CN101321606B - 多臂机器人远程外科手术中工具状态通信的指示器 - Google Patents

多臂机器人远程外科手术中工具状态通信的指示器 Download PDF

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CN101321606B
CN101321606B CN2006800229315A CN200680022931A CN101321606B CN 101321606 B CN101321606 B CN 101321606B CN 2006800229315 A CN2006800229315 A CN 2006800229315A CN 200680022931 A CN200680022931 A CN 200680022931A CN 101321606 B CN101321606 B CN 101321606B
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D·敏茨
T·A·莫利
T·C·沃克
D·Q·拉金
M·L·哈努舍克
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Intuitive Surgical Operations Inc
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    • A61B34/70Manipulators specially adapted for use in surgery
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    • BPERFORMING OPERATIONS; TRANSPORTING
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    • B25J3/00Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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    • BPERFORMING OPERATIONS; TRANSPORTING
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Abstract

医疗和/或机器人装置、系统和方法可提供与多臂远程机械人或远程外科手术系统的每个操纵器组件(8,10)关联的指示器(20)。示例性指示器包括安装在操纵器上的多色发光二极管(LED(56),该操纵器移动相关的手术器械(28),从而允许指示器显示多种信号中的任意一种信号。本发明可提供额外的用户接口以便促进远程外科手术系统和/或远程外科手术团队的成员(A,O)之间的通信。

Description

多臂机器人远程外科手术中工具状态通信的指示器
相关申请交叉引用
【0001】该非临时美国专利申请要求美国临时专利申请No.60/695,611,标题为“INDICATOR FOR TOOL STATE ANDCOMMUNICATION IN MULTI-ARM ROBOTIC TELESURGERY”的权益,该申请由发明人David Mintz等人于2005年6月30日申请。
就联邦资助的研究或开发下做出的发明的权利声明
【0002】不适用。
对在光盘上提交的“序列表”,表格或计算机程序列表附录的参考
【0003】不适用。
技术领域
【0004】本发明一般涉及医疗和/或机器人装置,系统和方法。在示例性实施例中,本发明提供一种与一个或多个机器人操纵器组件关联的指示器,以便通信机器人系统的操纵器组件或其他部件的状态,并识别一个或多个特定的操纵器,等等。该指示器(多个)可在机器人系统和,例如,外科助手,系统操作员等之间提供额外的用户接口。
背景技术
【0005】微创医疗技术是要减小在诊断或手术过程中损伤的外部组织的量,从而减小病人的康复时间,不舒服度和有害副作用。例如,微创手术的一个效果可以是减小手术后住院康复时间。因为标准手术的平均住院时间通常比类似微创手术的平均住院时间要长得多,增加微创技术的利用每年可节省成百上千万美元住院花销。同时,许多外科手术每年可节省成百上千万美元的住院花销。虽然,每年在美国实施的许多外科手术可以微创方式实施,但当前仅一部分手术使用这些有利的技术,原因是微创外科器械的限制和掌握这些器械所涉及的额外的外科培训限制。
