Surgical robotic system with robotic telemanipulator and integrated laparoscopic surgery

Abstract

To provide a surgical robot system for remote manipulation having robotic telemanipulator which is well adapted for use by a surgeon, seamlessly integratable into an operation room, enabling the surgeon to work aseptically between a robot and a patient throughout a surgery, is relatively low cost, and / or permits integrated laparoscopy.SOLUTION: The system preferably includes a master console having a plurality of master links interconnected by a plurality of master joints, and a handle coupled to the master console for operating the telemanipulator. The system further includes a slave console operatively coupled to the master console and having a plurality of slave links interconnected by a plurality of slave joints that move responsive to movement at the master console to permit an end-effector to perform surgery.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. U.S. Provisional Patent Application No. 62 / 788,781, filed on February 7, 2018, and U.S. Provisional Patent Application No. The benefit of priority to patent application Ser. No. 62 / 627,554 is claimed.

[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 known systems and methods exhibit significant drawbacks. Such exemplary applications of the remote control system are described in more detail in the following disclosure.

[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 part of the body. An incision must be made through which conventional surgical instruments are 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 Acts as a rotation point, reducing the degrees of freedom for positioning and orienting the device within the patient The surgeon's hand movements centered on this incision point are reversed and magnified at the tip of the instrument (" This reduces dexterity and sensitivity and increases hand tremor in the surgeon. Short, straight instruments force the surgeon into uncomfortable positions of the hands, arms, and body. This can be extremely tiring during prolonged procedures. Therefore, minimally invasive techniques are primarily limited to use in simple surgical procedures and are only available to a small percentage of surgeons. Only a few skilled artisans 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 a robot interface, these systems allow the surgeon to control two master manipulators. The surgeon sits at a console that controls the machine and performs the surgery through several small incisions. Like laparoscopic surgery, the robotic approach is minimally invasive. is invasive and offers the aforementioned advantages over open surgery in terms of reduced pain, blood loss, and recovery time In addition, the robotic approach is more convenient for the surgeon compared to open and laparoscopic surgical techniques. Better ergonomics for the user, improved dexterity, precision, and tremor suppression, as well as the fulcrum effect Although technically easier, robotic surgery still has some drawbacks. One major drawback of known robotic surgical systems is the very high cost of such systems. Due to the high degree of complexity involved, the known robotic surgical systems require manual intervention by both the surgeon and the assistant. It features four to five robotic arms, an integrated endoscopic imaging system, and remote surgery. have the capability to perform these tasks, have significant capital costs to acquire and maintain, and are used by most surgical facilities around the world. Another drawback of these systems is that they are not affordable in the medical field. The bulk of the instrument takes up valuable space within the operating room environment and increases preparation time. This can lead to safety concerns as patient access may be hindered. do.

[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 use the device to remove the patient if necessary without undergoing additional sterilization procedures. During certain surgical procedures, the surgeon may be required 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, U.S. Patent Application Publication No. 2010 / 0011900 each describes a device that replicates the movements of a surgeon's hand inside a patient's body. The present invention discloses a robotic teleoperated surgical instrument designed to The interface allows the surgical instruments to be operated by a person sitting at the console using two joysticks. It allows for the performance of remote laparoscopic surgery, where the operating surgeon operates through a few small incisions. These systems are sophisticated instruments that are completely controlled by the surgeon. It does not have the autonomy or artificial intelligence required for a robot. Control commands are handled by complex computerized systems. Control mechatronic system transmits signals between the robot master and the robot slave. This is very costly to manufacture and maintain and requires considerable training of hospital staff. It requires practice.

[0011] Beira, International Publication No. 2013 / 0146, the entire contents of which are incorporated herein by reference. No. 21 shows that each part of the slave unit has a kinematically equivalent corresponding part in the master unit. The slave unit is driven by the master unit so as to mimic the movement of 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. These degrees of freedom include three macro translational movements, e.g., inward / outward and upward / downward. , and left / right degrees of freedom and one rotational degree of freedom, e.g., pronosupination, Four degrees of freedom, 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 It is well-fitted, but requires a low cable length from the handle through the entire kinematic chain to the implement. Specifying friction paths is expensive, complex, bulky, and requires precise calibration and careful Requires proper care 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 It seamlessly integrates into the operating room, allowing the surgeon to work in a sterile environment between the robot and the patient. Remotely actuated surgery that allows for relatively low cost and / or integrated laparoscopic surgery It would be desirable to provide a robotic system that can perform aseptic procedures at a relatively low cost. and / or allows for integrated laparoscopic surgery.

[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] The remote surgical robot system is a master console with multiple master links. and movement applied by a handle moves at least one of the plurality of master links. and the handle coupled to the master console so as to It can be designed to maintain sterility during a surgical procedure. The device is sterile during the surgical procedure and can be sterilized while removed for additional procedures. The master console may be removably coupled to the master console, e.g. The handle can be attached to the master controller via, for example, a clip attachment or a screw attachment. The removable handle can be removably coupled to the sole. To facilitate sterilization between surgeries while the is removed from the Master Console, Purely mechanical with no electronics such as circuits, sensors, or electrically coupled buttons In this way, the master console allows the surgeon to have direct contact with the robot's handle. surgical procedure while allowing for haptic feedback available from direct contact. The instrument may be sterile inside (e.g., covered with a sterile drape 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 the movement applied at the handle and 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. When the actuator is actuated in response to an actuation at the handle, the actuator is in a macro-motion synchronization state. In the macro-synchronous state, the macro translational motion is applied to multiple slave links. In the micro-synchronized state, no micro-motion is applied to the end effector. In the asynchronous state, the micro-movement is not applied. The slave console may include an instrument having a proximal end and a distal end, the proximal end being connected to the distal end of the slave console. an instrument hub designed to be coupled to a distal end of the end effector; It 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 position 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 actuators may also include a controller operably coupled to the actuators. The device may home multiple slave links of a slave console to multiple actuators. and in the home configuration, the plurality of slave links may be moved to a home configuration. However, the end effector is positionable within a trocar inserted into a patient undergoing a surgical procedure. In addition, the control device may be configured to control multiple slave links to multiple actuators. The angled slave link of the link is connected to the angled slave link and the angled slave link. The slave link of the slave console on the proximal side of the remote manipulator becomes fixed during operation. Therefore, the angle setting switch can be set to the angle at which the angle setting switch is set. At the angle of the Reblink, the distal end of the slave console causes the end effector to a hemispherical surgical workspace tilted at an angle essentially parallel to the angle of said angled slave link; It is possible to perform surgery in

[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. [Brief explanation of the drawings]

[0027] 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.

[0028] [Figure 2A] FIG. 2A illustrates an exemplary master console constructed in accordance with the principles of the present invention.

[0029] [Figure 2B] FIG. 2B illustrates an exemplary display constructed in accordance with the principles of the present invention.

[0030] [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.

[0031] [Figure 4] FIG. 4 illustrates an exemplary master console handle constructed in accordance with the principles of the present invention.

[0032] [Figure 5] Figure 5A shows an exemplary handle grip constructed in accordance with the principles of the present invention. Figures 5B and 5C show the handle grip of Figure 5A removably coupled to the handle of the master console of Figure 4A in accordance with the principles of the present invention.

[0033] [Figures 6A-6C] 6A-6C illustrate an exemplary handle grip that removably couples to the handle of the master console via a clip attachment in accordance with the principles of the present invention.

[0034] [Figure 7] FIG. 7 illustrates an exemplary handle grip that removably couples to the master console handle via a threaded attachment in accordance with the principles of the present invention.

[0035] [Figures 8A-8C] 8A-8C illustrate an actuation sequence for the handle grip of FIG. 5A in accordance with the principles of the present invention.

[0036] [Figure 9A-9B] 9A and 9B are cross-sectional views of the handle grip of FIG. 5A coupled to the master console handle.

[0037] [Figures 10A-10C] 10A-10C illustrate another exemplary master console handle constructed in accordance with the principles of the present invention.

[0038] [Figures 11A-11B] 11A and 11B illustrate an exemplary slave console constructed in accordance with the principles of the present invention.

