Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy

Abstract

To provide surgical robot systems for remote manipulation, the systems having robotic telemanipulators.SOLUTION: Surgical robot systems 10 are adapted for use by surgeons, seamlessly integratable into operation rooms, allowing a surgeon to work between the robot and the patient throughout a surgery in a sterile manner, being relatively low cost, and / or permitting integrated laparoscopy. The system includes a master console 20 having a plurality of master links interconnected by a plurality of master joints, and a handle coupled to the master console for operating a telemanipulator. The system further includes a slave console 50 operatively coupled to the master console, the slave console 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.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application was filed on January 5, 2019, the entire contents of each of which are incorporated herein by reference. No. 62 / 788,781 filed on February 7, 2018, and U.S. Provisional Patent Application No. U.S. Patent filed February 6, 2019, claiming benefit of priority to patent application Ser. No. 62 / 627,554 Continuation of application Ser. No. 16 / 269,383, now U.S. Pat. No. 10,413,374, 2019 This application claims the benefit of priority to U.S. Patent Application No. 16 / 505,585, filed July 8, 2004. also filed on January 5, 2019, the entire contents of each of which are incorporated herein by reference. No. 62 / 788,781 filed on February 7, 2018, and U.S. Provisional Patent Application No. 62 / 627,554, filed February 6, 2019, claiming the benefit of priority from International Publication No. WO 2019 / 013994. Claiming the benefit of priority from International Application No. PCT / IB2019 / 050961, published under No. 9 / 155383 .

[0002] (Field of use) This application generally relates to a teleoperated surgical robotic system comprising a robotic telemanipulator. Regarding the topic. [Background technology]

[0003] (background) Numerous situations and applications require remote operation by teleoperated surgical devices. Applications of this technology involve fine manipulation, whether in the open field or minimally invasive. Ability to operate in confined spaces, hazardous or contaminated environments, clean rooms These applications include the ability to operate in sterile and surgical environments. Each application requires high It requires many of the same capabilities of a remotely operated system, such as the ability to perform maneuvers with precision. do.

[0004] For surgical applications, known devices exist, but significant drawbacks exist in known systems and methods. Exemplary applications of the remote control system that are apparent include those described in more detail in the following disclosure. do.

[0005] Open surgery remains the preferred method for many surgical procedures. It has been used in medicine for many years and typically involves a long incision in the abdomen or other parts of the body. An incision must be made through which conventional surgical instruments can be inserted. Due to the incision, this highly invasive approach results in significant blood loss during the procedure, typically He will be hospitalized for a long and painful recovery period.

[0006] Laparoscopic surgery, a minimally invasive technique, was developed to overcome some of the drawbacks of open surgery. Instead of a large transmural incision, several small openings were made in the patient, which Long, thin surgical instruments and an endoscopic camera are inserted through the opening in the anus. The surgical procedure reduces blood loss and pain, and shortens hospital stays. When performed laparoscopically, surgical procedures can achieve clinical outcomes similar to those of open surgery. Despite the above advantages, laparoscopic surgery is still used in such procedures. The entrance incision is typically , which acts as a rotation point and reduces the degrees of freedom for positioning and orientation of the instrument within the patient's body. The surgeon's hand movements centered on this incision point are reversed and magnified at the tip of the instrument. (the "fulcrum effect"), reducing dexterity and sensitivity and increasing hand tremor in the surgeon. Long, straight instruments force surgeons into uncomfortable hand, arm, and body positions. This can lead to significant fatigue during prolonged procedures. Due to the drawbacks of these techniques, minimally invasive techniques are primarily limited to use in simple surgical procedures, with only a small proportion of Only a few surgeons can use such instruments and methods in complex procedures.

[0007] To overcome the aforementioned limitations of known systems, surgical robotic systems have been developed to It offers a more user-friendly approach to complex minimally invasive surgery. With the bot interface, these systems can be used by surgeons sitting at a console. Master manipulators operate the remote abdominal surgery and perform the surgery through several small incisions. Like laparoscopic surgery, the robotic approach is minimally invasive. and offers the aforementioned advantages over open surgery with respect to reduced pain, blood loss, and recovery time. In addition, the robotic approach provides the surgeon with a lower risk of complications compared to open and laparoscopic surgical techniques. Better ergonomics for the user, improved dexterity, precision, and tremor suppression, and resolution of the fulcrum effect Although technically easier, robotic surgery still has some drawbacks. One major drawback of known robotic surgical systems is the high level of sophistication required for such systems. Due to the complexity involved, the known robotic surgical systems are difficult to handle for both the surgeon and the assistant. It will feature four to five robotic arms, an integrated endoscopic imaging system, and remote surgical procedures. have the capability to perform these tasks, have significant capital costs to acquire and maintain, and are unavailable in most surgical departments around the world. Another drawback of these systems is that they are not affordable in the market compared to known surgical robots. The main drawback is the bulkiness of the device, which takes up valuable space within the operating room environment and slows down preparation time. This could significantly increase patient access and raise safety concerns. Jiru.

[0008] For example, the Da Vinci® Surgical System (IntuitiVe Surgical, Inc., SunnyVale, (available from the University of California, California, USA) is a remote system that allows surgeons to perform remote laparoscopic surgery. However, the Da Vinci® Surgical System is very It is a complex robotic system, and each system costs approximately $2,000,000 per robot, $150,000 annually in maintenance costs and $2,000 per surgical procedure for surgical instruments The da Vinci® Surgical System also requires a lot of space in the operating room. Therefore, it is difficult to move it to the desired location in the operating room, and it is difficult to move it between the forward operating space and the inverted Difficulty switching between surgical workspaces (multi-quadrant surgery) also called).

[0009] Furthermore, the surgeon's operating console is typically located away from the surgical site; The surgeon and the operating console are not in the sterile zone of the operating room. If the device is not sterile, the surgeon may not be able to remove the patient without undergoing additional sterilization procedures. During certain surgical procedures, the surgeon may need to intervene immediately. Possibly, but current bulky robotic systems are unable to perform timely, life-saving surgery on patients. This can hinder the surgeon from quickly accessing the site.

[0010] Madhani, International Publication No. 97 / 43942; Cooper, International Publication No. 98 / 25666; and Burbank, R.I. Patent Application Publication No. 2010 / 0011900 discloses a method for replicating the movements of a surgeon's hands inside a patient's body. The present invention discloses a robotic teleoperated surgical instrument designed to The robot interface allows the surgical instruments to be controlled by two joysticks while sitting at the console. Remote laparoscopic surgery, in which the surgeon operating the device performs the operation through several small incisions These systems allow for sophisticated procedures that are fully controlled by the surgeon. It does not have the autonomy or artificial intelligence that is essential for a robot. Control commands are sent by complex computers. A computer-controlled mechatronics system connects the robot master and the robot slave. This is very costly to manufacture and maintain, and requires the cooperation of hospital staff. It requires a certain amount of training.

[0011] Beira, International Publication No. 2013 / 014, the entire contents of which are incorporated herein by reference. No. 621 states that each part of the slave unit is kinematically equivalent to the corresponding part of the master unit. the slave unit being driven by the master unit to mimic the movement of the item.

[0010] The present invention describes a mechanical remote control device for remote operation having a master-slave configuration including: A typical master-slave remote manipulator provides seven degrees of freedom of movement. Specifically, these degrees of freedom include three macro translational movements, e.g., inward / outward and upward / downward. lateral and left / right degrees of freedom and one rotational degree of freedom, e.g., pronosupination 4, including two joint degrees of freedom, e.g., yaw and pitch, and one actuation degree of freedom, e.g., open / close The mechanical transmission system described in the publication involves three microscopic movements. It is well suited to the application of low friction fluid from the handle through the entire kinematic chain to the implement. Specifying paths with cables is expensive, complex, bulky, and requires precise calibration and It requires careful handling and maintenance.

[0012] In addition, known purely mechanical solutions have advantages over conventional solutions such as wrist alignment, low device complexity, low mass and Does not offer inertia, high operating volume, and good tactile feedback. In conventional teleoperated devices, the surgeon must perform a pure pronation / supination / roll motion of the instrument. , typically a combination of pronation / supination / roll movements of the hand / forearm, and the hand The patient must perform translational movements in a curved path using the neck. This is complex to implement and, if not done properly, can cause the pitch and yaw of the end effector to This causes unwanted parasitic movement.

[0013] Furthermore, the cable path of the joint and actuation degrees of freedom through the mechanical remote manipulator is The path specification is the range of angles of various joints in the link and joint structure of the remote manipulator. This can limit the surgical dexterity of the instruments available for access inside the patient. During rapid movements of the mechanical telemanipulator, the telemanipulator The inertia of the target can also be a hindrance, resulting in target overshoot and fatigue in the surgeon's hands. Part of this mass is the components and structures required to route the actuation and joint degrees of freedom. This can be due to structural factors.

[0014] Therefore, it is possible to have a robotic telemanipulator that is well adapted for use by a surgeon and Seamless integration into the operating room allows the surgeon to work in a sterile environment between the robot and the patient. remotely actuated procedures that allow for integrated laparoscopic surgery and are relatively low cost and / or It would be desirable to provide a surgical robotic system.

[0015] Furthermore, a remotely operated surgical robot having a mechanical and / or electromechanical remote manipulator is also provided. It would be desirable to provide a Summary of the Invention [Means for solving the problem]

[0016] (overview) The present invention is preferably well adapted for use by a surgeon and seamlessly integrated into the operating room. It can be integrated into the robot system, allowing the surgeon to work sterilely between the robot and the patient throughout the procedure. robotic telesurgery that allows for integrated laparoscopic surgery, is relatively low cost, and / or

[0005] The present invention relates to a teleoperated surgical robotic system having a septal manipulator. Overcome the shortcomings of the system.

[0017] As will be appreciated by those skilled in the art, the term "master" as used herein refers to a surgical refers to the component controlled by the surgeon, sometimes referred to as the "surgeon" and is used herein The term "slave" used refers to the component that interacts with the patient undergoing the surgical procedure. For example, the terms "master console" and "external The term "physician console" is interchangeable with the term "slave console." The term "patient console" is used interchangeably, etc. Teleoperated surgical robots The system consists of a master console with multiple master links and a handle. the master console such that movement of the master console moves at least one of the plurality of master links. The master console includes a handle coupled to the master console, the handle being configured to maintain sterile conditions during a surgical procedure. According to one embodiment, the handle is designed to remain sterile during the surgical procedure. Master containers are used to ensure that the equipment remains sterilizable while being removed for additional procedures. The handle can be removably coupled to the sole. For example, the handle can be removably coupled to the sole using, for example, a clip-on. Removably connects to the master console via an attachment or screw attachment The detachable handle can be removed from the master console. To facilitate sterilization between surgical procedures while the device is removed, the circuitry, sensors, or electrical It can be purely mechanical with no associated electronics such as buttons. The Master Console allows the surgeon to avoid direct contact with the robot's handles and allows for a more tactile experience. It can be sterile during surgery (e.g., , covered with sterile drapes except for the handle).

[0018] The surgical robot system further includes a slave console having a plurality of slave links. According to one aspect, the distal end of the slave console includes an angle adjustment mechanism for adjusting the angle of the plurality of slave links. The slave link may be rotatable about the alpha axis of the attached slave link, so that the slave link The distal end of the sole allows the user to move from the master console to the patient undergoing surgery. It can be positioned to allow a patient to manually perform laparoscopic surgery.

[0019] Additionally, the system includes an end effector coupled to the slave console, The end effector moves in response to movements applied at the handle and is connected to the slave console. For example, the slave console can move in response to movements in the endoscopic instruments to perform surgical procedures. The actuator may include a plurality of actuators, e.g., motors, operably coupled to the actuator. , the actuator, when actuated in response to actuation at the handle, during the macro synchronization state The macro translational motion is applied to multiple slave links, but in the macro asynchronous state, the translational motion is During the micro-synchronization state, the end effector is moved by a micro-motion, but the micro-motion is not applied. In the asynchronous state, the micro-movement is not applied. and a distal end, the proximal end being connected to a distal end of the slave console. The distal end has an instrument hub designed to be coupled to the end effector. Has.

[0020] The handle may include a retractable piston that moves in response to actuation of the handle. At least one sensor on the master console detects the movement of the retractable piston and The actuators are designed to perform corresponding micro-movements on the end effector. According to one aspect of the present invention, the slave console has at least one sensor. Unless it detects at least a certain amount of retractable piston movement, it will not respond to movement on the master console. Additionally, at least one sensor coupled to the handle can detect the robot's movements. It is designed to detect the pattern of handle actuation that transitions from an asynchronous state to a microsynchronous state. For example, in a micro-asynchronous state, the signals sensed by multiple sensors can be calculated. Movement at the handle is monitored by at least one sensor that detects the pattern of movement of the handle. Therefore, the corresponding micro-motions by the end effector are not synchronized until the robot enters the micro-synchronous state. Does not cause movement.

[0021] The Master Console controls the movement of at least one Master Link among multiple Master Links. The plurality of actuators may include a mechanical limiter designed to limit the movement of the actuator when actuated. A clutch may be further provided to prevent macro-translational movement of the master link. The surgical robot system allows the user to visualize the end effector while operating the remote manipulator. The system may further comprise a display coupled to the master console that allows for the system to be integrated into the system. Additionally, the system can be connected to the distal end of the slave console and the surgical site. Removable incision pointer that allows alignment with the trocar placed inside the patient It can be equipped with:

[0022] Furthermore, the base of the slave console is provided with a plurality of slave links and joints. While the base of the slave console is still fixed, the slave console is The proximal ends of the slave joints are moved horizontally to position the distal ends of the slave joints in a desired horizontal position. The Reeb joint is movable about the proximal slave joint. It is possible to couple to a proximal slave link of a plurality of slave links. The base of the console is an adjustable link that is coupled to the proximal slave link of the multiple slave links. The adjustable vertical support may include a plurality of slave links and Adjust the joint height and adjust the remote control of the slave console before operating the remote manipulator. The distal end can be positioned at any desired vertical position.

[0023] According to one aspect of the present application, a plurality of slave joints are provided distal to the beta joints. The slave links and joints among the number of slave links and joints are A slave link and a slave control among the plurality of slave links on the proximal side of the joint The base of the sole remains fixed and moves relative to the beta joint to move the slave controller. The distal end of the sole is designed to be inverted between the forward and inverted surgical workspaces It has been done.

[0024] The surgical robot system also includes a plurality of actuators, each of which is controlled by a controller. a plurality of slave links of the slave console to be moved in response to a command; The actuator may also include a controller operably coupled to the actuators. For example, the controller may include: Move multiple slave links of a slave console to multiple actuators to the home configuration In the home configuration, the plurality of slave links may execute an instruction to The do-effector is positionable within a trocar inserted into a patient undergoing surgery. In addition, the control device controls the angle of the plurality of slave links by the plurality of actuators. the angled slave link and the proximal portion of the angled slave link. The slave link of the slave console on the side remains fixed during operation of the remote manipulator. Therefore, the angled slave link can be At the angle of the link, the distal end of the slave console causes the end effector to The surgical hand is placed in a hemispherical surgical workspace tilted at an angle essentially parallel to the angle of the slave link. It is possible to perform the procedure.

[0025] According to another aspect of the invention, the master console has a master control device and the slave The console has a slave controller so the master controller is detected by the handle. and executes a command based on the motion and transmits a signal to the slave controller based on the motion. Thus, the slave controller receives the signal, executes the command, and At least one of the plurality of slave links is connected to the network based on a signal transmitted from the network controller. can move the end effector, or both. For example, a slave console The right slave remote manipulator, the right slave control device, and the left slave remote manipulator are and a left slave controller, and the master console may include a right master A remote manipulator, a left master remote manipulator, and a master control device are provided. Thus, in a forward surgical workspace configuration, the master controller can control the right slave controller. a control unit communicating with the right slave remote manipulator in response to movements of the right master remote manipulator; The remote manipulator is moved, and the master controller communicates with the left slave controller. , the left slave telemanipulator in response to a movement at the left master telemanipulator. Additionally, according to some embodiments, in an inverted surgical workspace configuration, the master The controller communicates with the left slave controller to control the movements of the right master remote manipulator. In response, the left slave remote manipulator is moved, and the master controller moves the right slave remote manipulator. The left master telemanipulator communicates with the control device to respond to movements made by the right slave telemanipulator. Move the manipulator.

[0026] Therefore, the distal end of the right slave remote manipulator is connected to the right corner of the right slave links. The left slave remote manipulator may be rotatable about the alpha axis of the right slave link. The distal end of the actuator is connected to the alpha axis of the left angled slave link of the left angled slave link. , so that the distal ends of the right and left slave remote manipulators However, the user must move from the master console to perform laparoscopic surgery on the patient undergoing surgery. In addition, the right handle can be configured to operate manually. The left handle can be removably coupled to the left master remote manipulator. It can be removably coupled to the manipulator.

[0027] In accordance with yet another aspect of the present invention, a system for remote manipulation for performing a surgical procedure is provided. The system includes a patient console having a plurality of patient links coupled to a base. and a surgical instrument coupled to the patient console. The distal region of the instrument can be inserted into the surgical site on the patient. and at least one of the plurality of patient links is operably coupled to the patient console. The surgical console moves in response to movements applied by the handle of the attached surgeon console. commands to move instruments to perform robotic surgery, and to move the patient console from the surgery mode to the Multiple patient links may be pulled away from the patient while the patient console base remains stationary. The surgical site is exposed so that a surgeon can access the surgical site without being hindered by the multiple patient links. The control unit executes commands to transition to laparoscopic mode, which allows non-robotic surgery to be performed in a more agile position. The device further includes a control device.

[0028] Additionally, the control device may be configured to activate the patient control only when the surgical instrument is removed. The surgical instrument is inserted into the surgical site of the patient to transition the sole from the surgical mode to the laparoscopic mode. For example, the controller may further execute instructions to determine that the device is detached from the controller. determines that the surgical instrument has been removed from the patient console, The control device can determine that the device is removed from the patient. and switching the patient console from a surgical mode to a laparoscopic mode in response to a user input received at the console. In addition, the handle can be kept sterile during surgery and additional The handle is attached to the surgeon's console so that it can be sterilized while removed for surgery. The system can be removably coupled to a console. A display coupled to the surgeon console allows visualization of surgical instruments during surgery. It may further comprise a spray.

[0029] Further, the control device may, in the surgical mode, control at least one of the plurality of patient links. scaled degrees in response to movements applied by the handle on the surgeon console. For example, the control device may further execute instructions to operate the , micro degrees of freedom in response to corresponding movements applied at the handles of the surgeon console. Commands can be executed that cause scaled micro-movements in surgical instruments. The micro-motions applied by surgical instruments are scaled micro-motions with micro-degrees of freedom. However, the second scaled micro-motion of the second micro-degree of freedom in the surgical instrument is As different scales, each of the microscopic degrees of freedom is independently scalable. Additionally, the surgeon console, when actuated, may be configured to operate with a handle on the surgeon console. A clutch is provided to prevent micro-movements in the surgical instrument that respond to applied micro-movements. It is possible.

[0030] According to another aspect of the present invention, there is provided a method for remotely performing surgery, the method comprising: coupling a surgical instrument to a patient console including a plurality of patient links coupled to a base; inserting a distal region of the surgical instrument into a surgical site on a patient to perform the robotic surgery; a handle of a surgeon console operably coupled to the patient console in said mode; and moving at least one of the plurality of patient links responsive to the movement applied by the and moving the surgical instrument to perform the robotic surgery; and transitioning the system from a laparoscopic mode to a laparoscopic mode, wherein in the laparoscopic mode, the plurality of patient links The patient console base is then pulled away from the patient while the surgical site remains stationary. and a surgeon is able to perform non-robotic procedures at the surgical site without being hindered by the multiple patient links. Surgery is possible.

[0031] In accordance with yet another aspect of the present invention, another system for remote operation for performing a surgical procedure is provided. The system includes a plurality of patient links coupled to a matching joint and a base. The robot may include a patient console for performing a surgical procedure, and a surgical instrument coupled to the patient console. A distal region of the surgical instrument can be inserted into a surgical site on a patient to perform a procedure. The system may further include a controller, the controller controlling: alignment of the alignment joint with the surgical site; and an instruction to set a virtual motor center based on the patient link; and , a movement applied by a handle of a surgeon console operably coupled to a patient console and moving the surgical instrument in response to the instructions to perform the robotic surgery. The movement of the surgical instrument maintains alignment between the patient joint and the surgical site during the surgical procedure. is restricted around a virtual remote center of motion.

[0032] The system is fitted with an alignment joint to allow alignment of the alignment joint with the surgical site. It may further include a dissection pointer that can be removably coupled. The detector can be removably coupled to the alignment joint via a magnetic attachment. In addition, the system uses a virtual center of motion based on the alignment of the alignment joint and the trocar. The surgical instrument may include a trocar that is placed within the surgical site on the patient to provide the desired surgical setup.

