INPUT DEVICE ASSEMBLIES FOR ROBOTIC SURGICAL SYSTEMS

Abstract

Methods and devices for controlling a robotic system include receiving a signal in response to movement of an input device through an input distance, determining the position of a repositioning control disposed on the input device, and moving the tool of the robotic system in response to movement of the input device the input distance. The input device is coupled to an input shaft of an input arm. The robotic system moving the tool a first distance when the repositioning control is in a deactivated position and moves the tool a second distance when the repositioning control in an activated position. The first distance is greater than the second distance.

Claims

1. (canceled)

2. A method of controlling a tool of a robotic system, the method comprising: receiving a signal representative of a movement distance of an input device coupled to an input shaft of an input arm; determining a position of a repositioning control of the input device, wherein the repositioning control is supported on a body of the input device; in response to determining that the position of the reposition control of the input control is in a first position, moving the tool of the robotic system based on the movement distance of the input device and based on an operating scaling factor; in response to determining that the position of the repositioning control of the input device is in a second position different from the first position, entering a clutching mode to decouple the tool of the robotic system from the input device; and in response to determining that the position of the repositioning control of the input device is in a third position different from the first and second positions, leaving the clutching mode.

3. The method according to claim 2, wherein the repositioning control includes a ring disposed about the body of the input device, and wherein the method includes determining the position of the ring.

4. The method according to claim 3, further comprising determining that the ring is in the first position when the ring is rotated in a first direction from the second position along a longitudinal axis of the body of the input device.

5. The method according to claim 4, wherein the second position is a neutral position.

6. The method according to claim 3, further comprising determining that the ring is in the third position when the ring is rotated in a second direction from the second position about a longitudinal axis of the body of the input device.

7. The method according to claim 2, further comprising moving the tool by a scaled movement, which scaled movement is calculated by dividing the movement distance by the operating scaling factor.

8. The method according to claim 2, wherein leaving the clutching mode includes recoupling the input device to the tool.

9. The method according to claim 8, wherein leaving the clutching mode further includes moving the tool of the robotic system based on the movement distance of the input device and a repositioning scaling factor.

10. The method according to claim 9, wherein, when the determined position is the third position, the tool is moved by a scaled movement, which is calculated by dividing the movement distance by the repositioning scaling factor.

11. The method according to claim 2, wherein, when the tool is in the clutching mode, the tool does not move when the input device moves.

12. A robotic surgical system, comprising: a processing unit; a user interface configured to communicate with a robotic tool and including: an input arm having an input shaft; and an input device coupled to the input shaft and including a repositioning control supported on a body of the input device, wherein the processing unit is configured to: receive a signal representative of a movement distance of the input device; determine a position of the repositioning control; in response to determining that the position of the reposition control of the input control is in a first position, move the robotic tool based on the movement distance of the input device and an operating scaling factor; in response to determining that the position of the repositioning control of the input device is in a second position different from the first position, enter a clutching mode to decouple the robotic tool from the input device; and in response to determining that the position of the repositioning control of the input device is in a third position different from the first and second positions, leave the clutching mode.

13. The robotic surgical system according to claim 12, wherein the repositioning control includes a ring disposed about the body of the input device.

14. The robotic surgical system according to claim 13, wherein the processing unit is further configured to determine that the ring is in the first position when the ring is rotated in a first direction from the second position along a longitudinal axis of the body of the input device.

15. The robotic surgical system according to claim 14, wherein the second position is a neutral position.

16. The robotic surgical system according to claim 14, wherein the processing unit is further configured to determine that the ring is in the third position when the ring is rotated in a second direction from the second position about the longitudinal axis of the body of the input device.

17. The robotic surgical system according to claim 12, wherein the robotic tool is moved by a scaled movement, which is calculated by dividing the movement distance by the operating scaling factor.

18. The robotic surgical system according to claim 12, wherein, when leaving the clutching mode, the processing unit is further configured to recouple the input device to the robotic tool.

19. The robotic surgical system according to claim 18, wherein, when leaving the clutching mode, the processing unit is further configured to move the robotic tool based on the movement distance of the input device and a repositioning scaling factor.

20. The robotic surgical system according to claim 19, wherein, in the case where the determined position is the third position, the robotic tool is moved by a scaled movement, which is calculated by dividing the movement distance by the repositioning scaling factor.

