Methods and devices for remotely controlling movement of surgical tools
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A61B-034/37
A61B-034/30
A61B-017/00
A61B-034/00
출원번호
US-0980190
(2015-12-28)
등록번호
US-9956051
(2018-05-01)
발명자
/ 주소
Stokes, Michael J.
Plescia, David N.
Stefanchik, David
Vakharia, Omar J.
Yoo, Andrew
Spivey, James T.
Hess, Christopher J.
출원인 / 주소
Ethicon Endo-Surgery, Inc.
인용정보
피인용 횟수 :
0인용 특허 :
17
초록▼
Methods and devices are provided for controlling movement of a distal end of a surgical instrument. In general, the methods and devices can allow for controlling movement of surgical tools, and in particular for causing mimicked motion between an external control unit and a surgical tool positioned
Methods and devices are provided for controlling movement of a distal end of a surgical instrument. In general, the methods and devices can allow for controlling movement of surgical tools, and in particular for causing mimicked motion between an external control unit and a surgical tool positioned within a patient's body. In one embodiment, a surgical system is provided having a master assembly including an input tool and a slave assembly including a surgical instrument. The master assembly and the slave assembly can be configured to be electronically coupled together such that movement of the master assembly can be electronically communicated to the slave assembly to cause mimicked movement of the slave assembly.
대표청구항▼
1. A surgical method, comprising: receiving at a controller an input indicative of movement of one or more sensors coupled to a user-controlled master tool;transmitting a first instruction from the controller to a movement assembly in wireless electronic communication with the controller to cause a
1. A surgical method, comprising: receiving at a controller an input indicative of movement of one or more sensors coupled to a user-controlled master tool;transmitting a first instruction from the controller to a movement assembly in wireless electronic communication with the controller to cause a first surgical tool coupled to the movement assembly to move based on the movement of the one or more sensors as indicated by the input; andcomparing the movement of the one or more sensors as indicated by the input with preprogrammed patterns of sensor movement, and based on a result of the comparing, transmitting a second instruction from the controller to cause a viewing element of a second surgical tool to adjust in at least one of orientation and zoom level. 2. The method of claim 1, wherein the movement of the first surgical tool mimics the movement of the one or more sensors, and the movement of the viewing element of the second surgical tool does not mimic the movement of the one or more sensors. 3. The method of claim 1, wherein the movement of the one or more sensors as indicated by the input includes at least one of translational movement and rotational movement, and the movement of the first surgical tool mimics the at least one of the translational movement and the rotational movement of the one or more sensors. 4. The method of claim 1, wherein the input is indicative of a single motion of the one or more sensors such that the single motion of the one or more sensors is configured to cause coordinated movement of the first surgical tool and the viewing element. 5. The method of claim 1, wherein the movement of the one or more sensors defines a pattern of sensor movement, and the comparing includes matching the defined pattern of sensor movement to a one of the preprogrammed patterns of sensor movement. 6. The method of claim 5, wherein if the defined pattern of sensor movement does not match any of the preprogrammed patterns of sensor movement, the second instruction is not transmitted. 7. The method of claim 1, wherein the transmitting of the first instruction, the determining, and the transmitting of the second instruction occurs automatically in response to the receipt of the input. 8. The method of claim 1, further comprising determining an amount of time lapsed from a start of a surgical procedure being performed using the first and second surgical tools; and based on a result of the determining, transmitting a third instruction from the controller to cause the viewing element of the second surgical tool to adjust in at least one of orientation and zoom level. 9. The method of claim 1, wherein the master tool includes a device selected from the group consisting of a glove, a wearable band, a surgical instrument of a same type as the first surgical tool, a mouse, a rollerball, a touchscreen, a stylus, a steering wheel, and a joystick. 10. The method of claim 1, wherein the movement assembly includes first, second, and third rails perpendicular to one another, the first, second, and third rails respectively configured to provide linear movement of the first surgical tool along x, y, and z axes. 11. The method of claim 1, wherein the second instruction is transmitted to a second movement assembly coupled to the second surgical tool and being in wireless electronic communication with the controller. 