[0033] In accordance with another aspect of the present invention, another method for remotely performing surgery is provided. The method is to: connect one of the patient joints of the patient console to a trocar. and aligning the plurality of patient joints with the plurality of patient links. The patient console is operably coupled to the surgeon console and the configured to move in response to movement applied at a handle of the surgeon console. The step of: determining a virtual remote motion center based on the alignment of the patient joint and the trocar insertion site; and setting one of the plurality of patient links in response to a movement applied by the handle. and moving at least one surgical instrument coupled to the patient console to perform a surgical procedure. and movement of the surgical instrument may include moving the patient joint and the trocar during surgery. The virtual distal motion center is constrained to maintain alignment with the entry site.

[0034] In accordance with yet another aspect of the present invention, another system for remote operation to perform a surgical procedure is provided. The system includes a plurality of patient links coupled to a matching joint and a base. The patient console may include a surgical instrument coupled to the patient console. A distal region of the surgical instrument can be inserted into the surgical site on the patient to perform the surgical procedure. The system may further include a controller that, in the surgical mode, controls a surgeon console. Micro degrees of freedom scaling in response to corresponding movements applied by the console handles Executes a command to cause a controlled micro-movement with a surgical instrument, and executes the controlled micro-movement with the surgical instrument. Scaled micro-movements of degrees of freedom are applied at the surgeon console handles. The micro-movements exerted by the surgical instruments are larger than the corresponding movements exerted by the first micro-movements. The scaled microscopic movements of the second microscopic degrees of freedom are then scaled to the second microscopic degrees of freedom in the surgical instrument. The microscopic degrees of freedom are on a different scale from the scaled microscopic movements. Each can be independently scalable.

[0035] Additionally, the surgeon console, when actuated, can be operated by a handle on the surgeon console. A clutch that prevents micro-movements in a surgical instrument that responds to micro-movements. For example, the surgeon can control the forceps via the handle (e.g., roll of the end effector, The end effector of the instrument can be moved relative to a specific position (using the pitch and / or yaw degrees of freedom). The clutch is then actuated, and the end effector of the instrument remains stationary while the hand Move the handle back to a more ergonomic position, then release the clutch to allow for relative micro-movements. can continue from the handle to the end effector of the instrument. [Brief explanation of the drawings]

[0036] BRIEF DESCRIPTION OF THE DRAWINGS [Figure 1] FIG. 1 illustrates an exemplary teleoperated surgical robotic system having a robotic telemanipulator constructed in accordance with the principles of the present invention.

[0037] [Figure 2A] FIG. 2A illustrates an exemplary master console constructed in accordance with the principles of the present invention.

[0038] [Figure 2B] FIG. 2B illustrates an exemplary display constructed in accordance with the principles of the present invention.

[0039] [Figure 2C] FIG. 2C illustrates another exemplary master console constructed in accordance with the principles of the present invention.

[0040] [Figure 3] FIG. 3A shows the master console of FIG. 2A in a seated configuration, and FIGS. 3B and 3C show the master console of FIG. 2A in a standing configuration.

[0041] [Figure 4]FIG. 4 illustrates an exemplary master console handle constructed in accordance with the principles of the present invention.

[0042] [Figure 5A] FIG. 5A illustrates an exemplary handle grip constructed in accordance with the principles of the present invention. [Figure 5B-5C] 5B and 5C show the handle grip of FIG. 5A removably coupled to the master console handle of FIG. 4A in accordance with the principles of the present invention.

[0043] [Figure 5D-5F] 5D-5F illustrate an exemplary handle grip removably coupled to a master console handle via a clip attachment in accordance with the principles of the present invention.

[0044] [Figure 5G] FIG. 5G illustrates an exemplary sterile drape cap coupled to a master console handle in accordance with the principles of the present invention.

[0045] [Figure 6] FIG. 6 illustrates an exemplary handle grip removably coupled to a master console handle via a threaded attachment in accordance with the principles of the present invention.

[0046] [Figure 7A-7C] 7A-7C illustrate an actuation sequence for the handle grip of FIG. 5A in accordance with the principles of the present invention.

[0047] [Figure 7D-7E] 7D and 7E are cross-sectional views of the handle grip of FIG. 5A coupled to the master console handle.

[0048] [Figure 8A] FIG. 8A illustrates another exemplary master console handle constructed in accordance with the principles of the present invention.

[0049] [Figure 8B-8C] 8B and 8C illustrate movement of the handle grip of the master console handle of FIG. 8A in accordance with the principles of the present invention.

[0050] [Figure 8D-8E] 8D and 8E are internal views of the master console handle of FIG. 8A.

[0051] [Figure 8F-8G] 8F and 8G illustrate an exemplary sterile drape interface in accordance with the principles of the present invention.

[0052] [Figures 9A-9C] 9A-9C show the handle grip of FIG. 8A removably coupled with the master console handle of FIG. 8A in accordance with the principles of the present invention.

[0053] [Figure 9D-9F] 9D-9F show the handle grip of FIG. 8A uncoupled from the master console handle of FIG. 8A in accordance with the principles of the present invention.

[0054] [Figures 10A-10C] 10A-10C illustrate yet another exemplary master console handle constructed in accordance with the principles of the present invention.

[0055] [Figures 11A-11B] 11A and 11B illustrate an exemplary slave console constructed in accordance with the principles of the present invention.

[0056] [Figure 12] FIG. 12 illustrates a left slave console constructed in accordance with the principles of the present invention.

[0057] [Figure 13A] FIG. 13A illustrates an exemplary controller for a teleoperated surgical robotic system.

[0058] [Figure 13B] FIG. 13B illustrates another exemplary controller for a teleoperated surgical robotic system.

[0059] [Figures 14A-14E] 14A-14E illustrate the movement of Scara in a slave console in accordance with the principles of the present invention.

[0060] [Figures 15A-15C] 15A-15C illustrate vertical adjustment of a slave console in accordance with the principles of the present invention.

[0061] [Figure 16] FIG. 16 illustrates a slave console in a home configuration in accordance with the principles of the present invention.

[0062] [Figures 17A-17D] 17A-17D show the movement of an exemplary translating instrument interface coupled to a slave console in a forward configuration at 0 degrees angulation of the slave console.

[0063] [Figures 18A-18D] 18A-18D illustrate the anterior surgical workspace of FIGS. 17A-17D.

[0064] [Figure 18E] FIG. 18E is a rear view of the front surgical workspace of the slave console of FIGS. 18A-18D.

[0065] [Figures 19A-19C] 19A-19C show the forward surgical workspace of an exemplary instrument coupled to a slave console in a forward configuration at a 20 degree angulation of the slave console.

[0066] [Figures 20A-20C]20A-20C show the forward surgical workspace of an exemplary instrument coupled to a slave console in a forward configuration at a 40 degree angulation of the slave console.

[0067] [Figures 21A-21J] 21A-21J illustrate the flipping of a slave console between a forward configuration and a reverse configuration in accordance with the principles of the present invention.

[0068] [Figures 21K-21L] 21K and 21L are schematic diagrams of a master console and a slave console in forward and reverse configurations, respectively, in accordance with the principles of the present invention.

[0069] [Figures 22A-22C] 22A-22C show an exemplary translating instrument interface coupled to a slave console in an inverted configuration at 0, 20, and 40 degree angulations of the slave console, respectively.

[0070] [Figures 23A-23C] 23A-23C illustrate an inverted surgical workspace of FIGS. 22A-22C.

[0071] [Figures 24A-24D] 24A-24D illustrate the adjustment of a slave console for integrated laparoscopic surgery in accordance with the principles of the present invention.

[0072] [Figure 25] FIG. 25 is a flow chart illustrating the use of the teleoperated surgical robotic system of FIG. 1 in accordance with the principles of the present invention.

[0073] [Figure 26] FIG. 26 is a flow chart illustrating the process of deploying the surgeon's console of FIG. 25 in accordance with the principles of the present invention.

[0074] [Figure 27]FIG. 27 is a flow chart illustrating the preparation steps of FIG. 25 in accordance with the principles of the present invention.

[0075] [Figure 28] FIG. 28 is a flow chart illustrating the steps for preparing the device of FIG. 25 in accordance with the principles of the present invention.

[0076] [Figure 29] FIG. 29 is a flow chart illustrating steps preparatory to the operation of FIG. 25 in accordance with the principles of the present invention.

[0077] [Figure 30] FIG. 30 is a flow chart illustrating the operational steps of FIG. 25 in accordance with the principles of the present invention.

[0078] [Figure 31A-31B] 31A and 31B illustrate an exemplary tele-actuated surgical robotic system having a hybrid telemanipulator constructed in accordance with the principles of the present invention.

[0079] [Figure 32A-32B] 32A and 32B show partial exploded perspective views of the surgical robotic system of FIGS. 31A and 31B.

[0080] [Figure 33] FIG. 33 illustrates a partially exploded top view of an exemplary mechanical transmission system constructed in accordance with the principles of the present invention.

[0081] [Figure 34A-34B] 34A and 34B show side perspective views of an exemplary master unit constructed in accordance with the principles of the present invention.

[0082] [Fig. 34C-34D] Figures 34C and 34D show an alternative embodiment of a handle suitable for use with the master unit depicted in Figures 34A and 34B.

[0083] [Figure 35A-35B] 35A and 35B show side perspective views of an exemplary slave unit constructed in accordance with the principles of the present invention.

[0084] [Figure 36A-36B] 36A and 36B show a cross-sectional end view and a side interior perspective view, respectively, of an exemplary slave hub.

[0085] [Figure 36C-36D] 36C and 36D are a perspective side view and a detailed internal view of the end effector, respectively, of a slave instrument constructed in accordance with the principles of the present invention.

[0086] [Figure 36E] FIG. 36E is a detailed view of an alternative embodiment of an exemplary end effector.

[0087] [Figure 37] FIG. 37 shows a flowchart illustrating exemplary method steps for identifying the kinematics of a selected end effector.

[0088] [Figure 38] FIG. 38 illustrates an alternative exemplary embodiment of a teleoperated surgical robotic system of the present invention.

[0089] [Figure 39] FIG. 39 shows an internal side perspective view of the master unit of the tele-actuated surgical robotic system of FIG.

[0090] [Figure 40A-40B] 40A and 40B are front and rear perspective views of a slave unit of the teleoperated surgical robotic system of FIG.

[0091] [Figure 40C-40D] 40C and 40D illustrate another exemplary dissection pointer constructed in accordance with the principles of the present invention.

[0092] [Figure 41A-41B] 41A and 41B are schematic diagrams of alternative control systems suitable for use in the surgical robotic systems of the present invention.

[0093] [Figure 42A-42B] 42A and 42B are side perspective views of an alternative embodiment of a remote manipulator constructed in accordance with the principles of the present invention.

[0094] [Figure 43] FIG. 43 illustrates another exemplary master console constructed in accordance with the principles of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0095] (Detailed explanation) A robot constructed in accordance with the principles of the present invention and usable in minimally invasive surgical procedures or other applications is provided. Teleoperated Surgical Robot System with Remote Manipulator and Integrated Laparoscopic Surgery The surgical robotic system is described herein as being capable of performing time-consuming and difficult procedures such as suturing and cutting. It provides the utility of robotics in various surgical procedures, allowing users, such as surgeons, to perform tasks such as sealing blood vessels and Efficiently switch to integrated laparoscopy for short specialized surgical tasks such as stapling Fully articulating instruments simplify complex surgical tasks and allow for greater freedom of movement. The user can improve the surgeon's concentration and ability by reproducing the original image. , allowing you to sit or stand in a relaxed, ergonomic working position.

[0096] Referring to FIG. 1, an exemplary teleoperated surgical robot having a robotic telemanipulator is shown. The surgical robot system 10 is connected to the surgical robot via, for example, an electrical cable. It includes a master console 20 electrically and operably coupled to a slave console 50 . As will be described in more detail below, the surgical robotic system 10 includes a slave console. A plurality of actuators, e.g., preferably motors, coupled to 50 are processor-driven controls. The slave consoles respond to movements applied by the master console 20 via the control system. The macro-synchronous state applies macro translational motion to the end effector of module 50, and the slave console A plurality of actuators, preferably motors, coupled to the controller 50 are processor-driven. The steering wheel responds to movements applied by the handle of the master console 20 via the dynamic control system. and a micro-synchronization state that applies micro-motion to the end effector of the robot console 50. do.

[0097] The control system includes a right master remote manipulator 22a and a left master remote manipulator 22b on the master console 20. a master controller 2 operably coupled to the star remote manipulator 22 b, and a slave controller 2 The right slave remote manipulator 51a and the left slave remote manipulator 51b of the sub console 50 1b, respectively. For example, the master controller 2 may be configured to operate in a manner that is executed by one or more of its processors. a non-transitory computer-readable medium having stored thereon instructions that enable operation of the console 20; Similarly, each of the slave control devices 4a and 4b may include a When executed by one or more processors of each of these, the slave console 50 A non-transitory computer-readable medium, such as a memory, on which instructions are stored that enable the operation The master controller 2 may be connected to a communication link such as a cable (illustrated). The slave control device 4a and the slave control device 4b are connected to the slave control device 4a via a network or via a wireless communication component. are operably coupled.

[0098] The master controller 2 is operatively coupled to one or more sensors of the master console 20. The slave controllers 4a, 4b can be connected to one or more slave consoles 50. The master controller 2 can be operably coupled to the actuator. The motion applied at the master console 20 is detected by one or more sensors at the master console 20. and executes the instructions stored therein to operate the slave console 50. It performs the coordinate transformations required to operate one or more actuators and stores them there. and transmits the processed signal to the respective slave controllers 4a, 4b, which execute the received command. The slave console 50 responds to the movements of the master console 20 based on the processed signal. For example, one or more actuators may be configured to move one or more Alternatively, the master controller 2 may be provided with a motor. receiving a signal from one or more sensors of the sensor; processing the signal; and The slave controllers 4a and 4b store the data therein. Execute the command to perform coordinate transformation based on the processed signal, and then execute the command. and actuating one or more actuators of the slave console 50 to convert the converted process. The slave console 50 is controlled to respond to the movement of the master console 20 based on the logic signal. Preferably, the slave link and slave console 50 The joint is the point at which the end effector / instrument tip is attached, as described in more detail below. , the master controller 10 can move without deviating from the remote motion center during operation of the surgical robot system 10. It moves to reproduce the movement applied by the handle of the sole 20. Therefore, the translational degrees of freedom, e.g. left / right, up / down, inward / outward, joint degrees of freedom, e.g., pitch and yaw, actuation degrees of freedom, e.g., The degrees of freedom, e.g., open / close, and rotational degrees of freedom, e.g., pronation / supination, are described in more detail below. This is electromechanically reproduced via sensors, actuators, and a control system.

[0099] According to one aspect of the present invention, the slave links and joints of the slave console 50 are: The degree to which surgical instruments are scaled to movements applied by the handles of the Master Console 20 The master console 20 is configured to respond to movements applied by the handle of the master console 20 so as to reproduce the For example, the master controller 2 may be one of the master consoles 20 or A method for receiving signals from a plurality of sensors, processing the signals, and transmitting the processed signals to respective slaves. The slave controllers 4a and 4b execute the commands stored therein. and then performing a coordinate transformation based on the processed signal to obtain a corresponding scaled motion. and executes instructions to control one or more of the actions of the slave console 50. Activating the modulator to generate a master controller based on the converted and scaled processed signal. By moving the slave console 50 in a scaled manner that corresponds to the movement of the console 20, Therefore, the surgeon can control a micro-roll movement of, say, 30 degrees on the master console. In addition to the handle of 20, the actuator of the slave console 50 is therefore A micro-roll motion can be performed on a console 50 surgical instrument at a scaled degree, e.g., 60 degrees. , whereby the slave responds to movements on the master console 20. The motion occurs at a scaled ratio (e.g., 1:2) by the control console 50. Or, microscaling is the process of creating a microscopic movement that is larger than the microscopic movement that occurs at the handle. Each of the macroscopic degrees of freedom, e.g. translation, as well as the microscopic degrees of freedom, Each of the degrees of freedom, e.g., articulation, actuation, and rotation, is controlled by the slave console 50. The corresponding movements of the assigned degrees of freedom in the Independent scaling to selectively scale the motion compared to the motion obtained For example, the micro degree of freedom of rotation is the first scale (1:2) between the master and the thread. can be programmed to have corresponding scaled movements between the , the micro degrees of freedom of actuation and / or articulation are measured at a second scale different from the first scale. to have corresponding scaled movement between master and slave at (2:3) A third scale can be used for the third micro degree of freedom. As will be appreciated by those skilled in the art, the scale ratio may be, for example, 3:1, 2.5:1, 2:1, 1. It may be 5:1, 1:1.5, 1:2, 1:2.5, or 1:3, depending on the degrees of freedom. In general, micro-scaling occurs at the end effector, but not at the handle. When a controlled movement is required, the surgeon can move the surgical instrument on the slave console 50 to the desired position. To achieve large movements, the handle of the Master Console 20 must be moved without making large movements. This allows for robotic surgery (e.g., surgery with reduced strain on the surgeon's hands, wrists, and arms). This allows for more efficient aspects of the procedure (e.g., suturing).

[0100] The master console 20 is connected to the operating room where a user, e.g., a surgeon, may be located, and the surgical The slave console 50 may be located in the sterile zone, for example, adjacent to the slave console 50 where a patient receiving treatment may be located. This allows the user to use the master console during the surgical procedure as needed. 20 and the slave console 50 to perform laparoscopic surgery manually. Thus, the slave console 50 allows the surgeon to It is designed to efficiently retract into a configuration that allows the patient access to the surgical site. The master console 20 can be covered with a sterile drape and removed between surgical procedures. It may have a removable handle that can be removed and sterilized, so that the The handle is sterile during surgery and provides no physical barrier between the handle and the surgeon's hand. This allows for greater control and performance for the surgeon. Purely mechanical, without any electronic devices such as circuits, sensors, or electrically coupled buttons Thus, the removable handle can be easily sterilized between surgeries. In this way, the master console can be sterile during surgery, but the surgeon Allows for haptic feedback from direct contact with the robot's handle do.

[0101] As illustrated in FIG. 1, the master console 20 includes a right master remote manipulator. The left and right master remote manipulators 22a and 22b are respectively provided. a and left master remote manipulator 22b when the surgeon is at the master console 20. The right master remote manipulator 22a can be operated by the surgeon's right hand; and The left master remote manipulator 22b can be operated by the left hand of the surgeon. Therefore, the master console 20 can be , wheels for movement within the operating room and for use by the surgeon, e.g., during storage or during surgery. During use, the remote manipulator can be activated to lock it in place. In addition, the right master remote manipulator 22a and the left master remote manipulator 22b can be equipped with wheel locks. The remote manipulator 22b can be operated simultaneously and independently by, for example, the right and left hands of a surgeon. Preferably, the surgical robot system 10 is Optimized for use in treatment.

[0102] As further illustrated in FIG. 1, the slave console 50 is connected to the right master remote manipulator. a right slave remote manipulator 51a operably coupled to the left master remote manipulator 22a; a left slave remote manipulator 51b operably coupled to the remote manipulator 22b; The right and left slave remote manipulators 51a and 51b are 51a can be placed on the right side of the patient undergoing surgery, and the left slave remote manipulator The instrument can be placed on a separate console so that the instrument can be placed on the left side of the patient. Therefore, the right and left slave remote manipulators 51a and 51b are used for movement in the operating room, respectively. Wheels for movement and remote maneuvering, for example, in place during storage or near the patient during surgery. The system may be provided with a floor lock that can be activated to lock the inflator. In addition, the right and left slave remote manipulators 51a and 51b are respectively remotely operated in the operating room. A pull bar may be provided for pushing or pulling the septal manipulator.

[0103] Additionally, camera systems can be used with the surgical robotic system 10. For example, A camera, e.g., an endoscope, operated by an assistant located at the slave console 50 can be operated and / or held in place by the slave console 50 Therefore, the camera system can be positioned so that it can be easily observed by the surgeon during the surgical procedure. A display 21 mounted on the star console 20 may be provided. The robotic surgical system 10 is connected to the endoscope camera 10. The robotic surgical system 10 is connected to the endoscope camera 10. The captured surgical site can then be displayed to the surgeon in real time.

[0104] Referring now to FIG. 2A, an exemplary master console 20 is shown. The master console 20 includes a right master remote manipulator 22a and a left master remote manipulator 22b. The left master remote manipulator 22b is illustrated as The right master remote manipulator 22a may be a structural mirror image of the right master remote manipulator 22a. The following description of the remote manipulator 22a also applies to the left master remote manipulator 22b. do.

[0105] The master remote manipulator 22a has a plurality of master joints, e.g., a first master joint, - joint 25, second master joint 27, third master joint 29, fourth mass a plurality of master joints interconnected by a fifth master joint 31 and a fifth master joint 34; Star link, for example, first master link 26, second master link 28, third master 1, the first master link 30 and the fourth master link, e.g., the leading master link 32. As shown, the handle portion 35 is connected to the master remote manipulator via joint 34. a plurality of hands connected to the master remote manipulator 22a for operating the master remote manipulator 22a; The handle link is connected to each other by a master joint. The remote manipulator 22a includes a base portion having telescopic bases 23a and 23b, and the telescopic bases 23a and 23b are and a base cap 24 fixed on top of the joints 3a and 23b. The link 26 and thus the link are rotatably coupled to the base cap 24 via the All master joints and links distal to link 26 are centered about axis δ1 at joint 25. As shown in FIG. 1, link 2 8, and therefore all master joints and links distal to link 28 are 7 can rotate relative to link 26 about axis δ2, and link 30, and therefore All distal master joints and links are linked together around axis δ3 at joint 29. The guide master link 32 can rotate relative to the guide master link 28, and thus the guide master link All master joints and links distal to 32 are aligned around axis δ4 at joint 31. It can rotate relative to the link 30.

