US-12616531-B2 - Multi-port surgical robotic system architecture

US12616531B2US 12616531 B2US12616531 B2US 12616531B2US-12616531-B2

Abstract

A robotic surgery system includes a mounting base, a column base fixedly coupled with the mounting base, a translatable column member slideably coupled to the column base, an orienting platform coupled with the translatable column member, outer set-up linkages, and outer surgical instrument manipulators. Each of the outer set-up linkages is rotationally coupled to and supported by the orienting platform. Each of the outer set-up linkages includes an extension link, a coupling link, and a first joint that couples the respective coupling link to the respective extension link. Each of the outer surgical instrument manipulators is operable to selectively articulate a respective surgical instrument mounted to the outer surgical instrument manipulator and to insert the surgical instrument along an insertion axis through a remote center of manipulation.

Inventors

Bruce Michael Schena
Roman L. Devengenzo
Scott Luke
David Martin
Thomas G. Cooper
Thomas Brown

Assignees

Intuitive Surgical Operations, Inc.

Dates

Publication Date: 20260505
Application Date: 20220202

Claims (17)

1 . A robotic surgery system comprising: a mounting base; a column base fixedly coupled with the mounting base; a translatable column member slidably coupled to the column base for translation relative to the column base; a boom assembly extending radially from the translatable column member, the boom assembly rotatably coupled with the translatable column member such that an angular orientation of the boom assembly relative to the translatable column member is adjustable; an orienting platform coupled with the translatable column member via the boom assembly; a first outer surgical instrument manipulator comprising a first outer manipulator mounting base and a first outer manipulator instrument holder, wherein the first outer surgical instrument manipulator is operable to selectively rotate the first outer manipulator instrument holder relative to the first outer manipulator mounting base around each of a first outer manipulator yaw axis and a first outer manipulator pitch axis, wherein each of the first outer manipulator yaw axis and the first outer manipulator pitch axis intersects a first remote center of manipulation, wherein the first outer manipulator pitch axis extends transverse to the first outer manipulator yaw axis, and wherein the first outer surgical instrument manipulator is operable to insert a first outer surgical instrument mounted to the first outer manipulator instrument holder along a first outer manipulator insertion axis into a patient through the first remote center of manipulation; a second outer surgical instrument manipulator comprising a second outer manipulator mounting base and a second outer manipulator instrument holder, wherein the second outer surgical instrument manipulator is operable to selectively rotate the second outer manipulator instrument holder relative to the second outer manipulator mounting base around each of a second outer manipulator yaw axis and a second outer manipulator pitch axis, wherein each of the second outer manipulator yaw axis and the second outer manipulator pitch axis intersects a second remote center of manipulation, wherein the second outer manipulator pitch axis extends transverse to the second outer manipulator yaw axis, and wherein the second outer surgical instrument manipulator is operable to insert a second outer surgical instrument mounted to the second outer manipulator instrument holder along a second outer manipulator insertion axis into the patient through the second remote center of manipulation; a first outer set-up linkage between the orienting platform and the first outer surgical instrument manipulator, the first outer set-up linkage configured to selectively position the first outer surgical instrument manipulator, wherein the first outer set-up linkage couples the first outer manipulator mounting base to the orienting platform, wherein the first outer set-up linkage is rotationally coupled to and supported by the orienting platform via a first outer set-up linkage first joint that is disposed at a first fixed location relative to the orienting platform, wherein the first outer manipulator mounting base is coupled with and supported by the first outer set-up linkage, wherein the first outer set-up linkage comprises a first outer set-up linkage extension link, a first outer set-up linkage coupling link, and a first outer set-up linkage second joint that couples the first outer set-up linkage coupling link to the first outer set-up linkage extension link, and wherein the first outer set-up linkage second joint is operable to rotate the first outer set-up linkage coupling link and the first outer manipulator mounting base relative to the first outer set-up linkage extension link around a first outer set-up linkage horizontally