【0006】已经开发了微创机器人手术或远程外科手术系统从而增加外科医生的灵活性并避免传统微创技术的某些限制。在远程外科手术中,外科医生使用一些形式的远程装置,如伺服机构等来操纵手术器械的移动,而非用手直接把持和移动器械。在远程外科手术系统中,可在外科手术工作站上向外科医生提供手术部位的图像。同时在显示器上观察手术部位的两维或三维图像,外科医生通过操纵主控制装置对病人执行手术过程,该主控制装置进而控制伺服机构操作的器械的运动。
【0007】用于远程外科手术的伺服机构通常接受来自两个主控制器(外科医生每只手一个)的输入,并可包括两个或多个机器人手臂或操纵器,手术器械安装在每个机器人手臂或操纵器上。主控制器和关联的机器人手臂及器械组件之间的操作通信通常通过控制系统实现。控制系统通常包括至少一个处理器,它将来自主控制器的输入命令转送至关联的机器人手臂和器械组件,并在如力反馈等的情形中,将来自器械和手臂组件的信息返回至相关的主控制器。机器人外科手术系统的一个例子是CA Mountain View的Intuitive Surgical公司提供的DAVINCI
Figure 2006800229315_0
系统。
【0008】组成远程外科手术团队的人员的角色及之间的互动与传统手术不同。由于远程外科手术通常是在手术部位的内部执行的,至少在首席外科医生(或其他机器人系统操作员)的指引下工作的一些人可能不直接接触或直接观察正在进行的组织处理。例如,手术室内的外科手术助手可从操纵器移去第一手术器械(如电手术刀),并以不同的手术器械(如针托)替代第一手术器械,因为外科医生可能希望在手术过程中不同阶段使用不同的外科器械。类似地,助手可在手术过程中重新定位手术器械,以便从不从第一微创介入部位点进入手术过程,从不同的第二介入部位向内部手术部位推进器械。也可采用更复杂的机器人系统(和团队互动)。例如,由于手术通常是用两个以上的工具执行的,可为一个或多个其它外科医生提供输入装置,每个外科医生机械地控制(例如)至少一个手术器械。
【0009】虽然新的远程外科手术系统,装置和方法已经被证明是高度有效并且是有优点的,但还需要进一步改进。一般地,需要提供改进的机器人和/或外科手术装置,系统和方法,特别用于执行远程外科手术过程。也需要提供改进的技术用来在远程外科手术团队成员之间通信,并用于与外科手术设备接口以便更充分地利用远程外科手术的能力,以高效率为病人提供提高的手术结果。这对避免外科医生和其他系统操作员不必要的干扰和分心,和避免远程外科手术团队的协调活动中的延迟和/或失误特别有利。
发明内容
【0010】本发明一般涉及医疗和/或机器人装置,系统和方法。本发明示例性实施例提供与多臂远程外科手术系统的每个操纵器组件(和,因此每个手术器械)关联的视觉指示器。示例性指示器包括多色发光二极管(LED),允许指示器通过颜色,闪烁等组合显示多种信号的任意一种。通过建立和使用适当的指示器信号词典,指示器可识别,例如:
—操纵器和手术器械是否遵守首席外科医生的输入移动命令;
—手术器械的运动是否被阻止(例如,当操纵器处于离合模式从而允许手动移动);
—手术器械是否在其本来的使用寿命内,使用寿命附近或超过使用寿命;
—第二外科医生是否控制了手术器械;
—故障是否阻止手术器械的机器人移动;和/或类似。
外科医生也可以选择性地从一个或多个指示器发出信号以便识别要移去和要取代的相关手术器械,等等。由于外科医生常常专注于正在进行的手术过程,且由于判断哪个器械之前被外科医生的右手控制且现在需要更换可能是困难的,所以这样的指示器可显著促进远程外科手术系统和/或远程外科手术团队成员之间的通信,潜在提高效率并提高病人的手术效果。可识别的信号从所选指示器输出到附近的人员。
【0011】在第一方面,本发明提供一种机器人方法,其包括响应第一机器人命令移动第一操纵器组件的第一末端执行器。第一操纵器组件具有第一指示器。第二操纵器组件的第二末端执行器响应第二机器人命令而移动。第二操纵器组件具有第二指示器。命令是从处理器发出的,且命令可选择地指向第一指示器和/或第二指示器。