[0039] [Figure 12] FIG. 12 illustrates a left slave console constructed in accordance with the principles of the present invention.

[0040] [Figure 13] FIG. 13 illustrates an exemplary controller for a teleoperated surgical robotic system.

[0041] [Figures 14A-14E] 14A-14E illustrate the movement of Scara in a slave console in accordance with the principles of the present invention.

[0042] [Figures 15A-15C] 15A-15C illustrate vertical adjustment of a slave console in accordance with the principles of the present invention.

[0043] [Figure 16] FIG. 16 illustrates a slave console in a home configuration in accordance with the principles of the present invention.

[0044] [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.

[0045] [Figures 18A-18D] 18A-18D show the anterior surgical workspace of FIGS. 17A-17D.

[0046] [Figure 18E] FIG. 18E is a rear view of the front surgical workspace of the slave console of FIGS. 18A-18D.

[0047] [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.

[0048] [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.

[0049] [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.

[0050] [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.

[0051] [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.

[0052] [Figures 23A-23C] 23A-23C show the inverted surgical workspace of FIGS. 22A-22C.

[0053] [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.

[0054] [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.

[0055] [Figure 26] FIG. 26 is a flow chart illustrating steps for the surgeon to position the console of FIG. 25 in accordance with the principles of the present invention.

[0056] [Figure 27] FIG. 27 is a flow chart illustrating the preparation steps of FIG. 25 in accordance with the principles of the present invention.

[0057] [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.

[0058] [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.

[0059] [Figure 30] FIG. 30 is a flow chart illustrating the operational steps of FIG. 25 in accordance with the principles of the present invention.

[0060] [Figure 31A-31B] 31A and 31B illustrate an exemplary tele-actuated surgical robotic system having a hybrid tele-manipulator constructed in accordance with the principles of the present invention.

[0061] [Figure 32A-32B] 32A and 32B show partial exploded perspective views of the surgical robotic system of FIGS. 31A and 31B.

[0062] [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.

[0063] [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.

[0064] [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.

[0065] [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.

[0066] [Figure 36A-36B] 36A and 36B show a cross-sectional end view and a side interior perspective view, respectively, of an exemplary slave hub.

[0067] [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.

[0068] [Figure 36E] FIG. 36E is a detailed view of an alternative embodiment of an exemplary end effector.

[0069] [Figure 37]FIG. 37 shows a flowchart illustrating exemplary method steps for identifying the kinematics of a selected end effector.

[0070] [Figure 38] FIG. 38 illustrates an alternative exemplary embodiment of a teleoperated surgical robotic system of the present invention.

[0071] [Figure 39] FIG. 39 shows an internal side perspective view of the master unit of the tele-actuated surgical robotic system of FIG.

[0072] [Figure 40A-40B] 40A and 40B are front and rear perspective views of a slave unit of the teleoperated surgical robotic system of FIG.

[0073] [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.

[0074] [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. DETAILED DESCRIPTION OF THE INVENTION

[0075] (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 closure of blood vessels and Efficiently switch to integrated laparoscopy for short specialized surgical tasks such as stapling Fully articulated instruments simplify complex surgical tasks and allow for more efficient hand movements. Reproduction improves accuracy. The user can use the reproducible function to improve the surgeon's focus and performance. Ability to sit or stand in a relaxed, ergonomic working position.

[0076] 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 to 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 master console 20 through the motion control system. and a micro-synchronization state that applies micro-motion to the end effector of the robot console 50. do.

[0077] 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.

[0078] 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. Performs and stores the coordinate transformations required to operate one or more actuators transmitting the processed signals to respective slave controllers 4a, 4b which execute the received commands; Based on this processed signal, the slave console 50 is controlled in response to the movement of the master console 20. For example, one or more actuators may move one or more Alternatively, the master controller 2 may be a master console. receiving a signal from one or more sensors of the device 20, processing the signal, and to each of the slave controllers 4a and 4b, and the slave controllers 4a and 4b Executing stored instructions to perform a coordinate transformation based on the processed signals, and Execute the command to activate one or more actuators of the slave console 50 to convert the The slave consoles are controlled to respond to the movements of the master console 20 based on the processed signals received. Preferably, the slave links and switches of the slave console 50 can be moved. The Reeb joint, as described in more detail below, is used to connect the end effector / instrument tip. The end portion of the surgical robot system 10 can be moved by the master without deviating from the remote center of motion during operation of the surgical robot system 10. - It moves to reproduce the movement applied by the handle of the console 20. Therefore, the translational degree of freedom , e.g. left / right, up / down, inward / outward, joint degrees of freedom, e.g. pitch and yaw, actuation freedom The degrees of freedom, e.g., open / close, and rotational degrees of freedom, e.g., pronation / supination, are described in more detail below. The system is electromechanically reproduced via sensors, actuators, and control systems so that do.

[0079] 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 by 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.

[0080] 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.

[0081] 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.

[0082] Additionally, camera systems can be used with the surgical robotic system 10. For example, , a camera operated by an assistant located at the slave console 50, e.g., an endoscope. The mirrors 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 master console 20 may be provided. The ray 21 displays status information about the surgical robotic system 10 and / or the endoscopic camera. The surgical site captured by the imaging system can be displayed to the surgeon in real time.

[0083] 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.

[0084] 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 has a base portion having telescopic bases 23a and 23b, and the telescopic base 23a and a base cap 24 fixed on top of 23b. A link 26 is connected to the base cap 24 via a joint 25. The link 26 is rotatably coupled to the base cap 24. All master joints and links distal to the joint 25 are oriented around axis δ1. As shown in FIG. Therefore, all master joints and links distal to link 28 are axially aligned at joint 27. δ2 with respect to link 26, and link 30, and therefore the distal side of link 30 All master joints and links are connected to link 28 at joint 29 around axis δ3. can rotate relative to the guiding master link 32 and thus the distal end of the guiding master link 32 All master joints and links on the side are connected to link 30 around axis δ4 at joint 31. can be rotated relative to

[0085] 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 described in more detail below with reference to FIG. 12. The one or more actuators are connected to the corresponding slave remote manipulator 51a. Movement is reproduced using links and joints.

[0086] 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 it, thereby - Limit the movement of the remote manipulator 22a about its pivot point. The target limiting unit 33 is configured to limit the movement of the guided master ring when the master remote manipulator 22a is activated. In addition, mechanical limiter 33 ensures that the cam 32 is translatable along the longitudinal axis δ5. , the guiding master link 32 can rotate about axes δ1 and δ6 perpendicular to each other, Regardless of the orientation of the leading master link 32, the plane intersecting the longitudinal axis δ5 at the fixed pivot point P As a result, the slave telemanipulator generates a corresponding movement, This allows the master remote master to be placed at a fixed incision point on the patient, for example, where the trocar enters the patient's abdomen. Effectively maintains the pivot point of the manipulator.

[0087] 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. .

[0088] 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. Further comprising a clutch 11, e.g., a foot pedal, to prevent macro synchronization of the system 10. can be done.

[0089] Referring now to Figure 2B, there is shown a display 21. The display 21 displays text. It can have a simple design that does not include visible graphic elements and LEDs, e.g. white, Only yellow and red light is used. For example, white light indicates that the components are functioning properly. A yellow light indicates that the surgeon has performed an improper action, and a red light indicates that the component As shown in Figure 2B, the display 21 indicates that the slave Graphically represents the various components and their status of the console 50. Icon 21a Icon 2lb corresponds to system startup, icon 2lh corresponds to system warning, icon 2lb corresponds to system startup, icon 2lb corresponds to system warning, icon 2lh corresponds to system startup, icon 2lb corresponds to system warning, icon 2lh corresponds to system warning ...lh corresponds to system warning, icon 2lb corresponds to system warning, icon 2l The icon 2lj corresponds to the slave console 50. Whether each slave telemanipulator is in the forward surgical workspace or the reverse surgical workspace All of these icons are designed to be invisible when not illuminated. All other icons have graphical features that are visible even when not illuminated. The icon 2lc is used for homing the slave console 50, e.g. icon 2ld corresponds to the state of the instrument 82, and icon 2le corresponds to the conversion instrument interface. The ICON 2LF supports macro synchronization. Icon 2lg supports microsync, Icon 2li supports slave console 50 wheels. All these features are available in the following As will be appreciated by those skilled in the art, the display 21 provides information to the surgeon. The display may be any display known in the art that is capable of transmitting

[0090] 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.