oriented axis; and a second outer set-up linkage between the orienting platform and the second outer surgical instrument manipulator, the second outer set-up linkage configured to selectively position the second outer surgical instrument manipulator, wherein the second outer set-up linkage couples the second outer manipulator mounting base to the orienting platform, wherein the second outer set-up linkage is rotationally coupled to and supported by the orienting platform via a second outer set-up linkage first joint that is disposed at a second fixed location relative to the orienting platform, wherein the second outer set-up linkage first joint is fixedly offset from the first outer set-up linkage first joint, wherein the second outer manipulator mounting base is coupled with and supported by the second outer set-up linkage, wherein the second outer set-up linkage comprises a second outer set-up linkage extension link, a second outer set-up linkage coupling link, and a second outer set-up linkage second joint that couples the second outer set-up linkage coupling link to the second outer set-up linkage extension link, and wherein the second outer set-up linkage second joint is operable to rotate the second outer set-up linkage coupling link and the second outer manipulator mounting base relative to the second outer set-up linkage extension link around a second outer set-up linkage horizontally oriented axis.
2 . The robotic surgery system of claim 1 , wherein the mounting base is movable and floor supported.
3 . The robotic surgery system of claim 1 , wherein the translatable column member is selectively positionable relative to the mounting base along a first axis that is vertically oriented.
4 . The robotic surgery system of claim 1 , wherein: the first outer set-up linkage first joint is operable to rotate the first outer set-up linkage relative to the orienting platform around a first vertically oriented axis; and the second outer set-up linkage first joint is operable to rotate the second outer set-up linkage relative to the orienting platform around a second vertically oriented axis.
5 . The robotic surgery system of claim 1 , further comprising an inner set-up linkage and an inner surgical instrument manipulator, wherein: the inner surgical instrument manipulator is coupled with the orienting platform via the inner set-up linkage; the inner set-up linkage is coupled with the orienting platform between the first outer set-up linkage and the second outer set-up linkage; the inner set-up linkage is coupled to and supported by the orienting platform; the inner set-up linkage comprises an inner set-up linkage extension link, an inner set-up linkage coupling link, and an inner-setup linkage joint that couples the inner set-up linkage coupling link to the inner set-up linkage extension link and is operable to rotate the inner set-up linkage coupling link relative to the inner set-up linkage extension link around an inner set-up linkage horizontally oriented axis; and the inner surgical instrument manipulator is operable to selectively articulate an inner surgical instrument mounted to the inner surgical instrument manipulator and insert the inner surgical instrument along an inner manipulator insertion axis into the patient through an inner manipulator remote center of manipulation.
6 . The robotic surgery system of claim 5 , wherein: the inner surgical instrument manipulator comprises an inner manipulator instrument holder to which the inner surgical instrument is mounted; the inner surgical instrument manipulator is operable to rotate the inner manipulator instrument holder around an inner manipulator yaw axis that intersects the inner manipulator remote center of manipulation; the inner surgical instrument manipulator is operable to rotate the inner manipulator instrument holder around an inner manipulator pitch axis that intersects the inner manipulator remote center of manipulation; the inner manipulator yaw axis is transverse to the inner manipulator insertion axis; the inner manipulator pitch axis is transverse to the inner manipulator insertion axis; and the inner manipulator pitch axis is transverse to the inner manipulator yaw axis.
7 . The robotic surgery system of claim 5 , further comprising a second inner set-up linkage and a second inner surgical instrument manipulator coupled with the orienting platform via the second inner set-up linkage, wherein: the second inner set-up linkage is coupled to and supported by the orienting platform between the first outer set-up linkage and the second outer set-up linkage; the second inner set-up linkage comprises a second inner set-up linkage extension link, a second inner linkage coupling link, and a second inner linkage joint that couples the second inner linkage coupling link to the second inner set-up linkage extension link and is operable to rotate the second inner linkage coupling link relative to the second inner set-up linkage extension link around a second inner set-up linkage horizontally oriented axis; and the second inner surgical instrument manipulator is operable to selectively articulate a second inner surgical instrument mounted to the second inner surgical instrument manipulator and to insert the second inner surgical instrument along a second inner manipulator insertion axis into the patient through a second inner manipulator remote center of manipulation.