【0012】在许多实施例中,末端执行器将包括手术器械的工作端。接收可识别信号的人员通常是手术室内机器人手术团队的成员,处理器用作主/从远程外科手术控制器。在这样的实施例中,移动命令可通过系统操作员输入,且系统操作员也可以选择哪个操纵器组件输出第一信号。这可允许系统操作员将他或她的注意力集中在显示器上显示的末端执行器移动上,同时告知,例如助手关于特定手术器械的情况。例如,外科医生不是告诉助手“更换现在正在与针驱动器来回摆动的臂上的电手术刀”,而是可以仅请求针驱动器并启动适当操纵器组件的指示器。可选地,例如当安装在操纵器上的工具达到或超过其预期使用寿命时,处理器可选择适当的指示器和操纵器组件。
【0013】指示器通常包括视觉指示器,第一信号包括视觉图案,如闪烁等,可识别颜色,或某些其他可识别视觉信号。在示例性远程外科手术系统中,每个指示器都包括多个发光二极管(LED)。也可采用多种可替换指示器,包括多种能够产生不同颜色的光源中的任意一种光源,产生音调或语言信号的声学指示器,等等。优选地,多个可独立识别的信号可从每个指示器输出,从而提供用户接口以便告知助手等关于关联的操纵器组件的情况。
【0014】通常,每个操纵器组件包括可移动支持工具支座的操纵器和可释放地固定在工具支座上的工具。工具通常包括末端执行器。第一可识别信号可指示,例如工具状态,哪个特定的操纵器组件可操作用于与特定的输入装置关联,所有操纵器组件的总体条件或状态,所选的操纵器组件的一个或多个部件的标识,等等。解释每个可识别信号的意义的一些列表或词典通常由接收信号的人员提供或为该人员所知,且该人员通常将采取动作响应该信号,如再配置从其输出信号的操纵器组件。再配置可包括操纵器组件工具以另一个具有不同(或相同的)末端执行器的工具更换,改变操纵器组件的模式以便起动或抑制末端执行器等的主/从移动。
【0015】包括易于识别的信号类型或信号组常常是有利的。例如,当第一信号包括黄色时,其可发出相关操纵器组件保持功能的警告,但现在或短时间内需要注意。包括红色的信号可告知沿机器人系统链的故障足以中断末端执行器的移动。
【0016】可借助操纵器组件指示器执行多种改进。例如,输入移动命令的系统操作员可受益于他/她显示器中对应于第一可识别信号的图形标记。因此,当系统通过使指示器闪光指示工具在使用寿命末期等情况时,仅通过操作员显示屏上图标的闪光,通过在如显示器中所示的器械的末端执行器叠加闪光颜色等等,同样的信息可告知系统操作员。在一些实施例中,与指示当前安装的哪个工具或末端执行器要被更换,处理器也可激励与所需的新工具关联的另一个指示器,如通过使工具托盘上适当位置处的LED闪光等。
【0017】在另一个方面,本发明提供外科手术机器人方法,其包括输入来自系统操作员的机器人移动命令至输入装置。操纵器组件的外科手术末端执行器响应机器人命令移动。系统操作员观察显示器中末端执行器的移动同时输入命令。可识别视觉信号是从操纵器组件的视觉指示器发送到附近的工作人员。作为响应,工作人员手动再配置操纵器组件。
【0018】在又一个方面中,本发明提供外科手术机器人系统,其包括具有第一指示器和第一末端执行器的第一操纵器组件。第一末端执行器可响应第一移动命令移动。第二操纵器组件具有第二指示器和第二末端执行器。第二末端执行器可响应第二移动命令移动。处理器耦合到第一指示器和第二指示器,并选择性地诱导至少一个指示器输出第一信号,其可被附近的工作人员识别。
附图说明
【0019】图1是手术室的一部分的示意图,其示出在使用的机器人手术系统,包括输入手术过程的主手术控制台或工作站和机械地移动具有手术末端执行器的手术器械的机器人操纵器系统,末端执行器位于病人体内的手术部位。
【0020】图2是示例性操纵器系统的透视图,该系统包括定位连杆或安装接点,其允许两个病人侧的机器人操纵器和一个内窥镜或照相机机器人操纵器预配置供手术用。
【0021】图3是用在图1的系统中的示例性铰接的手术器械的透视图。
【0022】图4是从可替代的操纵器系统之上查看的透视图,该操纵器系统包括多个定位连杆,每个连杆都支持操纵器组件。
【0023】图5是用在图4的操纵器系统中的示例性操纵器的透视图。
【0024】图6是图5中操纵器的一部分的详细视图,其示出工具支座和输出视觉信号的邻近指示器。
【0025】图7示出从图6中分离的指示器。
【0026】图8是可替换机器人系统实施例和由多个系统操作员使用其的方法的示意方框图。
