Computer-assisted tele-operated surgery systems and methods
AssigneeIntuitive Surgical Operations, Inc.
InventorsDinesh Rabindran, Katherine Suzanne Anderson, Nicholas Leo Bernstein, Simon Peter DiMaio, Catherine Mohr, Theodore W. Rogers, Kollin Myles Tierling, Andrew Cullen Waterbury
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Abstract
Systems and methods for minimally invasive tele-surgery are described. For example, the disclosure describes methods for independently controlling motions of the robotic manipulator, cannula, and surgical instrument in various surgical contexts.
Claims28
A computer-assisted medical system comprising:
- a manipulator assembly configured to couple to a cannula, the cannula having a lumen configured to slidably receive a shaft of a medical instrument;
- and
- a processor in electrical communication with the manipulator assembly and configured to:
- locate a remote center of motion for the manipulator assembly at a first location relative to the cannula;
- and
- reposition the remote center of motion to a second location relative to the cannula in response to an indication to reposition the remote center of motion relative to the cannula, the second location different from the first location;
- wherein:
- the cannula defines a longitudinal axis, and
- the processor is configured to reposition the remote center of motion to the second location while constraining the second location to within a maximum distance from the longitudinal axis.
A computer-assisted robotic method comprising:
- determining, by a processor of a computer-assisted robotic system, a first location of a remote center of motion of the robotic system, the robotic system comprising a manipulator assembly configured to couple to a cannula, the cannula having a lumen configured to slidably receive a shaft of an instrument;
- receiving, by the processor, an indication to reposition the remote center of motion relative to the cannula;
- and
- repositioning, by the processor and in response to receiving the indication, the remote center of motion to a second location relative to the cannula;
- wherein:
- the cannula defines a longitudinal axis, and
- repositioning the remote center of motion to the second location comprises constraining the second location to within a maximum distance from the longitudinal axis.
A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted medical system are adapted to cause the one or more processors to perform a method comprising:
- detecting a releasable coupling of a cannula to a manipulator assembly of the computer-assisted medical system, wherein the cannula is configured to couple with a tissue layer of a patient, the cannula having a lumen;
- detecting an installation of a medical instrument to the manipulator assembly, a shaft of the medical instrument configured to extend through the lumen of the cannula such that a distal end portion of the shaft is located in a medical working space within the patient, wherein the shaft defines a longitudinal axis;
- and
- causing the manipulator assembly to move such that the cannula moves along the longitudinal axis and modifies the medical working space.
Dependencies are inferred from the claim text.