8 . The robotic surgery system of claim 7 , wherein: the second inner surgical instrument manipulator comprises a second inner manipulator instrument holder to which the second inner surgical instrument is mountable; the second inner surgical instrument manipulator is operable to rotate the second inner manipulator instrument holder around a second inner manipulator yaw axis that intersects the second inner manipulator remote center of manipulation; the second inner surgical instrument manipulator is operable to rotate the second inner-manipulator instrument holder around a second inner manipulator pitch axis that intersects the second inner manipulator remote center of manipulation; the second inner manipulator yaw axis is transverse to the second inner manipulator insertion axis; the second inner manipulator pitch axis is transverse to the second inner manipulator insertion axis; and the second inner manipulator pitch axis is transverse to the second inner manipulator yaw axis.
9 . The robotic surgery system of claim 8 , wherein: the first outer set-up linkage further comprise a first outer set-up linkage base link; the first outer set-up linkage extension link is slidably coupled with the first outer set-up linkage base link for horizontal translation of the first outer set-up linkage extension link relative to the first outer set-up linkage base link; the second outer set-up linkage further comprise a second outer set-up linkage base link; and the second outer set-up linkage extension link is slidably coupled with the second outer set-up linkage base link for horizontal translation of the second outer set-up linkage extension link relative to the second outer set-up linkage base link.
10 . The robotic surgery system of claim 9 , wherein: the inner set-up linkage further comprise an inner set-up linkage base link; the inner set-up linkage extension link is slidably coupled with the inner set-up linkage base link for horizontal translation of the inner set-up linkage extension link relative to the inner set-up linkage base link; the second inner set-up linkage further comprise a second inner set-up linkage base link; and the second inner set-up linkage extension link is slidably coupled with the second inner set-up linkage base link for horizontal translation of the second inner set-up linkage extension link relative to the second inner set-up linkage base link.
11 . The robotic surgery system of claim 1 , wherein: the first outer set-up linkage and the first outer surgical instrument manipulator are located at a first outer side of the robotic surgery system; and the second outer set-up linkage and the second outer surgical instrument manipulator are located at a second outer side of the robotic surgery system, wherein the second outer side is disposed opposite to the first outer side.
12 . The robotic surgery system of claim 1 , wherein the boom assembly is operable to change a distance between the orienting platform and the translatable column.
13 . The robotic surgery system of claim 1 , further comprising a shoulder joint rotatably coupling the boom assembly with the translatable column member, wherein the shoulder joint is operable to adjust the angular orientation of the boom assembly relative to the translatable column member.
14 . The robotic surgery system of claim 13 , further comprising a wrist joint coupling the orienting platform with the boom assembly, wherein the wrist joint is operable to reorient the orienting platform relative to the boom assembly.
15 . The robotic surgery system of claim 1 , further comprising a wrist joint coupled with the translatable column member, wherein: the orienting platform is coupled with the translatable column member via the wrist joint; and the wrist joint is operable to selectively set an angular orientation of the orienting platform relative to the mounting base.
16 . The robotic surgery system of claim 15 , wherein the orienting platform, the first outer set-up linkage first joint, and the second outer set-up linkage first joint are configured and coupled so that the wrist joint is operable to simultaneously reorient the first outer set-up linkage first joint and the second outer set-up linkage first joint relative to the mounting base.
17 . The robotic surgery system of claim 1 , wherein adjustment of the angular orientation of the boom assembly relative to the translatable column member adjusts an angular orientation of the orienting platform together with the first and second outer set-up linkages relative to the translatable column member.