[0106] The master console 20 includes a plurality of sensors located within a master remote manipulator 22a. Therefore, any movement applied to any master link and joint The control system can then execute the command. , coupled to a slave console 50, as will be described in more detail below with reference to FIG. The one or more actuators connected to the slave remote manipulator 51a are connected to corresponding slaves of the slave remote manipulator 51a. Movement is reproduced using blinks and joints.

[0107] Continuing to refer to FIG. 2A, the master remote manipulator 22a includes a mechanical limiter 33. The mechanical limiter 33 comprises an opening in the link 26 that is connected to the guide master link. 32 through which the mass Limit the movement of the remote manipulator 22a around its pivot point. The mechanical limiting unit 33 is configured to limit the movement of the guided master remote manipulator 22a when the master remote manipulator 22a is actuated. In addition, mechanical limiting portion 33 ensures that link 32 is translatable along longitudinal axis δ5. This allows the guiding master link 32 to rotate about mutually perpendicular axes δ1 and δ6. Regardless of the orientation of the guiding master link 32, the axis δ5 intersects the longitudinal axis δ5 at a fixed pivot point P. As a result, the slave telemanipulator generates the corresponding motion. This allows, for example, a master distal end to be inserted at a fixed incision point on the patient where the trocar enters the patient's abdomen. This effectively maintains the pivot point of the septal manipulator.

[0108] The surgical robotic system 10 is positioned so that the remote center of motion V is aligned with the patient's incision. When the handle portion 35 is inserted, translational motion applied to the handle portion 35 moves the end-effector positioned inside the patient. The end effector replicates the movement applied to the handle portion 35. This configuration advantageously eliminates the fulcrum effect between the handle and the end effector. .

[0109] Additionally, the master console 20 may include an arm support coupled to, for example, the base cap 24. 12, which allows the surgeon to operate the master console 20. The arm support is sized and shaped so that the arm can rest on it. The mass support 12 remains stationary during operation of the master telemanipulator 22a. The robot console 20, when activated, controls the surgical robot, as described in more detail below. A clutch 11 for preventing macro- and / or micro-synchronization of the system 10, e.g., a foot pedal Therefore, the master console 20 can be equipped with a macro clutch. This allows for precise clutching and micro clutching.

[0110] Referring now to Figure 2B, there is shown a display 21. The display 21 displays text. It can have a simple design without visible graphic elements and LEDs, e.g. For example, white light is used to ensure that components are functioning properly. A yellow light signals that the surgeon has performed an improper action, and a red light signals that the surgeon has performed an improper action. As shown in FIG. 2B, the display 21 , which graphically displays the various components of the slave console 50 and their status. Icon 21a corresponds to system startup, icon 21b corresponds to system warning, and icon 21h corresponds to the working limit being reached, and icon 21j corresponds to the slave console Each of the 50 slave telemanipulators is located in the forward or reverse surgical workspace. All of these icons are invisible unless illuminated. All other icons are visible even when not illuminated. The icon 21c has a graphic element. For example, icon 21d corresponds to the home configuration, icon 21e corresponds to the state of the appliance 82, and icon 21f corresponds to the state of the transducer. Tool interface 81 corresponds to the sterile interface, and icon 21f corresponds to the macro synchronization. icon 21g corresponds to micro sync, and icon 21i corresponds to the slave console 50 All these functions correspond to whether the wheels are locked or unlocked. As will be appreciated by those skilled in the art, the display 21 may be The display may be any display known in the art that is capable of conveying information to a physician. can.

[0111] FIG. 2C illustrates another exemplary master console similar to that shown in FIG. 2A, but The master console 20 may further include an additional clutch 11', e.g., an additional foot pedal. Thus, as will be explained in more detail below, 11 operation is a master / slave operation (e.g. for macro movements) It allows the transition between synchronized / unsynchronized and the operation of the clutch 11' is master / thread. (e.g., for micro-movements, for both micro-movements and macro-movements) Allows transition between different types of synchronization / unsynchronization, thus operating independently This allows for macro clutching and micro clutching. In addition, different predetermined actuation patterns (e.g., predetermined (multiple pedal presses within a given time and one pedal press within a given time) are considered separate. It can be used for automatically operable macro clutching and micro clutching.

[0112] 3A to 3C, the master console 20 is mounted on the telescopic bases 23a and 23b. For example, the seated and standing configurations can be adjusted using the 2, the master console 20 is configured such that the telescopic bases 23a and 23b have a vertical height D1. The Master Console 20 can be adjusted to a seated configuration. In this seated configuration, the surgeon can As illustrated in Figures 3B and 3C, the master controller Console 20 can be adjusted to an upright configuration such that telescoping bases 23a and 23b have a vertical height D2. In this configuration, the surgeon is able to stand while operating the master console 20. In addition, the vertical height of the telescopic bases 23a and 23b can be adjusted to fit the master console 20, e.g. This can be adjusted via an actuator located on the master link 26. For example, The actuator acts as a lift button that, when actuated, increases the vertical height of the telescopic bases 23a and 23b. A down button may be provided to increase or decrease the volume. The vertical height of the bases 23a and 23b can be adjusted to any vertical height between D1 and D2 as required by the surgeon. It can be adjusted.

[0113] 4, the master console handle portion 35 is shown. The console handle portion 35 includes a plurality of handle joints, e.g., handle joints 37 and a plurality of handle links, e.g., handle joints 39, interconnected by 4, the handle link 38 is provided with a handle link 36. Link 36 is rotatably coupled to guiding master link 32 via joint 34, thus , can rotate relative to the guiding master link 32 about axis δ7. The handle link 38 is rotatably coupled to the handle link 36 via a handle joint 37. , and can therefore rotate relative to the handle link 36 about the axis δ8. The handle grip 40 can be detached from the master console handle portion 35 at the joint 39. The handle grip 40 can be coupled to the handle bar 40 about the axis δ9. As shown in FIG. 4, the handle grip 40 The instrument includes finger straps 41 for engaging the surgeon's fingers, e.g., thumb and index finger. It can be done.

[0114] The inward / outward movement of the handle portion 35 causes the guiding master link 32 to move along the longitudinal axis δ5. This movement is controlled by the master remote manipulator 22a. The signal is detected by one or more sensors and transmitted to a control system, which then The system executes commands to control one or more actuators coupled to the slave remote manipulator 51a. The actuator causes the corresponding slave link to rotate inwards / outwards along the imaginary longitudinal axis ω9. Similarly, the upward / downward movement of the handle portion 35 causes the induction master ring The robot moves the robot up / down along the longitudinal axis δ6, and this movement is controlled by the master remote manipulator. the temperature and humidity are detected by one or more sensors coupled to the controller 22a and communicated to the control system; The control system then executes the command and is coupled to the slave remote manipulator 51a. The actuator or actuators rotate the corresponding slave links along a virtual longitudinal axis ω 10 Finally, the left / right movement of the handle portion 35 is reproduced. This causes the guiding master link to move left / right along the longitudinal axis δ1, and this movement The movements are sensed and controlled by one or more sensors coupled to the master remote manipulator 22a. The command is then transmitted to the control system, which then executes the command to the slave remote manipulator. One or more actuators coupled to the actuator 51a actuate the corresponding slave link. is made to reproduce left / right movements around a virtual longitudinal axis ω5.

[0115] Continuing to refer to FIG. 4, the force applied at the handle portion 35 of the master remote manipulator 22a The movements allow for joint degrees of freedom, e.g., pitch and yaw, actuation degrees of freedom, e.g., open / close, and rotation. The degrees of freedom, such as pronation and supination, are controlled via sensors, actuators, and a control system. The master remote manipulator 22a preferably has a handle portion 3 The handle portion 35 may include one or more sensors coupled to the handle portion 35 for detecting movement of the handle portion 35. As will be appreciated, the sensor is mounted on one side to measure rotation by measuring angle and position. A magnetic-based rotation sensor with a magnet on one side and a sensor on the other side is used to detect rotational motion. The sensor may be any designed sensor, and the sensor indicates the rotation measured by the sensor. a signal and transmits the signal to one or more actuators coupled to the slave console 50; The slave console 50 is coupled to a control system for transmitting the control signal to the controller. The movement applied to 35 can be replicated by the end effector. For example, the electric cable extends from the handle portion 35 to a control system, e.g., a unit containing control electronics. An additional electrical cable can be connected from the control system to the slave console 50. The actuators may extend to one or more actuators.

[0116] As illustrated in FIG. 5A, the handle grip 40 is biased toward the open configuration. Therefore, the triggers 41a and 41b are activated to control the and the control system can execute instructions to generate signals to be transmitted to the slave. An actuator coupled to the console 50 opens and closes the end effector.

[0117] Referring back to FIG. 4, the handle grip 40 is rotatable about a handle axis δ9. Thus, rotation of the handle grip 40 generates a signal through the control system. The control system executes the command and the slave console The actuator coupled to the actuator 50 rotates the end effector with the pronation and supination degrees of freedom. .

[0118] The handle portion 35 is also rotatable about a handle axis δ8, so that the handle The rotation about the axis δ8 is detected by a sensor which generates and transmits a signal through the control system. The control system executes commands to control the actions of the slave console 50. In addition, the handle portion 35 is , may be rotatable about the handle axis δ7, so that the handle The rotation of the dollar portion 35 is detected by a sensor which generates and transmits a signal through the control system. The control system executes the instructions to control the actuators coupled to the slave console 50. The controller rotates the end effector with a pitch degree of freedom.

[0119] As illustrated in FIGS. 5B and 5C, the handle grip 40 is It can be removably coupled to the handle portion 35 of the master remote manipulator 22a. Therefore, the handle grip 40 is removed between surgeries for sterilization and then mass-produced immediately prior to surgery. The robot can then be reconnected to the remote manipulator 22a. During operation of the system 10, the entire master console 20 can be covered with a sterile drape, making it easy to operate. The handgrip 40 is sterile and connects to the master console 20 outside the sterile drape. This allows the surgeon to operate the handle grip 40 without any physical barrier between them. The handle grip 40 can be directly touched, providing tactile feedback and Overall performance improves.

[0120] 5D-5F, the handle grip 40 is attached via a clip attachment. 20. The handle portion 35 of the master console 20 can be removably coupled to the handle portion 35 of the master console 20. As shown in Figures 5D through 5F, the attachment is preloaded to provide a fixed backlash. To eliminate this, the spring 43 is attached to the joint 39 of the handle portion 35 and the clamp of the handle grip 40. The cap portion 42 can be connected to the cap portion 42.

[0121] As shown in FIG. 5G, the sterile drape cap 13 is mass-produced in accordance with the principles of the present invention. The power steering unit 10 can be removably coupled to the power steering unit 10 and the power steering unit 10. The master console 20 can be covered with a sterile drape 14 during a surgical procedure and is The surgeon has tactile feedback available through direct contact with the robot's handle. The sterile drape interface 14 allows a sterile drape ring 14a defining an opening 14b therein; and a The handle grip is attached to the master console 20. While not being used, for example, during sterilization and / or cleaning, the sterile drape cap 13 may be placed under the sterile drape. Temporarily coupled to the coupling 14a and the master console handle portion 35 for use by the clinician. Avoid accidental contact with the interior of the master console handle interface. For example, the sterile drape cap 13 can be attached to the master console handle portion 35. Attachments include, but are not limited to, magnetic systems, friction forces, Velcro surfaces, and matching The device can be held in place by methods known in the art, including shapes, hooks, etc. When you are ready to join the handle grip to the master console handle section 35, The sterile drape cap 13 may then be removed and discarded. The sterile drape ring 14a is preferably Preferably, the handle is made of a rigid material, such as metal, and the handle grip is When coupled to the master console (e.g., the master console handle) The handle is designed to be sandwiched between the handle (at portion 35) and the handle grip. The sterile drape 14c with removable handles securely attaches to the master console. Additionally, the sterile drape interface 14 is used for further surgical sterilization. Once the handle grips are removed, they can be easily removed from the master console. The opening 14b of the sterile drape interface 14 allows the sterile drape 14c to pass through without obstruction. and a handle component is inserted through the sterile drape interface in response to actuation by the surgeon without the need for a separate device. It can be moved into the master console through the opening 14b in the face 14. This allows for interaction between the detachable handle and the master console. At the same time, sterile surgery is ensured.

[0122] According to another aspect of the present invention, as shown in FIG. 6, a handle grip 40' may be provided. Removably connects to the handle portion 35' of the master console 20 via an attachment As shown in FIG. 6, a handle grip having an internally threaded portion 44a may be used. The threaded portion 42' of the handle portion 40' is adapted to be threadedly engaged with the external threaded portion 44b of the joint 39' of the handle portion 35'. , so that the handle grip 40' is screwed onto the handle portion 35'.

[0123] 7A to 7C, the actuation process of the handle grip 40 is shown. As illustrated in FIGS. 7B and 7C, a handle grip 40 is disposed within the central lumen. The retractable piston 45 is connected to the handle grease via a connector 46a. The trigger 41a of the handle grip 40 is mechanically coupled to the trigger 41a of the handle grip 40 via a connector 46b. As shown in FIG. 7A, the triggers 41a and 41b are mechanically coupled to the triggers 41a and 41b. When in a fully open state, e.g., biased to an open configuration, the retractable piston 45 is fully 7B and 7C, the handle grip 40 is located within the central lumen of the handle grip 40. When lip 40 is actuated, for example when triggers 41a, 41b are pushed towards each other, connector The retractable piston 45 protrudes from the central lumen of the handle grip 40 by the springs 46a and 46b. Movement of the retractable piston 45 beyond the central lumen of the handle grip 40 causes the piston 45 to move in a direction perpendicular to the central lumen of the handle portion 35. This can be detected by a sensor.

[0124] For example, as shown in FIGS. 7D and 7E, a handle grip 40 is attached to the handle portion 35. The portion of the master console adjacent to the removably coupled portion is the handle portion 35. One or more sensors 47 may be provided for detecting movement in the A plurality of sensors 47 may send signals to a control system indicative of the movement of the retractable piston 45. The control system executes instructions to drive one or more actuators to The sensor 47 does not detect the movement of the retractable piston 45. Since the control system does not command the actuator to move the end effector, For example, if the triggers 41a and 41b of the hand grip 40 are loose, In the relaxed state, the triggers 41a and 41b are held in place to allow for small accidental movements of the triggers 41a and 41b. Therefore, no movement is detected until the retractable piston is intentionally activated by the surgeon. In order for triggers 41a, 41b to protrude beyond the central lumen of handle grip 40, triggers 41a, 41b must be at least Both of these must be activated to a pre-specified degree. As illustrated in FIG. 1, the handle portion 35 pushes the retractable piston 45 to connect the connector 46a. , 46b, a spring 48 may be provided to bias the triggers 41a, 41b to the open configuration. .

[0125] 8A-8G, another exemplary handle grip is shown. The handle grip 71 is connected to the master console handle portion 35 and the movable outer flange. The sterile drape ring 14a is inserted between the drape and the components to clip them together. The drape interface 14 is connected to the master console handle portion 35. The handle grip 71 has triggers 72a and 72b biased to an open configuration. For example, as shown in FIG. 8B, when the clinician is not applying force to the triggers 72a, 72b, For example, the triggers 72a and 72b may be arranged so as to be 150 to 160 degrees apart, or preferably 155 degrees apart. Whenever the clinician releases the triggers 72a, 72b, the triggers 72a, 72b Triggers 72a, 72b return to their normal open configuration as described above with reference to triggers 41a, 41b. The handle grip 40 may be biased to the open configuration via a spring. The triggers 72a, 72b of the grip 71 act as a control system to execute commands to perform one or more actions. Before the surgical instruments can be moved by the actuator, they must be pushed together at a first predetermined angle. For example, as shown in FIG. 8C, the actuator may be configured such that triggers 71a and 72b When the triggers 72a and 72b are pressed so that the opening is within a first predetermined angle, for example, 90 degrees or less, Until the slave link and slave joint or end effector are This does not cause movement until triggers 72a, 72b are intentionally activated by the surgeon. Then, small accidental movements of the triggers 72a and 72b are reproduced by the end effector. For example, triggers 72a and 72b may be used to control multiple slaves. The link and slave joint are among multiple master links and master joints. Opens to within 90 degrees (or another set angle) before moving in response to at least one movement When the triggers 72a, 72b are released by the surgeon, the slide The sub console stops moving in response to a movement on the master console. This allows the surgeon to induce corresponding movements in either the slave link or the joint. Realign multiple master links and master joints to different desired configurations without This allows the surgeon to change the master console's position without moving the slave console. - The console can be readjusted to a more comfortable position. Once readjusted below a predetermined angle, the control unit responds to movements at the handle and The handle grip 71 moves the trigger away from the surgeon's palm. The palm extension 72c extends in the direction of the palm of the hand, so that the surgeon's palm is positioned in an ergonomic manner. The palm extension 72c can be accessed during surgical procedures.

[0126] In addition, the controller may be configured to allow the surgeon to trigger the triggers 72a, 72b in a predetermined manner (e.g., when the triggers 72a, 72b are at a first predetermined angle). Unless you grab the handle with the The control device will not trigger the trigger unless the surgeon grasps the handle in a second predetermined manner. For example, the second predetermined method is The triggers 72a, 72b are positioned at a second predetermined angle (e.g., 30 degrees apart) or less toward each other. The second predetermined angle may be smaller than the first predetermined angle. In this way, the slave console operates in a first actuation pattern (e.g., when triggers 72a and 72b are in a first (moved towards each other below a certain angle) is not detected by the control device at the handle Unless the handle / master console is turned on, the end effector will not move in response to movements at the handle / master console. , a second actuation pattern (e.g., triggers 72a, 72b moving toward each other at a second predetermined angle or less) It will not open or close unless a movement (moved) is detected by the control device at the handle.

[0127] 8D and 8E, the internal components of the handle grip 71 are shown. As shown in Figures 8D and 8E, the handle grip 71 is connected to a coaxial pull-back tube 74. The release grip 76 is attached to the release lever 76, so that pulling back the release grip 76 The pull-back tube 74 pulls back the ll. The pull-back tube 74 has several openings corresponding to several hooks 73. 75, so that when the release grip 76 and the pullback tube 74 are in a relaxed state, the hook Each of the handles 73 protrudes from a corresponding one of the openings 75. For example, the handle grips 71 The hook 73 may have one, two, three, or four hooks. a surface angled away from the direction in which the cap 71 is coupled to the master console; Therefore, when the retraction tube 74 is retracted through the release grip 76, the edge of the opening 75 is hooked. The hook 73 moves along the angled surface of the pull-back tube 74, and the pull-back tube 74 .... When the release grip 76 is released, the release grip 76 and the pull-back tube 74 return to their relaxed state, and opening 75 realigns with hook 73, causing hook 73 to open. Protruding from part 75.

[0128] The master console handle portion 35 includes an angular direction limiter 80b. 0b is configured to allow the pullback tube 74 to be inserted into the lumen of the angular direction limiting portion 80b in a specific rotational direction. 8E, the angle direction limiting portion 80a of the handle grip 71 has a shape corresponding to the angle direction limiting portion 80a. As shown in the figure, the angular direction limiting portion 80b has one or more grooves 77 on its inner surface. The angle direction limiting portion 80b has a shape corresponding to the lock 73, so that the pullback tube can be inserted into the lumen of the angle direction limiting portion 80b. When the hook 73 is inserted and protrudes from the opening 75, the hook 73 engages with the groove 77. Alternatively, the grooves 77 may be formed on the inner surface of the angular direction limiting portion 80b. Additionally, the handle grip 71 may extend completely circumferentially along the preload spacer. sized to fit within the lumen of the master console 86 and to interact with the master console actuation rod 79. For example, the actuation rod 79 may be disposed within the preload spacer 86. A hand is extended a predetermined distance to bias the triggers 72a, 72b to the open configuration as described above. The operating lobe 78 of the grip 71 can be pressed.

[0129] The preload spacer 86 prevents the handle grip 71 from engaging the master console handle portion 35. The preload spacer then couples to the preload spring 85 so as to press against the handle grip 71. Therefore, when the hook 73 engages with the groove 77, the preload spacer 86 The hook 73 is pressed against the cap 71 to maintain it in the groove 77, eliminating backlash. When the handle grip 71 is engaged, the rear edge of the hook 73 is pressed against the rear edge of the groove 77, Prevents lateral movement of the handle grip 71 relative to the master console handle portion 35. .

