Robotic apparatus

Abstract

A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.

Description

CROSS-REFERENCES TO RELATED APPLICATIONS[0001]This application is a divisional of and claims the benefit of priority from U.S. patent application Ser. No. 10 / 893,613 (Attorney Docket No. 017516-005521US), filed Jul. 15, 2004; which is a divisional of application Ser. No. 09 / 508,871 (Attorney Docket No. 017516-005520US), filed Jul. 17, 2000; which is a 35 U.S.C. §371 United States National Stage application of International Patent Application No. PCT / US98 / 19508, filed on Sep. 18, 1998; which claims priority to U.S. Provisional Application No. 60 / 059,395, filed on Sep. 19, 1997; the full disclosures of which are incorporated herein by reference.[0002]The inventions disclosed herein are also somewhat related to inventions by two of the inventors herein (Salisbury and Madhani), described in three U.S. patent applications, all of which are incorporated herein by reference. The three applications were all filed on May 16, 1997, as follows: ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MI...

AI Technical Summary

Benefits of technology

[0037]According to yet another preferred embodiment, the slave unit linkage is characterized by a number X of DOFs, X being at least seven DOFs and the master unit linkage is characterized by a number Y of DOFs where Y is at least one fewer than X. According to this embodiment, the slave controller can be configured to resolve a redundancy in control due to the difference between the X DOFs of the slave unit and the fewer Y DOFs of the master unit by applying a cost function to a range of possible joint configurations, each of which provide the same location of the end effector link reference point, and minimizing the cost function.

[0042]It is also a preferred embodiment of the invention to provide, coupled to the Inverse Jacobian controller and to the Jacobian Transpose controller, an environment position sensor, arranged to generate a signal that corresponds to the translational position of a reference point in an environment in which the slave may reside. The Inverse Jacobian controller further commands the macro freedom actuators and micro freedom actuators to move the effector reference point in concert with the environment reference point. The Jacobian Transpose controller further is configured to command the master to move the master reference point to follow only motion of the effector reference point that does not correspond to motion of the environment reference point. This presents the effect to a user who is in contact with the master reference point that the effector is interacting with an environment that is substantially motionless. Thus, a surgeon engaging the master can use the slave to operate on a beating heart, while perceiving the heart as stationary.

[0049]A final preferred embodiment of the invention is a method of controlling such a manipulator, when the slave unit linkage is characterized by a number X of DOFs, X being at least seven DOFs and the master unit linkage is characterized by a number Y of DOFs where Y is at least one fewer than X, the method further comprising the step of resolving a redundancy in control due to the difference between the X DOFs of the slave unit and the fewer Y DOFs of the master unit by applying a cost function to a range of possible joint configurations, each of which provide the same location of the end effector link reference point, and minimizing the cost function.

Problems solved by technology

However, only about 1,000,000 of the surgeries currently use these techniques, due to limitations in minimally invasive surgical instruments and techniques and the additional training required to master them.

There are many disadvantages of current minimally invasive surgical technology.

The surgeon is deprived of three-dimensional depth cues and may have difficulty correlating hand movements with the motions of the tools displayed on the video image.

Second, the instruments pivot at the point where they penetrate the body wall, causing the tip of the instrument to move in the opposite direction to the surgeon's hand.

Third, existing MIS instruments deny the surgeon the flexibility of tool placement found in open surgery.

Those that include any articulation have only limited maneuverability.

Fourth, the length and construction of many endoscopic instruments reduces the surgeon's ability to feel forces exerted by tissues and organs on the end effector of the tool.

However, despite surgeons' adaptation to the limitations of endoscopic surgery, the technique has brought with it an increase in some complications seldom seen in open surgery, such as bowel perforations due to trocar or cautery injuries.

Moreover, one of the biggest impediments to the expansion of minimally invasive medical practice remains lack of dexterity of the surgical tools and the difficulty of using the tools.

Proposed methods of performing telesurgery using telemanipulators also create many new challenges.

A system's ability to provide force reflection is limited by factors such as friction within the mechanisms, gravity, the inertia of the surgical instrument and the size of forces exerted on the instrument at the surgical incision.

Even when force sensors are used, inertia, friction and compliance between the motors and force sensors decreases the quality of force reflection provided to the surgeon.

Another challenge is that, to enable effective telesurgery, the instrument must be highly responsive and must be able to accurately follow the rapid hand movements that a surgeon may use in performing surgical procedures.

Another challenge is that to enable minimally invasive surgery, the instrument must be small and compact in order to pass through a small incision.

However, the mass and configuration of the effector affects the dynamics and kinematics of the entire system.

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