[0091] Referring now to Figure 4, the handle portion 35 of the master console is shown. The steering portion 35 of the steering console includes a plurality of steering joints, e.g., steering joysticks. A plurality of handle links, e.g., For example, the handle link 36 and the handle link 38 are provided. The dollar link 36 is rotatably coupled to the guiding master link 32 via a joint 34, and thus Therefore, it can rotate about the axis δ7 relative to the guiding master link 32. The handle link 38 is rotatably connected to the handle link 36 via a handle joint 37. Therefore, it can rotate about the axis δ8 relative to the handle link 36. The handle grip 40 is detachably attached to the handle portion 35 of the master console at a joint 39. The handle grip 40 can be connected to the handle 10 around the axis δ9. The handle grip 4 can rotate relative to the link 37. As shown in FIG. 0 includes finger straps 41 for engaging the surgeon's fingers, e.g., thumb and index finger. It can be prepared.

[0092] 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 handle portion 35 is rotated left / right. The movement causes the guiding master link to move left / right along the longitudinal axis δ1, and this movement , sensed by one or more sensors coupled to the master remote manipulator 22a; The instructions are transmitted to the control system, which then executes the instructions to the slave remote manipulator. One or more actuators coupled to the actuator 51a actuate the corresponding slave link. The robot is made to reproduce left / right movements around a virtual longitudinal axis ω5.

[0093] Continuing to refer to FIG. 4, a handle portion 35 of the master remote manipulator 22a is attached to the handle portion 35. 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.

[0094] 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.

[0095] 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 and 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. .

[0096] The handle portion 35 is also rotatable about a handle axis δ8, so that the handle Rotation about axis δ is detected by a sensor which generates and transmits a signal through the control system. The control system executes commands to activate the actuators coupled to the slave console 50. In addition, the handle portion 35 is The handle may be rotatable about the handle axis δ7, so that the handle may be rotated about the handle axis δ7. The rotation of the wheel portion 35 is detected by a sensor which generates and sends a signal through the control system. The control system executes the instructions to control the actuators coupled to the slave console 50. The end effector is then rotated with a pitch degree of freedom.

[0097] 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.

[0098] 6A-6C, 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 6A to 6C, 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. According to another embodiment of the present invention, a stud 42 may be connected to the stud 42 as shown in FIG. For the sea urchin, the handle grip 40' can be detachably coupled to the handle portion 35' of the master console 20 via a screw attachment. As shown in FIG. 7, the screw portion 42' of the handle grip 40' having the female screw portion 44a can be screwed into the male screw portion 44b of the joint 39' of the handle portion 35', and thus, the handle grip 40' is screwed to the handle portion 35'. Here, referring to FIGS. 8A to 8C, the operating process of the handle grip 40 is shown. As illustrated in FIGS. 8B and 8C, the handle grip 40 includes a retractable piston 45 disposed in its central lumen. The retractable piston 45 is mechanically coupled to the trigger 41a of the handle grip 40 via the connector 46a and is mechanically coupled to the trigger 41b of the handle grip 40 via the connector 46b. As shown in FIG. 8A, when the triggers 41a, 41b are in a relaxed state, for example, when biased to an open configuration, the retractable piston 45 is completely within the central lumen of the handle grip 40. As shown in FIGS. 8B and 8C, when the handle grip 40 is actuated, for example, when the triggers 41a, 41b are pushed toward each other, the connectors 46a, 46b cause the retractable piston 45 to protrude from the central lumen of the handle grip 40. The movement of the retractable piston 45 beyond the central lumen of the handle grip 40 can be detected by a sensor within the handle portion 35. For example, as shown in FIGS. 9A and 9B, the portion of the master console adjacent to the location where the handle grip 40 is detachably coupled to the handle portion 35 is the handle portion 35

[0099]

[0100] ​​​​​​​​​​​​​​​ 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, This can function as a fail-safe. For example, when the trigger 41a, 41b of the hand grip 40 is loose, When in a relaxed state, the trigger should be set to 4 la, 4 lb, taking into account small accidental movements. Therefore, no movement is detected until the retractable piston is intentionally activated by the surgeon. For the trigger 45 to protrude beyond the central lumen of the handle grip 40, the trigger must be at least 4 Ia or 4 lb. 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. .

[0101] 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

[0102] 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.

[0103] 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.

[0104] 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 11B, the slave hub 69 is connected to the slave 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 interface 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 translatory transmission system. The stem actuation drives the end effector through multiple end effector links and joints. The effector moves.

[0105] 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 Scara The joint 54 can rotate about the axis ω1 relative to the slave support 53. As shown, link 57 and therefore all slave joints distal to link 57 and the link can rotate relative to link 55 about axis ω2 of the central Scara joint 56. link 59, and therefore all slave joints and links distal to link 59, The distal Scara joint 58 can rotate about axis ω3 relative to the link 57 and angle Link 61, and therefore all slave joints and links distal to angled link 61, , can rotate relative to link 59 about axis ω4 of angle joint 60, and link 6 3, so all slave joints and links distal to link 63 are alpha joints. The link 62 can rotate relative to the angled link 61 about the alpha axis ω5 of the link Link 65, and therefore all slave joints and links distal to link 65, are beta joints. Link 67 can rotate about the beta axis ω6 of point 64 relative to link 63, and thus link 67 All slave joints and links distal to link 67 are connected to the gamma joint 66. The gamma axis ω7 can be rotated relative to the link 65, and the slave hub 69 and therefore the parallel The translation instrument interface when the linear instrument interface 81 is coupled to the slave hub 69 The link 81 can rotate relative to the link 67 around the theta axis ω8 of the theta joint 68. Cut.

[0106] 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 movement of the corresponding joint can be prevented, and each 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. The data joint 64, the gamma joint 66, and the 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.

[0107] 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.

[0108] Referring now to Figure 13, there is shown a control device 70. The control device 70 may be a remote control device, or a graphical user interface operably coupled to the control system of the surgical robotic system 10. interface or built into the left and right remote manipulators 51a and 51b, respectively. Thus, the controller 70 may control a plurality of actuators, e.g. For example, it may have a button or touch screen interface, whereby Thus, the user can select multiple options by touch. For example, the control device 70 may provide the user with the option to select at least one of the following commands: Can: Engage and release Scara brakes, adjust slave console vertically, adjust vertical support Brake release, home configuration, increase / decrease forward angle, forward gear to reverse gear or reverse gear to reverse gear Reverse to forward gear, laparoscopic configuration, and stop position configuration. The controller 70 is operatively coupled to one or both of the device and / or master controller. In response to user input at Execute to execute the command(s) entered by the user, as described below. Each slave console may have its own dedicated controller 70, or both slave consoles may have their own dedicated controller 70. A shared control device 70 for the slave console may be used.

[0109] 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 Grab and hold the lock and manually reposition the slave arm horizontally by pushing / pulling Specifically, when Scara moves, the slave remote manipulator's thread The slave support 53 remains fixed, and the slave joint and the slave link 59 are connected to each other. The slave links 55, 57, 59 are fixed relative to the slave link 59. The joints 54, 56, and 58 can move about axes ω1, ω2, and ω3. The distal end of the slave telemanipulator, e.g., slave hub 69, is attached to the surgical site. It can be adjusted to the desired position for the patient.

[0110] 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 portion 52 is H2, and the slave remote The vertical distance between the slave link 55 of the 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 surgical surface and the surgical instrument can be adjusted to the desired height for the patient undergoing surgery. The slave console is a counterbalance system based on a counterweight. In an embodiment with a mechanical linear guidance system having a system, the controller 70 may It can be possible to select the vertical adjustment of the slave console's command, allows the control system to move the mechanically counterbalanced linear guidance system up and down. This will cause the slave remote manipulator to release the electric brakes on the mast. The relative distance between the slave link 55 of the implanter and the upper surface of the base portion 52 is adjusted by the surgical The height can be adjusted to the desired height for the patient.