[0130] As shown in FIG. 8F, the release grip 76 allows the handle grip 71 to be attached to the master console. When connecting to and disconnecting from the master console handle portion 35 A textured surface to facilitate retraction of the release grip 76 by the clinician when As shown in Figures 8F and 8G, the release grip 76 may be attached to the handle grip 71. When the handle grip 71 engages the master console handle portion 35, 8F. As shown, the sterile drape 14c is connected to the sterile drape interface 14. The rope ring 14a snaps onto the master console handle portion 35, Thus, the sterile drape 14c maintains the sterility of the master console during operation.

[0131] 9A to 9C, the handle grip 71 is connected to the master console. 9A shows the hook 73 protruding from the opening 75 of the pull-back tube 74. FIG. 9B shows the release grip 76 of the handle grip 71 in a relaxed state. The edge of the opening 75 moves the hook 73 radially inward so that it can be inserted into the lumen of the direction restricting portion 80b. 10 illustrates the retraction of the release grip 76 when the retraction tube 74 is rotated in the direction of the angle limiter 80b. Once fully inserted into the lumen of the catheter, the release grip 76 is released as shown in FIG. 9C. Thus, the hook 73 can protrude from the opening 75 of the retraction tube 74 and engage with the groove 77 in the relaxed state. FIG. 9C shows a handle grip 71 coupled to the master console handle portion 35. showed.

[0132] 9D to 9F, the handle grip 71 is removed from the master console. 9D shows the process of removing the hook 73 by the edge of the opening 75 moving the hook 73 radially inward. 9E shows the release grip 76 being pulled back out of the groove 77. Once released, the handle grip 71 can be removed from the master console. When the handle grip 71 is removed from the master console, the release grip 71 is released. 7. The retraction tube 74 is then allowed to return to its relaxed state, with the hook 73 protruding from an opening 75 in the retraction tube 74.

[0133] According to another aspect of the present invention, as illustrated in FIGS. 10A to 10C, a handle grip 40'' is removably coupled to the handle portion 35 of the master remote manipulator 22a. For example, the handle grip 40'' can be used to manipulate the handle and the surgical instrument to perform a desired surgical task. and trigger 49. As will be appreciated by those skilled in the art, various shapes of The handle grip can be removably coupled to the master remote manipulator to allow for the slave remote The end effector of the manipulator can be moved as desired. The dollar grip may have an integrated identifier element, such as an RFID tag, so The control system detects the identifier element and determines whether the handle grip is in the surgical robotic system 10. Check whether you are authorized to use

[0134] 11A and 11B, the slave console 50 is shown. As shown, the slave console 50 includes a right slave remote manipulator 51a and a left slave remote manipulator 51b. The left slave remote manipulator 51b is shown in FIG. The right slave remote manipulator 51a may be a structural mirror image of the right slave remote manipulator 51a as shown in FIG. The following description of the slave remote manipulator 51a also applies to the left slave remote manipulator 51b. apply.

[0135] As illustrated in FIG. 12, the slave remote manipulator 51a has a plurality of slave geometries. a first slave joint, e.g., a proximal Scara joint 54; a second slave joint, e.g., a a third slave joint, e.g., a distal Scara joint 58, a fourth slave joint, e.g., angle joint 60, a fifth ... Reeve joint, e.g., alpha joint 62, sixth slave joint, e.g., a first slave joint 64, a seventh slave joint, e.g., gamma joint 66, and an eighth slave joint, e.g., gamma joint 67. Multiple slaves interconnected by Reeb joints, e.g., theta joints 68 Links, for example, a first slave link 55, a second slave link 57, a third slave link 5 9, the fourth slave link, such as the angled link 61, the fifth slave link 63, the sixth slave link a slave link 65, a seventh slave link 67, and an eighth slave link, e.g., a slave hub; 69. As shown in FIG. 12, the translational instrument interface 81 is The slave remote manipulator 51a is connected to the slave remote manipulator 51a via a port 68.

[0136] The translation instrument interface 81 is incorporated herein by reference in its entirety. No. 2018 / 0353252 to Chassot, which is assigned to the assignee of the present application. For example, the translation instrument interface 81 may be configured to As shown in FIG. 11B, the slave hub 69 is The surgical instrument can be attached to the link 67 of the remote manipulator 51a. An end effector is provided at the distal end of the shaft and is coupled to the slave hub 69. For example, the end effector can be removably coupled to the slave hub 69. A sterile interface can be placed between the slave hub 69 and the surgical instruments. In addition, the translational instrument interface 81 can be implemented using a single device located within the slave hub 69. or a translational transmission system extending from the actuators to the end effector components. For example, the end effector may be configured to include a translational transmission system of a translational instrument interface 81. A plurality of end effector joints are connected to each other. The actuator is provided with a do-effector link, so that the translation transmission system is The stem actuation drives the end effector through multiple end effector links and joints. The effector moves.

[0137] Additionally, the slave remote manipulator 51a includes a base portion 52 having an adjustable support column; and a slave support 53 fixed on the adjustable support. Link 55 is connected to the proximal Sc The ring is rotatably coupled to the slave support 53 via a ring joint 54. Link 55, and therefore all slave joints and links distal to link 55, are connected to the proximal Scar a joint 54 can rotate around the axis ω1 relative to the slave support 53. As shown, link 57 and therefore all slave joins distal to link 57 The shaft and link rotate relative to the link 55 around the axis ω2 of the central Scara joint 56. , and link 59, and therefore all slave joints and links distal to link 59, can rotate relative to link 57 around axis ω3 of distal Scara joint 58, through an angle The angled link 61, and therefore all slave joints and link joints distal to the angled link 61. The link can rotate relative to the link 59 about the axis ω of the angled joint 60, Link 63, and therefore all slave joints and links distal to link 63, are The angled link 61 can rotate about the alpha axis ω5 of the front joint 62. link 65, and therefore all slave joints and links distal to link 65, The beta joint 64 can rotate relative to the link 63 around the beta axis ω6, and the link Link 67, and therefore all slave joints and links distal to link 67, are The joint 66 can rotate about the gamma axis ω7 relative to the link 65, and the slave hub 6 9, and therefore the translator interface 81 when coupled to the slave hub 69. The interface 81 rotates relative to the link 67 about the theta axis ω8 of the theta joint 68. It can be rotated.

[0138] The struts integral with the slave support 53 allow the struts to be extended and retracted, an actuator that adjusts the height of all links distal to the slave support 53 relative to the ground; Alternatively, the slave support 53 may be provided with a strut integral with the slave support 53. Alternatively, the slave support 53 may be a counterweight-based counterbalance system. a mechanical linear guidance system having a brake and an electric brake to prevent vertical movement; Therefore, when the electric brake is released, all of the distal side of the slave support 53 The vertical height of all links can be adjusted relative to the ground. Proximal Scara Joint 54 , central Scara joint 56, and distal Scara joint 58 each have a respective brake When engaged, the corresponding joint can be prevented from moving, Electric brakes that allow manual movement of each joint when the brake is released The angle joint 60 is provided for adjusting the angular position of the link 61 around the link 59. The alpha joint 62 is provided with an actuator, such as an electromagnetic motor, that allows adjustment. Theta joint 64, gamma joint 66, and theta joint 68 each have a dedicated The control system is connected to the magnetic motor and brake pair so that the control system can position each motor. By issuing position commands, the angle position of each joint is adjusted and each brake is applied. Activating it can stop all movement of the joint.

[0139] As will be appreciated by those skilled in the art, the slave console 50 may include multiple sensors. The master console 20 can have multiple actuators, so that The motion applied at the slave console 50 corresponds to the motion that should be applied at the master console 20. , which provides haptic feedback.

[0140] 13A, there is shown a control device 70. The control device 70 is a remote control device. or a graphical user interface operably coupled to the control system of the surgical robotic system 10. or built into the left and right remote manipulators 51a and 51b, respectively. Therefore, the controller 70 may be a series of actuators. For example, it may have a button or touch screen interface, which Thus, the user can select multiple options by touch. 70 provides the user with the option to select at least one of the following commands: Scara brake engagement and release 70a, stop position configuration 70b, forward gear to reverse gear or reverse gear to forward gear reversal 70c, vertical adjustment of slave console 70d, vertical support brace Rake release 70e, laparoscopic configuration 70f, home configuration 70g, and increase / decrease anterior angulation 70h. The control device 70 is operable to control one or both of the slave control devices and / or the master control device. As shown in Figure 13A, the control device 70 is connected to the slave console itself. For example, the controller 70 may be integrated into the link. The left slave telemanipulator is used to control specific functions of the slave telemanipulator. A second control device, integrated in the third slave link 59' of the controller 51b and having the same function, is used. The slave telemanipulator responds to user input, e.g., the right slave telemanipulator. A slave link (e.g., a third slave link) may be used to control a specific function of the controller 51a. It will be integrated into the new system.

[0141] For example, when a user activates the Scara brake engage and disengage 70a interface, The control unit changes the Scara brake from engaged to disengaged or vice versa. Activating the position configuration 70b interface causes the controller to Move the motor into a suitable position for transport and storage. When the reverse gear is reversed to the forward gear 70c, the control unit moves the slave remote manipulator forward. The user moves between the horizontal and inverted surgical workspaces. Activating vertical adjustment 70d causes the controller to perform vertical adjustment of the slave telemanipulator. When the user activates the vertical column brake release 70e, the control unit changing the brake from engaged to disengaged to prevent vertical adjustment of the slave remote manipulator; can be changed conversely to allow vertical adjustment of the slave telemanipulator. When the laparoscopic surgery configuration 70f or the home configuration 70g is activated, the control device controls the slave hub to operate the surgical procedure. This allows the surgeon to move away from the patient undergoing surgery, The device can be quickly and safely moved from the robot to the surgical site on the patient to manually perform laparoscopic surgery on the patient. When the user activates the forward angulation increase / decrease 70h, the control device The forward angle of the slave remote manipulator is adjusted by the user's input at the control device 70. In response, each slave controller executes the instructions stored therein to Executes the command(s) described below entered by each slave console. A console may have its own dedicated controller 70 or may share a controller for both slave consoles. A shared controller 70 may be used.

[0142] Referring now to Figure 13B, there is shown a control device 70'. However, the control device 70' is a remote control separate from the slave console. The difference is that the control device 70 is powered by a wired or wireless connection. ' may be located at a distance from the slave console for the convenience of the clinician and / or operator. It can be removed and operated.

[0143] For example, as illustrated in FIGS. 14A-14E, the controller 70 may be configured to allow the user to Release the brakes on the Scara Joint 54, the central Scara Joint 56, and the distal Scara Joint 56. This allows the surgeon to control the thread of the slave remote manipulator. While the slave arm support 53 is fixed, the slave arm link distal to the proximal Scara joint 54 is Manually reposition the slave arm horizontally by grasping and holding the link and pushing / pulling. Specifically, when Scara moves, the slave remote manipulator's speed can be adjusted. The slave support 53 remains fixed, and the slave joint distal to the slave link 59 and the slave links 55, 57, 59 are fixed relative to the slave link 59. , can move about axes ω1, ω2, ω3 of joints 54, 56, 58. The distal end of the slave remote manipulator, e.g., slave hub 69, is connected to the surgical site. The device can be adjusted to the desired position for the patient.

[0144] As illustrated in FIGS. 15A to 15C, the control device 70 is configured to allow the user to It is possible to select the vertical adjustment of the command, thereby controlling the executes the command to drive the actuators coupled to the posts of the slave support 53, e.g. Specifically, during vertical adjustment of the slave telemanipulator, The relative distance between the slave link 55 of the Reeve remote manipulator and the upper surface of the base part 52 is For example, as illustrated in FIG. 15A, the slave remote manipulator The vertical distance between the slave link 55 of the actuator and the top surface of the base portion 52 is H1, which is shown in FIG. As shown, the slave link 55 and slave base of the slave remote manipulator The vertical distance between the upper surface of the slave portion 52 is H2, and as shown in FIG. The vertical distance between the slave link 55 of the remote manipulator and the top surface of the base portion 52 is H3. Therefore, the user can move the slave link 55 and the base portion 52 of the slave remote manipulator. The relative distance between the upper surface of the surgical instrument and the surgical instrument can be adjusted to the desired height for the patient undergoing surgery. The slave console can be counterbalanced based on the counterweight. In an embodiment with a mechanical linear guidance system, the controller 70 may the user can select the vertical adjustment of the slave console's commands; This allows the control system to move the mechanically counterbalanced linear guidance system up and down. This command is executed to release the electric brakes on the prop so that the slave remote The relative distance between the slave link 55 of the manipulator and the top surface of the base portion 52 is adjusted by the surgical The height can be adjusted to the desired height for the patient receiving treatment.

[0145] As illustrated in FIG. 16, the control device 70 may be configured to receive a command when the user selects the Home Configuration command. This allows the control system to execute instructions and Actuators coupled to joints 64, gamma joints 66, and theta joints 68 Move the slave links and joints to the retracted position to The slave hub 69 is connected to a translating instrument interface within a trocar within a patient undergoing a surgical procedure. The face 81 is positioned to position the shaft. The slave hub 69 is configured to be mounted to the patient so that the instrument 82 can be inserted into the slave hub 69 and coupled thereto. The instrument is positioned relative to a trocar within the patient's body so that instrument tip 84 slides through the trocar. The surgeon must monitor the distal end of the trocar using an endoscope because the trocar slides in but does not pass through. The instrument can be inserted safely without the need for vision.

[0146] Additionally, the control device 70 may allow the user to select an angle command. Angular joint 60, whereby the control system executes commands to The actuator is provided with the angle of the angle link 61 about the axis ω4 of the angle joint 60. The angle of attachment is set to a desired angle, e.g., 0°, relative to the base 52 of the slave remote manipulator 51a. Specifically, when the angle command is executed, the slave link 59 and all its proximal slave links and joints and slave remote manipulators The base portion 52 of the actuator remains fixed, and the angled link 61, and thus the angled link 61 All slave links and joints distal to the axis ω4 of the angulation joint 60 are By adjusting the angulation angle of the slave remote manipulator, the The angle of the surgical workspace of the slave telemanipulator is adjusted, allowing for translational instrument interface. The face 81 allows for easy access to the patient by the surgeon.

[0147] For example, Figures 17A-17D show the slave remote control when the slave console is angled at 0 degrees. 17A-17C illustrate the movement of a translation instrument interface 81 coupled to a manipulator 51a. As shown in FIG. 17D, the angulation link 61, and therefore the angulation axis ω5, is connected to the slave remote It is parallel to the longitudinal axis of the base 52 of the manipulator 51a and perpendicular to the ground. During operation of the probe remote manipulator 51a, the control system is coupled to the slave console 20. The slave link and joint on the distal side of the angled link 61 are connected to the actuator. Therefore, as shown in Figures 18A to 18D, the slave remote The translational instrument interface 81 of the manipulator 51a is connected to the forward surgical workspace FSW, e.g. Translator Interface 81 reaches in forward configuration when the Reeve console is angled at 0 degrees FIG. 18E shows the forward surgical workspace F of the slave console of FIGS. 18A-18D. This is a rear view of the SW.

[0148] 19A-19C show the slave remote manipulator at a 20 degree angle of the slave console. 19A illustrates the movement of the translation instrument interface 81 coupled to the actuator 51a. Thus, the angulation link 61, and therefore the angulation axis ω5, is connected to the slave remote manipulator 51a. The slave remote manipulator is adjusted to an angle of 20 degrees relative to the longitudinal axis of the base 52. During operation of the controller 51a, the control system controls the actuators coupled to the slave console 20. The controller executes only commands to move the slave links and joints distal to the angled link 61. Therefore, as shown in FIG. 19B, the translator of the slave remote manipulator 51a The tool interface 81 is positioned within the forward surgical workspace FSW, e.g., 20 degrees of the slave console. The translator interface 81 has a reach in the forward configuration when angulating. C. Anterior operation of the slave console in Figure 19B with the slave console angled 20 degrees. FIG. 1 is a rear view of the workspace FSW.

[0149] 20A-20C show the slave remote manipulator at a 40 degree angle of the slave console. 20A illustrates the movement of the translation instrument interface 81 coupled to the actuator 51a. Thus, the angulation link 61, and therefore the angulation axis ω5, is connected to the slave remote manipulator 51a. The slave remote manipulator is adjusted to an angle of 40 degrees relative to the longitudinal axis of the base 52. During operation of the controller 51a, the control system controls the actuators coupled to the slave console 20. The controller executes only commands to move the slave links and joints distal to the angled link 61. Therefore, as shown in FIG. 20B, the translator of the slave remote manipulator 51a The tool interface 81 is positioned within the forward surgical workspace FSW, e.g., 40 degrees of the slave console. The translator interface 81 has a reach in the forward configuration when angulating. C. Anterior operation of the slave console in Figure 19B with the slave console angled 40 degrees. FIG. 1 is a rear view of the workspace FSW.

[0150] As illustrated in FIGS. 21A-21J, the control device 70 controls the user to select a reverse command. This allows the control system to execute commands and A slave remote manipulator 51a is mounted in front of a plurality of actuators connected to a console. For example, the control system can move the surgical instrument between a horizontal and a vertical surgical workspace. A slave remote manipulator 51a is connected to a plurality of actuators coupled to a slave console. The device can be flipped from the forward surgical workspace to the reversed surgical workspace and vice versa. Specifically, during execution of the reversal command, the link 65, and therefore all the switches distal to the link 65, The beta joint of the slave remote manipulator 51a is connected to the beta joint of the slave remote manipulator 51a. In addition, when link 65 rotates around beta joint 64, , until the slave telemanipulator 51a is in the inverted surgical workspace configuration. The slave hub 69 rotates about the theta joint 68. As illustrated in Figures 22B-22H, the translation instrument interface To prevent the face 81 from injuring the patient, the translating instrument interface 81: Before executing the reverse command, the slave remote manipulator is detached from the slave hub 69. 51a must be unlocked to allow the slave remote manipulator 51a to move around the operating room. In other words, execute the Scara brake release command and the slave console command for vertical adjustment. There is no need to remove the translation instrument interface 81 and simply issue the inversion command. The ability to flip between forward and reverse surgical workspaces allows the user to: This saves a lot of time and allows the patient to continue surgery quickly in another operating room. .

[0151] 21K and 21L, the forward and reverse surgical workspaces are shown, respectively. A schematic diagram of the master console and slave consoles is shown in Figure 21K. As shown, the remote manipulator on the slave console 50 controls the forward surgical workspace. If so, the master control unit 2 of the master console 20 may be The right slave remote manipulator 51a communicates with the left master remote manipulator 22a. b is programmed to communicate with the left slave remote manipulator 51b. The master controller 2 is connected to the right master controller by one or more sensors in the master console 20. It receives signals indicative of movements made by the remote manipulator 22a and executes commands stored therein. required to run and operate one or more actuators of the slave console 50. Each slave controller 4a performs the necessary coordinate transformation and executes the command stored therein. Transmitting the processed signal to the right master remote manipulator based on the processed signal. The right slave remote manipulator 51a can be moved in response to the movement of the right slave remote manipulator 22a. Similarly, the master controller 2 may be configured to detect the left and right movements of the left and right wheels via one or more sensors in the master console 20. Receives and stores signals indicative of movements applied by the star remote manipulator 22b. Executes the command to activate one or more actuators of the slave console 50. Each slave performs the coordinate transformation necessary to The processed signal is sent to the control device 4b, which controls the left master remote controller 4c based on the processed signal. Moving the left slave remote manipulator 51b in response to the movement of the manipulator 22b. can be done.

[0152] As shown in FIG. 21L, the remote manipulator of the slave console 50 performs the reversal surgery. When the work space is provided, the master control unit 2 of the master console 20 is connected to the switchboard. The right master remote manipulator 22a functions as a left slave remote manipulator 51b. The left master remote manipulator 22b communicates with the right slave remote manipulator 51a. This is located on the master console 20 and is programmed to The surgeon, looking at the surgical site via the "right" slave remote manipulator (inverted hand), What the surgeon sees as the left slave telemanipulator 51b) in the surgical workspace The right master remote manipulator 22a can be operated, and the left slave remote manipulator (right slave remote manipulator 51a in the inverted surgical workspace) This is necessary to enable the left master remote manipulator 22a to operate what is visible to the surgeon. Therefore, the master controller 2 may be configured to receive one or more sensors from the master console 20. and receives a signal indicative of the movement applied by the right master remote manipulator 22a. Executes instructions stored in the slave console 50 to control one or more actuators of the slave console 50. It performs the coordinate transformation required for operation and executes the instructions stored in the processed signals. and transmits the processed signal to each slave control device 4b, and The left slave remote manipulator 51b is moved in accordance with the movement of the remote manipulator 22a. Similarly, the master controller 2 may be connected to one or more of the master consoles 20. The sensor receives signals indicative of movements applied by the left master remote manipulator 22b. , executes instructions stored therein to operate one or more actuators of the slave console 50. It performs the coordinate transformations necessary to operate the controller and converts the processed signals into instructions stored there. and transmits the processed signal to each slave controller 4a that executes the left master command. The right slave remote manipulator 51a moves in response to the movement of the star remote manipulator 22b. can be moved.

