Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
Surgical robot systems for remote manipulation having robotic telemanipulators are provided. The surgical robot systems are well adapted for use by the surgeon, seamlessly integrateable into the operation room, allow for a surgeon to work between the robot and the patient throughout a surgery in a sterile manner, are relatively low cost, and/or permit integrated laparoscopy. The system preferably includes a master console having a plurality of master links interconnected by a plurality of master joints, and a handle coupled to the master console for operating the telemanipulator. The system further includes a slave console operatively coupled to the master console and having a plurality of slave links interconnected by a plurality of slave joints that move responsive to movement at the master console to permit an end-effector to perform surgery.
1. A system, comprising:
a master console including a first plurality of links, the first plurality of links configured to move in response to movements applied at a handle coupleable to at least one of the first plurality of links;
a slave console disposed separately from the master console, the slave console including a second plurality of links and a plurality of actuators, the plurality of actuators configured to be operatively coupled to the second plurality of links and an end effector, the slave console being operatively coupled to the master console such that movements of the first plurality of links and the handle causes corresponding macro-movements of the second plurality of links and micro-movements of the end effector to perform a surgery; and
a control system operatively coupled to the master console and the slave console, the control system configured to:
set, after a user has engaged the handle, the system to a macro-synchronization state;
control, when the system is in the macro-synchronization state, the plurality of actuators to cause the macro-movements of at least one of the second plurality of links in response to the movements of the first plurality of links; and
set, in response to detecting an actuation pattern at the handle, the system to at least a micro-synchronization state; and
control, when the system is in at least the micro-synchronization state, the plurality of actuators to cause the micro-movements of the end effector in response to the movements at the handle.
2. The system of claim 1 , wherein the actuation pattern includes quick successive actuations of an element of the handle.
3. The system of claim 2 , wherein the element of the handle is a grip that is configured to be actuated by a finger of the user.
4. The system of claim 1 , further comprising the handle, the handle including a retractable piston that is configured to move in response to an actuation of the handle,
the master console including a sensor configured to measure movements of the retractable piston, and
the control system being configured to control, when the system is in the micro-synchronization state, the plurality of actuators to cause the micro-movements of the end effector by:
determining whether the movements of the retractable piston are greater than a predetermined amount based on signals received from the sensor; and
in response to determining that the movements of the retractable piston are greater than a predetermined amount, controlling the plurality of actuators to cause the micro-movements to the end-effector.
5. The system of claim 1 , further comprising a clutch coupled to the master console, the clutch configured to be engaged by the user at the master console,
wherein the control system is further configured to prevent, when the clutch has been engaged by the user, any movements of the first plurality of links from causing a movement of the second plurality of links and any movement at the handle from causing a micro-movement of the end-effector.
6. The system of claim 5 , wherein the control system is further configured to control, upon a release of the clutch from being engaged, the plurality of actuators to cause the macro-movements of the at least one of the second plurality of links and control the plurality of actuators to cause the micro-movements of the end effector.
7. The system of claim 1 , further comprising the handle,
wherein the master console is configured to be covered by a sterile drape and
the handle is removably coupleable to the master console from outside of the sterile drape.
8. The system of claim 7 , wherein the sterile drape is a first sterile drape, and the slave console is configured to be covered by a second sterile drape that is separate from the first sterile drape.
9. The system of claim 8 , further comprising an instrument having a proximal end and a distal end,
the distal end of the instrument including the end effector, and
the proximal end of the instrument configured to couple to a distal link of the second plurality of links from outside of the second sterile drape when the slave console is covered by the second sterile drape.
10. The system of claim 1 , further comprising a controller disposed at the slave console, the controller configured to allow the user to select among a plurality of commands, each command from the plurality of commands being associated with a different configuration from a plurality of configurations of the slave console,
the control system further configured to cause, in response to receiving a command selected from the plurality of comments, the slave console to move into the configuration from the plurality of configurations associated with the command.
11. The system of claim 10 , wherein the command is a home configuration command, and the configuration associated with the home configuration command is a home configuration,
the control system being configured to cause, in response to receiving the home configuration command, the slave console to move into the home configuration by causing the plurality of actuators to position a distal link of the second plurality of links such that the end effector, when coupled to the plurality of actuators, can be positioned within a trocar inserted in a patient undergoing the surgery.
12. The system of claim 10 , wherein the command is a laparoscopic configuration command, and the configuration associated with the laparoscopic configuration command is a laparoscopic configuration,
the control system being configured to cause, in response to receiving the laparoscopic configuration command, the slave console to move into the laparoscopic configuration by causing the plurality of actuators to rotate a link from the second plurality of links and links distal to the link from the second plurality of links about an axis of a joint to cause a distal end of the slave console to face away from a patient undergoing the surgery.
13. The system of claim 1 , wherein the end effector is coupled to a distal end of an instrument shaft that is inserted into a patient undergoing the surgery through an incision point,
wherein the master console is configured with a mechanical constraint such that the movements of the first plurality of links are constrained about a pivot point, thereby causing corresponding macro-movements of the second plurality of links to constrain the instrument shaft to pivot about the incision point.
14. The system of claim 1 , wherein the end effector is coupled to a distal end of an instrument shaft that is inserted into a patient undergoing the surgery through an incision point,
wherein the master console is configured to be constrained to rotate about a virtual stationary point such that corresponding macro-movements of the second plurality of links are constrained to move the instrument shaft about the incision point.
