# US 11,432,888 B2 · Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide

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- Number: US 11,432,888 B2
- Document ID: US11432888B2
- Status: Granted
- Kind: B2
- Application number: 16/294,442
- Filed: 2019-03-06
- Published: 2019-07-04
- Granted: 2022-09-06
- Earliest claimed: 2007-06-13
- Assignees: Intuitive Surgical Operations, Inc.
- Applicants: Intuitive Surgical Operations, Inc.
- Inventors: Nicola Diolaiti; Paul E. Lilagan
- Web page: https://patentgrep.com/patent/US11432888B2

## CPC

- A61B 34/30: Surgical robots
- A61B 1/00087: {Tools (A61B17/00234 takes precedence)}
- A61B 1/00193: {adapted for stereoscopic vision}
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/71: {Manipulators operated by drive cable mechanisms}
- A61B 34/72: {Micromanipulators}
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- B25J 13/025: {comprising haptic means}
- B25J 19/021: {Optical sensing devices}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 90/361: {Image-producing devices, e.g. surgical cameras}
- A61B 2017/00278: {Transorgan operations, e.g. transgastric}
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2017/00694: {with means correcting for movement of or for synchronisation with the body}
- A61B 2017/3447: {Linked multiple cannulas}
- A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- A61B 2034/306: {Wrists with multiple vertebrae}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## 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.

## Claims

### Claim 1

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.

### Claim 2 (depends on 1)

The method of claim 1, further comprising:
determining, by the processor, the minimum distance by using at least one of the following factors:
a velocity of movement of the most proximal link in response to the retraction command, so that the minimum distance increases as the velocity increases; or
an angle between the adjacent pair of the plurality of links coupled by the most proximal rotational joint, so that the minimum distance decreases as at least one of respective longitudinal axes of the adjacent pair increasingly align with each other and as an extended length of the adjacent pair increases.

### Claim 3 (depends on 1)

The method of claim 1, further comprising delaying, by the processor, after the most proximal rotational joint reaches the minimum distance and before actuating the most proximal rotational joint so that the adjacent pair is reconfigured to allow the pair to be disposed within the entry guide.

### Claim 4 (depends on 3)

The method of claim 3, further comprising:
causing, by the processor, an abrupt change, after the delaying, to a haptic force being applied against the input device, followed by a force profile.

### Claim 5 (depends on 3)

The method of claim 3, further comprising:
receiving, by the processor, a sequence of retraction commands from the input device; and
causing, by the processor, a haptic force to be applied against the input device, so that the haptic force progressively increases as the sequence of retraction commands command movements of the most proximal link that progressively exceed a limit distance, the limit distance being from an initial position of the most proximal link when receiving a first retraction command in the sequence of retraction commands.

### Claim 6 (depends on 5)

The method of claim 5, further comprising:
receiving, by the processor, a second retraction command among the sequence of retraction commands from the input device, the second retraction command commanding translational movement of the most proximal link towards the proximal end of the entry guide by a distance exceeding a locking distance from the initial position; and
causing, by the processor, at least one joint used to pivot the entry guide to be locked in place upon receiving the second retraction command.

### Claim 7 (depends on 6)

The method of claim 6, further comprising:
causing, by the processor, the at least one joint used for pivoting the entry guide to be unlocked after the articulated instrument has been retracted into the entry guide.

### Claim 8 (depends on 5)

The method of claim 5, further comprising:
causing, by the processor, the most proximal link to move towards the proximal end of the entry guide in response to the sequence of retraction commands subject to a progressively increasing velocity limit, after the delaying, as commanded movement of the most proximal link progressively increases.

### Claim 9 (depends on 8)

The method of claim 8, wherein causing the most proximal link to move towards the proximal end of the entry guide in response to the sequence of retraction commands, is further subject to a maximum velocity limit after a third retraction command exceeds a maximum commanded distance after the delaying, wherein the third retraction command is one of the sequence of retraction commands.

### Claim 10

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.

### Claim 11 (depends on 10)

The robotic system of claim 10, wherein the robotic system is further configured to:
determine the minimum distance by using at least one of the following factors:
a velocity of movement of the most proximal link in response to the retraction command; or
an angle between the adjacent pair of the plurality of links coupled by the most proximal rotational joint.

### Claim 12 (depends on 11)

The robotic system of claim 11, wherein the robotic system is configured to determine the minimum distance by using at least the velocity of movement of the most proximal link in response to the retraction command, such that the minimum distance increases as the velocity increases.

### Claim 13 (depends on 11)

The robotic system of claim 11, wherein the robotic system is configured to determine the minimum distance by using at least the angle between the adjacent pair, such that the minimum distance decreases as respective longitudinal axes of the adjacent pair increasingly align with each other.

### Claim 14 (depends on 10)

The robotic system of claim 10, wherein the robotic system is further configured to:
conditioned upon determining that the most proximal rotational joint is within the minimum distance from the distal end of the entry guide, delay before commanding the instrument manipulator to actuate the most proximal rotational joint so that the adjacent pair coupled to the most proximal rotational joint can be disposed within the entry guide, the delay indicated by one of a counter or a low pass filter.

### Claim 15 (depends on 14)

The robotic system of claim 14, wherein the robotic system is further configured to:
cause an abrupt change, after the delay, to a haptic force being applied against the input device, followed by a force profile.

### Claim 16 (depends on 14)

The robotic system of claim 14, wherein the robotic system is further configured to:
receive a sequence of retraction commands from the input device; and
cause a haptic force to be applied against the input device so that the haptic force progressively increases as the sequence of retraction commands command movements of the most proximal link that progressively exceed a limit distance, the limit distance being from an initial position of the most proximal link when receiving a first retraction command in the sequence of retraction commands.

### Claim 17 (depends on 16)

The robotic system of claim 16, wherein the robotic system is further configured to:
receive a second retraction command among the sequence of retraction commands from the input device, the second retraction command commanding translational movement of the most proximal link towards the proximal end of the entry guide by a distance exceeding a locking distance from the initial position; and
command the entry guide manipulator to lock in place at least one joint used to pivot the entry guide, upon receiving the second retraction command.

### Claim 18 (depends on 17)

The robotic system of claim 17, wherein the robotic system is further configured to:
command the entry guide manipulator to unlock the at least one joint used for pivoting the entry guide, after the articulated instrument has been retracted into the entry guide.

### Claim 19 (depends on 16)

The robotic system of claim 16, wherein the robotic system is further configured to:
command the instrument manipulator to move the most proximal link towards the proximal end of the entry guide in response to the sequence of retraction commands subject to, after the delay, a progressively increasing velocity limit as commanded movement of the most proximal link progressively increases.

### Claim 20 (depends on 19)

The robotic system of claim 19, wherein the robotic system is further configured to:
command the instrument manipulator to move the most proximal link towards the proximal end of the entry guide in response to the sequence of retraction commands further subject to a maximum velocity limit after a third retraction command exceeds a maximum commanded distance after the delay,
wherein the third retraction command is one of the sequence of retraction commands.