[0111] 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.

[0112] 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 therefore the angled link 61 All distal slave links and joints are centered about the axis ω4 of the angulation joint 60. By adjusting the angle of the slave remote manipulator, the slave The angle of the surgical workspace of the Reeve telemanipulator is adjusted, allowing for a translational instrument interface. This allows for easier access to the patient by the surgeon via the interface 81.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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 the execution of the reversal command, link 65, and therefore all threads distal to link 65, The beta link and slave joints are connected to the beta joints of the slave remote manipulator 51a. In addition, when link 65 rotates about beta joint 64, Link 67 is gamma until 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 translational instrument interface 81 from injuring the patient, the translational instrument interface 81 The slave telemanipulator 51 is detached from the slave hub 69 before the execution of the rotation command. a) is required to unlock the slave remote manipulator 51a and move it around the operating room. Also executes Scara brake release command and vertical adjustment slave console command There is no need to remove the translational instrument interface 81 and execute the inversion command to return to the previous position. It can be flipped between a horizontal and an inverted surgical workspace, allowing the user to This saves a lot of time and allows the patient to continue surgery quickly in another surgical workspace.

[0117] 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. Receives signals indicative of movements applied to 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 transformations and executes the commands stored therein. and transmitting a processed signal to the right master remote manipulator based on the processed signal. The right slave remote manipulator 51a can be moved to correspond to the movement of the right slave remote manipulator 22a. Similarly, the master controller 2 may be left unattended by one or more sensors in the master console 20. A signal indicative of the movement applied to the master telemanipulator 22b is received and stored therein. Executes the stored instructions to operate one or more actuators of the slave console 50. Each performs the coordinate transformations necessary to operate it and executes the instructions stored in it. The slave control device 4b transmits the processed signal to the left master control device 4b. Move the left slave remote manipulator 51b in response to the movement of the remote manipulator 22b. It can be done.

[0118] 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 telemanipulator 22b communicates with the right slave telemanipulator 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 a movement applied to the right master remote manipulator 22a by Executes instructions stored in the slave console 50 to control one or more actuators of the slave console 50. It performs the coordinate transformations necessary to operate the system and processes the processed signals to execute the instructions stored in it. The processed signal is transmitted to each slave control device 4b, and the right master control device 4b performs the process. Move the left slave remote manipulator 51b in response to the movement of the remote manipulator 22a. Similarly, the master controller 2 may be connected to one or more of the master consoles 20. receive signals indicative of movements applied to the left master remote manipulator 22b by the sensors in and executes instructions stored therein to control one or more actuators of the slave console 50. It performs the coordinate transformations necessary to operate the Eta and stores the processed signals there. and transmits the command to each slave controller 4a to execute the command based on the processed signal. The right slave remote manipulator 22b moves in response to the movement of the left master remote manipulator 22b. The rotor 51a can be moved.

[0119] 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.

[0120] 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.

[0121] 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; This allows the surgeon to quickly and safely remove the master console. 20 to the surgical site on the patient and manually perform laparoscopic surgical procedures on the patient. Specifically, the execution of the laparoscopic surgery configuration command can set the angle link 61, Therefore, the entire proximal side of the angled link 61 including the base 52 of the slave remote manipulator 51a All slave links and joints remain fixed, and link 63, and therefore the distance 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 ω3 of the joint 62 until it faces away from the patient. and connect the translation instrument interface 81 to the slave hub prior to execution of the laparoscopic surgery configuration command. It must be removed from the 69.

[0122] 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.

[0123] For example, FIG. 26 illustrates step 93 of placing the master console 20 in the surgeon's desired configuration. The Master Console 20 is located on its base when the wheels are unlocked. Once the desired location in the operating room is reached, Activate the wheel locks to keep the master console 20 in place. As shown, in step 93A, the master remote manipulator is fixed and the telescopic base 2 3a, 23b have an initial height. Then, the control operably coupled to the master console 20 By actuating a control device, such as a button, the master console 20 will respond to the surgeon's desired Adjust the height of the telescopic bases 23a and 23b until the height is For example, you can adjust the Master Console 20 to A seated configuration is provided in which the surgeon can sit while manipulating the sole 20, or the master console. It can be configured in a standing position, allowing the surgeon to stand while manipulating the sole 20. activating the control device to raise the master console 20 to an initial height, e.g., for storage purposes. You can return it.

[0124] 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, in step 92B, the slave console 50 is wheeled to move further in the operating room. The wheels of the slave console 50 are locked to prevent the slave console 50 from If wheel 50 needs to be moved to a different desired position, the wheel locks are re-engaged at step 92A. It can be cancelled.

[0125] At step 92C, the Scara brake release command is not executed and the slave console 50 The Scara brake is not released. At step 92D, the user issues the Scara brake release command. Execute the slave remote manipulator at its distal end, e.g., at the distal end of link 59. The link can be positioned at a desired location relative to the patient undergoing surgery. In essence, when the Scara brake release command is executed, the slave telemanipulator's The slave support 53 remains fixed, and the slave joint distal to the slave link 59 and the slave links 55, 57, 59 while the links remain fixed relative to the slave link 59. The joints 54, 56, and 58 are allowed to rotate about their axes ω1, ω2, and ω3. Once the distal end of the remote manipulator is in the desired position relative to the patient, the Scara block is activated at step 92C. Execution of the rake release command is completed. In addition, the above-described steps described with reference to FIGS. 15A-15C Thus, 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 the patient from being injured. It can only be enabled if the instrument 82 is not present.

[0126] 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 therefore the angled link 61 All distal slave links and joints are centered about the axis ω4 of the angulation joint 60. Once the desired angle of the slave telemanipulator is achieved, The angled link 61 of the Reeve telemanipulator is fixed relative to the slave link 59. Thus, the execution of the angle setting command ends at step 92E. There may be two buttons, one to increase the angle and one to decrease the angle.

[0127] 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, The slave remote manipulator 51a rotates about the beta joint 64. When the robot arm 65 rotates around the beta joint 64, the slave remote manipulator 51a rotates in a reverse direction. Link 67 rotates relative to link 65 at gamma joint 66 until the surgical workspace configuration is reached. The slave hub 69 rotates relative to the link 67 at the theta joint 68. In 92H, the slave remote manipulator has a reverse surgical workspace and the user can perform forward surgical work. If space is desired, execute the reverse command to move the slave telemanipulator 51a forward. It can be inverted from the working space to the inverted surgical working space.

[0128] 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, the instrument 82 is directly coupled to the slave hub 69 of the slave remote manipulator. If so, in step 92K, the control system determines that the translation instrument interface 81 is removed. Prevents further action until

[0129] 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 the trocar within the patient's body so that it can be coupled to the trocar. Slide into the trocar but do not pass through it.

[0130] 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 a result, link 63, and therefore all slave links and joints distal to link 63, , rotates about the alpha axis ω3 of joint 62. In step 92P, slave hub 69 retracts It is located.

[0131] 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.

[0132] 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 a 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.

[0133] 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.

[0134] 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. .

[0135] At step 96, the surgical robotic system 10 is ready for operation. Thus, in step 96A, the control system controls the instrument 82 to be a slave of the slave telemanipulator. At step 96B, the control system determines whether the surgeon is connected to the handle hub 69. The handle grip 40 of the portion 35 is detected when the user grasps it. As shown in FIGS. 9A and 9B A sensor in the handle can detect when the surgeon grasps the handle. At step 96C, the clutch 11 is activated and controlled for macro synchronization as shown at step 97A. Prepare the system.

[0136] 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 will not use the macro actions applied at the master console 20. does not cause a corresponding change in the slave console 50. Micro-movements applied to the handle portion 35 of the controller console 20 are detected and sent to the control system. , and the control system commands the actuators coupled to the slave console 50. 5. The instrument tip 84 is then attached to the micro-controller 30 at the handle portion 35 of the master console 20. However, in a micro-asynchronized state, the control system The micro movements made at the master console 20 / handle part 35 are Therefore, in step 97A, the master console 50 / end effector The macro translational motion is reproduced, but the micro motion is not synchronized. can be activated to transition the surgical robot system 10 to a macro-asynchronous state, The master console 20 can prevent any translational movement of the slave console. For example, the clutch 11, when pressed, It can be a foot pedal that keeps the system 10 in a macro-unsynchronized state. Once released, the surgical robotic system 10 returns to the macro-synchronization state at step 97A.