21. A robotic surgical system, comprising: a processing unit; a robotic system including: a robot base; a linkage extending from the robot base including a plurality of members, the plurality of members configured to move in response to a scaled signal from the processing unit; and a tool supported at an end of the linkage; and a user interface including: an input arm having an input shaft; and an input device coupled to the input shaft and including a repositioning control supported on a body of the input device, wherein the processing unit is configured to: receive a signal representative of a movement distance of the input device; determine a position of the repositioning control; in response to determining that the position of the reposition control of the input control is in a first position, move the tool of the robotic system based on the movement distance of the input device and an operating scaling factor; in response to determining that the position of the repositioning control of the input device is in a second position different from the first position, enter a clutching mode to decouple the tool of the robotic system from the input device; and in response to determining that the position of the repositioning control of the input device is in a third position different from the first and second positions, leave the clutching mode.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Various aspects of the present disclosure are described hereinbelow with reference to the drawings, which are incorporated in and constitute a part of this specification, wherein:

[0016] FIG. 1 is a schematic illustration of a robotic surgical system in accordance with the present disclosure including a user interface and a robotic system;

[0017] FIG. 2 is a plan view of an arm of the user interface of FIG. 1 within a two-dimensional workspace;

[0018] FIG. 3 is a side view of an input device provided in accordance with the present disclosure;

[0019] FIG. 4 is side view of another input device provided in accordance with the present disclosure;

[0020] FIG. 5 is an end view of the input device of FIG. 4; and

[0021] FIG. 6 is a schematic diagram of a method for controlling movement of the robotic surgical system of FIG. 1 in accordance with the present disclosure.

DETAILED DESCRIPTION

[0022] Embodiments of the present disclosure are now described in detail with reference to the drawings in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term “clinician” refers to a doctor, a nurse, or any other care provider and may include support personnel. Throughout this description, the term “proximal” refers to the portion of the device or component thereof that is closest to the clinician and the term “distal” refers to the portion of the device or component thereof that is farthest from the clinician.

[0023] Some embodiments include a control for applying a repositioning scaling factor to a movement of the input device resulting in less movement of a tool coupled to a robotic arm linkage when the input device is moved. The lesser movement enables the input device to be repositioned relative to the tool while still leaving the input device operatively coupled to the tool. When the input device is repositioned, the repositioning scaling factor may be changed back to an operating scaling factor used during the surgical procedure resulting in greater movement of a tool coupled to a robotic arm linkage. This greater movement enables the clinician operating the input device to complete the surgical procedure in an efficient manner. The operating scaling factor may also be changed by the clinician during the surgical procedure to enable finer or coarser movements of the tool coupled to the input device.

[0024] Referring to FIG. 1, a robotic surgical system 1 in accordance with the present disclosure is shown generally as a robotic system 10, a processing unit 30, and a user interface 40. The robotic system 10 generally includes linkages 12 and a robot base 18. The linkages 12 moveably support an end effector or tool 20 which is configured to act on tissue. The linkages 12 may be in the form of arms each having an end 14 that supports an end effector or tool 20 which is configured to act on tissue. In addition, the ends 14 of the linkages 12 may include an imaging device 16 for imaging a surgical site “S”. The user interface 40 is in communication with robot base 18 through the processing unit 30.

[0025] The user interface 40 includes a display device 44 which is configured to display three-dimensional images. The display device 44 displays three-dimensional images of the surgical site “S” which may include data captured by imaging devices 16 positioned on the ends 14 of the linkages 12 and/or include data captured by imaging devices that are positioned about the surgical theater (e.g., an imaging device positioned within the surgical site “S”, an imaging device positioned adjacent the patient “P”, imaging device 56 positioned at a distal end of an imaging arm 52). The imaging devices (e.g., imaging devices 16, 56) may capture visual images, infra-red images, ultrasound images, X-ray images, thermal images, and/or any other known real-time images of the surgical site “S”. The imaging devices transmit captured imaging data to the processing unit 30 which creates three-dimensional images of the surgical site “S” in real-time from the imaging data and transmits the three-dimensional images to the display device 44 for display.

[0026] The user interface 40 also includes input arms or handles 42 which allow a clinician to manipulate the robotic system 10 (e.g., move the linkages 12, the ends 14 of the linkages 12, and/or the tools 20). Each of the input handles 42 is in communication with the processing unit 30 to transmit control signals thereto and to receive feedback signals therefrom. Each of the input handles 42 may include an input device (e.g., input device 60 (FIG. 3) or input device 70 (FIG. 4)) which allow the surgeon to manipulate (e.g., clamp, grasp, fire, open, close, rotate, thrust, slice, etc.) the tools 20 supported at the ends 14 of the linkages 12.