【0027】图9是流程图,其示意描述响应来自相关指示器的可识别信号再配置操纵器组件的方法。
【0028】图10是可独立识别的视觉信号的列表和它们相关的意义,该信号可通过图6的指示器发生。
【0029】图11示出可由图6中指示器发生的颜色和这些颜色的一般意义。
【0030】图12是指示器信号颜色和相关的一般意义的列表。
【0031】图13是指示器信号和相关特定意义的列表。
【0032】图14示出示例性的远程外科手术系统指示器信号意义的快速参考指南。
具体实施方式
【0033】本发明一般提供改进的机器人和/或医疗装置,系统和方法。本发明的实施例特别适于远程外科手术,通常提供额外形式的用户接口,该接口可增强手术系统操作员,助手,远程外科手术团队的任何其他成员和/或远程外科手术系统之间的通信。本发明的其他实施例可很好地适用于在其他远程机器人或机器人环境,特别是具有多个操纵器的机器人系统中使用。
【0034】图1-3示出执行微创机器人手术的机器人外科手术系统1的部件。系统1类似于美国专利No.6246200中更详细描述的系统,该专利的全部公开包括在本说明书以供参考。系统操作员O(一般是外科医生)对躺在手术台T上的病人P实施微创手术过程。系统操作员O操纵在外科医生控制台3的一个或更多个输入装置或主机(master)2。响应外科医生的输入命令,控制台3的计算机处理器4指示内窥镜手术器械或工具5移动,经机器人病人侧操纵器系统6(在该例子中为安装在手推车上的系统)实现器械的伺服机构的移动。
【0035】通常操纵器系统6包括至少3个机器人操纵器组件。两个连杆7(在该例子中固定在手推车一侧)支撑和定位操纵器8,至少在部分手术过程中连杆7通常以固定的位置支撑操纵器8的底部。操纵器8移动手术工具5以便机器人操纵组织。一个额外的连杆9(在该例子中固定在手推车的中心)支撑和定位操纵器10,操纵器10控制内窥镜/摄像机探针10的移动从而捕获内部手术部位的图像(优选立体的)。病人侧系统(patient-side system)的定位连杆7,9的可固定部分有时也称为“安装臂”。
【0036】内部手术部位的图像通过手术控制台3中立体显示器12显示给操作员O。内部手术部位同时通过辅助手显示器14显示给助手A。助手A可在手术过程之前和过程中提供帮助。在手术之前,助手A通常用无菌盖布覆盖系统的至少一部分。这样盖住系统可包括将无菌适配器,套管和/或类似物附连到操纵器8,切换一个或多个操纵器到手动铰接的离合模式,等等。助手A也通过使用安装连杆臂7,9参与相对病人P预定位操纵器组件8和10;参与用一个或多个手术操纵器的工具5交换可替代的手术工具或器械5’;参与操作相关的非机器人医疗器械和设备;参与手动移动操纵器组件以便相关工具通过不同开口等等进入内部手术部位。部分或所有这些活动可通过经这里所述的指示器提供反馈给助手A而得到促进,指示器通常提供关于操纵器组件的状态,安装在其上的工具的状态和/或机器人外科手术系统的状态的反馈给助手。
【0037】一般而言,连杆7,9主要用在病人侧系统6的安装过程中,且通常在至少部分手术过程中保持固定的构型。操纵器8,10每个都包括从动连杆,其在外科医生的控制台3的指引下动态地铰接。虽然安装臂的一个或多个接点可选择地被驱动和由机器人控制,但至少一些安装臂接点可为助手A的手动定位配置。安装接点,操纵器和工具的每个相关组合包括在这里所用术语“操纵器组件”中,尽管一些操纵器组件可以不包括安装接点,并且操纵器组件不是所有时候都包括工具。
【0038】为了方便,支撑操纵组织中所用的手术工具的操纵器如操纵器8有时被称为病人侧操纵器(PSM),而控制图像捕获或数据采集的装置,如内窥镜11的操纵器10可称为内窥镜—照相机操纵器(ECM)。操纵器可选择地致动,操纵和控制多种对手术有用的器械,工具,图像捕获装置等等。
【0039】如图1和2所示,指示器20设置在每个操纵器组件上。在示例性实施例中,指示器20设置在操纵器8,10上,靠近操纵器和它们安装的工具5之间的接口。在可替代实施例中,指示器20可设置在工具5上的安装接点7,9上,在操纵器8,10等的任何地方,只要指示器优选充分靠近工具,以便由特定的指示器发生的信号可在信号被助手A观察到时易于与特定工具关联。在图1中,所示的额外的指示器20设置在支架或支撑额外工具5’的其他结构上,每个指示器再次与特定的工具(或某类的工具)关联。