[0137] 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.

[0138] 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.

[0139] 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 40 where a surgeon can be located to operate the system 100. 0, and a remote slave area 500 in close proximity to a sterile zone where a patient undergoing surgery may be placed. As shown in FIG. 31B, the operating surgeon preferably While the surgeon sits with ready access to the patient's area 400, another surgeon or assistant may be positioned above the patient. In the embodiment of Figures 31A and 31B, the master domain 4 00 is located laterally 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 position the endoscope as shown in FIG. 31B. The camera system 102 can also capture images of the hands captured by the camera 102. A display 103 may be included to show the surgical site to the surgeon in real time. Ray 103 is positioned in master area 400 or in a master area that is easily observable by the surgeon during the surgical procedure. It can be mounted anywhere in proximity to the area 400.

[0140] 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 can be operated simultaneously by the left and right hands of a surgeon, for example. Preferably, a remotely operated, teleoperated surgical robotic system is used. The system 100 is optimized for use in surgical procedures.

[0141] 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.

[0142] 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 at the handle and operates the end effector 107. Perform the coordinate transformations necessary to actuate one or more actuators coupled to The corresponding movement of the end effector can be reproduced by the translational instrument interface. The slave device 106 of the chair is removably attached to the slave unit 501, and the can be manipulated by the probe unit 501, and thus can have translational degrees of freedom, e.g. left / right , upper / lower, medial / lateral are obtained by direct mechanical coupling, but joint degrees of freedom, e.g. For example, pitch and yaw, actuation degrees of freedom, e.g., open / close, and rotation degrees of freedom, e.g., pronation and supination, are Through sensors, actuators, and control systems, as described in more detail below. and reproduced electromechanically.

[0143] 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 3 routed from master unit 401 to slave unit 501 01, and one or more pulleys connect the master unit 402 to the slave unit 502. The master unit 401 illustratively comprises one or more cables 303 routed through the master unit 401. The mechanical limiting unit 200 limits the movement of the master unit 401 by eliminating the degree of freedom of movement. This allows for three translational degrees of freedom, e.g., left / right, up / down, and inward / outward movement. Restrict.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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).

[0149] 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.

[0150] 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.

[0151] In Figures 34A and 34B, the mechanical limit 408 of the master unit 401 is 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, e.g., a remote center of motion.

[0152] 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 is transmitted to the end-effector positioned inside the patient. The end effector fully 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.

[0153] 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 guiding master link 404. When the torque is transmitted to the pulley P1 through multiple master links, the slave unit 501 includes a mechanical transmission 300 and a plurality of slave links, joints, and timing The belt reproduces the inward / outward movement along the longitudinal axis θ4. The upward / downward movement of the first master link 405a, the second master link 405b, b, the third master link 405c, and the guide master link 404 move upward / downward about the second axis θ2. This movement is transmitted to pulley P1 via multiple master links, which As a result, the slave unit 501 is connected to the mechanical transmission 300 and the plurality of slave links, The upward / downward movement is controlled around the fifth axis θ5 via the timing belt. Finally, left / right movement of the handle 403 causes the first master link 405a, the second master link 405b, and the The first 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.

[0154] Continuing to refer 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.

[0155] Activation of the trigger 412 on the handle 403 causes the slave unit 501 to This generates a signal that is sent to the motor coupled to the slave unit 501. The translation transmission system of the coupled translator interface is activated, and then the translator The end effector of the interface is actuated to open / close.

[0156] The handle 403 is also designed to be easily grasped 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. 7, and thus generate a signal that is transmitted to the slave unit 501. The rotation of the ball 413 is detected by a sensor that sends a signal via a control system to a motor connected to the The slave unit receives a signal from the control system to The translation instrument interface connected to unit 501 rotates, and thus the translation instrument interface The end effector of the interface rotates with pronation and supination degrees of freedom.

[0157] 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.

[0158] 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.

[0159] 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, which 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.

[0160] 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 slave unit 501 also applies to slave unit 502.

[0161] 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, e.g., with a translational instrument interface 503, so that the slave unit 501 A direct mechanical connection is achieved by a plurality of slave links and a corresponding plurality of slave joints. This allows the master unit 401 to communicate with the corresponding master links and the corresponding The dynamic model is identical to the dynamic model formed by multiple master joints. For example, During operation of the hybrid telemanipulator, the first slave link 505a is always The second slave link 505b always remains parallel to the second mass while the master link 405a remains parallel to the second mass. The third slave link 505c always remains parallel to the third master link 405b. link 405c, and the translation instrument interface 503 always Maintain parallelism with the starlink 404. Therefore, the master unit 401 Each macro translational motion applied to a joint is transmitted through a mechanical transmission 300 and multiple slides. Through blinking, each of the slave joints of the slave unit 501 It is reproduced by the joints.

[0162] 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 four pulleys of P9 are connected to each other through a transmission system. They are a first slave link 505a, a second slave link 505b, and a third slave link 505 c, and operatively coupled to 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:

[0163] 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.

[0164] 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.

[0165] Additionally, movements applied to the handle 403 of the master unit 401 are transmitted to 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 translation 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 translational instrument may 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 includes: The surgical instrument 511 can be fixed to the distal end 504 of the slave unit 501. and an end effector disposed at the distal end of the slave hub 510. The sterile interface can be connected between the slave hub 510 and the surgical instrument 511. In addition, the translation instrument interface 503 can be located between the slave hand Extending from one or more motors located within the shaft 510 to components of the end effector 512. For example, the end effector 512 may include a translational instrument interface. The translational transmission system of the chair 503 is coupled to a plurality of end effector joints. It includes a plurality of interconnected end effector links, which are therefore connected to one or more motors. The translation transmission system is actuated by the end effector 512, which is a It moves through links and joints.

[0166] For further details regarding the components and operation of the 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.

[0167] 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

[0168] 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 , the end effector 512′ opens 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.

[0169] 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 The second link of 12' can be moved inward via the transmission element 514b, thereby The effector 512' is pivoted upward based on the rotation of the handle 403 about the handle axis θ9. Conversely, the control system commands the first motor 601a to rotate the first The link moves inward via the transmission element 514a, and simultaneously commands the second motor 601b to rotate the The second link of the effector 512' can be moved outward via the transmission element 514b, which This allows the end effector 512' to rotate based on the rotation of the handle 403 about the handle axis θ9. Therefore, the first motor 601a and the second motor 601b rotate the end The effector 512' can be moved with a pitch degree of freedom.

[0170] 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.

[0171] 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 by a translational transmission so as to move the end effector 512'' with a pitch degree of freedom. operatively coupled to a second link of the end effector 512'' via a transmission element 515b of the system The third motor 601c rotates the handle 403 around the handle axis θ8. The third motor 601c is connected in parallel to the end effector 512'' to move the end effector 512'' in the yaw degree of freedom based on the Operable to the third link of the end effector 512'' via a transmission element 515c of the forward transmission system. The fourth motor 601d can be coupled to the first motor 601a, the second motor 601b, and the third motor 601c. The motor 601c of the handle 403 drives the surgical instrument 511, and thus the end effector 512''. The fourth motor 601d is driven to rotate with the degree of freedom of pronation and supination based on the rotation of the wheel 413. A first motor 601a and a second motor 601b are connected via a rotatable timing belt 513 for pronation and supination movements. , the third motor 601c, and the surgical instrument 511.

[0172] 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. Alternatively, the microchip 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.

[0173] 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 implement 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 a first motor 601a to actuate the end effector in an open / close degree of freedom, and a second motor 602a to actuate the end effector in an open / close degree of freedom. The motor 601b has parameters to command the motor 601b to operate the end effector with a pitch degree of freedom. do.