[0027] With additional reference to FIG. 2, the input device (e.g., input devices 60 and 70) is moveable through a predefined workspace “W” to move the ends 14 of the linkages 12 within a surgical site “S” or to move the tools 20 that are supported on the ends 14 of the linkages 12. It will be appreciated that while the workspace “W” is shown in two-dimensions in FIG. 2 that the workspace “W” is a three-dimensional workspace. The three-dimensional images on the display device 44 are orientated such that the movement of the input device moves the ends 14 of the linkages 12 as viewed on the display device 44. It will be appreciated that the orientation of the three-dimensional images on the display device may be mirrored or rotated to a view from above the patient “P”. In addition, it will be appreciated that the size of the three-dimensional images on the display device 44 may be scaled to be larger or smaller than the actual structures of the surgical site permitting the surgeon to have a better view of structures within the surgical site “S”. As the input devices are moved, the tools 20 are moved within the surgical site “S” as detailed below. As detailed herein, movement of the tools 20 may also include movement by the ends 14 of the linkages 12 which support the tools 20.

[0028] For a detailed discussion of the construction and operation of a robotic surgical system 1, reference may be made to U.S. Patent Publication No. 2012/0116416, entitled “Medical Workstation.”

[0029] The movement of the tools 20 is scaled relative to the movement of the input devices (e.g., input devices 60 and 70). The processing unit 30 transmits scaled control signals to the robot base 18 to move the tools 20 in response to the movement of the input handles 42. The processing unit 30 scales the control signals by dividing an Input.sub.distance (e.g., the distance moved by one of the input devices) by a scaling factor S.sub.F to arrive at a scaled Output.sub.distance (e.g., the distance that one of the ends 14 is moved). In some instances one or more scaling factors “S.sub.F” used in operation during a surgical procedure may be in a range between about 1 and about 10 (e.g., 3). This scaling may be represented by the following equation:

Output.sub.distance=Input.sub.distance/S.sub.F.

[0030] It will be appreciated that the larger scaling factor “S.sub.F”, the smaller the movement of the tools 20 relative to the movement of the input devices. Thus, to facilitate repositioning of the input device relative to a surgical tool 20 driven by the input device, a larger scaling factor “S.sub.F” may be used instead so that the tool 20 moves much less than the input device. In some instances this repositioning scaling factor may be at least about 100 or more.

[0031] In those instances where the scaling factor is less than one (e.g. operating scaling factor is about 0.5 and repositioning scaling factor is 0.005) then the scaling factor may be multiplied by the input distance to calculate the output distance that the tools are moved.

[0032] The input devices (e.g., input devices 60 and 70), as shown in FIGS. 3-5, may include a repositioning control (e.g., repositioning controls 64 and 74) that sends a signal to the processing unit 30 to switch the scaling factor “S.sub.F” between an operating scaling factor “OS.sub.F” used during the surgical procedure and a repositioning scaling factor “RS.sub.F” facilitating a repositioning of the input device 60 and/or 70. The operating scaling factor “OS.sub.F” may be much smaller than the repositioning scaling factor “RS.sub.F” when both scaling factors are greater than one and larger when both scaling factors are less than one. In some instance operating scaling factor “OS.sub.F” may be in a range of about 1.0 to about 10.0 (e.g., 3.0) and the repositioning scaling factor “RS.sub.F” may be in a range of about 100.0 to about 1000.0 (e.g., 500.0). The two scaling factors allow a clinician to perform a surgical procedure using the operating scaling factor “OS.sub.F” and then reposition an input device using the repositioning scaling factor “RS.sub.F” when the input device approaches an edge or a limit of movement of the predefined workspace “W” while still keeping the input device fully coupled to the surgical tool. Thus, the clinician may toggle the repositioning control to the activated position “A” to switch to the repositioning scaling factor “RS.sub.F” and then move the input device to a desired position within the predefined workspace “W” (adjacent the center “C”) while keeping the input device operatively coupled to the tool 20. Once the input device is at the desired position within the predefined workspace “W”, the clinician may then toggle the repositioning control to the deactivated position to switch back to a desired operating scaling factor “OS.sub.F” and continue the surgical procedure.

