Source: http://www.google.com/patents/US6905491?dq=7143430
Timestamp: 2014-07-22 07:45:58
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Matched Legal Cases: ['application No. 08', 'application No. 08', 'application No. 08', 'application No. 08', 'application No. 08', 'application No. 07', 'art 1', 'Application No. 93']

Patent US6905491 - Apparatus for performing minimally invasive cardiac procedures with a ... - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign in<nobr>Advanced Patent Search</nobr>PatentsA system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles...http://www.google.com/patents/US6905491?utm_source=gb-gplus-sharePatent US6905491 - Apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input deviceAdvanced Patent SearchPublication numberUS6905491 B1Publication typeGrantApplication numberUS 09/000,934Publication dateJun 14, 2005Filing dateDec 30, 1997Priority dateFeb 20, 1996Fee statusPaidAlso published asUS5762458, US6001108, US6244809, US6994703, US7025064, US7025761, US7027892, US7118582, US7390325, US7507199, US7785320, US7914521, US20030065310, US20030078474, US20030083650, US20030083651, US20030125716, US20030139733, US20030139753, US20050234433, US20060142881, US20060167441, US20080221731, US20110087238Publication number000934, 09000934, US 6905491 B1, US 6905491B1, US-B1-6905491, US6905491 B1, US6905491B1InventorsYulun Wang, Darrin R. Uecker, Keith Phillip Laby, Jeff Wilson, Steve Jordan, James WrightOriginal AssigneeIntuitive Surgical, Inc.Export CitationBiBTeX, EndNote, RefManPatent Citations (104), Non-Patent Citations (42), Referenced by (10), Classifications (45), Legal Events (5) External Links: USPTO, USPTO Assignment, EspacenetApparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input deviceUS 6905491 B1Abstract A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The robotic arm may contain a passive joint that provides an additional degree of freedom. Additionally, the system may include a disconnect input device that decouples the arm from an input device such as the handles.
REFERENCE TO CROSS-RELATED APPLICATIONS This application is a continuation of application No. 08/603,543, filed on Feb. 20, 1996, U.S. Pat. No. 5,762,458, and a continuation-in-part of application No. 08/903,914, filed on Jul. 31, 1997, U.S. Pat. No. 5,815,640, which is a continuation of application No. 08/613,866, filed on Mar. 11, 1996, U.S. Pat. No. 5,907,664, which is a continuation of application No. 08/072,982, filed on Jun. 3, 1993, U.S. Pat. No. 5,524,180, which is a continuation-in-part of application No. 08/005,604, filed on Jan. 19, 1993, abandoned, which is a continuation-in-part of application No. 07/927,801, filed on Aug. 10, 1992, abandoned.
Rdx=Mr3�sin (Mr1)�cos (Mr2)+Px Rdy=Mr3�sin (Mr1)�sin (Mr2)+Py Rdz=Mr3�cos (Mr1)+Pz Sdr=Mr4 Sdg=Mr5 where;