【0040】如图1所示,系统操作员O完全专注在与工作站3互动的环境中。系统操作员看到由显示器12提供的图像并操纵输入装置2,在示例性实施例中,处理器4关联工具5的末端执行器的移动以便末端执行器的图像跟随系统操作员O手中的输入装置的移动。
【0041】可以有利地避免在手术过程中使系统操作员O分心,从而使得操作员从内部手术部位转移他或她的注意力。甚至在助手A以可替换工具5’取代工具5时,系统操作员可以继续用另一个工具操纵组织,或可能需要继续观看手术部位从而监视出血和/或类似情况。然而,对于系统操作员来说,与助手A就哪个工具5要由替换工具更换的通信有困难。特别是,由于内窥镜11可以在任何方便的方向上,所以与系统操作员O的右手关联的工具通常不设置在内窥镜的右边,特别是从助手的角度看是这样。
【0042】为了明确地识别要由助手A更换的工具5,系统操作员O可输入命令至工作站3(如通过按下输入装置2上的按钮,致动脚踏板,输入语音命令,等等),以便与特定工具5关联的操纵器组件上的指示器产生可被助手观察到的视觉可识别的信号。信号相应的图形表示可在显示器12上提供给系统操作员O,诸如显示适当的图标,将文本叠加在手术部位上,使用图像处理从而叠加伪彩色在适当的末端执行器的图像上,等等。响应指示器20上的信号,助手A可除去并取代所识别的工具5。可选地,每个替换工具5’也可以具有关联的指示器20,允许处理器发送信号从而指示系统操作员O正在机器人系统上安装哪个替换工具。
【0043】远程系统1中指示器20有多个额外用途。例如,在为手术过程安装手术器械时,在为手术过程的不同阶段再配置操纵器系统6时,在以替换工具5’除去和取代工具时及其它情况时,助手A通常手动定位工具5和内窥镜11。在助手A进行的这些手动再配置操纵器组件过程中,操纵器组件可以与主/从远程外科手术过程中所使用的不同模式设置,手动可再定位模式有时称为离合模式。操纵器组件可响应输入,如按下操纵器8上的按钮(或操纵器组件上某些其他部件)在组织操纵模式和离合模式之间改变,从而允许助手A改变操纵器模式。无论何时当操纵器处于离合模式时,通过指示器20产生适当的视觉可识别信号,助手A可避免错误并增加手术过程的效率。
【0044】指示器20也可示出相关的可识别信号,例如当没有工具连接到操纵器时,当工具5和操纵器8之间的无菌适配器或接口连接不当时,如果安装在操纵器上的器械与操纵器不兼容时,如果器械已经达到其使用寿命末期和/或类似情况。对于这类信号,系统操作员O可开始产生信号并可规定产生信号的相关操纵器组件。换句话说,处理器4可发出信号和/或指示哪个操纵器组件将被指示。例如,在电源故障的情形中,机器人系统1可继续用备份电池工作。为了给助手A指示发生了电源故障,所有操纵器上的指示器20可以闪烁,可选择地以黄色光闪动作为警告。随着电池中电能减少,使得机器人系统1不能继续提供工具的机械移动,所有指示器20可以闪动红光,从而指示系统故障。也可提供各类替换信号,一些信号由图10-14中的示例性词典表示。
【0045】图4示出铰接的手术工具或器械5的透视图。工具5具有近端外罩24,其与操纵器的工具支座接口,通常通过无菌适配器或接口提供快速释放安装的啮合。工具5包括相对近端外罩24的支撑末端执行器28的细长杆23。近端外罩24包括驱动机构,该驱动机构接收和传输操纵器8和末端执行器28之间的驱动信号或驱动运动。近端外罩24也含有电路,该电路产生信号传输至处理器4以便识别工具类型,指出工具剩余使用寿命,等等。示例性电路可以包括存储器,如DallasTM部件等,且用于在工具5的存储器和处理器4之间传输信息的示例性结构和方法可以是2004年5月4日申请的专利10/839,727中描述的,该申请标题为“Tool Memory-Based Software Upgrade forRobotic Surgery”,其全部公开内容作为参考并入本说明书。铰接腕接点29可在末端执行器28和杆23之间提供两个运动自由度,且杆可相对近端外罩24绕其轴旋转,以便为末端执行器28提供在病人体内三个方位的自由度。对末端执行器28的动作的控制,如夹钳等的张开或闭合可表示额外的自由度,总共四个远端自由度。在一些实施例中,指示器20可安装在外罩24上。
