesurgical Applications�. The entirety of the above-referenced applications is herein incorporated by reference.
This application also incorporates by references the following U.S. Design patent application Nos.: 29/097,544 filed on Dec. 8, 1998, entitled �Portion Of An Interface For A Medical Instrument�, now U.S. Pat. No. D441,862; 29/097,552 filed on Dec. 8, 1998, entitled �Interface For A Medical Instrument� now U.S. Pat. No. D444,555; 29/097,550 filed on Dec. 8, 1998, entitled �Portion Of An Adaptor For A Medical Instrument�, now U.S. Pat. Nos. D438,617; and 29/097,551 filed on Dec. 8, 1998, entitled �Adaptor For A Medical Instrument�, now U.S. Pat. No. D441,076.
BRIEF SUMMARY OF THE INVENTION The present invention generally provides improved robotic surgical devices, systems, and methods for preparing for and performing robotic surgery. The robotic tools of the present invention will often make use of a memory structure mounted on a tool, manipulator arm, or movable support structure. The memory can, for example, perform a number of important functions when a tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type (whether it is a scalpel, needle grasper, jaws, scissors, clip applier, electrocautery blade, or the like) to the robotic system so that the robotic system can reconfigure its programming to take full advantage of the tools' specialized capabilities. This tool-type data may simply be an identification signal referencing further data in a look-up table of the robotic system. Alternatively, the tool-type signal provided by the tool may define the tool characteristics in sufficient detail to allow reconfiguration of the robotic programming without having to resort to an external table. Thirdly, the memory of the tool may indicate tool-specific information, including (for example) measured calibration offsets indicating misalignment between the tool drive system and the tool end effector elements, tool life data (such as the number of times the tool has been loaded onto a surgical system, the number of surgical procedures performed with the tool, and/or the total time the tools has been used), or the like. The information may be stored in some form of non-volatile memory such as one-time programmable EPROM, Flash EPROM, EEPROM, battery-backed-tip SRAM, or similar memory technology where data can be updated and retained in either a serial or random access method, or with any of a wide variety of alternative hardware, firmware, or software. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
DETAILED DESCRIPTION OF THE INVENTION The present invention provides robotic surgery systems, devices, and methods. Robotic surgery will generally involve the use of multiple robotic arms. One or more of the robotic arms will often support a surgical tool which may be articulated (such as jaws, scissors, graspers, needle holders, microdissectors, staple appliers, tackers, suction/irrigation tools, clip appliers, or the like) or non-articulated (such as cutting blades, cautery probes, irrigators, catheters, suction orifices, or the like). One or more of the robotic arms will often be used to support one or more surgical image capture devices such as an endoscope (which may be any of the variety of structures such as a laparoscope, an arthroscope, a hysteroscope, or the like), or optionally, some other imaging modality (such as ultrasound, fluoroscopy, magnetic resonance imaging, or the like). Typically, the robotic arms will support at least two surgical tools corresponding to the two hands of a surgeon and one optical image capture device.
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Co., LtdSubstrate-related-operation performing apparatus and substrate-related-operation performing system* Cited by examinerClassifications U.S. Classification606/130, 901/25, 606/1International ClassificationA61B19/08, A61B19/00, A61B17/00, G06Q30/00Cooperative ClassificationA61B2017/00477, A61B2019/4894, A61B18/1445, A61B2017/00482, A61B19/5212, A61B2019/2234, A61B2019/2242, A61B2019/223, A61B19/2203, A61B2019/265, G06Q30/02, A61B2019/2292, H01H85/0056, A61B2019/2223, H01H36/0046, A61B2019/448, A61B2019/082, A61B17/00234, A61B2019/4815European ClassificationH01H36/00B8, G06Q30/02, A61B19/22BRotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services©2012 Google