[0153] Thus, in the forward surgical workspace configuration, the master controller 2 is connected to the right slave controller 4a. 22a to communicate with the right slave remote manipulator 22b in response to movements in the right master remote manipulator 22a. The manipulator 51a is operated, and the master controller 2 communicates with the left slave controller 4b. and the left slave telemanipulator 22b responds to movements in the left master telemanipulator 22b. Additionally, in an inverted surgical workspace configuration, the master controller 2 drives the left slide 51b. in response to movements in the right master remote manipulator 22a. The left slave remote manipulator 51b is moved, and the master controller 2 moves the right slave remote manipulator 51c. 4a to communicate with the right master remote manipulator 22b in response to movements in the left master remote manipulator 22b. The probe remote manipulator 51a is operated.

[0154] FIG. 22A shows the slave remote controller in an inverted configuration with the slave console angled at 0 degrees. FIG. 22B illustrates the manipulator 51a in an inverted configuration at a 20 degree angle on the slave console. FIG. 22C illustrates the slave remote manipulator 51a in a configuration, and FIG. 22D illustrates the slave console 40. 1 illustrates the slave telemanipulator 51a in an inverted configuration during angulation of 10 degrees. 23A to 23C, the translation tool indicator of the slave remote manipulator 51a The interface 81 is used to operate the inverted surgical workspace RSW, e.g., the 0-degree angled position of the slave console. The translation instrument interface 81 is positioned at each of the angles of 20 degrees and 40 degrees. It has the range that can be reached with an inverted configuration.

[0155] As illustrated in FIGS. 24A-24D, the control device 70 allows the user to enter laparoscopic surgery configuration commands. It may be possible to select a mode so that the control system can execute the command. , a slave hub 69 is connected to a plurality of actuators coupled to a slave console, The slave link moves in response to movements applied by the master console handle, This allows the slave hub 69 to move from the surgical mode where the surgical instruments are moved and the robotic surgery is performed. It is located away from the patient undergoing surgery, allowing the surgeon to quickly and safely access the mass The operator moves from the teleconsole 20 to the surgical site of the patient and manually performs laparoscopic surgery on the patient. Therefore, in the laparoscopic mode, The slave links proximal to the slave hub 69 are pulled away from the patient, and the slave The base 52 of the console 50 remains stationary, exposing the surgical site, allowing the surgeon to insert multiple surgical instruments into the surgical site. Performing non-robotic surgery at the surgical site without interference from the Blink and Slave Hub 69 Specifically, the execution of the laparoscopic surgery configuration command causes the angulation link 61, and therefore All of the proximal sides of the angled link 61, including the base 52 of the slave remote manipulator 51a, While all slave links and joints remain fixed, link 63 and therefore the distance from link 63 All slave links and joints on the side of the slave are connected as shown in Figure 24D. The hub 69 rotates about the alpha axis ω5 of the joint 62 until it faces away from the patient.

[0156] Therefore, in a preferred embodiment, at least one link (e.g. For example, the longitudinal axis of the angled link 61 and / or link 63 may be adjusted to suit the surgical mode and the laparoscopic mode. It remains aligned with the remote motor center in both modes and moves seamlessly between them. For example, the alpha axis ω5 can be adjusted during the transition from surgical mode to laparoscopic mode. , can remain aligned with the remote center of motion of the slave console 50. Advantageously, this This allows the surgeon to swivel the angulation link 61 and the alpha axis ω5 when returning to surgical mode. The remote center of motion of the robot console 50 and, therefore, the incision point on the patient's body can be realigned without the need for realignment. The slave console 50 can be moved between a surgical mode and a laparoscopic mode. According to another aspect of the invention, upon activation of a laparoscopic surgery configuration command, the slave console 50 The slave link on the distal side of the slave console 50 is connected to the base 52 of the slave console 50 while the base 52 remains stationary. The surgical site can be exposed by pulling away from the patient around an axis other than the ω axis. Therefore, the alpha axis ω5 is controlled by the slave console 5 during the transition from surgical mode to laparoscopic mode. 0. For example, the distal side of the slave console 50 The slave link of the slave console 50 is rotated, for example, along the axis ω while the base 52 of the slave console 50 remains stationary. 4. The surgical site can be exposed by rotating around axis ω3, axis ω2, or axis ω1.

[0157] Additionally, the control system may include a translation instrument interface 81 coupled to the slave hub 69. The laparoscopic surgery configuration command cannot be executed unless the control system determines that the The translation instrument interface 81 then transmits the translation instrument data from the slave hub 69 of the slave console 50 to the slave hub 69 of the slave console 50. The device executes a command to determine whether it has been removed from the surgical site on the patient. To transition the SLAVE console from surgical mode to laparoscopic mode, the laparoscopic configuration console must be Before activation of the command, the user must remove the translation instrument interface 81 from the slave hub 69. It is necessary to do so.

[0158] 25-30, the surgical robot system 10 is operated via a control system. Illustrated is an exemplary method 90 for performing the method described herein. The disclosed method steps are stored in one or more memory components in response to user input. A control system (e.g., a master controller, a first slave controller) that executes the instructions and / or a second slave controller) As shown in Figure 25, in step 91, the system 10 is powered on. At step 92, as further illustrated in FIG. 27, the slave console 50 is connected to the surgical site. 26. Prepare for surgery on a patient with a pulmonary artery disease, as further illustrated in FIG. 26. At step 93, the master console 20 is placed in the surgeon's desired configuration during surgery.

[0159] For example, FIG. 26 illustrates step 93 of placing the master console 20 in the surgeon's desired configuration. The master console 20 controls the wheels at its base when the wheels are unlocked. The wheels allow the operating room to be moved. Once the desired location in the operating room is reached, the wheels Activate the lock to hold the master console 20 in place. Thus, in step 93A, the master remote manipulator is fixed and the telescopic base 23a, 23b has an initial height. Then, the control device operably coupled to the master console 20 By positioning, for example by actuating a button, the master console 20 is brought to the surgeon's desired height in step 93B. Adjust the height of the telescopic bases 23a and 23b until For example, you can adjust the Master Console 20 to increase or decrease the The surgeon can be seated while operating the 20-position controller, or the master console can be The device 20 can be configured in a standing position, allowing the surgeon to stand while operating the device. Activating the control device returns the master console 20 to its original height, e.g., for storage purposes. It is possible.

[0160] Referring now to Figure 27, step 92 of preparing the slave console 50 is shown. As shown in FIG. 9, in step 92A, the slave console 50 is moved to the desired position relative to the patient. Lock the wheels of the slave remote manipulator so that the operating room can be moved easily. The wheel locks are used to ensure that the instrument 82 is securely fastened to the slave hub 69 to prevent injury to the patient. It can only be released when it is not inserted into a slave remote manipulator. Since each slave remote manipulator can be used, it is The slave console 50 is located at a desired location in the operating room adjacent to the patient undergoing surgery. If so, the slave console 50 is wheeled to the operating room for further movement in step 92B. The wheels of the slave console 50 are locked to prevent movement. If console 50 needs to be moved to a different desired position, the wheel locks are turned on at step 92A. Can be unlocked again.

[0161] At step 92C, the Scara brake release command is not executed, and the slave console 50 The Scara brake is not released. In step 92D, the Scara brake release command is issued by the user. is executed to move the distal end of the slave remote manipulator, for example, the distal slide of link 59. The blinker can be positioned as desired relative to the patient undergoing surgery. Specifically, when the Scara brake release command is executed, the slave telemanipulator The slave support 53 remains fixed and the slave joint distal to the slave link 59 The slave links 55, 57, 59 are fixed relative to the slave link 59. , and rotation about the axes ω1, ω2, ω3 of the joints 54, 56, 58. Once the distal end of the remote manipulator is in the desired position relative to the patient, the Scara Execution of the brake release command is completed. In addition, the brake release command is completed as described above with reference to FIGS. 15A-15C. As mentioned above, the vertical height of the slave remote manipulator is The distal end can be adjusted to a desired height relative to the trocar within the patient. The Scara brake release command is sent to the slave hub 69 to prevent patient injury. It can be enabled only if no fixture 82 is present.

[0162] Referring again to FIG. 27, in step 92E, the angling link 61 of the slave remote manipulator is fixed relative to the slave link 59. For example, the slave remote manipulator is , may initially have an angle angle of 0 degrees. At step 92F, an angle command is executed to set the angle The angle of the angle link 61 about the axis ω4 of the attachment joint 60 is adjusted to the desired angle. degrees, for example, 0 to 45 degrees relative to the base 52 of the slave remote manipulator 51a. Specifically, when the angle command is executed, the slave link 59 and the slave link All slave links and joints proximal to link 59 and the slave remote manipulator The base portion 52 of the actuator remains fixed, and the angled link 61, and thus the angled link 61 All slave links and joints distal to the axis ω4 of the angulation joint 60 are Once the desired angle of the slave telemanipulator is achieved, The slave remote manipulator's angulation link 61 is fixed relative to the slave link 59 Thus, execution of the angle setting command ends at step 92E. The angle setting command is It may have two buttons, one to increase the angle and one to decrease the angle. do.

[0163] At step 92G, the slave telemanipulator has a forward surgical workspace, or At step 92H, the slave telemanipulator has an inverted surgical workspace. During both steps 92A and 92H, the instrument 82 must not be in the slave hub 69. If the robotic telemanipulator has a forward surgical workspace and the user desires an inverted surgical workspace, In this case, a reverse command is executed to move the slave telemanipulator 51a from the forward surgical workspace. Inverted surgery workspace can be inverted. Specifically, when the invert command is executed, link 65, and therefore all slave links and slave joints distal to link 65. , rotates around the beta joint 64 of the slave remote manipulator 51a. Since the beta joint 65 rotates around the beta joint 64, the slave remote manipulator 51a Link 67 is connected to link 65 at gamma joint 66 until the inverted surgical workspace configuration is reached. rotates, and the slave hub 69 rotates relative to the link 67 at the theta joint 68. In step 92H, the slave remote manipulator has a reverse surgical workspace and the user performs an anterior surgical operation. If the workspace is desired, execute a reverse command to move the slave telemanipulator 51a forward. It can be inverted from a surgical workspace to an inverted surgical workspace.

[0164] In step 92I, the translation instrument interface 81 is connected to the slave telemanipulator's slide. In step 92J, the temporary incision pointer is connected to the slave telemanipulator. For example, the temporary incision pointer can be removably coupled to the axis ω5. to point the slave remote manipulator to a virtual remote motion center V located at a predetermined point on Removably coupled so that the virtual remote motion center V coincides with the surgical incision point. This can result in reduced trauma to the patient and improved cosmetic results of the surgery. , which can be removed prior to attachment of the translation instrument interface 81, if desired. During step 92, the instrument 82 should be coupled to the slave hub 69 of the slave telemanipulator. Therefore, when the instrument 82 is coupled to the slave hub 69 of the slave remote manipulator, If so, in step 92K, the control system continues to prevents further action.

[0165] In step 92L, the slave link and the jigs on the distal side of the link 61 of the slave remote manipulator are The joint can be in any position. Therefore, in step 92M, a home configuration command is executed to The slave hub 69 of the slave remote manipulator is connected to a traction control unit 66 within the body of a patient undergoing surgery. The slave link is positioned at the desired location to position the instrument tip 84 within the local area. In step 92N, the slave remote manipulator The actuator is in the home position and the slave hub 69 is configured to allow the instrument 82 to be inserted through the slave hub 69. The instrument tip 84 is positioned relative to a trocar inside the patient's body so that it can be coupled to the trocar. Slide into the trocar but do not pass through it.

[0166] At step 920, a laparoscopic surgery configuration command is executed to configure the slave hub 69 as a laparoscopic surgery target. This allows the surgeon to access the patient from the master console 20. to move quickly and safely to the surgical site of a patient and manually perform laparoscopic surgical procedures on the patient. Specifically, when the laparoscopic surgery configuration command is executed, the slave hub 69 receives the until the angled link 61 and thus the base 5 of the slave telemanipulator 51a are turned away from the All slave links and joints proximal to the angled link 61, including the angled link 2, are fixed. As such, link 63, and therefore all slave links and joints distal to link 63, rotates about the alpha axis ω5 of joint 62. In step 92P, slave hub 69 rotates about the alpha axis ω5 of joint 62. It is in the retreat position.

[0167] In step 92Q, the sterile interface of the translational instrument interface 81 is connected to the slave remote Not coupled to the manipulator slave hub 69. In step 92R, the sterile interface The device is coupled to a slave hub and the control system is integrated into the sterile interface, for example. Determines whether the sterile interface has been identified by reading the RFID tag attached to the If a sterile interface is not identified, then in step 92S the control system The sterile interface is held in place until the interface is removed from the slave hub 69 at step 92Q. If a sterile interface is identified, step 92T waits for the sterile interface to be removed. The interface is installed correctly.

[0168] In step 92U, a stop position command is executed to transport and It can be moved to a suitable position for storage. Specifically, when the stop position command is executed, , the vertical support of the slave support 53 retracts to its minimum height, the Scara brake is released and the S The cara arms fold into the folded position, the angulation returns to 0 degrees angulation, and The distal joint of joint 62 moves and the slave arm folds into a compact position. After step 92, the surgical robot system 10 may be powered off, if desired. can.

[0169] If the surgical robot system 10 is not powered down after step 92, the control system Check whether the stem is properly fitted with a sterile interface and whether the floor lock is working. Determine if the sterile interface is not properly installed or If it is determined that the floor lock is released, the surgical robot system 10 If the sterile interface is not normal at step 94, the user must return to preparation step 92 to correct the problem. When it is determined that the floor lock is activated, the surgical robot system 10 can proceed to step 95.

[0170] In step 95, as shown in FIG. 28, the surgical robotic system prepares the instrument 82. For example, in step 95A, the control system of the slave console 50 determines that the instrument 82 is The instrument 82 waits until it is coupled to the slave hub 69 of the remote manipulator. 82 is selected and inserted into the slave hub 69. The instrument must not fall out of the slave hub. To prevent this, the user rotates the device by rotating the proximal end of the device. The slave hub 69 can be mechanically locked to the instrument. In step 95B, the slave hub 69 has an integrated sensor that detects whether the slave hub 69 is connected to the slave hub. The sensor is connected to a selected instrument, e.g., an RFID tag having identification information for the selected instrument. In step 95C, the control system reads the embedded identifier element based on the detection of the RFID tag. Based on this, it is determined whether the selected instrument is authorized. If not, then at step 95D the control system waits until the selected instrument is removed. Once the unauthorized device is removed, step 95D returns to step 95A. , the selected instrument is authorized, and the slave of the slave telemanipulator If it is locked into hub 69, method 90 can proceed to step 96. At this point, the sterile interface must be removed, the floor lock must be released, and the inversion control command is executed, Scara brake release command is executed, home configuration command is executed Once performed or the incision pointer is inserted, the method 90 can return to the preparation step 92. .

[0171] In step 96, the surgical robotic system 10 is ready for operation. So, in step 96A, the control system controls the instrument 82 to be in the slave telemanipulator's slot. At step 96B, the control system checks whether the surgeon is connected to hand hub 69. The handle grip 40 of the handle portion 35 is detected when the handle grip 40 is grasped. As shown in Figures 9A and 9B, A sensor in the handle can detect when the surgeon grasps the handle. Step 96 At C, the clutch 11 is actuated to activate the control system for macro synchronization as shown in step 97A. Prepare the stem.

[0172] As shown in FIG. 30, the surgical robotic system 10 is ready for operation. For example, in step 97A, the surgical robotic system 10 is in a macro-synchronization state, but is in a micro-synchronization state. In the macro sync state, the macro translational motion applied by the master console 20 The movement is detected and transmitted to the control system, which in turn connects to the slave console 50. The combined actuators are used to command macro movements of the instrument tip 84 (i.e., up / down). direction, left / right, inside / outside) correspond to the macro movement of the steering wheel on the Master Console 20. The corresponding slave links and joints are moved accordingly. In the macro-asynchronous state, the control system does not respond to macro actions applied at the master console 20. does not cause a corresponding macro out of sync state on the slave console 50. In this state, any macro movements on the Master Console 20, whether intentional or unintentional, The master link of the master console 20 can move, but the slave console 50 can move. does not result in any corresponding movement.

[0173] In the micro-sync state, micro movements applied at the handle portion 35 of the master console 20 The movement is detected and transmitted to the control system, which in turn connects to the slave console 50. The associated actuators are then commanded to move the instrument tip 84 to the hand of the master console 20. However, the micro-movements applied to the micro-movements in ... In the asynchronous state, the control system is added in the master console 20 / handle portion 35. Micro movements are correspondingly triggered on the slave console 50 / end effector. Therefore, in step 97A, the macro translational motion is reproduced, but the micro motion is not synchronized. In step 97B, the clutch 11 is activated to place the surgical robot system 10 in a macro-asynchronous state. The macro translational movement can be prevented by the master console 20. and therefore is not replicated by the slave console 50. For example, the clutch 11 , a foot pedal that, when stepped on, maintains the surgical robot system 10 in a macro-synchronized state. When the clutch 11 is released, the surgical robot system 10 releases the clutch 11 in step 97A. Thus, for example, the surgeon may apply macro to the handle portion 35 in the macro-synchronized state. A variety of movements can be applied, for example, by moving the handle portion 35 inwards / outwards, and This causes an inward / outward movement of the surgical instrument, and then the clutch 11 is activated to The surgical system is shifted from a macro synchronous state to a macro asynchronous state, and the handle part is moved back to its original state. or to another more comfortable position, thereby reducing the macro-movement of the surgical instrument. No malfunction occurs, and the clutch 11 is released to bring the surgical system out of the macro-asynchronous state. to a macro synchronization state, and then applying an additional macro movement to the handle portion 35; This causes a corresponding macroscopic movement in the surgical instrument. The surgeon may adjust the master console 50 for comfort while maintaining the slave console 50 in the desired position. In a further example, the operation of the clutch 11 allows the console 20 to be realigned. The technical system can switch between synchronized and asynchronous states for both macro- and micro-movements. Transition between.

[0174] Additionally, the control system may be configured to automatically turn the steering wheel unless the control system detects an actuation pattern. The handle is secured so that micro-movements in section 35 are not replicated by the end effector. Portion 35 can be programmed to detect actuation patterns. The actuation pattern may include a rapid double actuation of the handle grip 40. When the user presses the handle grip 40 twice repeatedly, the control system detects the actuation pattern. The surgical robot system 10 is in a micro-synchronized state, and the micro-movement of the handle portion 35 The end effector will reproduce the state of micro-synchronous to micro-synchronous. Upon transition to the instrument system, the control system executes commands to determine the micro position of the instrument tip 84. The shaft 82 is connected to the corresponding link 32 of the master remote manipulator 22a. In step 97D, e.g., The surgical robot is positioned so that the effector is at the target position for surgery and the surgeon can perform the surgical procedure. If the system 10 can be used, the surgical robotic system 10 is sufficiently macro-synchronized. When the clutch 11 is activated, the surgical robot is in both a micro-synchronization state and a micro-synchronization state. The system 10 is in micro-synchronization but not macro-synchronization.

[0175] As shown in FIG. 2C, in accordance with another aspect of the present invention, the master console 20 includes a Clutch for macro-synchronizing and / or micro-synchronizing the surgical robotic system 10 For example, the actuation of clutch 11 may include a second clutch 11' for use in conjunction with clutch 11. This allows the surgical robot system 10 to transition between a macro-synchronous state and a macro-asynchronous state. By operating the clutch 11', the surgical robot system 10 can be brought into a micro-synchronized state. Thus, for example, a surgeon can transition between micro- and micro-asynchronized states. Applying a micro movement to the handle portion 35 in a synchronized state, for example, by rotating the handle portion 35 This causes the surgical instrument to roll, and then the clutch 11 ' to transition the surgical system from a micro-synchronous state to a micro-asynchronous state, The needle portion can be returned to its original position or moved to another more comfortable position, thereby When the system is in macro-synchronization, no micro-movement of the surgical instrument occurs, but the surgical instrument Macro movements of the instruments can be initiated, releasing the clutch 11' and micro-moving the surgical system. The micro-synchronous state is then transferred from the micro-synchronous state to the handle portion 35. A micro-movement is applied to the surgical instrument, which causes a corresponding micro-movement in the surgical instrument. This allows the surgeon to comfortably position the slave console 50 while still maintaining the desired position. The master console 20 can be re-adjusted for

[0176] The surgeon can determine the macro-synchronization state, macro-asynchronous state, and micro-synchronization state of the surgical robot system 10. Any combination of micro-asynchronous states can be selectively selected. According to yet another aspect of the present invention, the operation of the clutch 11 allows the surgical robot system 10 to be clamped. Transitions between both synchronous and asynchronous states and between microsynchronous and asynchronous states However, actuation of the clutch 11' places the surgical robot system 10 in a microsynchronous state. Alternatively, the actuation of the clutch 11 only transitions the motor between the micro-asynchronous state and the micro-asynchronous state. , the surgical robot system 10 is configured to transition between a macro-synchronous state and an asynchronous state and between a micro-synchronous state and an asynchronous state. Although both can be transitioned between asynchronous states, the operation of the clutch 11' It simply transitions the bot system 10 between a macro-unsynchronized state and a macro-synchronized state.