【0046】参考图4,它是从可替代的模块操纵器支撑组件30之上查看的透视图,该组件可安装在手术室的天花板上。模块化操纵器支架30相对一组所需的在病人身体内的手术切入点对齐并支撑机器人操纵器系统。模块化操纵器支撑件30通常包括取向平台36和多个可配置安装连杆臂38,40,42,44,它们可耦合到取向平台上。每个臂可移动地支撑关联的操纵器32,34,这进而可移动地支撑关联的工具或图像捕获装置。取向平台36也支撑辅助显示器104,该显示器可用于安装,改变器械,观看手术过程等。模块化操纵器支撑件30的任何部件的结构和用途类似于上面关于操纵器系统6的说明,并更完整地在2005年1月24日申请的共同悬而未决的美国专利申请No.11/043,688中有描述,该申请的标题为“Modulator Manipulator Support For RoboticSurgery”(代理人卷号017516-009900US),其全部公开内容作为参考并入本说明书。如上面的概述,模块化操纵器支撑件30的每个操纵器32,34可以包括一个指示器20。
【0047】图5更详细地示出操纵器32,该图也示出工具支座52附近的指示器20。示例性的指示器20在图6中更详细地示出,在图7中独立示出(某些内部部件由虚线示意性地示出)。示例性的指示器20通常包括透明和/或半透明聚合物主体54,其中安装有一对发光二极管阵列(LED)56。LED 56包括红LED,蓝LED和绿LED。示例的LED可从位于__的__购得,同时示例性的聚合物主体可包括材料,如____。[如果合适,请指明LED以及塔盖(tower cap)的材料的供应商的名称和位置。]每个阵列的LED可以独立地被激励至多种发光级和亮度级中任意一种,从而允许指示器20产生多种颜色的信号,如图11示意性地示出的。此外,指示器20总的发光级可改变,通过闪烁和发光及关闭,两种不同颜色之间交替,两种不同发光级之间交替,同时显示两种不同颜色,等,从而可以向覆盖信号(cover signal)叠加图案。闪烁的速度也可以被控制或以更复杂的调制图案改变(长闪烁和短闪烁,Morse码,等等)。
【0048】由于不同颜色可与信号中不同发光级及不同调制图案组合,可产生非常多的独立可识别信号,通常超过三个独立可识别信号,一般超过10个独立可识别信号,可选择地超过100个独立可识别信号。可识别信号的解释可以通过关联信号和它们的意义的列表而得到促进,如在图10中包括的项。在一些实施例中,具有更多个由指示器20输出的有限数目信号的相对简单的信号方案可以与来自辅助显示器114等的补充文本或图形输出结合。因此,助手可以知道他们应该在辅助显示器上查找额外的信息以响应一个或多个信号。
【0049】为了便于解释指示器20发生的信号,多种信号惯例中的任意一种都可以被建立和/或被采用。例如,如可参考图11理解的那样,包括黄色的信号可指示警告。可选地,操纵器组件可以继续发挥作用同时其指示器20显示黄色警告信号,但助手可以理解某些动作是可取的。特定动作或警告信号的意义可取决于信号的其他方面,如点缀有黄色闪烁图案的其他颜色,闪烁速度,等等。包括红色的信号指示当前或即将来临的故障,该故障现在或很快将影响操纵器组件的操作。绿色可选择地指示正在进行正常操作,蓝色可指示器械或工具被啮合,和/或引导工具的改变正在进行或者已经被请求。紫色可指示第二外科医生或系统操作员正在积极地控制操纵器组件,等等。与快速闪烁的指示器20相比,慢闪烁灯通常可以指示较不紧急的状态。图11中图形示出一些可能的惯例。
【0050】现在参考图8,其提供了稍复杂系统60的示意方框图。可以被修改从而充分利用指示器20提供的额外用户接口的示例性合作远程外科手术系统在美国专利No.6,659,939中更详细地描述,其全部公开内容作为参考全部并入本说明书。在图8的示例性系统中,第一系统操作员O1提供输入至第一输入装置1。处理器4选择性地耦合来自第一输入装置1的移动命令至多个操纵器组件中的任意一个,例如,耦合至操纵器A和操纵器D。第二系统操作员O2输入移动命令至第二输入装置2,以便实现操纵器组件B的操纵器32的移动。
【0051】当第二系统操作员O2希望连接到操纵器组件B的工具5被可替代的工具5’替换时,例如,工具F,系统操作员可以用语言指示助手A安装工具F至其操纵器组件。操纵器组件B的指示器20响应第二系统操作员O2的适当输入而产生一个信号,明确指示助手A操纵器组件的哪个工具要被更换。