12. A surgical control system, comprising: a master tool configured to be manually manipulated by a user to provide an input thereto, the master tool being coupled to one or more sensors; anda controller configured to electronically receive data indicative of movement of the one or more sensors caused by the user's manual manipulation of the master tool,cause a first surgical tool coupled to a movement assembly to move based on the movement of the one or more sensors as indicated by the received data,compare the movement of the one or more sensors as indicated by the data with preprogrammed patterns of sensor movement, andbased on a result of the comparing, cause a viewing element of a second surgical tool to adjust in at least one of orientation and zoom level. 13. The system of claim 12, wherein the master tool includes a device selected from the group consisting of a glove, a wearable band, a surgical instrument of a same type as the first surgical tool, a mouse, a rollerball, a touchscreen, a stylus, a steering wheel, and a joystick. 14. The system of claim 12, wherein the movement of the first surgical tool mimics the movement of the one or more sensors, and the movement of the viewing element of the second surgical tool does not mimic the movement of the one or more sensors. 15. The system of claim 12, wherein the movement of the one or more sensors defines a pattern of sensor movement, and the comparing includes matching the defined pattern of sensor movement to a one of the preprogrammed patterns of sensor movement. 16. The system of claim 12, wherein the controller is configured to: determine an amount of time lapsed from a start of a surgical procedure being performed using the first and second surgical tools; andbased on a result of the determining, cause the viewing element of the second surgical tool to adjust in at least one of orientation and zoom level. 17. A surgical system, comprising: a mechanical frame configured to couple to a surgical tool, including first, second, and third rails that are perpendicular to one another and that each have a longitudinal axis, and including a controller configured to wirelessly receive an instruction from a second controller, whereinthe longitudinal axis of the first rail defining an x axis of a coordinate system,the longitudinal axis of the second rail defining a y axis of the coordinate system,the longitudinal axis of the third rail defining a z axis of the coordinate system,the first and second rails being configured to slide as a unit along the longitudinal axis of the third rail and relative to the third rail so as to linearly translate the surgical tool coupled to the mechanical frame in a z direction,the first rail being configured to linearly slide along its longitudinal axis relative to the third rail so as to linearly translate the surgical tool coupled to the mechanical frame in an x direction,the second rail being configured to linearly slide along its longitudinal axis relative to the third rail so as to linearly translate the surgical tool coupled to the mechanical frame relative in a y direction, andthe instruction received by the controller from a second controller causes the controller to cause at least one of (i) the first and second rails to slide as the unit along the longitudinal axis of the third rail and relative to the third rail, (ii) the first rail to linearly slide along its longitudinal axis relative to the third rail, and (iii) the second rail to linearly slide along its longitudinal axis relative to the third rail. 18. The system of claim 17, wherein the mechanical frame is configured to nonremovably couple the surgical tool thereto. 19. The system of claim 17, wherein the mechanical frame is configured to removably and replaceably couple the surgical tool thereto. 20. The system of claim 17, wherein one or more of the first, second, and third rails is configured to rotate about its longitudinal axis, thereby rotating the surgical tool coupled to the mechanical frame.
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이 특허에 인용된 특허 (17)
Gunter D. Niemeyer ; William C. Nowlin ; Gary S. Guthart, Alignment of master and slave in a minimally invasive surgical apparatus.
Moll, Frederic H.; Rosa, David J.; Ramans, Andris D.; Blumenkranz, Stephen J.; Guthart, Gary S.; Niemeyer, Gunter D.; Nowlin, William C.; Salisbury, Jr., J. Kenneth; Tierney, Michael J.; Mintz, David, Arm cart for telerobotic surgical system.
Madhani Akhil J. ; Salisbury J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Niemeyer,Gunter D.; Guthart,Gary S.; Nowlin,William C.; Swarup,Nitish; Toth,Gregory K; Younge,Robert G., Camera referenced control in a minimally invasive surgical apparatus.
Stokes, Michael J.; Plescia, David N.; Stefanchik, David; Vakharia, Omar J.; Yoo, Andrew; Spivey, James T.; Hess, Christopher J., Methods and devices for remotely controlling movement of surgical tools.
Coughlan Joel B. (Knox County TN) Harvey Howard W. (Roane County TN) Upton R. Glen (Anderson County TN) White John R. (Roane County TN), Remote manipulator.
Hassler William L. (Sharonville OH) Murray Thomas (Cincinnati OH) Armstrong Charles (Cincinnati OH) Price Daniel (Loveland OH), Rotational endoscopic mechanism with jointed drive mechanism.
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