[0033] “Clutching” the input device 60, 90 from the tool 20 may operatively decouple the tool 20 from the input device 60, 90 so that movement of the input device 60, 90 in at least one predetermined direction does not necessarily result in a corresponding movement of the tool 20. However, during repositioning the input device 60, 90 remains operatively coupled to the tool 20 so that movement of the input device 60, 90 in the predetermined direction results in a corresponding movement of the tool 20 that is lessened by the “repositioning” scaling factor amount instead of the “operating” scaling factor amount used during the surgical procedure. For a more detailed discussion of the clutching and scaling of movement of the linkages 12 of a robotic system 10 in response to movement of the input handles 42, reference may be made to U.S. Patent Application Ser. No. 62/118,123, filed Feb. 19, 2015 (now U.S. Pat. No. 10,695,142).

[0034] With reference to FIG. 3, the input device 60 is coupled to an input shaft 43 of the input handles 42. The input device 60 is rotatable about the input shaft 43 and may be translatable along a longitudinal axis defined by the input shaft 43. The input device 60 includes a body 62, a controller 63, a repositioning control 64, and input interfaces (e.g., lever 66). The body 62 is ergonomically shaped for engagement by the hand of a clinician. The body 62 may provide a clinician with a tactile feel similar to holding a surgical instrument. The body 62 may also provide tactile feedback (e.g., haptic feedback) to a clinician. The controller 63 is in communication with the processing unit 30 to send signals from the input device 60 to the processing unit 30 to control manipulation of the tools 20 (FIG. 1) of a robotic system 10 in response to manipulation of the body 62, the repositioning control 64, and the input interfaces of the input device 60. It is contemplated that the controller 63 may send the control signals to the processing unit 30 in a wired or wireless manner.

[0035] The input interfaces may be specific to a respective tool 20 that is supported at the end 14 of a linkage 12. For example, an input interface or lever 66 of the input device 60 may be for moving a jaw (not shown) of a tool 20. Additionally or alternatively, the lever 66 may be for applying electrosurgical energy to tissue with a tool 20.

[0036] Continuing to refer to FIG. 3, the repositioning control 64 is positioned about the body 62 of the input device 60. As detailed above, the repositioning control 64 functions to selectively “repositioning” the manipulation of the input device 60 and/or input interfaces with the tool 20. The repositioning control 64 may be a ring positioned about the body 62 of the input device 60. As shown the repositioning control 64, is positioned between an end of the body 62 that engages the input shaft 43 and the lever 66. It is contemplated, that the repositioning control 64 may be positioned about the other end of the body 62. As so configured, the repositioning control 64 may be activated at any radial location about the input device 60.

[0037] The repositioning control 64 may be slidable between a deactivated position “D” and an activated position “A”. The repositioning control 64 may be engagable by a clinician and biased towards the deactivated position “D”. The biasing of the repositioning control 64 may be calibrated to permit engagement of a finger of a clinician to move the repositioning control 64 to the activated position “A”. As shown, to move the repositioning control 64 to the activated position “A”, the repositioning control 64 may be moved distally or towards input shaft 43; however, it is contemplated that the orientation of the repositioning control 64 may be reversed such that proximal movement or movement away from the input shaft 43 moves the repositioning control 64 towards the activated position “A”. It is also contemplated, that the repositioning control 64 may be rotated about an axis of the body 62 to move the repositioning control 64 towards the activated position “A”.

[0038] In the deactivated position “D” of the repositioning control 64, the processing unit 30 permits the input device 60 to manipulate the tool 20 in response to manipulation of the input device 60 and the input interfaces. In the activated position “A” of the repositioning control 64, the processing unit 30 may change the scaling factor applied to an input device movement so that the tool 20 moves much less as detailed above.

[0039] In other instances, one of the activated and deactivated positions “A”, “D” of the repositioning control 64 may be used to enter a traditional “clutching” mode in which the tool 20 is operatively decoupled from the input device 60 so when the input device 60 is moved the tool 20 does not move. The other of the activated and deactivated positions “A”, “D” of the repositioning control 64 may be used to leave the “clutching” mode and recouple the input device 70 to the tool 20 so that the tool 20 moves as the input device 70 is moved.

[0040] With reference to FIGS. 4 and 5, another input device 70 is provided in accordance with the present disclosure. The input device 70 is similar to the input device 60 detailed above with like elements labeled in a similar manner, as such only the differences will be detailed herein. The input device 70 includes a body 72, a controller 73, and a plurality of petals 74, 76. The body 72 may be squeezable to control the movement of jaws (not shown) of a tool 20 (FIG. 1). Each of the plurality of petals 74, 76 extend away from the body 72 and are spaced apart from one another such that each of the plurality of petals 74, 76 may be selectively engagable. The plurality of petals 74, 76 includes a repositioning petal 74 and input interface petals 76. The repositioning petal 74 may be moveable between a proximal activated position “A.sub.P” and a deactivated position “D”. The repositioning petal 74 may also have a distal activated position “A.sub.D”. The proximal and distal activated positions “A.sub.P”, “A.sub.D” of the repositioning petal 74 may be substantially similar to the activated position “A” and deactivated position of the repositioning control 64 detailed above. Additionally or alternatively, one of the activated positions “A.sub.P”, “A.sub.D” of the repositioning petal 74 may change the scaling factor applied from an operating scaling “OS.sub.F” used during the surgical procedure to a repositioning scaling factor “RS.sub.F”, as detailed above, and the other one of the activated positions “A.sub.P”, “A.sub.D” of the repositioning petal may revert the scaling factor back to the previous scaling factor.