15. A system, comprising:
a master console including a first plurality of links, the master console configured to be located in a sterile environment and to remain sterile during a surgical procedure;
a sterile drape configured to cover the master console to maintain sterility of the master console;
a handle configured to be removably coupled to the master console from outside of the sterile drape, the handle, when coupled to the master console, configured to be directly engaged by a user without any physical barrier separating the handle from the user, the handle having been sterilized prior to the surgical procedure; and
a slave console disposed separately from the master console, the slave console including a second plurality of links and a slave hub, the slave console being operatively coupled to the master console such that movements at the handle by the user causes corresponding movements of the second plurality of links and the slave hub to perform a surgery.
16. The system of claim 15 , further comprising an instrument, the instrument configured to be removably coupled to the slave hub and to be sterilized prior to the surgical procedure.
17. The system of claim 16 , further comprising a sterile interface, the sterile interface configured to be installed on the slave hub,
wherein the instrument is configured to be coupled to the slave hub after the sterile interface has been installed on the slave hub.
18. The system of claim 16 , further comprising a control system operatively coupled to the master console and the slave console, the control system configured to:
determine that the instrument and the sterile interface have been properly installed by reading tags that have been integrated into the instrument and the sterile interface; and
in response to determining that the instrument and the sterile interface have been properly installed, control the movements of at least one of the second plurality of links or the slave hub in response to the movements of the first plurality of links.
19. The system of claim 15 , wherein the instrument is configured to be mechanically locked to the slave hub, the system further comprising:
a sensor configured to detect when the instrument has been mechanically locked to the slave hub.
20. The system of claim 15 , wherein the handle is configured to be removed and sterilized after the surgical procedure.
21. The system of claim 15 , further comprising:
a controller disposed at the slave console, the controller configured to allow the user in the sterile environment to select among a plurality of commands, each command from the plurality of commands being associated with a different configuration from a plurality of configurations of the slave console; and
a control system operatively coupled to the master console and the slave console, the control system configured to cause, in response to receiving a command selected from the plurality of comments, the slave console to move into the configuration from the plurality of configurations associated with the command.
22. The system of claim 21 , wherein the command is a home configuration command, and the configuration associated with the home configuration command is a home configuration,
the control system being configured to cause, in response to receiving the home configuration command, the slave console to move into the home configuration by causing a distal link of the second plurality of links to be positioned such that an end effector of the instrument, when the instrument is coupled to the slave hub, can be positioned within a trocar inserted in a patient undergoing the surgery.
23. The system of claim 21 , wherein the command is a laparoscopic configuration command, and the configuration associated with the laparoscopic configuration comment is a laparoscopic configuration,
the control system being configured to cause, in response to receiving the laparoscopic configuration command, the slave console to move into the laparoscopic configuration by causing a link from the second plurality of links and links distal to the link from the second plurality of links to rotate about an axis of a joint to cause the slave hub to face away from a patient undergoing the surgery.
24. A system, comprising:
a master console including a first plurality of links, the first plurality of links configured to move in response to movements applied at a handle coupleable to at least one of the first plurality of links;
a slave console disposed separately from the master console, the slave console including a second plurality of links and a plurality of actuators, the plurality of actuators configured to be operatively coupled to the second plurality of links and an end effector, the slave console being operatively coupled to the master console such that movements of the first plurality of links and the handle causes corresponding macro-movements of the second plurality of links and micro-movements of the end effector to perform a surgery; and
a control system operatively coupled to the master console and the slave console, the control system configured to:
set, in response to a first actuation at the handle, the system to a macro-synchronization state;
control, when the system is in the macro-synchronization state, the plurality of actuators to cause the macro-movements of at least one of the second plurality of links in response to the movements of the first plurality of links; and
set, when the system is in the macro-synchronization state, and in response to a second actuation at the handle different from the first actuation, the system to a micro-synchronization state while remaining in the macro-synchronization state; and
control, when the system is in the macro-synchronization state and in the micro-synchronization state, the plurality of actuators to cause (1) the macro-movements of at least one of the second plurality of links in response to the movements of the first plurality of links and (2) the micro-movements of the end effector in response to the movements at the handle.
25. The system of claim 24 , wherein the second actuation includes quick successive actuations of an element of the handle.
26. The system of claim 24 , further comprising a clutch coupled to the master console, the clutch configured to be engaged by the user at the master console,
wherein the control system is further configured to prevent, when the clutch has been engaged by the user, any movements of the first plurality of links from causing a movement of the second plurality of links and any movement at the handle from causing a micro-movement of the end-effector.
27. The system of claim 26 , wherein the clutch is a foot pedal, and the foot pedal is engaged by the user stepping on the foot pedal.
28. The system of claim 24 , further comprising a controller disposed at the slave console, the controller configured to allow the user to select among a plurality of commands, each command from the plurality of commands being associated with a different configuration from a plurality of configurations of the slave console,
the control system further configured to cause, in response to receiving a command selected from the plurality of comments, the slave console to move into the configuration from the plurality of configurations associated with the command.
29. The system of claim 28 , wherein the command is a home configuration command, and the configuration associated with the home configuration command is a home configuration,
the control system being configured to cause, in response to receiving the home configuration command, the slave console to move into the home configuration by causing the plurality of actuators to position a distal link of the second plurality of links such that the end effector, when coupled to the plurality of actuators, can be positioned within a trocar inserted in a patient undergoing the surgery.
30. The system of claim 28 , wherein the command is a laparoscopic configuration command, and the configuration associated with the laparoscopic configuration command is a laparoscopic configuration,
the control system being configured to cause, in response to receiving the laparoscopic configuration command, the slave console to move into the laparoscopic configuration by causing the plurality of actuators to rotate a link from the second plurality of links and links distal to the link from the second plurality of links about an axis of a joint to cause a distal end of the slave console to face away from a patient undergoing the surgery.