The controller 46 then computes the movement of the robotic arm 26 in computational block 68 in accordance with the following equations. J ⁢ ⁢ s ⁢ ⁢ d ⁢ ⁢ 1 = R ⁢ ⁢ d ⁢ ⁢ z J ⁢ ⁢ s ⁢ ⁢ d ⁢ ⁢ 3 = π - cos - 1 ⁡ [ R ⁢ ⁢ d ⁢ ⁢ x 2 + R ⁢ ⁢ d ⁢ ⁢ y 2 - L ⁢ ⁢ 1 2 - L ⁢ ⁢ 2 2 2 ⁢ ⁢ L ⁢ ⁢ 1 � L ⁢ ⁢ 2 ] J ⁢ ⁢ s ⁢ ⁢ d ⁢ ⁢ 2 = tan - 1 ⁡ ( R ⁢ ⁢ d ⁢ ⁢ y / R ⁢ ⁢ d ⁢ ⁢ x ) + Δ ⁢ ⁢ for ⁢ ⁢ J ⁢ ⁢ s ⁢ ⁢ d ⁢ ⁢ 3 ≤ 0 J ⁢ ⁢ s ⁢ ⁢ d ⁢ ⁢ 2 = tan - 1 ⁡ ( R ⁢ ⁢ d ⁢ ⁢ y / R ⁢ ⁢ d ⁢ ⁢ x ) - Δ ⁢ ⁢ for ⁢ ⁢ J ⁢ ⁢ s ⁢ ⁢ d ⁢ ⁢ 3 > 0 Δ = cos - 1 ⁡ [ R ⁢ ⁢ d ⁢ ⁢ x 2 + R ⁢ ⁢ d ⁢ ⁢ y 2 - L ⁢ ⁢ 1 2 - L ⁢ ⁢ 2 2 2 � L ⁢ ⁢ 1 ⁢ R ⁢ ⁢ d ⁢ ⁢ x 2 + R ⁢ ⁢ d ⁢ ⁢ y 2 ] J ⁢ ⁢ s ⁢ ⁢ d ⁢ ⁢ 6 = M ⁢ ⁢ r ⁢ ⁢ 4 J ⁢ ⁢ s ⁢ ⁢ d ⁢ ⁢ 7 = M ⁢ ⁢ r ⁢ ⁢ 5 where;
The master handle will have a different spatial position relative to the surgical instrument if the surgeon releases the input button and moves the handle. When the input button 58 is initially depressed, the controller 46 computes initial joint angles Mj1-Mj5 in computional block 72 with the following equations. M ⁢ ⁢ j ⁢ ⁢ 1 = tan - 1 ⁡ ( t ⁢ ⁢ y / t ⁢ ⁢ x ) M ⁢ ⁢ j ⁢ ⁢ 2 = tan - 1 ⁡ ( d / t ⁢ ⁢ z ) M ⁢ ⁢ j ⁢ ⁢ 3 = D M ⁢ ⁢ j ⁢ ⁢ 4 = J ⁢ ⁢ s ⁢ ⁢ 6 M ⁢ ⁢ j ⁢ ⁢ 5 = J ⁢ ⁢ s ⁢ ⁢ 7 d = t ⁢ ⁢ x 2 + t ⁢ ⁢ y 2 t ⁢ ⁢ x = R ⁢ ⁢ s ⁢ ⁢ x - P ⁢ ⁢ x D ⁢ ⁢ t ⁢ ⁢ y = R ⁢ ⁢ s ⁢ ⁢ y - P ⁢ ⁢ y D ⁢ ⁢ t ⁢ ⁢ z = R ⁢ ⁢ s ⁢ ⁢ z - P ⁢ ⁢ z D D = ( R ⁢ ⁢ s ⁢ ⁢ x - P ⁢ ⁢ x ) 2 + ( R ⁢ ⁢ s ⁢ ⁢ y - P ⁢ ⁢ y ) 2 + ( R ⁢ ⁢ s ⁢ ⁢ z - P ⁢ ⁢ z ) 2 The forward kinematic values are computed in block 74 with the following equations.
Rsx=L1�cos (Js2)+L2�cos (Js2+Js3) Rsy=L1�cos (Js2)+L2�sin (Js2+Js3) Rsz=J1 The joint angles Mj are provided to adder 64. The pivot points Px, Py and Pz are computed in computational block 76 as follows. The pivot point is calculated by initially determining the original position of the intersection of the end effector and the instrument PO, and the unit vector Uo which has the same orientation as the instrument. The position P(x, y, z) values can be derived from various position sensors of the robotic arm. Referring to FIG. 5 the instrument is within a first coordinate frame (x, y, z) which has the angles θ4 and θ5. The unit vector Uo is computed by the transformation matrix: U 0 = [ cos ⁢ ⁢ Θ 5 0 - sin ⁢ ⁢ Θ 5 - sin ⁢ ⁢ Θ 4 ⁢ sin ⁢ ⁢ Θ 5 cos ⁢ ⁢ Θ 4 - sin ⁢ ⁢ Θ 4 ⁢ cos ⁢ ⁢ Θ 5 cos ⁢ ⁢ Θ 4 ⁢ sin ⁢ ⁢ Θ 5 sin ⁢ ⁢ Θ 4 cos ⁢ ⁢ Θ 4 ] ⁡ [ 0 0 - 1 ] After each movement of the end effector an angular movement of the instrument Δθ is computed by taking the arcsin of the cross-product of the first and second unit vectors Uo and U1 of the instrument in accordance with the following line equations Lo and L1.
Δθ=arcsin(|T|) T=Uo�U1 where;
xo=Mx0�Zo+Cxo yo=Myo�Zo+Cyo L1:
x1=Mx1�Z1+Cx1 y1=My1�Z1+Cy1 where;
zo=((Mx1−tx)z1+Cx1−Cxo)/(Mxo−tx) z1=((Cy1−Cyo)(Mxo−tx)−(Cx1−Cxo)(Myo−ty))/((Myo−ty)(Mx1−tx)−(My1−ty)(Mxo−tx)) yo=Myo�zo+Cyo y1=My1�z1+Cy1 xo=Mxo�zo+Cxo x1=Mx1�z1+Cx1 The average distance between the pivot points Ro and R1 is computed with the following equation and stored as the pivot point of the instrument.