[0177] In accordance with another aspect of the present invention, there is provided a method for performing minimally invasive surgical procedures or other procedures constructed in accordance with the principles of the present invention. Teleoperated surgery with a hybrid telemanipulator, which can be used in applications such as: A robotic system is described herein.

[0178] Referring to FIGS. 31A and 31B, an exemplary remote manipulator having a hybrid remote manipulator is shown. An operational surgical robotic system 100 is shown. The surgical robotic system 100 illustratively includes: The mobile cart 101 is attached to the top of the mobile cart 101, and the mobile cart 101 is equipped with a A hybrid remote manipulator can also be attached to facilitate surgical procedures. The robot system 100 includes a master area where a surgeon can be located to operate the system 100. 400, and a remote slave area 5 adjacent to the sterile zone where a patient undergoing surgery may be placed. 00. As shown in FIG. 31B, the surgeon performing the procedure preferably While sitting with ready access to area 400, another surgeon or assistant may be positioned above the patient. In the embodiment of Figures 31A and 31B, the master domain The area 400 is laterally located adjacent to the slave area 500. In addition, the camera system 102 , can be used with the surgical robotic system 100, for example, located in the slave domain 500 Operate the endoscope operated by an assistant and / or The camera system 102 can also be held in position. The system may include a display 103 for showing the surgeon the surgical site in real time. The spray 103 is positioned in the master area 400 or on a master surface that is easily observable by the surgeon during the surgical procedure. The sensor can be mounted anywhere in proximity to the sensor area 400.

[0179] Referring again to FIG. 31A, the system 100 is a left hybrid telescope operated by the surgeon's left hand. Septal manipulator 104, and a right hybrid telemanipulator operated by the surgeon's right hand. The hybrid remote manipulators 104 and 105 include a hybrid remote manipulator 105. The remote manipulators 104 and 105 are operated by, for example, the left and right hands of a surgeon in the same way as the other hand. Preferably, the robot is a remotely operated, teleoperated surgical robot. The system 100 is optimized for use in surgical procedures.

[0180] Each hybrid telemanipulator provides input to a master-slave configuration, with multiple The slave unit, which consists of a stiff slave link and a stiff slave joint, has multiple stiffnesses. It is kinematically driven by a master unit consisting of a master link and a master joint. For example, the left hybrid remote manipulator 104 is operated by the master unit 401 and The right hybrid telemanipulator 105 is equipped with a corresponding slave unit 501. The master units 401 and 402 are connected to the slave unit 502. are located in the master domain 400 of the system 100, while slave units 501 and 502 are located in the master domain 400 of the system 100. 02 is in the slave domain 500 of the system 100. Preferably, the slave units 501 and 502 02 are each connected to a remote motion center during operation of the device, as described in more detail below. Without deviation, they mimic the movements of the corresponding parts of the master units 401 and 402.

[0181] With continued reference to FIG. 31A, a teleoperated surgical instrument 106, e.g., a surgical instrument, having an end effector 107, is shown. For example, a translation instrument interface may be coupled to the distal end of the slave unit 501 and the hand The motion applied to the handle is transmitted to the end effector via a processor-driven control system. coupled to the distal end of the master unit 401 to induce corresponding micro-movements of the actuator 107. For example, the control system may be configured to detect the vehicle speed using one or more sensors coupled to the steering wheel. and receives a signal indicative of the movement applied by the handle and operates the end effector 107. performing coordinate transformations necessary to actuate one or more actuators coupled to the The corresponding movement of the end effector can be reproduced. The slave instrument 106 is removably attached to the slave unit 501, and the slave The unit 501 can be manipulated to provide translational degrees of freedom, e.g., left / right, up The degrees of freedom of the joints, e.g., the lateral / inferior and medial / lateral joints, are obtained by direct mechanical coupling. The pitch and yaw, actuation degrees of freedom, e.g., open / close, and rotation degrees of freedom, e.g., pronation / supination, are via sensors, actuators, and control systems, as described in more detail in Reproduced electromechanically.

[0182] Referring now to FIGS. 32A and 32B, an exemplary embodiment having a hybrid remote manipulator is shown. The mechanism of the teleoperated surgical robot system 100 is shown, and the outer cover shown in FIG. , are omitted for clarity. In Figures 32A and 32B, the mechanical transmission 300 , arranged to couple the slave unit 501 directly to the master unit 401, , the macro translational motion applied to the multiple master joints of the master unit 401 is The slave unit 501 has a plurality of slave joints. Similarly, the mechanical transmission 300 also transmits the slave unit 502 to the master unit. 402, and thus to the multiple master joints of the master unit 402. The applied macro translational motion is applied to the slave unit 502 by the slave joints of the slave unit 502. The transmission 300 is replicated by the slave unit 501. and 502, one or more pulleys are used to control one of the four degrees of freedom of the mass. One or more cables routed from the master unit 401 to the slave unit 501 pulley 301 and one or more pulleys to transmit the signal from the master unit 402 to the slave unit 5 02. The master unit illustratively comprises one or more cables 303 routed to the master unit 02. The mechanical limiting portion 200 of the master unit 401 restricts the movement of the master unit 401 by eliminating the degree of freedom of movement. This limits the three translational degrees of freedom, e.g., left / right, up / down, and medial / lateral movement. Limit the amount of time spent.

[0183] For example, one or more cables 301 may be connected to a pulley P1 coupled to a master unit 401. It starts at pulley P2, P3, P4, P5, P6, tensioning system 302, pulley P7, and then threads The pulley P8 is connected to the pulley unit 501, and the pulley P7 is connected to the tension system 302. , one or more closed pulleys P6, P5, P4, P3, P2, return through pulleys P6, P5, P4, P3, P2, and terminate at pulley P1. Therefore, the rotation of the pulley P1 in the clockwise or counterclockwise direction One of the one or more cables 301 rotates the pulley P8, which This allows the slave unit 501 to be actuated in one of four degrees of freedom. The mechanical limiting portion 200 of the star unit 401 eliminates one degree of freedom of movement, thereby limiting the master. The movement of the slave unit 501 is restricted to three translational freedoms. Limit the degree, e.g. left / right, up / down, inward / outward. Pulleys P1, P2, P3, P4, P5, P6 , P7, and P8 are the enablement signals of the slave unit 501 by the master unit 401. It may include several individual pulleys corresponding to the number of degrees of freedom of movement. The cables 301 allow for actuation of the slave units 501 by the master unit 401. The system may include several closed loops of cables corresponding to the number of degrees of freedom.

[0184] Similarly, one or more cables 303 are connected to pulley P9 coupled to master unit 402. It starts at the tension system 304, goes through pulleys P10, P11, P12, P13, P14, and then through the slave unit. The pulley P15 connected to the knit 502 passes through pulleys P14, P13, P12, P11, and P10. , through tensioning system 304, and one or more corresponding closing loops terminating at pulley P9. In this way, the clockwise or counterclockwise rotation of the pulley P9 can be By rotating, one of the one or more cables 303 rotates the pulley P15. This allows the slave unit 502 to be actuated in one of four degrees of freedom. The mechanical limiting portion 201 of the master unit 402 (see FIG. 32A) similarly limits the degree of freedom of movement. This limits the movement of the master unit 402, thereby allowing the slave units The movement of the robot 502 is restricted to three translational degrees of freedom, e.g., left / right, up / down, and in / out. Each of the ports P9, P10, P11, P12, P13, P14, and P15 is controlled by the master unit 402. A number of individual pulleys corresponding to the number of degrees of freedom of movement that the slave unit 502 can operate are provided. Similarly, one or more cables 303 may be connected to the master unit 402 for transmission. A number of closed loops of cables corresponding to the number of degrees of freedom of the operable movement of the subunit 502 are connected. It may include.

[0185] As will be appreciated by those skilled in the art, to route cable 301 between pulleys P1 and P8 The number of pulleys P2-P7 utilized and the routing of cable 303 between pulleys P9 and P15 The number of pulleys P10 to P14 used for this purpose is the right and left hybrid remote manipulators, respectively. It is determined by the structure of the data.

[0186] Referring now to FIG. 33, one or more cables 301 of a mechanical transmission 300 are tensioned by a tension shaft. Passing through the stem 302 and one or more cables 303 pass through a tensioning system 304. The force system 302 is designed to apply a predetermined tension to the cable 301, and the tension system 304 is designed to apply a predetermined tension to the cable 303. For example, tension system 302 pulley P16 coupled to pulley P17 via tension link 305, and pulley P17 coupled to pulley P18 via tension link 306. The tension link 305 may include a pulley P18 coupled to a pulley P19 via a vertical axis passing through the axis 307. is adjustably and rotatably coupled to the tension link 306 at the center, so that a predetermined tension is applied to the cable 301 by pulleys P16, P17, P18, and P19. The system 302 can be used to calibrate the mechanical transmission 300, so that the corresponding mass The tension system 304 ensures that the angles of the master and slave joints are the same. , may be identical in structure to tension system 302.

[0187] Also, in Figure 33, the pulleys P11 and P12 of the mechanical transmission device of the right hybrid remote manipulator P12 and P13 are rotatably coupled to positioning system 310 via slave link 309. The positioning system 310 is coupled to a slave link 308. It is a hydraulic device that limits the movement of the slave unit 501 relative to the slave unit 502 along a single plane. For example, the position of pulley P8 can be fixed, so that the position of P15 is It is movable relative to P8 along (x and y directions).

[0188] 34A and 34B, an exemplary master unit configuration for system 100 is shown. Each master unit 401 is identical in structure to master unit 402. Since they are the same, the following description of master unit 401 also applies to master unit 402. do.

[0189] The master unit 401 comprises a plurality of units interconnected by a plurality of master joints. Master links, for example, a first master link 405a, a second master link 405b, a third master link 405c, a master link 405c, and a fourth master link, such as a leading master link 404. The handle 403 is connected to the master unit via a guided master link 404, e.g., a master rod. A plurality of sensors are connected to the distal end of the robot 401 for operating the hybrid remote manipulator. The handle link is connected to each other by a handle joint. The macro translational motion applied to the handle 403 is transmitted through multiple master links. This causes a corresponding movement of the master joint, which in turn is transmitted through the mechanical transmission 300. and transmitted to the corresponding slave joint of the slave unit 501, thereby The translational movement of the handle 403 is reproduced by the slave unit 501. The master link 404 includes a first master link 405a, a second master link 405b, and a third master link 405c. This motion is transmitted to pulley P1 via master link 405c, which in turn causes the slave unit The first master link 405a, 501, mimics the translational motion through the mechanical transmission 300. The second master link 405b, the third master link 405c, and the guide master link 404 are For example, one or more toothed belts 406 routed by one or more pulleys 407 Alternatively, the pulley P1 and the master The transmission system connecting the multiple master links and joints of unit 501 is It may include a bull and pulley system and / or a rigid transmission link.

[0190] In Figures 34A and 34B, the mechanical limiting portion 408 of the master unit 401 is a guided master link. 404, the sleeve being pivotally connected to the patient's a remote center of motion that aligns with the patient's incision point, e.g., the point where the trocar passes through the patient's abdomen For example, the mechanical limiter 408 may be When the hybrid remote manipulator is activated, the guidance master link of the master unit 401 35A and 35B. As shown, the corresponding slave link of the slave unit 501, e.g., slave The translation instrument interface coupled to the distal end of unit 501 also allows for remotely controlled proximal It translates along an imaginary axis θ4 parallel to the longitudinal axis θ1 of the adjacent guiding master link 404. The mechanical limiting portion 408 is configured to limit the guide master link 404 to the second axis θ2 and the third axis θ3, which are perpendicular to each other. Continuing to refer to FIGS. 34A and 34B, the axis θ3 is coaxial with the axis of pulley P1. The longitudinal axis θ1 of the guiding master link 404 and the second axis θ2 The plane defined thereby is the third plane at a single stationary point 409 regardless of the orientation of the master link 404. With this configuration, the corresponding slave link of the slave unit 501 is It is possible to rotate around a fifth imaginary axis θ5 and a sixth imaginary axis θ6 which are perpendicular to each other. The longitudinal axis θ4 of the corresponding slave link and the fifth imaginary axis θ5 and the sixth imaginary axis θ6 are always aligned with the patient. intersect each other at a virtual stationary single point 509 near the incision, for example, at a remote center of motion.

[0191] The surgical robotic system 100 is positioned so that the remote center of motion 509 is aligned with the patient's incision. When the handle 403 is inserted, translational motion applied to the handle 403 acts on the end-effector positioned inside the patient. The end effector perfectly reproduces the movement applied to the handle 403. This arrangement advantageously eliminates the fulcrum effect between the handle and the end effector. , ensuring that the instrument always passes through the remote center of motion. The surgical instrument requires complex controls to maintain a fixed point of movement as it passes through the patient's incision. Although electronic control devices are required, the system of the present invention uses a mechanical limiter 408 to ensure that the devices are always at a distance. The master unit 401 and the slave unit 501 ensure that they pass through the center of motion 509. This allows the reproduction of translational motion between the robot and the robot.

[0192] Inward / outward movement of the handle 403 of the embodiment of Figures 34A and 34B causes the first master link 405a, second master link 405b, third master link 405c, and guide master link The master link 404 moves inward / outward along the longitudinal axis θ1 of the master link 404. The motion is transmitted to pulley P1 via several master links, which in turn transmit the motion to the slave units. The set 501 includes a mechanical transmission 300 and a plurality of slave links, joints, and timing The medial / lateral movement along the longitudinal axis θ4 is reproduced via the belt. The upward / downward movement of the drum 403 causes the first master link 405a, the second master link 405b, and the 05b, the third master link 405c, and the guide master link 404 rotate upward about the second axis θ2. This movement is transmitted to pulley P1 via multiple master links, As a result, the slave unit 501 is connected to the mechanical transmission 300 and the plurality of slave links, gears, and The joint and timing belt are used to move the motor upwards and downwards around the fifth axis θ5. Finally, left / right movement of the handle 403 causes the first master link 405a, the second The second master link 405b, the third master link 405c, and the guide master link 404 are It rotates left / right around axis θ3. This movement is controlled by pulley P1 via multiple master links. , whereby the slave unit 501 is connected to the mechanical transmission 300 and the multiple threads. Left / right about the sixth axis θ6 via a link, joint, and timing belt Reproduce the movement to.

[0193] With continued reference to FIGS. 34A and 34B, the handle 403 of the master unit 401 The movements are controlled electromechanically via sensors, motors, and a control system. Pitch and yaw, actuation degrees of freedom, e.g., open / close, and rotation degrees of freedom, e.g., pronation and supination. The master unit 401 preferably includes circuitry to detect movement of the handle 403. The handle 403 includes one or more sensors 410 coupled to the handle 403 via a substrate 411. As such, sensor 410 may be any sensor designed to detect rotational motion, e.g., angular. A magnet on one side and a sensor on the other side are used to measure rotation by measuring degrees and position. The circuit board 411 may be a magnetic rotation sensor including a and sends the signal to one or more motors coupled to the slave unit 501. The slave unit 501 is coupled to a control system for receiving signals from the handle 403. For example, the movement of an electric cable can be reproduced by the end effector. 403 to a control system, for example a unit containing the control electronics, Additional electrical cables are connected from the control system to one or more slave units 501. It can be extended to the motor.

[0194] Activation of the trigger 412 on the handle 403 causes the slave unit 501 to , which generates a signal that is sent to the motor coupled to the slave unit 501. The translation transmission system of the translation instrument interface coupled to the The end effector of the tool interface is actuated to open / close.

[0195] The handle 403 is also designed to be easily gripped by the surgeon, mastering the surgeon's wrist. The handle shaft 401 may be provided with a ball 413 for aligning with the handle shaft 401. The ball 413 may be rotatable about θ7, so that rotation of the ball 413 generates a signal, and the signal The motor is connected to the slave unit 501 via a control system. The signal received from the control system in the slave unit The translation instrument interface coupled to probe unit 501 rotates, thus The end effector of the interface rotates with pronation and supination degrees of freedom.

[0196] The handle 403 is also rotatable about the handle axis θ8. Rotation around 8 is detected by a sensor, which generates a signal and controls the signal. This signal is sent to the motor of the slave unit 501 via the control system. The translational transmission system of the translational instrument interface coupled to the subunit 501 is activated, This allows the end effector of the translational instrument interface to move in the yaw degree of freedom. , the handle 403 may be rotatable about the handle axis θ9, and thus the handle axis θ9 Rotation of the handle 403 around the center is detected by a sensor, which generates a signal The signal is sent to the motor of the slave unit 501 via the control system. , the translational transmission system of the translational instrument interface coupled to the slave unit 501 is actuated, which allows the end effector of the translational instrument interface to move in pitch degrees of freedom. Move.

[0197] 34C and 34D, an alternative embodiment of the handle of the master unit 401 In FIG. 34C, the handle 403′ has a handle axis θ7, a handle axis θ8, and a handle The handle 403 can rotate around the handle axis θ9. The rotation of the ' is detected by one or more sensors 410, which generate signals A signal is sent to the motor of the slave unit 501 via the control system. The translational transmission system of the translational instrument interface coupled to the slave unit 501 is created. This allows the end effector of the translation instrument interface to automatically perform pronation and supination movements. It moves in three degrees of freedom: 1 degree of freedom, yaw freedom, and pitch freedom.

[0198] Similarly, the handle 403″ of FIG. 34D has a handle axis θ7, a handle axis θ8, and a handle axis θ 9, so that the rotation of the handle 403 ″ around the handle axis , is detected by one or more sensors 410, which generate a signal, 5. Transmitting the signal to one or more motors coupled to the slave unit 501 via a control system This signal causes the translational instrument interface coupled to the slave unit 501 to A transmission system is actuated, which causes the end effector of the translating instrument interface to , pronation, supination, yaw, and pitch degrees of freedom, respectively.

[0199] 35A and 35B, an exemplary slave unit of system 100 is shown. Each slave unit 501 has the same structure as the slave unit 502. Therefore, the following description of the slave unit 501 also applies to the slave unit 502.

[0200] As described above, the master unit 401 is connected to each other by multiple master joints. The slave unit 501 has a plurality of slave links connected to it. A corresponding plurality of slave links interconnected by points, e.g., a first slave A blink link 505a, a second slave link 505b, a third slave link 505c, and a fourth slave link 505d. Blink, for example, is provided with a translation instrument interface 503, so that the slave unit 5 Direct mechanical control by multiple slave links and corresponding multiple slave joints A coupling is formed, which is a combination of the corresponding master links and pairs of the master unit 401. It is the same as the dynamic model formed by the corresponding master joints. For example, during operation of the hybrid remote manipulator, the first slave link 505a is always The second slave link 505b always remains parallel to the first master link 405a. The third slave link 505c always remains parallel to the third master link 405b. The translation tool interface 503 always remains parallel to the guide link 405c. The master unit 401 maintains parallelism with the master link 404. Each macro translational motion applied to the thread joint is transmitted through a mechanical transmission 300 and multiple threads. The slave unit 501 is connected to the slave joints of the slave unit 501 via the corresponding slave joints. Each joint is reproduced.

[0201] In Figures 35A and 35B, the translation instrument interface 503 is located at the distal end of the slave unit 501. The translational movement of the handle 403 is transmitted through the mechanical transmission 300 to the pulley P More specifically, when the handle 403 starts to translate, the pulley P9 moves in the A first slave link 505a, a second slave link 505b, a third slave link 505c, and a parallel The motion is transferred to the end effector 512 via the actuator interface 503, thereby The slave unit 501 reproduces the translational motion. The first slave link 505a, the second slave Link 505b, third slave link 505c, and translation instrument interface 503 may be, for example, It includes one or more timing belts 506 routed through one or more pulleys 507. The pulley P9 is connected to the pulley P1 through a transmission system including the These are the first slave link 505a, the second slave link 505b, and the third slave link 505c. , and translation instrument interface 503 to control their movement. Alternatively, the pulley P9 of the slave unit 501 and the multiple slave links and slave joins The transmission system connecting the drives may be a system of cables and pulleys and / or rigid transmission links. may include:

[0202] The mechanical limiting portion 408 of the master unit 401 is operated by the hybrid remote manipulator. When the first slave link 505a, the second slave link 505b, and the third slave link 505c are connected to the Link 505c and translator interface 503 always rotate around virtual rest point 509 For example, a translation instrument interface 501 coupled to a slave unit 501 The end effector 512 of the master link 404 is always aligned with the longitudinal axis θ1 of the master link 404 in the vicinity of the remote control. In addition, the mechanical restraints 408 are aligned perpendicular to each other. The rotation of the end effector 512 around the fifth virtual axis θ5 and the sixth virtual axis θ6 is The longitudinal axis θ4 of the translation instrument interface 503 coupled to the slave unit 501, The fifth virtual axis θ5 and the sixth virtual axis θ6 are always mutually connected at a virtual stationary single point 509 in the vicinity of the remote control. During minimally invasive surgical procedures, the virtual rest point 509 aligns with the surgical incision point to minimize trauma to the patient. This reduces the risk of urinary tract infection and improves the cosmetic outcome of the surgery.