【0052】如上所述,额外的指示器可选择地与每个替换工具5’关联,从而将对关于哪个替换工具要安装到操纵器上的语音指示的任何需求提前提供给助手。为了该目的,替换工具5’可以被包括在耦合到处理器4的工具托架62中,通常是为了提供替换工具5’的电路和处理器之间的通信。这可允许处理器从工具中读取识别信息,从而允许处理器判断哪个替换工具或工具类型是可用的和/或适当的以安装到操纵器系统上。LED或其他指示器可以与包括在工具托架中的每个替换工具5’关联,且处理器4可发射信号至工具托架以便激励与一个或多个工具关联的一个或多个指示器。因此,当系统操作员O1指示处理器4以不同类型的工具更换安装工具5时(例如,操纵器B上的工具B),可用工具和/或工具类型的列表可显示给系统操作员。响应系统操作员的选择(例如,相应于工具F的工具类型),与工具B和工具F关联的指示器20可被启动,指示助手A这两个工具应该被交换。
【0053】处理器4通常包括数据处理硬件和软件,软件通常包括机器可读代码。机器可读代码将实现软件程序指令从而执行这里描述的某些或全部方法。虽然处理器4是以单个方块在图8的简化示意图中示出,但处理器可以包括许多个数据处理电路,至少一部分处理可选择地邻近输入装置1而被执行,一部分邻近操纵器B而被执行,等等。多种集中的或分布的数据处理架构中任意一种都可采用。类似地,程序代码可作为许多个独立的程序或子程序执行,或可集成到这里描述的机器人系统的许多其他方面。
【0054】现在参考图9,流程图70示意性地示出执行本发明的实施例的方法。方法70可从操纵器,工具,系统等的状态的改变72开始。例如,助手可启动操纵器上的离合模式按钮,工具可能达到其使用寿命的末期,操纵器故障可被检测等等。在其他实施例中,系统操作员可以通过请求新的工具74启动方法70,或者以指示哪一个或多个操纵器组件将产生要被助手或某些其他人员察觉的信号的一些其他方式起动方法70。
【0055】无论信号是否由状态改变或系统操作员启动,处理器一般将传输适当的命令至一个或多个操纵器组件76,且作为响应,操纵器组件上的指示器将显示视觉信号78。可选择地,相应的图形可以在系统操作员显示器80上示出,从而允许系统操作员保持他或她的注意力于内部手术部位。
【0056】响应视觉信号,其他人员,如助手可以选择性地再配置操纵器组件82。例如助手可移去和更换工具(及其末端执行器)或可以手动再定位操纵器连杆,以便移动末端执行器至所需位置。在一些实施例中,助手可响应一个或多个视觉信号而仅仅监视操纵器组件,并且如果视觉信号改变以便指示这样的动作是适当时,还可选择地准备采取一些适当的动作。
【0057】图10-14指示不同信号的意义,这些信号可由这里所述的示例性的多色LED指示器产生。图10示出可能的词典,其将指示器用作操纵器用户接口(“UT”),而图11示出指示器信号颜色的一些通常意义。图12示出两个三色LED指示器20的可替代的通常意义,该指示器包括在每个操纵器组件中。通过发射具有足够亮度的这些或其他颜色的信号穿过操纵器组件上沿远离病人的工具插入轴的某个位置的透明或半透明塑料盖,该信号可容易地在大面积上被识别。由于每个LED阵列的红色,绿色和蓝色部件具有可独立控制的亮度,且由于指示器的两个LED阵列是独立控制的,因此可产生许多种可识别信号颜色。
【0058】图13具体示出可与几个来自操纵器组件指示器的几个特定信号关联的系统,操纵器组件和/或工具状态。同步闪烁包括操纵器组件的单个指示器内的两个LED阵列,如可以参考图6和7理解。交替闪烁包括以异相闪烁激励两个LED阵列,以便当一个LED阵列开通时,另一个关闭。再进一步的额外信号可以通过指示器发生从而传送替换信息。例如,信号(如快速绿光闪烁)可指示新近或刚刚安装到操纵器系统上的部件(如套管,无菌适配器,工具或手术器械,等等)是有效的并被接收。替换信号可以指示工具变化是由系统操作员请求的,可激励器械(诸如电烙术器械或类似器械)可以由系统操作员等人员启动。不同信号特征可选择地与可修复故障和不可修复故障关联。因此,可包括许多种进一步的替换信号。
【0059】虽然为了清楚理解,通过例子描述了某些细节,但多种变化,改装,和修改对本领域人员来说是显然的。因此,本发明的范畴仅由所附的权利要求界定。

Claims (15)

1.一种机器人系统,其包括:
第一操纵器组件,其具有第一操纵器、第一工具支座、具有第一末端执行器的第一工具以及第一指示器,所述第一操纵器可移动地支撑所述第一工具支座,所述第一工具可释放地安装到所述第一工具支座;