Description

CROSS-REFERENCES TO RELATED APPLICATIONS The present application is a Continuation of U.S. patent application Ser. No. 16/741,917 filed Jan. 14, 2020 (published as US 2020-0146759); which is a Continuation of U.S. patent application Ser. No. 15/156,231 filed May 16, 2016 (now U.S. Pat. No. 10,575,908); which is a Continuation of U.S. patent application Ser. No. 13/907,009 filed May 31, 2013 (now U.S. Pat. No. 9,358,074); which claims the benefit of U.S. Provisional Appln No. 61/654,367 filed Jun. 1, 2012; the full disclosures which are incorporated herein by reference in their entirety for all purposes. BACKGROUND Minimally invasive medical techniques are intended to reduce the amount of extraneous tissue that is damaged during diagnostic or surgical procedures, thereby reducing patient recovery time, discomfort, and deleterious side effects. One effect of minimally invasive surgery, for example, is reduced post-operative hospital recovery times. Because the average hospital stay for a standard surgery is typically significantly longer than the average stay for an analogous minimally invasive surgery, increased use of minimally invasive techniques could save millions of dollars in hospital costs each year. While many of the surgeries performed each year in the United States could potentially be performed in a minimally invasive manner, only a portion of the current surgeries use these advantageous techniques due to limitations in minimally invasive surgical instruments and the additional surgical training involved in mastering them. Minimally invasive robotic surgical or telesurgical systems have been developed to increase a surgeon's dexterity and avoid some of the limitations on traditional minimally invasive techniques. In telesurgery, the surgeon uses some form of remote control (e.g., a servomechanism or the like) to manipulate surgical instrument movements, rather than directly holding and moving the instruments by hand. In telesurgery systems, the surgeon can be provided with an image of the surgical site at a surgical workstation. While viewing a two or three dimensional image of the surgical site on a display, the surgeon performs the surgical procedures on the patient by manipulating master control devices, which in turn control motion of the servo-mechanically operated instruments. The servomechanism used for telesurgery will often accept input from two master controllers (one for each of the surgeon's hands) and may include two or more robotic arms on each of which a surgical instrument is mounted. Operative communication between master controllers and associated robotic arm and instrument assemblies is typically achieved through a control system. The control system typically includes at least one processor that relays input commands from the master controllers to the associated robotic arm and instrument assemblies and back from the instrument and arm assemblies to the associated master controllers in the case of, for example, force feedback or the like. One example of a robotic surgical system is the DA VINCI® system available from Intuitive Surgical, Inc. of Sunnyvale, Calif. A variety of structural arrangements can be used to support the surgical instrument at the surgical site during robotic surgery. The driven linkage or “slave” is often called a robotic surgical manipulator, and exemplary linkage arrangements for use as a robotic surgical manipulator during minimally invasive robotic surgery are described in U.S. Pat. Nos. 7,594,912; 6,758,843; 6,246,200; and 5,800,423; the full disclosures of which are incorporated herein by reference. These linkages often make use of a parallelogram arrangement to hold an instrument having a shaft. Such a manipulator structure can constrain movement of the instrument so that the instrument pivots about a remote center of manipulation positioned in space along the length of the rigid shaft. By aligning the remote center of manipulation with the incision point to the internal surgical site (for example, with a trocar or cannula at an abdominal wall during laparoscopic surgery), an end effector of the surgical instrument can be positioned safely by moving the proximal end of the shaft using the manipulator linkage without imposing potentially dangerous forces against the abdominal wall. Alternative manipulator structures are described, for example, in U.S. Pat. Nos. 7,763,015; 6,702,805; 6,676,669; 5,855,583; 5,808,665; 5,445,166; and 5,184,601; the full disclosures of which are incorporated herein by reference. A variety of structural arrangements can also be used to support and position the robotic surgical manipulator and the surgical instrument at the surgical site during robotic surgery. Supporting linkage mechanisms, sometimes referred to as set-up joints, or set-up joint arms, are often used to position and align each manipulator with the respective incision point in a patient's body. The supporting linkage mechanism facilitates the alignment of a s