[0203] Movement of the handle 403 in the inward / outward direction activates the engine coupled to the slave unit 501. The effector 512 is connected to the mechanical transmission 300 and the pulley P9 of the slave unit 501 and the plurality of The longitudinal axis θ4 is driven through a transmission system connecting the Raebe link and the slave joint. The handle 403 moves up and down to reproduce the inward / outward movement from the center. An end effector 512 coupled to the slave unit 501 is connected to the mechanical transmission 300 and the thread A transmission connecting pulley P9 of the slave unit 501 with multiple slave links and slave joints. The upward / downward movement around the longitudinal axis θ5 is reproduced via the actuator system. Left / right movement of the handwheel 403 causes the end effector 51 coupled to the slave unit 501 to 2 is a mechanical transmission device 300 and a pulley P9 of the slave unit 501 and a plurality of slave links The left / right axis about the longitudinal axis θ6 is rotated through a transmission system connecting the slave joint. Reproduce the movement to the right.

[0204] Additionally, the motion applied by the handle 403 of the master unit 401 is transmitted to the sensors, motors, and and electromechanically translating the end effector of the instrument interface 503 via the control system. joint degrees of freedom, e.g., pitch and yaw, actuation degrees of freedom, e.g., open / close, and rotation degrees of freedom, e.g., The translational instrument interface 503 is incorporated herein by reference in its entirety. Published U.S. patent applications to Chassot, assigned to the assignee of the present application, which are incorporated herein by reference. For example, a translation instrument can be configured as described in Patent Publication No. 2018 / 0353252. The interface 503 includes a slave hub 510 and a surgical instrument 511. The slave hub 510 , can be fixed to the distal end 504 of the slave unit 501. The surgical instrument 511 can be attached to the The slave hub 510 includes an end effector 512 disposed at the distal end of the shaft. The sterile interface can be removably connected between the slave hub 510 and the surgical instrument. In addition, the translational instrument interface 503 can be disposed between the slide and the translational instrument interface 511. From one or more motors located within the drive hub 510 to the components of the end effector 512 For example, the end effector 512 may include a translational instrument interface. The face 503 has a translational transmission system coupled to multiple end effector joints. The end effector includes a plurality of end effector links interconnected by a plurality of end effector links, and thus, one or more motors The translation transmission system is actuated by the motor, so that the end effector 512 moves in a direction parallel to the axis of the It moves through the links and joints of the robot.

[0205] For further details regarding the components and operation of slave hub 510, see Figures 36A and 36B. The slave unit 501 is fixed to the translational instrument interface 503. The hub 510 is operable to connect to a control system via a circuit board 602, for example, by electrical wiring. One or more motors coupled together, for example, a first motor 601a, a second motor 601b, a third motor The motors 601a to 601d are coupled to the handle 403. Receives signals indicative of the movement measured by one or more sensors 410 and transmits the signals to the handle 403 These signals are processed by the control system and then transmitted to the translation instrument interface. provides a signal to a motor that operates the interface 503, thereby controlling these The first motor 601a, the second motor 601b, and the The third motor 601c moves the end effector 512 with open / close degrees of freedom, pitch degrees of freedom, and yaw degrees of freedom. directly coupled to the translation transmission system 603 of the translation instrument interface 503 for operation with The translational transmission system 603 includes multiple transmission elements, such as cables and / or lead screws. Each of the plurality of transmission elements controls the end effector with an open / close degree of freedom and a pitch degree of freedom. A first motor 601a, a second motor 601b, and a and third motor 601c, and at the opposite ends of the first, second, and third end effectors. The translation transmission system 603 is connected to the link. The fourth motor 601d may comprise a closed loop. As will be appreciated by those skilled in the art, the slave hub 510 Any combination of motors 601a-601d may be used, e.g., if a non-articulating instrument is used, one or more motors for actuating the end effector 512 with open / close degrees of freedom, and It is possible to provide only a motor for rotating the effector 512 in the pronation-supination degree of freedom. do.

[0206] Circuit board 602 also detects unwanted movement of translator interface 503 and To resist such undesired motion, the first motor 601a, the second motor 601b, and the third motor one or more sensors designed to be in electrical communication with a fourth motor 601c, and a fourth motor 601d. It can be equipped with a

[0207] According to one aspect of the present invention, the control system controls the end effector of the translating instrument interface 503. The kinematics of the effector 512 can be recorded using an identifier element 516, shown in FIG. 36C, e.g., The RFID token can be identified by reading the RFID token. In particular, the control system reads from the identifier element 516 Based on the information sensed, the system operates differently to actuate the end effector elements. (For example, rotate them clockwise at the same time, or one clockwise and the other counterclockwise) 503. For example, FIG. 36D shows a forceps-type end with parallel-serial instrument kinematics. In this configuration, the first motor 601a drives the end effector 512'. The first motor 601a is connected to the transmission of the translation transmission system so as to move the first link outward / inward. Operable via element 514a to a first link, e.g., a first blade, of end effector 512' A second motor 601b can be coupled to the second link of the end effector 512'. The second motor 601b is energized via the transmission element 514b of the translation transmission system to move the rotor inward. operably couple to a second link, e.g., a second blade, of the end effector 512'. Therefore, the control system can command the first motor 601a to rotate the first The second motor 601b is simultaneously commanded to move the link outward via the transmission element 514a. The second link of the effector 512' can be moved outward via the transmission element 514b, which , which opens the end effector 512′ upon actuation of the trigger 412 on the handle 403. The control system commands the first motor 601a to drive the first link of the end effector 512'. element 514a and simultaneously commands the second motor 601b to move the end effector 512 The second link of the handle ' can be moved inward via the transmission element 514b, which causes the handle The end effector 512' closes based on the actuation of the trigger 412 of the motor 403. The first motor 601a and the second motor 601b allow the end effector 512' to move with open / close degrees of freedom. Cut.

[0208] The control system commands the first motor 601a to transmit the first link of the end effector 512'. 514a and simultaneously commands the second motor 601b to move the end effector 5 12' second link is moved inward via transmission element 514b, thereby moving the end effector 512' is pitched upward based on the rotation of the handle 403 about the handle axis θ9. Conversely, the control system can command the first motor 601a to move the end effector 512' The first link of the motor 601b is moved inward via the transmission element 514a, and at the same time, the second motor 601b is commanded to The second link of the end effector 512' is moved outward via the transmission element 514b, thereby , the end effector 512′ is lowered based on the rotation of the handle 403 about the handle axis θ9. Therefore, the first motor 601a and the second motor 601b can be used to pitch the The end effector 512' can be moved with a pitch degree of freedom.

[0209] The third motor 601c drives the end of the steering wheel 403 based on the rotation of the steering wheel 403 about the steering wheel axis θ8. A third motor 601c is connected to the translation transmission system to move the effector 512' in the yaw degree of freedom. operatively coupled to a third link of the end effector 512' via a transmission element 514c. The fourth motor 601d drives the first motor 601a based on the rotation of the ball 413 of the handle 403. , the second motor 601b, the third motor 601c, and the surgical instrument 511, and thus the end effector 512'. The fourth motor 601d is a rotatable pronation / supination motor so as to rotate the A first motor 601a, a second motor 601b, and a third motor 601c are driven via a timing belt 513. , and can be operably coupled to a surgical instrument 511.

[0210] Referring now to FIG. 36E, an end effector having serial-serial instrument kinematics is shown. For example, the first motor 601a is driven by the trigger 412 of the handle 403. The first motor 601a is connected to a translation transmission system 602a to move the effector 512'' with an open / close degree of freedom. operatively coupled to the first link of the end effector 512'' via the transmission element 515a The second motor 601b is driven based on the rotation of the handle 403 around the handle axis θ9. The second motor 601b is driven in a translational direction to move the end effector 512'' with a pitch degree of freedom. Operable to a second link of the end effector 512'' via a transmission element 515b of a transmission system The third motor 601c can be coupled to the handle 403 about the handle axis θ8. a third motor 601c to move the end effector 512'' in a yaw degree of freedom based on the rotation of the to the third link of the end effector 512'' via the transmission element 515c of the translation transmission system. The fourth motor 601d can be operatively coupled to the first motor 601a, the second motor 601b, and the third motor 601c. 01b, third motor 601c, and surgical instrument 511, and thus end effector 512'', are connected to handle 40. The fourth motor 601 is configured to rotate the ball 413 in the pronation-supination degree of freedom based on the rotation of the ball 413. d is connected to the first motor 601a and the second motor 601b via a rotatable pronation / supination timing belt 513. motor 601b, the third motor 601c, and the surgical instrument 511. .

[0211] In accordance with one aspect of the present invention, the control system is configured as outlined in the method steps 700 listed in FIG. information stored on an identifier element 516, e.g., an RFID token, incorporated into the device, such that to identify the kinematics of the end effector 512 of the translational instrument interface 503. In step 701, the user selects the desired function to be used with the hybrid remote manipulator. Select a surgical instrument with an end effector. For example, the surgical instrument may be the one shown in FIG. 36D. Parallel-series instrument kinematics shown in FIG. 36B or series-series instrument kinematics shown in FIG. 36E. The surgical instrument may then be attached to the sleeve of the hybrid tele-manipulator. In step 702, the control system controls the selected end-end For example, the control system may use the selected The kinematic configuration of the selected end effector, e.g., whether the selected end effector is parallel-series The procedure includes information about whether it has serial or serial instrument kinematics. It is possible to read an RFID token embedded in the appliance 511. The RFID token can be, for example, , located at the slave hub and scanned by a reader operably coupled to the control system. It may be an inductively readable microchip containing identifying information that can be scanned. The function of the identifier element 516 is, for example, to identify a unique identifier attached to the surgical instrument 511 that can be read by a slave hub. Optical codes such as barcodes, QR codes, Datamatrix, Aztec codes, or Semacodes placed on The surgical instrument can be provided by the hybrid telemanipulator. If the surgical instrument is not yet connected to the hybrid remote manipulator, after step 702, The slave unit can be connected to the data center.

[0212] In step 703, the control system selects the end-end device based on the information detected in step 702. Identify the kinematics of the end effector to determine what type of end effector is being used in the hybrid telemanipulator. In step 704, the control system determines whether the slave unit is connected to the controller. However, the selected end-effector must be selected so that the hybrid telemanipulator can be operated properly. adjust its parameters based on the identity of the end effector. For example, if the end effector is When using parallel-series instrument kinematics, the control system controls the first motor 601a as described above. and second motor 601b to simultaneously actuate the first and second end effector links. and parameters to move the end effector with open / close degrees of freedom and pitch degrees of freedom. If the end effector has serial-serial instrument kinematics, the control system may be configured as described above. , commanding the first motor 601a to actuate the end effector in the open / close degree of freedom, and the second The motor 601b has parameters to command the motor 601b to operate the end effector with a pitch degree of freedom. do.

[0213] Referring to FIG. 38, a teleoperated surgical robotic system in which all degrees of freedom are electromechanically controlled is shown. Alternative exemplary embodiments of the stem are shown, e.g., medial / lateral, superior / inferior, left All seven degrees of freedom - right / left, yaw, pitch, open / close, and pronation / supination - are controlled by the sensor system. The system 800 is electromechanically controlled via a system, motor, and control system. Maintain the above mechanical limiting elements on the master unit, which allows the slave units to Thus, the system 800 forms a virtual stationary point, e.g., a remote center of motion. No coordinate transformations or complex control systems are required to align the dot 1001 with the incision. The mechanical constraints and corresponding remote centers of motion make this design suitable for use with conventional robotic arms. This ensures that the implementation is much simpler and safer than using

[0214] Referring now to FIG. 39, master unit 901 is the same as the master unit of FIGS. 34A and 34B. 401, but with multiple cables of a mechanical transmission coupled to pulley P1. Instead of the pulleys and pulleys, the master unit 901 controls each of the four pulleys of the pulley P1. One or more sensors, e.g., sensor 902a, sensor 902b, sensor The difference is that the sensors 902a to 902d are provided with a plurality of master links. The handle 903 of the master unit 901 is attached via a lock, joint, and cable. In response to the movement, the rotational motion is measured by measuring the angle and position of pulley P1. Each of the four sensors is connected to the master unit via each of the four pulleys of pulley P1. 901 joint movements are measured, which allows the Master Unit 90 However, mechanical constraints eliminate one degree of freedom of movement. This limits the movement of the master unit 901, thereby limiting the movement of the slave unit 1001. Degrees of freedom of movement, for example, inside / outside, up / down, and left / right.

[0215] The handle 903 is configured similarly to the handle 403 of Figures 34A and 34B. The handle 903 converts micro-movements applied by the handle 903 into one or more sensors 410 and sensors 412. The slave unit 1001 is driven by one or more motors coupled to the end effector of the slave unit 1001. The signal is transmitted to the end effector of the laser unit 1001 to open / close the end effector, The one or more sensors may be configured to move in degrees of freedom in ch, yaw, and pronation / supination. The sensor 410 and the circuit board 411 are provided.

[0216] Regarding the transmission of macroscopic motion, sensors 902a, 902b, 902c, and 902d generates a signal indicative of the rotation of pulley P1 measured by the respective sensor, and this signal is sent to one or more motors coupled to the slave unit 1001 via a control system. This allows macros and other commands to be applied at the handle 903 connected to the master unit 901. For example, an electric cable is connected from the master unit 901 to the control system , for example, to a unit containing the control electronics, and an additional electrical cable A control system extends from the control system to one or more motors coupled to a slave unit 1001. It is possible.

[0217] Referring to FIGS. 40A and 40B, the slave unit 1001 is the same as the slave unit 1001 of FIGS. 35A and 35B. For example, the slave unit 1001 is configured similarly to the unit 501. The micro-movements obtained are detected by one or more sensors 410, as well as the first motor 601a, the second motor 601b, and the the end of the slave unit 1001 via a third motor 601b, a third motor 601c, and a fourth motor 601d. The end effector is then transmitted to the effector to perform opening / closing, pitching, yaw, and pronation / supination movements. The end effector of the slave unit 1001 is attached to the end effector so that it can move with a degree of freedom of movement. The first motor 601a, the second motor 601b, the third motor 601c, and The slave unit 1001 includes a mechanical motor coupled to a pulley P8. Instead of multiple cables and pulleys in a transmission, one or more motors, e.g. A first motor 1002a, a second motor 1002b, and a third motor 1002c are operably coupled to each of the four pulleys of the pulley P8. 10. The slave unit 501 is similar to the slave unit 501 in that it comprises a third motor 1002b, a fourth motor 1002c, and a fourth motor 1002d. One or more motors are attached to the handle 903 of the master unit 901. Measured by sensors 902a, 902b, 902c, and 902d in response to the movement and coupled to a circuit board for receiving a signal indicative of the rotation of pulley P1, thereby P8 operates to connect multiple slave links, joints, timing belts, and / or cables. The master unit 901 is connected to the slave unit 1001 via a system of pulleys and For example, the macro translational motion applied to the handle 903 connected to the pulley P 8 and multiple slave joints, timing belts, and / or cables and pulleys Through the system, a first motor 1002a is operably coupled to a first slave link 505a. to control its movement, and a second motor 1002b is operable to operate a second slave link 505b. A third motor 1002c is coupled to the third slave link 505c to control its movement. a fourth motor 1002d operably coupled to a translational instrument interface 503 to control its movement.

[0218] The mechanical limiting part of the master unit 901 limits the movement of the master unit 901 to three degrees of freedom, e.g. For example, a first motor 1002a, a second motor 1002b, and a third motor 1002c are used to restrict inward / outward, upward / downward, and left / right motion. The slave units are the second motor 1002b, the third motor 1002c, and the fourth motor 1002d. The first slave link 505a, the second slave link 505b, and the third slave link 505c of the network 1001 are connected to each other. 05c, and the translational instrument interface 503 movement has three degrees of freedom, e.g., a virtual rest point 1005, For example, movement is restricted to medial / lateral, upward / downward, and left / right directions around a distal motor center. can be.

[0219] The slave unit 1001 ensures that the virtual rest point 1005 coincides with the surgical incision point, reducing patient trauma. , mechanical limitations in the master unit 1001 so that the cosmetic outcome of the surgery may be improved a virtual rest point 1005 formed by the part, e.g., a temporary incision pointer 10 pointing to a remote center of motion 04. The temporary incision pointer 1004 may be a virtual removably coupled to a joint of the slave unit 1001 so as to point to a stationary point 1005; It can be removed prior to operation of the surgical robotic system 800.

[0220] Referring now to Figures 40C and 40D, the system shown in Figures 1-30 and described herein An alternative exemplary embodiment of a dissection pointer for use with the stem is shown. Similar to the interceptor 1004, the incision pointer 1004' is a virtual center of movement. , for example, to point to a virtual rest point 1005, thereby identifying the remote center of motion of the surgical instrument. , the slave unit 1001 joint (e.g., the distal end of the link 63 described above) For example, the incision point 1004' may be, but is not limited to, a magnetic Slave control using structures including stones, friction, Velcro surfaces, matching shapes, hooks, etc. The dissection pointer 1004' can be removably coupled to the console. The corresponding surface of the slave console (e.g., For example, a receptacle for the joint of the slave unit 1001. A magnetic head 1006 is provided at the proximal end of the lancing pointer.

[0221] As shown in FIG. 40C, the magnetic head 1006 has its center positioned distal to the incision pointer 1004'. The tip of the slave unit 1001 may have a convex spherical surface aligned with the tip. The receptacle has a corresponding concave spherical surface for engaging with the convex spherical surface of the lancing pointer 1004'. As will be appreciated by those skilled in the art, the magnetic head 1006 of the dissection pointer 1004' may be a concave sphere. The receptacle of the joint of the slave unit 1001 may have a convex spherical surface. The incision pointer 1004' is responsive to the presence or absence of a sterile drape attached to the slave unit 1001. FIG. 40E illustrates the distal tip of the incision pointer 1004' being inserted into the patient's body wall, e.g. , inserted into trocar 1007 so as to align with virtual rest point 1005 about which the instrument rotates. The incision pointer 1004' is shown in FIG. 10. The incision pointer 1004' is used to insert a surgical instrument into the incision. Before operating the surgical robot system, the slave unit 1001 is connected to the joint receptacle. It can be removed.

[0222] According to one aspect of the present invention, the incision pointer 1004' is connected to the joint of the slave unit 1001. , for example, by a link 63, and the clinician can The distal tip of the ' is aligned with a desired location on the patient's body, for example, an incision site on the patient's body, and The slave unit 1001 joint, and therefore the adjacent slave links, The slave unit 1001 joint can be moved. Once the incision and dissection pointer 1004' is pointing to the desired location, the clinician Based on the alignment of the joints, the desired position is set as a virtual rest point 1005 via the control system. Therefore, the slave console operating the surgical robot system can All movements of the surgical instruments by the , even if there is no mechanical limit at the master console, it will rotate around a virtual rest point 1005. In this way, the system controller controls the flow of blood for safe surgical procedures through the trocar. In addition, translational motion of the surgical instrument away from the virtual rest point 1005 is prevented. The aligned links (e.g., link 63) preferably are aligned such that the movement of the surgical instrument passes through a virtual rest point. Always keep the surgical site (e.g., opening through a trocar) open during surgery to ensure it is centrally restricted. ) refers to

[0223] Thus, the system controller determines that the movement of the surgical instrument is constrained about a virtual rest point 1005. , so that alignment of link 63 (and its longitudinal axis ω5) with the incision site is maintained during the surgical procedure. , a virtual rest point 1005 is generated based on the alignment of the link 63 with the desired location of the surgical site on the patient's body. It is possible to execute a command to set

[0224] 41A and 41B, an alternative embodiment of a control system for a surgical robotic system is shown. An embodiment is shown in Figure 41A, in which a control system 1100 can be integrated with the system 100. , when executed by the processor 1102 of the control system 1100, a non-transitory computer-readable medium, such as a memory, on which instructions are stored that enable the operation of the data; In addition, the control system 1100 may be configured to control the slave wirelessly or using electrical cables. The memory 1101 can communicate with the identifier element reader 517 of the sub-unit 501, and thus the memory 1101 can Storing the identification information of the kinematic configuration of the end effector read from the identifier element 516 Thus, when executed by the processor 1102, the instructions can be used to control the open / close and pitch The motors for controlling the end effector with degrees of freedom are selected according to the type of end effector. The control system 1100 communicates with the master unit wirelessly or using an electrical cable. The micro-movements applied by the handle 403 are electrically coupled to the circuit board of the knit 401. 4. The control unit 410 is coupled to one or more sensors 410 for receiving signals indicative of the state of the control unit 410. The system 1100 is connected to the circuit board of the slave unit 501 wirelessly or using an electrical cable. Electrically coupled, thus allowing micro movements of the end effector, e.g., open / close, pitch A first motor 601a and a second motor 602b are provided for performing the ch, yaw, and pronation / supination degrees of freedom. 1b, a third motor 601c, and a fourth motor 601d.

