CN108135665B - 可重新配置的末端执行器架构 - Google Patents
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
系统和相关方法控制末端执行器相对于患者的铰接。一种控制末端执行器相对于患者的铰接的方法,其包括:通过控制器接收关闭或打开包括第一钳爪构件、第二钳爪构件、腕部和器械轴的远程手术操作的末端执行器的命令。响应于该命令,控制器控制末端执行器的铰接,以同时相对于第二钳爪构件重新定向第一钳爪构件,并且使末端执行器铰接,使得末端执行器的参考方面相对于患者的位置和/或定向基本得到保持。
Description
相关申请的交叉引用
本申请要求于2015年11月11日提交的美国临时申请号62/254,254的权益;其全部内容作为整体通过引用并入本文用于所有目的。
本申请涉及于2010年11月12日提交的题为“Surgical tool with a two degreeof freedom wrist(具有两个自由度的腕部的手术工具)”的美国专利号8,852,174,和于2013年12月31日提交的题为“Surgical staple cartridge with enhanced knifeclearance(具有增大的刀间隙的外科手术钉仓)”的美国公开号20140183244,其通过引用并入本文。
背景技术
微创外科手术技术旨在减少在诊断或外科手术程序期间受损的外部组织的数量,从而缩短患者的恢复时间、减轻患者的不适,并且减少有害的副作用。因此,对于使用微创外科技术的标准外科手术而言,可显著缩短平均的住院天数。而且,使用微创外科手术,还可缩短患者的恢复时间、减轻患者的不适、减少外科手术副作用,并且缩短离开工作的时间。
微创外科手术的常见形式为内窥镜检查,而内窥镜检查的常见形式为腹腔镜检查,腹腔镜检查为在腹腔内部的微创检查和微创外科手术。在标准的腹腔镜外科手术中,向患者的腹部吹入气体,并且插管套穿过小(大约1/2英寸或更小)切口以为腹腔镜检查器械提供入口。
腹腔镜检查外科手术器械一般包括内窥镜(例如,腹腔镜),用于查看外科手术区和用于在外科手术部位工作的工具。除了每个工具的工作端或末端执行器通过伸缩管(又称为,例如,器械轴或主轴)与其手柄分离之外,工作工具通常类似于在常规(开腔)外科手术中使用的那些工具。末端执行器可包括,例如,夹具、抓紧器、剪刀、缝合器、烧灼工具、线性切割器或针拖。
为执行外科手术程序,外科医生通过插管套将工作工具传送到内部的外科手术部位并且从腹部的外部对它们进行操纵。外科医生从监视器中查看该过程,监视器显示从内窥镜所取的外科手术部位的图像。类似的内窥镜检查技术用于,例如,关节镜检查、后腹腔镜检查、盆腔镜检查、肾镜检查、膀胱镜检查、池囊镜检查、窦镜检查、子宫镜检查、尿道镜检查等等。
正在开发的微创远程外科手术机器人系统用于在作用于内部外科手术部位时增加外科医生的敏捷度,以及允许外科医生从远距离(在无菌场所外部)对患者进行手术。在远程外科手术系统中,外科医生通常在控制台具有外科手术部位的图像。当查看在适当的观察器或显示器上的外科手术部位的三维图像时,外科医生通过操纵控制台的主输入或控制设备对患者执行外科手术程序。主输入设备中的每个均控制伺服机械致动/铰接的外科手术器械的运动。在外科手术程序期间,远程外科手术系统可提供各种外科手术器械或工具的机械致动和控制。许多手术工具具有钳爪或其他可铰接的末端执行器,其响应于主输入装置的操纵,为外科医生执行各种功能,例如保持或驱动针、抓取血管、解剖组织等。具有远侧腕关节的工具允许外科医生将工具定位在内部手术部位内,由此大大增强了外科医生能够实时与组织相互作用(并治疗)的自由度。