[0174] 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

[0175] 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 is connected to each of the four pulleys of the pulley P1. operatively coupled to one or more sensors, e.g., sensor 902a, sensor 902b, sensor 9 The difference is that the sensor 902a to 902d are provided with a plurality of master links. The movement applied to the handle 903 of the master unit 901 via the joints and cables The rotational motion is measured by measuring the angle and position of pulley P1 in response to the Each of the four sensors is connected to the master unit 9 via each of the four pulleys on pulley P1. 901 joint movements in four degrees of freedom. 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.

[0176] The handle 903 is configured similarly to the handle 403 of Figures 34A and 34B. The micro-motion sensor 903 communicates the applied micro-motion to one or more sensors 410 and the slave unit. The slave unit 1001 is driven by one or more motors coupled to the end effector of the unit 1001. The end effector of the unit 1001 is transmitted to the open / close, pitch, and yaw control of the end effector. , and one or more sensors 410 and 411 to allow movement in the pronation and supination degrees of freedom. It includes a circuit board 411.

[0177] 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 the macros applied to the handle 903 connected to the master unit 901 to be transmitted. 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.

[0178] Referring to FIG. 40A and FIG. 40, the slave unit 1001 is the same as the slave unit 1001 of FIG. 35A and FIG. 35B. For example, the slave unit 1001 is configured similarly to the unit 501. The obtained micro-movement is detected by one or more sensors 410, as well as the first motor 601a, the second motor 602a, and the like. the end of the slave unit 1001 via the third motor 601b, the third motor 601c, and the fourth motor 601d. The end effector is then transmitted to the effector to perform opening / closing, pitching, yaw, and pronation / supination movements. The slave unit 1001 has an end effector that can move with a degree of freedom of movement. A first motor 601a, a second motor 601b, a third motor 601c, and a fourth motor 601d are operably coupled to each other. The slave unit 1001 is a multiple of the mechanical transmission coupled to the pulley P8. Instead of several cables and pulleys, one or more motors, e.g., four pulleys for pulley P8. A first motor 1002a, a second motor 1002b, and a third motor 1002c are operably coupled to each of the The slave unit 501 differs from the slave unit 501 in that it includes a fourth motor 1002c and a fourth motor 1002d. The one or more motors respond to movement applied to the handle 903 of the master unit 901. The rotational speed of pulley P1 measured by sensors 902a, 902b, 902c, and 902d is coupled to a circuit board for receiving a signal indicative of rotation, thereby actuating pulley P8 , multiple slave links, joints, timing belts, and / or cables and pulleys The slave unit 1001 is coupled to the master unit 901 via the system For example, the macro translational motion applied to pulley P8 and multiple via a Raeb joint, timing belt, and / or cable and pulley system A first motor 1002a is operatively coupled to the first slave link 505a to drive its movement. A second motor 1002b is operatively coupled to the second slave link 505b and controls its movement. a third motor 1002c operably coupled to a third slave link 505c; A fourth motor 1002d is operably connected to the translation instrument interface 503 to control the movement of the fourth motor 1002d. These are combined to control its movement.

[0179] 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, the first motor l002a and the second motor l003b are used to restrict inward / outward, upward / downward, and left / right movement. The second motor l002b, the third motor l002c, and the fourth motor l002d are slave units, respectively. 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.

[0180] 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 can be used to operate the surgical robot system 800. can be removed before

[0181] 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 handle 403 is electrically coupled to the circuit board of the knit 401 and therefore responds to micro-movements applied to the handle 403. 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 601b for performing the ch, yaw, and pronation / supination degrees of freedom. 1b, a third motor 60lc, and a fourth motor 601d.

[0182] The control system 1110 of FIG. 41B, which can be integrated with the system 800, When executed by the processor 1112, it enables the operation of a hybrid telemanipulator. The computer-readable medium includes a non-transitory computer-readable medium, such as memory 1111, on which instructions are stored. The control system 1110 identifies the slave unit 1001 wirelessly or using an electrical cable. The child element reader 517 can communicate with the memory 1111 to read the identifier element 516. An identification of the kinematic configuration of the end effector may be stored, so that the instruction: When executed by the processor 1112, the end effector is controlled with open / close and pitch degrees of freedom. The motor to be controlled 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. , and therefore receives signals indicative of micro-movements applied to the handle 903. and one or more sensors 410, as well as a signal indicative of a macro movement applied to the handle 903. coupled to sensor 902a, sensor 902b, sensor 902c, and sensor 902d for receiving In addition, the control system 1110 may communicate with the slave units 10 wirelessly or using electrical cables. 01 circuit board, and thus micro-movements of the end effector can be controlled, e.g. a first motor 60l for actuating the open / close, pitch, yaw, and pronation / supination degrees of freedom; a, a second motor 601b, a third motor 601c, and a fourth motor 601d, and the end effector Actuate the macroscopic movements of the robot with degrees of freedom, such as inward / outward, upward / downward, and left / right. A first motor 1002a, a second motor 1002b, a third motor 1002c, and a fourth motor 100 It is bonded to 2d.

[0183] 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. Unit 1201, handle 1203 coupled to master unit 1201, slave unit 1202 The handle 12 includes a translation instrument interface 1204 coupled to the translation instrument, and a mechanical limiter 1205. 34A and 34B, and may be configured similarly to handle 403 of FIGS. 34A and 34B. Interface 1204 may also be configured similarly to translation instrument interface 503 of Figures 35A and 35B. For example, the handle 1203 may be configured to convert the micro-movement applied thereto into one or more and one or more sensors coupled to the end effector of the slave unit 1202. 1204 to the end effector of the translation instrument interface 1204 via the The effector can be moved in open / close, pitch, yaw, and pronation / supination degrees of freedom. Therefore, the macro translational motion applied by the handle 1201 is The movement is limited by the mechanical limiter 1203 in three degrees of freedom, for example, inward / outward, upward / downward, and left / right. The right degree of freedom is represented by the translational instrument interface 1204. Alternatively, a remotely actuated The surgical robotic system 1200 can have seven electromechanically actuated degrees of freedom.

[0184] 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 is Micro-motion of the end effector, e.g., open / close, pitch, yaw, and pronation / supination degrees of freedom modified to include a handle and translation instrument interface for electromechanical control of the While the macro translational movement of the end effector, e.g., up / down, can be changed The lateral, medial, and lateral degrees of freedom are mechanically controlled by a mechanical transmission system. The teleoperated surgical robot system 1210 comprises a master unit mechanically coupled to a slave unit 1212. Star unit 1211, handle 1213 connected to master unit 1211, slave unit The translation instrument includes a translation instrument interface 1214 coupled to the handle 1212, and a mechanical limiter 1215. Handle 1213 is configured similarly to handle 403 of FIGS. 34A and 34B and is a translation instrument interface. The sensor 1214 is configured similarly to the translation instrument interface 503 of Figures 35A and 35B. For example, the handle 1213 may be configured to detect micro-movements applied thereto using one or more sensors, and Parallel movement is achieved via one or more motors coupled to the end effectors of the slave unit 1212. to the end effector of the advance tool interface 1214 to open / close the end effector. One or more of the following degrees of freedom may be used to move the trochanter: closure, pitch, yaw, and pronation / supination. Therefore, the macro translational movement applied by the handle 1213 is controlled by the mechanical control. The limiter 1213 allows for three degrees of freedom, for example, inner / outer, upper / lower, and left / right. The robotic arm is reproduced by the end effector of the robotic arm interface 1214. Alternatively, the robotic arm may be remotely operated. The mobile surgical robotic system 1210 can have seven electromechanically actuated degrees of freedom.