用于响应第一机器人命令移动所述第一末端执行器的装置;
第二操纵器组件,其具有第二操纵器、第二工具支座、具有第二末端执行器的第二工具以及第二指示器,所述第二操纵器可移动地支撑所述第二工具支座,所述第二工具可释放地安装到所述第二工具支座;
用于响应第二机器人命令移动所述第二末端执行器的装置;
处理器;
用于可选择地从所述处理器传输命令至所述第一指示器或所述第二指示器的装置;以及
用于输出来自所选指示器的第一可识别信号至所述第一操纵器组件和第二操纵器组件附近的人员的装置,其中所述第一可识别信号指示对应于所选第一指示器或第二指示器的所述操纵器组件的工具的状态或所述机器人系统的状态,其中工具的状态或机器人系统的状态指示下列情况之一:
所述工具的电手术的通电状态、所述机器人系统的低电池量状态或成像状态的损失,
关于所选的指示器的关联操纵器组件的警告,
关于所选的指示器的所述操纵器组件的机器人系统故障,以及
由接近与所述工具或所选的操纵器的所述操纵器组件相关的所述第一和第二操纵器组件的人采取的行动。
2.如权利要求1所述的机器人系统,其中所述第一末端执行器和第二末端执行器包括外科手术末端执行器,且其中所述人员在手术室内,病人和所述第一操纵器组件和第二操纵器组件在该手术室内。
3.如权利要求2所述的机器人系统,其中所述处理器包括主/从远程外科手术控制器。
4.如权利要求2所述的机器人系统,其中所述移动命令通过系统操作员输入,进一步包括按照所述系统操作员从至少所述第一指示器和所述第二指示器中选择所选指示器,以便所述第一信号将所述系统操作员的选择告知所述人员。
5.如权利要求2所述的机器人系统,其中所述移动命令由系统操作员输入,且其中所述处理器独立于所述系统操作员的输入选择所选指示器。
6.如权利要求1所述的机器人系统,其中所述指示器包括视觉指示器,且其中所述第一可识别信号包括视觉图案或颜色中的至少一个。
7.如权利要求6所述的机器人系统,其中所述第一视觉指示器和第二视觉指示器每个都包括多个发光二极管LED,且其中所述第一可识别信号包括闪烁图案和所述颜色。
8.如权利要求6所述的机器人系统,进一步包括用于显示多个独立可识别信号的装置,每个可识别信号从关联的指示器发送并提供信息给与关联的操纵器组件相关的人员。
9.如权利要求1所述的机器人系统,其中所述工具的状态或所述机器人系统的状态指示第一或第二操纵器组件与输入装置的操作关联性,所述输入装置用于产生所述第一机器人命令或所述第二机器人命令。
10.如权利要求1所述的机器人系统,其中所述第一可识别信号包括黄色,并将关于所选的指示器的所述操纵器组件的警告告知所述人员,同时该关联操纵器组件仍能够使末端执行器移动。
11.如权利要求1所述的机器人系统,其中所述第一可识别信号包括红色,并将关于所选指示器的所述操纵器组件的所述机器人系统故障告知所述人员,其中所述机器人系统故障指示关联的操纵器组件不提供机器人末端执行器的移动。
12.如权利要求1所述的机器人系统,其中所述第一可识别信号将所述工具状态告知所述人员,所述工具状态指示关于所选的指示器的所述关联操纵器组件的警告,其中所述警告指示所述工具在、接近或超过其使用寿命。
13.如权利要求1所述的机器人系统,进一步包括用于可选择地激励与替换的末端执行器关联的指示器的装置,其中由所述人员采取的行动是用所述替换的末端执行器更换输出所述第一信号的所述操纵器组件的末端执行器。
14.如权利要求13所述的机器人系统,其中与所述替换的末端执行器关联的所述指示器包括在工具托架内,所述工具托架包括多个不同的工具托架末端执行器和多个工具托架指示器,每个工具托架末端执行器与一个工具托架指示器关联,其中所述替换的末端执行器是响应从所述处理器到所述工具托架的信号从多个工具末端执行器中选择的。
15.一种外科手术机器人系统,其包括:
用于将来自系统操作员的机器人移动命令输入至输入装置的装置;
用于响应所述命令移动操纵器组件的外科手术末端执行器的装置;
用于在所述系统操作员输入命令的同时,查看显示器中所述末端执行器的移动的装置;
用于响应来自系统操作员的命令将可识别的视觉信号从操纵器组件的视觉指示器发送至所述操纵器组件附近的人员以便指示所述人员再配置所述操纵器组件的装置。
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