[0041] In other instances, one of the activated and deactivated positions “A.sub.P”, “A.sub.D” of the repositioning petal 74 may be used to enter a traditional “clutching” mode in which the tool 20 is operatively decoupled from the input device 70 so when the input device 70 is moved the tool 20 does not move. The other of the activated and deactivated positions “A.sub.P”, “A.sub.D” of the repositioning petal 74 may be used to leave the “clutching” mode and recouple the input device 70 to the tool 20 so that the tool 20 moves as the input device 70 is moved.

[0042] With reference to FIG. 6, a method 100 of controlling a tool 20 of a robotic system 10 with a processing unit 30 in response to movement of input device 60 is disclosed in accordance with the present disclosure. It will be appreciated that method 100 may be used with a variety of other input devices (e.g., input device 70).

[0043] The processing unit 30 receives a signal indicative of movement of an input device coupled to an input shaft 43 of an input arm 42 of a robotic surgical system 10 (Step 110). The signal may be from the controller 63 of the input device 60 or from another component of the user interface 40. The processing unit 30 compares the signal from the controller 63 with the identifying information specific to tool 20 attached to the end 14 of the linkage 12 to verify that the input device 60 is compatible with the tool 20 (Step 120). The processing unit 30 may verify the input device 60 is compatible with the tool 20 by comparing a characteristic signal from the tool 20 with the signal from the controller 63. If the processing unit 30 verifies that the input device 60 is compatible with the tool 20, the processing unit 30 determines the position of the repositioning control 64 as detailed below. If the processing unit determines the input device 60 is incompatible with the tool 20, the processing unit 30 maintains the position of the tool 20 in response to signals from the controller 63 (Step 155). Additionally, the processing unit 30 may provide indicia to a clinician if the tool 20 is compatible or incompatible with the input device 60. For example, the processing unit 30 may provide visual indicia on the display device 44 (FIG. 1) or may illuminate the body 62 a distinct color. It is also contemplated that the processing unit 30 may provide audible indicia to a clinician.

[0044] Next, the processing unit 30 determines the position of the repositioning control 64 (Step 130). It will be appreciated that the signal from the controller 63 may include data including the position of the repositioning control 64. Additionally or alternatively, the controller 63 may send a separate repositioning control signal to the processing unit 30 to provide the position of the repositioning control 64.

[0045] When the repositioning control 64 is in the deactivated position, the processing unit 30 scales the signal from the input device 60 by a first scaling factor (e.g., scaling factor “S.sub.F1” or operating scaling factor “OS.sub.F”) (Step 142). Then, the processing unit 30 manipulates the tool 20 in response to the scaled signal (Step 150).

[0046] When the repositioning control 64 is in the activated position, the processing unit 30 scales the signal from the input device 60 by a second scaling factor (e.g., scaling factor “S.sub.F2” or repositioning scaling factor “RS.sub.F”) (Step 144). Then, the processing unit 30 manipulates the tool 20 in response to the scaled signal (Step 150).

[0047] In some instances, if one of the scaling factors is selected to be zero, then the processing unit 30 may maintain the position of the tool 20 as though the tool 20 were communicatively decoupled from the input device 60 until the scaling factor is changed to a non-zero value.

[0048] The wireless connections detailed herein (e.g., between controller 63 and the processing unit 30) may be via radio frequency, optical, WIFI, Bluetooth (an open wireless protocol for exchanging data over short distances (using short length radio waves) from fixed and mobile devices, creating personal area networks (PANs)), ZigBee® (a specification for a suite of high level communication protocols using small, low-power digital radios based on the IEEE 802.15.4-2003 standard for wireless personal area networks (WPANs)), etc.

[0049] While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Any combination of the above embodiments is also envisioned and is within the scope of the appended claims. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments. Those skilled in the art will envision other modifications within the scope of the claims appended hereto.