[0185] 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: Master console with multiple master links; such that movement applied by the handle moves at least one of the plurality of master links. the handle coupled to the master console; A slave console having a plurality of slave links, operatively coupled and configured to move in response to movement applied at the handle , the slave console; and an end effector coupled to the slave console, the end effector being operable by the handle; and move in response to movements at the slave console to perform the surgical procedure. the end effector configured as follows: The slave console controls a plurality of actuators operatively coupled to the end effectors. and a motor, the motor being actuated in response to actuation at the handle. (b) During the synchronized state, a macro translational motion is applied to at least one of the plurality of slave links. However, in the macro-synchronous state, the translational motion is not applied, and in the micro-synchronous state, the end effect In the micro-asynchronous state, the micro-movement is not applied. Stem. (Aspect 2) the master console is configured to maintain sterility during the surgical procedure. 2. The system of embodiment 1. (Aspect 3) The handle is sterile during the surgical procedure and can be removed for additional surgical procedures. The device is removably coupled to the master console so that it is sterilizable while in use. 3. The system of claim 2, (Aspect 4) The handle is detachable from the master console via a clip attachment. 4. The system of any one of embodiments 1 to 3, wherein the system is operably coupled to the (Aspect 5) The handle is detachable from the master console via a threaded attachment. 4. The system of claim 1, 2, or 3, wherein the (Aspect 6) the handle includes a retractable piston that moves in response to actuation of the handle; At least one sensor in the console detects movement of the retractable piston and and a plurality of actuators configured to cause corresponding micro-movements in the end effector. The system according to any one of embodiments 1 to 5, (Aspect 7) The slave console detects that the at least one sensor detects at least a predetermined degree of the and not responding to movement at the master console unless it detects a retractable piston. 6. The system described in (Aspect 8) The master console controls at least one master link of the plurality of master links. Any one of aspects 1-7, comprising a mechanical limiter configured to limit movement of the link. The system described. (Aspect 9) further comprising a display coupled to the master console, the display comprising: configured to allow a user to visualize the end effector during operation of the system; The system according to any one of embodiments 1 to 8, (Aspect 10) The plurality of slave links and the plurality of slave joints are connected to the slave console. While the base of the slave console is fixed, the distal end of the slave console is The proximal slave joint can be moved around to place it in the desired horizontal position. The base of the slave console is connected to the proximal slave joint of the plurality of slave joints. and a slave link connected to a proximal slave link of the plurality of slave links via a point. A system described in any one of claims 1 to 9. (Aspect 11) The base of the slave console is a proximal slave link of the plurality of slave links. an adjustable vertical support coupled to the surgical instrument, the adjustable vertical support being adapted to perform the surgical procedure; a plurality of slave consoles for positioning the distal ends of the slave consoles in a desired vertical position; and a state configured to adjust the height of the blink and the plurality of slave joints. The system described in 10. (Aspect 12) a distal end of the slave console and a surgical instrument disposed inside the patient; a removable incision pointer configured to allow alignment with the inserted trocar; 12. The system according to any one of aspects 1 to 11, comprising: (Aspect 13) The method further includes a control device, wherein the control device controls the plurality of actuators. and a plurality of slave links of the slave console in response to an instruction executed by the slave console. 13. The method of any one of embodiments 1 to 12, wherein the actuator is operably coupled to the plurality of actuators to apply a 10. The system according to claim 9 . (Aspect 14) The control device controls the plurality of actuators to control the plurality of switches of the slave console. configured to execute instructions to move the slave link to a home configuration, In this configuration, the plurality of slave links are connected to a trocar inserted into a patient undergoing the surgical procedure. 14. The system of claim 13, wherein the end effector is retracted so as to be positionable within a curl. Stem. (Aspect 15) The control device controls the plurality of actuators to adjust the angle of the plurality of slave links. A slave link is attached to the angled slave link and the front of the angled slave link proximal to the angled slave link. The slave link of the slave console remains fixed during operation of the system. 15. The system of claim 13 or 14, configured to execute an instruction to move to an angle. 。 (Aspect 16) At the angle of the angled slave link, the distal end of the slave console The end effector is a half-link that is tilted at an angle parallel to the angle of the angled slave link. 16. The system of embodiment 15, wherein the surgical procedure is capable of being performed in a spherical surgical workspace. (Aspect 17) of the plurality of slave links distal to the beta joint of the plurality of slave joints The slave link is one of the plurality of slave links proximal to the beta joint. The slave link and the base of the slave console are fixed, and the beta jo a distal end of the slave console that moves relative to the forward surgical workspace and the reverse surgical workspace; 17. The system of any one of embodiments 1 to 16, configured to be inverted between the system and a workspace. Stem. (Aspect 18) The master console, when actuated, controls the macro translational movement of the plurality of master links. 18. Any one of embodiments 1-17, further comprising a clutch configured to prevent movement. system. (Aspect 19) At least one sensor coupled to the handle detects an actuation pattern of the handle. and wherein the movement at the handle detected by the plurality of sensors is Unless at least one sensor detects the pattern of movement of the handle, the end effector 19. The system of any one of embodiments 1 to 18, wherein the system does not cause a corresponding micro-movement by the actuator. Stem. (Aspect 20) The slave console further includes an instrument having a proximal end and a distal end, the proximal end being adapted to an instrument hub configured to be removably coupled to the instrument, the distal end of which is 20. The system of any one of embodiments 1-19, comprising a hand effector. (Aspect 21) The distal end of the slave console is provided with an angled slave link of the plurality of slave links. The distal end of the slave console is rotatable about the alpha axis of the link. a user can move from the master console to the abdominal area of ​​the patient undergoing the surgical procedure; 21. The system of any one of embodiments 1 to 20, which is configurable to manually perform laparoscopic surgery. Hmm. (Aspect 22) The master console has a master control device, and the slave console has a slave control device. a master controller that issues commands based on the movement detected at the handle; configured to execute instructions and send signals to the slave controller based on the movement; The slave controller receives the signal, executes the command, and transmits it from the master controller. and at least one of the plurality of slave links or the end effector based on the received signal. 22. The method according to any one of embodiments 1 to 21, wherein the method is configured to move one or both of the first and second electrodes. system. (Aspect 23) the slave console includes a right slave remote manipulator, a right slave control device, a left slave remote manipulator, a right slave control device, a left slave remote manipulator, a right slave remote control device, a right ... control device, a right slave remote manipulator, a right slave remote control device, a right slave remote control device, a right slave remote control device a slave remote manipulator and a left slave control device; The master console includes a right master remote manipulator and a left master remote manipulator. a master controller, In a forward surgical workspace configuration, the master controller communicates with the right slave controller to: the right slave telemanipulator in response to a movement in the right master telemanipulator The master controller communicates with the left slave controller to operate the left master remote controller. moving the left slave remote manipulator in response to movement at the left slave remote manipulator; and In an inverted surgical workspace configuration, the master controller communicates with the left slave controller to: the left slave telemanipulator in response to movement at the right master telemanipulator The master controller communicates with the right slave controller to control the left master remote controller. and moving the right slave remote manipulator in response to movement of the right slave remote manipulator. 10. The system of claim 1 . (Aspect 24) 1. A system for remote operation for performing a surgical procedure, comprising: a master control device, a right master remote manipulator having a plurality of right master links; and a master controller having a left master remote manipulator with a plurality of left master links. Console; to the right master remote manipulator to operate the right master remote manipulator Combined right-hand drive; to the left master remote manipulator to operate the left master remote manipulator. Combined left-hand drive; Right slave remote manipulator having a right slave control device and a plurality of right slave links a left slave remote manipulator having a left slave controller, a left slave link, and ... link. slave console with data; a right end effector coupled to the right slave remote manipulator, the right end is configured to move in response to actuation at the left handle to perform the surgical procedure. effector; and a left end effector coupled to the left slave remote manipulator, the left end is configured to move in response to actuation at the right handle to perform the surgical procedure. Includes effectors; In a forward surgical workspace configuration, the master controller communicates with the right slave controller to: the right slave telemanipulator in response to a movement in the right master telemanipulator The master controller communicates with the left slave controller to operate the left master remote controller. and moving the left slave remote manipulator in response to movement in the left slave remote manipulator, and performing a reversal surgery. In a workspace configuration, the master controller communicates with the left slave controller to - moving the left slave remote manipulator in response to movement in the remote manipulator; A master controller communicates with the right slave controller to control the left master remote manipulator. and moving the right slave remote manipulator in response to movement at the (Aspect 25) The distal end of the right slave remote manipulator is connected to the right corner of the plurality of right slave links. The left slave remote manipulator is rotatable about the alpha axis of the left slave link. a distal end of the actuator for adjusting the angle of the left angled slave link of the plurality of left slave links; The right and left slave remote manipulators are rotatable about their respective axes, so that the remote manipulators can The surgical site is located on the patient's side, and the user moves from the master console to the surgical site. 25. Any one of embodiments 1 to 24, wherein the laparoscopic surgery can be manually performed on the The system described in paragraph . (Aspect 26) The right handle is removably coupled to the right master remote manipulator, the left handle is removably coupled to the left master remote manipulator. The system according to any one of embodiments 1 to 25. (Aspect 27) 1. A system for remote operation for performing a surgical procedure, comprising: a mass having a plurality of master links configured to maintain sterility during the surgical procedure; Turconsole; so that movement applied by the handle moves at least one of the master links. the handle removably coupled to the master console during the surgical procedure The handpiece is sterile and can be sterilized while removed for additional surgical procedures. dollars; A slave console having a plurality of slave links, and configured to move in response to movement applied at the handle. the slave console; and an end effector coupled to the slave console, the end effector being operable by the handle; and move in response to movements at the slave console to perform the surgical procedure. The system includes the end effector configured as follows: (Aspect 28) Sterilization between surgeries while the handle is removed from the master console 28. Any one of embodiments 1 to 27, wherein the device is purely mechanical, without electronics, to facilitate The system described in paragraph . (Aspect 29) The handle is detachable from the master console via a clip attachment. 29. The system of any one of embodiments 1 to 28, wherein the system is operably coupled to: (Aspect 30) The handle is detachable from the master console via a threaded attachment. 30. The system of any one of embodiments 1-29, wherein the system is coupled to