[0225] The control system 1110 of FIG. 41B, which can be integrated with the system 800, When executed by the processor 1112 of the The device includes a non-transitory computer-readable medium, such as memory 1111, having stored thereon instructions for: The control system 1110 then receives the identity of the slave unit 1001 wirelessly or using an electrical cable. The memory 1111 can communicate with the identifier element reader 517 and read from the identifier element 516. The identification of the kinematic configuration of the end effector can be stored so that the command , when executed by the processor 1112, controls the end effector with open / close and pitch degrees of freedom. The motor for controlling the end effector is operated according to the type of end effector selected. The system 1110 is electrically connected to the circuit board of the master unit 901 either wirelessly or using an electrical cable. 903. one or more sensors 410 for detecting the macro-motion applied by the handle 903, 902a, 902b, 902c, and 902d are coupled to the sensors 902a, 902b, 902c, and 902d for receiving the In addition, the control system 1110 may communicate with the slave units wirelessly or using electrical cables. 1001 is electrically coupled to the circuit board, and therefore can perform micro-movements of the end effector, e.g. For example, a first motor 6 for actuation in the degrees of freedom of open / close, pitch, yaw, and pronation / supination. 601a, a second motor 601b, a third motor 601c, and a fourth motor 601d, and Macroscopic movements of the effector, e.g., inward / outward, upward / downward, and left / right degrees of freedom a first motor 1002a, a second motor 1002b, a third motor 1002c, and a fourth motor 1002d for operating the The motor 1002d is coupled to the motor 1002a.

[0226] 42A and 42B, an alternative application of the principles of the present invention is shown in the form of an alternative remote manipulator. For example, the U.S. patent to Beira, shown in FIG. 42A, A remote manipulator configured as described in 9,696,700 is The microscopic movements of the actuator, such as opening / closing, pitch, yaw, and pronation / supination, are controlled by electromechanical control. Modifying the device to include a handle and translation instrument interface for automatic control. While the macro translational movements of the end effector, e.g., upward / downward, inward / outward, The side and left / right degrees of freedom are mechanically controlled by a mechanical transmission system. The surgical robotic system 1200 comprises a master unit 1202 mechanically coupled directly to a slave unit 1202. a master unit 1201, a handle 1203 coupled to the master unit 1201, a slave unit 12 12. The handle includes a translation instrument interface 1204 coupled to the handle 1202, and a mechanical limiter 1205. 1203 can be configured similarly to handle 403 of FIGS. 34A and 34B and can be used with a translation instrument interface. Face 1204 is also configured similarly to translation instrument interface 503 of FIGS. 35A and 35B. For example, the handle 1203 may be configured to allow one or more micro-movements applied thereto. a number of sensors, and one or more sensors coupled to the end effector of the slave unit 1202; 12. The actuator 1204 is connected to the end effector of the translation instrument interface 1204 via a motor. The effector can be moved with open / close, pitch, yaw, and pronation / supination degrees of freedom. Therefore, the macro translation applied by the handle 1201 The movement is limited by the mechanical limiter 1203 in three degrees of freedom, e.g., inward / outward, upward / downward, and leftward. / Reproduced by the translational instrument interface 1204 in the right and left degrees of freedom. Alternatively, remote actuation The surgical robotic system 1200 can have seven electromechanically actuated degrees of freedom.

[0227] Referring to Figure 42B, an alternative remote manipulator is shown. For example, the Beira, U.S. The remote manipulator configured as described in Patent Publication No. 2017 / 0245954 includes: Micro-motion of the end effector, e.g., open / close, pitch, yaw, and pronation / supination freedom and a translation instrument interface for electromechanically controlling the degree of translation. While the macro translational movement of the end effector, e.g., up / down, can be varied, The lateral, medial / lateral, and left / right degrees of freedom are mechanically controlled by a mechanical transmission system. The teleoperated surgical robot system 1210 is mechanically coupled to a slave unit 1212. A master unit 1211, a handle 1213 coupled to the master unit 1211, the slave unit a translation instrument interface 1214 coupled to the unit 1212, and a mechanical limiter 1215; Handle 1213 is configured similarly to handle 403 of FIGS. 34A and 34B and is connected to a translation instrument interface. Face 1214 is configured similarly to translator interface 503 of FIGS. 35A and 35B. For example, the handle 1213 may be configured to detect micro-movements applied thereto via one or more sensors. and via one or more motors coupled to the end effector of the slave unit 1212 and transmitted to the end effector of the translation instrument interface 1214, One so that it can move with open / close, pitch, yaw, and pronation / supination degrees of freedom. Therefore, the macro translational movement applied by the handle 1213 is transmitted to the The mechanical constraints 1213 allow for three degrees of freedom, e.g., inward / outward, upward / downward, and left / right. degrees, reproduced by the end effector of the translation instrument interface 1214. The teleactuated surgical robotic system 1210 can have seven electromechanically actuated degrees of freedom.

[0228] Referring now to FIG. 43, another exemplary master computer constructed in accordance with the principles of the present invention. The master console 20' is similar to the master console 20 of FIG. 2A. The master remote manipulator of the master console 20' is configured as The movement of at least one of the master links is restricted as shown in the figure. The difference is that the master console 20' does not have a mechanical restriction part designed in it. The master remote manipulator adjusts the vertical height of the master remote manipulator. a base portion having telescopic bases 1008 and 1009 for supporting the and a base cap rotatably coupled to a link 26 via a joint 25. It is equipped with 1010.

[0229] Unlike the master console 20 of FIG. 2A, the master remote control of the master console 20' The actuator comprises a link 1014 coupled to link 1012 via a joint 1013 and a link 1014 coupled to link 1012 via a joint 1013. 15 to a link 1014, which is further connected to a handle portion 1018 via a joint 1017. As shown in FIG. 43, both links 1014 and 1016 are links. 1012. Instead, a virtual stationary point, e.g., a remote center of motion, is not passing through the axis 1012. Once set by the control system as described above with reference to the The motions applied to the telemanipulator move the thread in a corresponding manner with respect to a virtual rest point. This is provided by the slave links and slave joints of the slave console.

[0230] Advantageously, the master console 20 allows the surgeon to adjust the handle grip of the handle portion 1018. Approach the robot from above (rather than from below or horizontally as with other surgical robots) In addition, the Master Console 20 allows the base of the master arm to be The surgeon's body is positioned to the side of the surgeon's body, rather than in front of the central post region of the console 20. The sterile master arm of the Master Console 20 shares the same orientation as the surgeon's arm. is located off the ground, ensuring the sterility of the master console 20 and the surgical system. This configuration also reduces the depth of the surgeon console. , thereby freeing up valuable operating room floor space.

[0231] Additionally, as shown in FIG. 43, the master console 20' includes a master arm brake. A brake release button 1019 and a height adjustment button 1020 may be provided. Actuation of the arm brake release button 1019 is required to release the master telemanipulator from the desired position for use by the surgeon. The user readjusts multiple master links and master joints until the desired configuration is reached. Actuation of the height adjustment button 1020 allows the user to adjust the height of the telescoping bases 1008 and 1009. The vertical height of the master remote manipulator can be adjusted, e.g., up or down, via To do so.

[0232] While various exemplary embodiments of the present invention have been described above, various modifications may be made without departing from the invention. It will be apparent to one skilled in the art that various changes and modifications can be made within the scope of the present invention. The appended claims encompass all such changes and modifications that fall within the true scope of this invention. It is intended to include. The present application provides the following aspects of the invention. (Aspect 1) 1. A system for remote operation for performing a surgical procedure, comprising: a patient console having a plurality of patient links coupled to a base; a surgical instrument coupled to the patient console, the distal region of the surgical instrument being connected to a robotic hand; the surgical instrument configured to be inserted into a surgical site on a patient to perform a procedure; and a control device; The control device: In a surgical mode, at least one of the plurality of patient links is connected to the patient console. The surgeon console is operatively coupled to the handle of the surgeon console, and the surgeon console is operable to move in response to the movement of the handle. instructions to move the surgical instrument to perform the robotic surgery; and The patient console is moved from the surgical mode to the plurality of patient links. The base remains stationary and is pulled away from the patient to expose the surgical site, and the surgeon allowing non-robotic surgery to be performed at the surgical site without being hindered by multiple patient links. and a command to transition to a laparoscopic mode. (Aspect 2) the control device: an instruction to determine that the surgical instrument has been removed from the patient at the surgical site; and The patient console exits the surgical mode only when the surgical instrument is removed. 10. The method of claim 1, further comprising: The system. (Aspect 3) The controller determines that the surgical instrument is removed from the patient console. and determining that the surgical instrument has been removed from the patient by Hmm. (Aspect 4) The controller controls the patient in response to user input received at the patient console. 2. The system of claim 1, wherein the console transitions from the surgical mode to the laparoscopic mode. . (Aspect 5) The handle is sterile during the surgical procedure and can be removed for additional surgical procedures. and removably coupled to the surgeon's console so that it is sterilizable while in use. 2. The system of embodiment 1, (Aspect 6) a sterile drape interface having a ring defining an opening; When the handle is coupled to the surgeon console, the sterile drape interface is decontaminated. A sterile drape holds the ring in place over a portion of the surgeon's console. 10. The system according to embodiment 5. (Aspect 7) The control device, in the surgical mode, controls at least one of the plurality of patient links. one scaled in response to movement applied at a handle on the surgeon console. 2. The system of claim 1, wherein the system is configured to execute instructions to move the object at a given degree. (Aspect 8) The control device is configured to, in the surgical mode, and performing scaled microscopic movements of the microscopic degrees of freedom in response to corresponding movements of the microscopic degrees of freedom. 8. The system of embodiment 7, configured to execute instructions to cause a surgical instrument. (Aspect 9) The micro-motion applied by the surgical instrument is a scaled version of the micro-degrees of freedom. The micro-motion is a second scaled micro-motion of a second micro-degree of freedom in the surgical instrument. The motion is scaled independently for each of the micro degrees of freedom. 9. The system of embodiment 8, wherein the system is controllable. (Aspect 10) The surgeon console includes a clutch that, when actuated, Micro-movements in the surgical instrument in response to micro-movements applied by the handle of the sole. 2. The system of embodiment 1, configured to prevent (Aspect 11) 1. A method for remotely performing a surgical procedure, comprising: Coupling a surgical instrument to a patient console including a plurality of patient links coupled to a base. ; inserting a distal region of the surgical instrument into a surgical site on a patient to perform robotic surgery; In a surgical mode, a surgeon console handheld is operably coupled to the patient console. and moving at least one of the plurality of patient links in response to a movement applied by a handle. thereby moving the surgical instrument to perform robotic surgery; and transitioning the patient console from the surgical mode to a laparoscopic mode; In mirror mode, the patient links are connected to the patient while the patient console base remains stationary. The surgical site is exposed and the surgeon is not hindered by the multiple patient links. The method allows non-robotic surgery to be performed at the surgical site without the need for a robotic arm. (Aspect 12) determining that the surgical instrument has been removed from the surgical site on the patient; transitioning the patient console from the surgical mode to the laparoscopic mode; 12. The method of embodiment 11, wherein the grafting occurs only when the surgical instrument is removed. (Aspect 13) determining that the surgical instrument has been removed from the surgical site on the patient; 13. The method of claim 12, further comprising determining that a device has been removed from the patient console. . (Aspect 14) receiving user input at the patient console; A step of transitioning from the surgical mode to the laparoscopic mode is received at the patient console. 12. The method of embodiment 11, wherein the method is responsive to user input. (Aspect 15) The handle is removably coupled to the surgeon console, and the method includes: 12. The method of embodiment 11, further comprising the step of removing the handle for sterilization between procedures. (Aspect 16) 1. A system for remote operation for performing a surgical procedure, comprising: a patient console comprising a plurality of patient links coupled to a matching joint and a base; a surgical instrument coupled to the patient console, the distal region of the surgical instrument being the surgical instrument configured to be inserted into a surgical site on a patient to perform surgery; and Beauty a control device; The control device: instructions to set a virtual center of motion based on the alignment of the alignment joint and the surgical site; and Beauty operatively coupling at least one of the plurality of patient links to the patient console; and moving the device in response to movements applied at the handle of the surgeon's console, thereby configured to execute instructions to move a surgical instrument to perform the robotic surgery; The movement of the surgical instrument maintains alignment of the patient joint and the surgical site during the surgical procedure. The system is constrained around a virtual remote center of motion. (Aspect 17) a mounting member at the alignment joint to allow alignment of the alignment joint with the surgical site; 17. The system of claim 16, further comprising a dissection pointer configured to be releasably coupled to the dissection pointer. Tem. (Aspect 18) The dissection pointer is detachable from the alignment joint via a magnetic attachment. 20. The system of embodiment 17, configured to be coupled to (Aspect 19) The virtual center of motion is connected to the alignment joint and to a trocar positioned within the surgical site on the patient. 17. The system of embodiment 16, wherein the system is configured based on matching with curl. (Aspect 20) The handle is sterile during the surgical procedure and is removed for additional surgical procedures. The handle is removably coupled to the surgeon's console so that it is sterilizable during use. 17. The system of embodiment 16, (Aspect 21) 1. A method for remotely performing a surgical procedure, comprising: Insert a trocar into one of the patient console's patient joints. aligning the plurality of patient joints with the plurality of patient links; the patient console is operably coupled to the surgeon console; and configured to move in response to movement applied at a handle of the surgeon's console. the above steps; establishing a virtual remote center of motion based on the alignment of the patient joint and the trocar insertion site; and and moving at least one of the plurality of patient links in response to a movement applied at the handle. and moving a surgical instrument coupled to the patient console to perform the surgical procedure. Including, Movement of the surgical instrument controls alignment of the patient joint with the trocar insertion site during the surgical procedure. The method of claim 1, wherein the virtual remote center of motion is constrained around the virtual remote center of motion to maintain confluence. (Aspect 22) The patient console further includes coupling a dissection pointer to the alignment joint. aligning the patient joint of the plurality of patient joints with the trocar insertion site; the step of aligning includes aligning the incision pointer with the trocar insertion site. The method described in 21. (Aspect 23) The step of coupling the dissection pointer to the alignment joint includes using a magnetic attachment. 23. The method of embodiment 22, comprising coupling the dissection pointer to the alignment joint via a (Aspect 24) 22. The method of claim 21, further comprising removing the handle for sterilization between surgical procedures. method. (Aspect 25) 1. A system for remote operation for performing a surgical procedure, comprising: a patient console having a plurality of patient links coupled to a base; a surgical instrument coupled to the patient console, the distal region of the surgical instrument being connected to a robotic hand; the surgical instrument configured to be inserted into a surgical site on a patient to perform a procedure; and a control device; The control device: In the operating mode, it responds to corresponding movements applied by the handle on the surgeon console and commands that cause the surgical instrument to perform scaled micro-movements of the micro-degrees of freedom. configured to run The scaled micro-movements of the micro-degrees of freedom in the surgical instrument are then transmitted to the surgeon console. the system being greater than the corresponding movement applied by the console handle. (Aspect 26) The micro-motion applied by the surgical instrument is a scaling of a first micro-degree of freedom. The micro-motions are then scaled to the second micro-degree of freedom in the surgical instrument. The microscopic degrees of freedom are independently calculated so that the microscopic movements are on a different scale. 26. The system of embodiment 25, which is scalable. (Aspect 27) The surgeon console includes a clutch that, when actuated, Micro-movements in the surgical instrument in response to micro-movements applied by the handle of the sole. 26. The system of embodiment 25, configured to prevent (Aspect 28) An end effector of the surgical instrument is movable to a first position via the handle. The clutch is then actuated, and the handle is moved while the end effector remains stationary. is movable to a second position, and then, when the clutch is released, the patient console The handle resumes relative micro-motion from the handle to the end effector of the surgical instrument. 28. The system of claim 27, (Aspect 29) The scaled micro-degree of roll freedom of the micro-degree of freedom of the surgical instrument. The corresponding movement of the roll degree of freedom applied by the handle of the surgeon console. 26. The system of embodiment 25, wherein the number of cells is at least two-fold.

Claims

1. 1. A system for remote operation for performing a surgical procedure, comprising: a patient console having a plurality of patient links coupled to a base; a surgical instrument coupled to the patient console, the distal region of the surgical instrument being connected to a robotic hand; the surgical instrument configured to be inserted into a surgical site on a patient to perform a procedure; and a control device; The control device: In a surgical mode, at least one of the plurality of patient links is connected to the patient console. The surgeon console is operatively coupled to the handle of the surgeon console, and the surgeon console is operable to move in response to the movement of the handle. However, instructions to move the surgical instruments to perform the robotic surgery on the patient ； instructions to determine whether the surgical instrument has been removed from the patient at the surgical site; After determining that the surgical instruments have been removed from the patient, the laparoscopic surgical configuration command instructions to allow the operation of the In response to operation of the laparoscopic surgery configuration command, the plurality of patient links are connected to the patient console. The base of the tool is held stationary and pulled away from the patient, exposing the surgical site, and the surgeon enabling non-robotic surgery to be performed at the surgical site without interference from the multiple patient links; The system is configured to execute instructions to:

2. The controller determines whether the surgical instrument is removed from the patient console. Executing a command to determine whether the surgical instrument has been removed from the patient by interrupting the 10. The system of claim 1, configured to:

3. The handle is sterile during the surgical procedure and can be removed for additional surgical procedures. and removably coupled to the surgeon's console so that it is sterilizable while in use.

10. The system of claim 1,

4. a sterile drape interface having a ring defining an opening; When the handle is coupled to the surgeon console, the sterile drape interface is decontaminated. A sterile drape holds the ring in place over a portion of the surgeon's console.

4. The system of claim 3.

5. The control device controls the at least one of the plurality of patient links in the surgical mode. and one that scales in response to movements applied by a handle on the surgeon console.

10. The system of claim 1, configured to execute instructions to move at a specified degree.

6. The control device is configured to, in the surgical mode, and performing scaled microscopic movements of the microscopic degrees of freedom in response to corresponding movements of the microscopic degrees of freedom.

6. The system of claim 5, configured to execute instructions to cause a surgical instrument.

7. The micro-motion applied by the surgical instrument is scaled with the micro-degrees of freedom. The micro-motion thus obtained is a second scaled micro-motion of a second micro-degree of freedom in the surgical instrument. The microscopic degrees of freedom are independently calculated so that the microscopic movements are on a different scale.

7. The system of claim 6, which is scalable.

8. and a clutch that, when actuated, disengages the handle of the surgeon's console. and configured to prevent micro-movements in the surgical instrument in response to micro-movements applied at the surgical instrument.

10. The system of claim 1, wherein

9. the patient console further comprising an alignment joint; and The controller determines a virtual remote center of motion based on the alignment of the alignment joint and the surgical site. and further configured to execute instructions to set Movement of the surgical instrument maintains alignment of the alignment joint with the surgical site during the surgical procedure.

10. The system of claim 1, wherein the virtual remote center of motion is constrained to hold the virtual remote center of motion.

10. a mounting member at the alignment joint to allow alignment of the alignment joint with the surgical site; 10. The system of claim 9, further comprising a dissection pointer configured to be releasably coupled to said dissection pointer. Stem.

11. The dissection pointer is detachable from the alignment joint via a magnetic attachment.

11. The system of claim 10, configured to be coupled to:

12. The virtual remote center of motion is located within the alignment joint and the surgical site on the patient.

10. The system of claim 9, wherein the setting is based on alignment with a trocar.

13. The scaled micro-movements of the micro-degrees of freedom of the surgical instrument are then transmitted to the surgeon console.

7. The system of claim 6, wherein the movement is greater than the corresponding movement applied by the console handle.

14. the control device: In the surgical mode, when the clutch is not activated, at least one of which is actuated by a movement applied by a handle of the surgeon console. instructions to move an end effector of the surgical instrument to a first position; and In the operating mode, when the clutch is actuated, the handle is in a second position. and instructions to cause the end effector to remain stationary while remaining movable.

9. The system of claim 8, wherein

15. The scaled micro-degree of roll freedom of the micro-degree of freedom of the surgical instrument. The corresponding movement of the roll degree of freedom applied by the handle of the surgeon console.

14. The system of claim 13, wherein the number of times is at least two.

16. The plurality of patient links are configured to transmit a patient-specific signal to the patient in response to operation of the laparoscopic surgery configuration command. When the patient links are pulled away from each other, the longitudinal axis of at least one of the patient links is 10. The system of claim 9, wherein the virtual remote center of motion remains aligned.

17. The plurality of patient links are interconnected by a plurality of patient joints, at least one proximally disposed patient link of the number of patient links; and the control device responding to operation of the laparoscopic surgery configuration command to configure the plurality of patient links; the patient link and at least one of the plurality of patient links distal to the patient link. a command to move the other arm away from the patient by rotating it about an axis at the patient joint; 17. The system of claim 16, configured to perform:

18. The control device configures the plurality of patient links in response to operation of a home configuration command. The end effector of the surgical instrument is disposed within a trocar that is inserted into the surgical site of the patient.

10. The method of claim 1, further comprising: The system described.

19. The control device controls the plurality of end effectors after the end effectors are placed within the trocar. At least one of the patient links can be added at the handle of the surgeon console. and a command to move in response to the movement, thereby inserting the distal region of the surgical instrument into the patient.

20. The system of claim 18, further configured to perform:

20. The patient console is configured to adjust the height of the plurality of patient links. a vertical support, the controller adjusting the vertical support in response to actuation of a stop position command; Pull back the column to its minimum height and the brakes on the patient console are released, and and further configured to execute instructions to collapse the link to a collapsed position. The system of claim 18.

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