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Hall, New Jersey 1990, pp. 498 and 499.Referenced byCiting PatentFiling datePublication dateApplicantTitleUS7025761 *Sep 10, 2002Apr 11, 2006Intultive SurgicalMethod and apparatus for performing minimally invasive cardiac proceduresUS7027892 *Dec 4, 2002Apr 11, 2006Intuitive SurgicalMethod and apparatus for performing minimally invasive cardiac proceduresUS7035716 *Jan 29, 2002Apr 25, 2006The Acrobot Company LimitedActive-constraint robotsUS7390325 *Feb 17, 2006Jun 24, 2008Intuitive Surgical, Inc.Apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input deviceUS7785320Mar 20, 2008Aug 31, 2010Intuitive Surgical Operations, Inc.Method for operating a medical robotic system by stopping movement of a surgical instrument about a pivot point or issuing a warning if the pivot point moves beyond a threshold valueUS8005571 *Jul 3, 2006Aug 23, 2011Neuroarm Surgical Ltd.Microsurgical robot systemUS8052185Apr 9, 2009Nov 8, 2011Disney Enterprises, Inc.Robot hand with humanoid fingersUS8512353May 4, 2007Aug 20, 2013Technische Universiteit EindhovenSurgical robotUS20110282331 *May 12, 2011Nov 17, 2011Oprobe, LlcOptical coherence tomography with multiple imaging instrumentsWO2010050771A2 *Oct 30, 2009May 6, 2010Chang Wook JeongSurgical robot system having tool for minimally invasive surgery* Cited by examinerClassifications U.S. Classification606/1, 414/1, 606/130International ClassificationA61B17/04, A61B19/08, A61B17/11, A61B19/02, A61B17/28, A61B17/00, A61B19/00Cooperative ClassificationA61B2019/2276, A61B2019/5259, A61B2017/1135, A61B2019/464, A61B2019/2242, A61B2017/00973, A61B2017/2929, A61B17/0469, A61B2017/00252, A61B2017/00477, A61B19/2203, A61B2017/0046, A61B2019/2296, A61B19/02, A61B2017/2927, B25J9/1689, A61B19/5212, A61B2017/1107, A61B2019/2292, A61B17/29, A61B19/22, A61B2017/00703, A61B2019/2223, A61B2017/00243, G05B2219/45119, A61B2019/2249, A61B19/081, A61B17/11, A61B2019/223, A61B2017/00199, A61B2019/2288European ClassificationA61B19/22B, A61B19/22, B25J9/16T4, A61B17/11Legal EventsDateCodeEventDescriptionDec 6, 2012FPAYFee paymentYear of fee payment: 8Dec 12, 2008FPAYFee paymentYear of fee payment: 4Nov 18, 2004ASAssignmentOwner name: INTUITIVE SURGICAL, INC., DELAWAREFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:COMPUTER MOTION, INC.;REEL/FRAME:015370/0799Effective date: 20041115Owner name: INTUITIVE SURGICAL, INC. 950 KIFER ROADSUNNYVALE,Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:COMPUTER MOTION, INC. /AR;REEL/FRAME:015370/0799Apr 28, 2004ASAssignmentOwner name: COMPUTER MOTION, INC., CALIFORNIAFree format text: SECURITY INTEREST;ASSIGNOR:AGILITY CAPITAL LLC;REEL/FRAME:014567/0702Effective date: 20040428Owner name: COMPUTER MOTION, INC. 570 KIFER ROADSUNNYVALE, CALFree format text: SECURITY INTEREST;ASSIGNOR:AGILITY CAPITAL LLC /AR;REEL/FRAME:014567/0702Feb 12, 2003ASAssignmentOwner name: AGILITY CAPITAL, LLC, CALIFORNIAFree format text: SECURITY INTEREST;ASSIGNOR:COMPUTER MOTION, INC.;REEL/FRAME:013735/0705Effective date: 20030212Owner name: AGILITY CAPITAL, LLC 229 EAST CANON PERDIDO SUITEFree format text: SECURITY INTEREST;ASSIGNOR:COMPUTER MOTION, INC. /AR;REEL/FRAME:013735/0705RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services©2012 Google