Claims

1. 1. A system for remote operation to perform a surgical procedure on a patient, comprising: a master console with multiple master links; a handle coupleable to the master console such that translational motion applied to the handle causes movement of at least one of the plurality of master links; a slave console operably coupled to the master console, the slave console comprising a base, a plurality of slave links coupled to the base, and a plurality of actuators; an end effector coupleable to a distal end of the slave console, the end effector configured to move in response to actuation of the handle and in response to motion applied to the handle to perform the surgical operation; and 1. A control system comprising: When the system is in a macro-synchronization state, the plurality of actuators cause translational macro-motion of at least one of the plurality of slave links in response to movement applied to the handle; When the system is in a micro-synchronized state, the plurality of actuators apply a micro-movement to the end effector in response to a movement applied to the handle, the micro-movement comprising at least one of rotating the end effector in a pitch degree of freedom, rotating in a yaw degree of freedom, rotating in a pronation-supination degree of freedom, and opening / closing the end effector; When the system is in a micro-asynchronous state, the actuators do not apply the micro-motion to the end effector; and transitioning from the micro-asynchronous state to the micro-synchronous state in response to detecting an actuation pattern applied to the handle; the control system configured to execute instructions; The system comprising:

2. The system of claim 1 , wherein the master console is configured to maintain sterility during the surgical procedure.

3. 3. The system of claim 2, wherein the handle is removably coupled to the master console so as to be sterilizable while removed for additional surgical procedures.

4. The system of claim 3 , wherein the handle is removably coupled to the master console via a clip attachment.

5. The system of claim 3 , wherein the handle is removably coupled to the master console via a threaded attachment.

6. 6. The system of claim 1, wherein the handle comprises a retractable piston that moves in response to actuation of the handle, at least one sensor in the master console detects movement of the retractable piston, and the control system is further configured to execute instructions that cause the plurality of actuators to impart micro-movements to the end effector in response to movement of the retractable piston.

7. 7. The system of claim 6, wherein the control system is configured to execute instructions that cause the plurality of actuators to impart the micro-movements corresponding to the movement of the retractable piston to an end effector when the at least one sensor detects at least a predetermined amount of movement of the retractable piston.

8. 8. The system of claim 1, wherein the master console comprises a mechanical limiter configured to limit movement of at least one master link of the plurality of master links.

9. 9. The system of claim 1, further comprising a display coupled to the master console, the display configured to visualize the end effector during operation of the system.

10. the slave console further comprising a plurality of slave joints; 10. The system of claim 1, wherein the base of the slave console is coupled to a proximal slave link of the plurality of slave links via the proximal slave joint of the plurality of slave joints such that the plurality of slave links and the plurality of slave joints are movable about the proximal slave joint while the base of the slave console remains fixed to position a distal end of the slave console in a desired horizontal position before performing the surgical procedure.

11. 11. The system of claim 10, wherein the base of the slave console comprises an adjustable vertical post coupled to the proximal slave link of the plurality of slave links, the adjustable vertical post configured to adjust the height of the plurality of slave links and the plurality of slave joints to position the distal end of the slave console in a desired vertical position before performing the surgical procedure.

12. 12. The system of claim 1, further comprising a removable dissection pointer configured to enable alignment of a distal end of the slave console with a trocar positioned inside a patient undergoing the surgical procedure.

13. the control system is further configured, upon receiving a home configuration command, to execute instructions on the actuators to move the slave links of the slave console to a home configuration; The system of any one of claims 1 to 11, wherein in the home configuration, the end effector is positioned within a trocar inserted into the patient undergoing the surgical procedure.

14. the control system is further configured to cause the plurality of actuators to execute commands to move angled slave links of the plurality of slave links to an angle relative to the base; 14. The system of claim 1, wherein the control system is configured to execute instructions that cause the plurality of actuators to impart the translational macro-motion or the micro-motion while the angled slave link and the slave links of the plurality of slave links adjacent to the angled slave link remain fixed.

15. 15. The system of claim 14, wherein at the angle of the angled slave link, the distal end of the slave console is positioned to enable movement of the end effector within a hemispherical surgical workspace tilted at an angle parallel to the angle of the angled slave link.

16. 2. The system of claim 1, wherein a slave link of the plurality of slave links distal to a slave joint of the plurality of slave joints of the slave console is configured to move relative to the slave joint to flip the distal end of the slave console between a forward surgical workspace and an inverted surgical workspace, while a slave link of the plurality of slave links proximal to the slave joint and the base of the slave console remain fixed.

17. the master console further comprising a clutch; 17. The system of claim 1, wherein the control system is further configured to execute instructions to prevent the plurality of actuators from applying macro translational motion to the plurality of slave links when the clutch is engaged.

18. 18. The system of any one of claims 1 to 17, further comprising an instrument having a proximal end and a distal end, the proximal end of the instrument comprising an instrument hub configured to be removably coupled to the distal end of the slave console, the distal end of the instrument comprising the end effector.

19. 2. The system of claim 1, wherein the control system is further configured to, in response to a laparoscopic configuration command, execute instructions to rotate a slave link of the plurality of slave links and a slave link distal to the slave link of the plurality of slave links about an axis at a slave joint of a plurality of slave joints so that the distal end of the slave console is positioned to allow a user to manually perform laparoscopic surgery on the patient.

20. the master console comprises a master controller, the slave console comprises a slave controller, the control system comprises the master controller and the slave controller; the master controller is configured to execute commands based on movements detected at the handle and to send signals to the slave controller based on the movements; 20. The system of claim 1, wherein the slave controller is configured to receive the signal and execute instructions to the plurality of actuators to move at least one of the plurality of slave links or the end effector, or both, based on the signal transmitted from the master controller.

21. the slave console includes a right slave remote manipulator, a right slave controller, a left slave remote manipulator, and a left slave controller; the master console includes a right master remote manipulator, a left master remote manipulator, and a master control device; the control system comprises the right slave controller, the left slave controller, and the master controller; In a forward surgical workspace configuration, the master controller communicates with the right slave controller to move the right slave telemanipulator in response to movements at the right master telemanipulator, the master controller communicates with the left slave controller to move the left slave telemanipulator in response to movements at the left master telemanipulator, and 20. The system of any one of claims 1 to 19, wherein in an inverted surgical workspace configuration, the master controller communicates with the left slave controller to move the left slave telemanipulator in response to movements at the right master telemanipulator, and the master controller communicates with the right slave controller to move the right slave telemanipulator in response to movements at the left master telemanipulator.

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