US 11,432,888 B2Granted

Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide

AssigneeIntuitive Surgical Operations, Inc.

InventorsNicola Diolaiti, Paul E. Lilagan

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Abstract

A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide after a delay. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

Claims20

Dependent claims

A method for retracting an articulated instrument into an entry guide, the articulated instrument having a plurality of rotational joints and a plurality of links, each rotational joint of the plurality of rotational joints coupling together an adjacent pair of the plurality of links, a most proximal link of the plurality of links at least partially disposed inside the entry guide, the method comprising:

receiving, by a processor, a retraction command from an input device, the retraction command commanding translational movement of the most proximal link towards a proximal end of the entry guide;
determining, by the processor, a joint of the plurality of rotational joints that is outside of the entry guide and closest to a distal end of the entry guide as a most proximal rotational joint;
causing, by the processor, movement of the most proximal link towards the proximal end of the entry guide in response to the retraction command, wherein the movement of the most proximal link towards the proximal end of the entry guide causes movement of the most proximal rotational joint towards the distal end of the entry guide;
actuating, by the processor after the most proximal rotational joint reaches a minimum distance from the distal end of the entry guide, the most proximal joint so that the adjacent pair of the plurality of links coupled by the most proximal rotational joint is reconfigured to allow the adjacent pair to be disposed within the entry guide;
and
causing, by the processor when the adjacent pair reaches a configuration that can be disposed within the entry guide, further movement of the most proximal link towards the proximal end of the entry guide.

3 more elements

A robotic system comprising:

an input device;
an entry guide manipulator coupleable to an entry guide;
and
an instrument manipulator coupleable to an articulated instrument, the articulated instrument having a plurality of rotational joints and a plurality of links, each rotational joint of the plurality of rotational joints coupling together an adjacent pair of the plurality of links;
wherein the robotic system is configured to:
receive a retraction command from the input device, the retraction command commanding translational movement of a most proximal link of the plurality of links towards a proximal end of the entry guide;
determine, as a most proximal rotational joint of the articulated instrument, a joint of the plurality of rotational joints that is outside of the entry guide and closest to a distal end of the entry guide;
determine whether the most proximal rotational joint is within a minimum distance from the distal end of the entry guide;
conditioned upon determining that the most proximal rotational joint is not within the minimum distance from the distal end of the entry guide, command the instrument manipulator to move the most proximal link towards the proximal end of the entry guide in response to the retraction command;
and
conditioned upon determining that the most proximal rotational joint is within the minimum distance from the distal end of the entry guide:
determine whether an adjacent pair of the plurality of links coupled by the most proximal rotational joint, can be disposed as configured within the entry guide,
conditioned upon determining that the adjacent pair can be disposed as configured within the entry guide, command the instrument manipulator to move the most proximal link towards the proximal end of the entry guide in response to the retraction command, and
conditioned upon determining that the adjacent pair cannot be disposed as configured within the entry guide, command the instrument manipulator to actuate the most proximal rotational joint so that the adjacent pair coupled to the most proximal rotational joint is reconfigured to allow the adjacent pair to be disposed within the entry guide, before commanding the instrument manipulator to move the most proximal link towards the proximal end of the entry guide in response to the retraction command.

11 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/294,442Filed 6 Mar 2019 · continuation
Priority: 13 Jun 2007
Published: US 2019/0201134 A14 Jul 2019
Granted: 6 Sep 2022
Term ends: Not estimatedThe source records don’t support an estimate.

Classification22 codes

A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
A61B 1/00087
Characterised by distal tip features: tools
A61B 1/00193
Optical arrangements: adapted for stereoscopic vision
A61B 17/00234
Surgical instruments, devices or methods: for minimally invasive surgery

Family

Application11/762,200Parent of this continuation-in-part · filed 13 Jun 2007
Application12/489,566Parent of this continuation-in-part · filed 23 Jun 2009
Application12/541,913Parent of this continuation-in-part · filed 15 Aug 2009
Application12/613,328Parent of this continuation-in-part · filed 5 Nov 2009
Application12/780,071Parent of this continuation-in-part · filed 14 May 2010
US 7,725,214 B2Parent of this continuation-in-part · filed 25 May 2010
Application13/294,403Parent of this continuation-in-part · filed 11 Nov 2011
Application13/789,329Parent of this division · filed 7 Mar 2013
US 8,620,473 B2Parent of this continuation-in-part · filed 31 Dec 2013
US 8,903,546 B2Parent of this continuation-in-part · filed 2 Dec 2014
US 9,084,623 B2Parent of this continuation-in-part · filed 21 Jul 2015
US 9,089,256 B2Parent of this continuation-in-part · filed 28 Jul 2015
US 9,138,129 B2Parent of this continuation-in-part · filed 22 Sep 2015
Application15/258,049Parent of this continuation · filed 7 Sep 2016
US 9,469,034 B2Parent of this division · filed 18 Oct 2016
US 2019/0201134 A1Pre-grant publication · published 4 Jul 2019
US 10,271,912 B2Parent of this continuation
Application15/258,049Parent of this division
Application13/789,329Parent of this continuation-in-part
US 2008/0065108 A1Published application
US 2009/0326318 A1Published application
US 2010/0274087 A1Published application
US 2011/0040305 A1Published application
US 2011/0040404 A1Published application
US 2012/0059392 A1Published application
US 2013/0231680 A1Published application
US 2016/0374767 A1Published application
US 11,432,888 B2This patent

From the US filing history. Foreign family members aren’t listed.

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