通常,在内部手术部位周围仅有适量的空间,在没有与周围患者组织发生不希望接触的情况下,从而限制了外科手术工具的移动范围。这种移动限制会抑制外科医生执行期望手术任务的能力。因此,期望具有用于在空间受限的环境中执行手术任务的增强特性的方法和系统。
发明内容
用于控制末端执行器的移动的系统和方法提供了多个致动输入的自动组合,以产生与分开使用致动输入相比更适合于受限空间的末端执行器的所得移动。例如,对于包括末端执行器的手术器械,所述末端执行器包括钳爪构件并且经由腕部安装到器械轴,所述腕部和一个或更多个钳爪构件可以同时致动,以减少末端执行器(例如,指定的钳爪构件)的参考方面在空间中的移动,并由此抑制与周围患者组织的不期望的接触。因此,为外科医生提供了一种自动化方法,用于以与受限的工作空间兼容的方式铰接末端执行器。
因此,在一个方面中,提供了一种控制末端执行器的移动的方法。该方法包括由控制器接收关闭或打开末端执行器的命令。末端执行器包括通过铰链连接到第二钳爪构件的第一钳爪构件。末端执行器通过能够相对于器械轴定向末端执行器的腕部联接到器械轴。该方法包括通过控制器响应于命令来控制末端执行器的移动以同时(a)相对于第二钳爪构件移动第一钳爪构件,以及(b)致动腕部以使末端执行器相对于器械轴定向,其中末端执行器的参考方面的位置和定向中的至少一个基本在空间中保持。
在许多实施例中,其中腕部可被重新配置成足以使末端执行器相对于器械铰接必需的量,第一钳爪构件可在末端执行器的移动期间保持基本静止。例如,可以在末端执行器闭合或打开期间致动腕部以使第二钳爪朝向第一钳爪构件(其可以保持静止)移动。在闭合末端执行器期间,第一钳爪构件可以抵靠第二钳爪构件闭合。
第一钳爪构件和第二钳爪构件可以配置成以任何合适的方式打开和关闭。例如,第一钳爪构件可配置成在铰链处枢转以抵靠第二钳爪构件闭合,并且第二钳爪构件可配置成不在铰链处枢转。作为另一个示例,第一和第二钳爪构件都可以配置成相对于联接到腕部的末端执行器基部构件在铰链处枢转。
器械轴可以作为末端执行器的移动的一部分进行铰接。例如,末端执行器的移动可以包括铰接器械轴使铰链移动。
腕部和/或器械轴的当前配置可以相对于相应的移动限制进行评估,以确定腕部和/或器械轴的充足的重新配置能否可能实现末端执行器的期望的移动。例如,该方法可以进一步包括通过控制器确定腕部和/或器械轴的在所述末端执行器的关闭或打开期间保持所述末端执行器的参考方面静止的重新配置是否超过腕部和/或器械轴的移动极限。控制器可以基于末端执行器的运动确定所述腕部的相对于所述器械轴重新定向所述末端执行器以在所述末端执行器的移动期间保持所述末端执行器的参考方面静止的重新配置超过腕部和/或器械轴的移动极限。该方法可以进一步包括在不重新配置腕部和/或铰接器械轴的情况下使用打开和/或闭合末端执行器。例如,该方法可以进一步包括:(a)通过控制器接收关闭或打开末端执行器的第二命令;以及(b)响应于所述第二命令通过所述控制器来控制所述末端执行器的移动以相对于所述第二钳爪构件重新定向所述第一钳爪构件,而不同时铰接所述末端执行器以保持所述末端执行器的参考方面静止。
该方法可以包括用户指定末端执行器的参考方面。例如,该方法可以包括通过控制器接收指定末端执行器的参考方面的输入。
可以使用任何合适的腕部。例如,腕部可以是可重新配置的,以绕偏转轴线和垂直于偏转轴线的俯仰轴线相对于器械轴重新定向末端执行器。
在另一方面,提供了一种机器人手术系统。机器人手术系统包括末端执行器、腕部、器械轴和控制器。末端执行器包括第一钳爪构件,第二钳爪构件和铰链,第一钳爪构件通过该铰链枢转地联接到第二钳爪构件。末端执行器联接到腕部。腕部可重新配置以相对于器械轴移动末端执行器。所述控制器包括至少一个处理器和存储指令的存储器装置,所述指令可由所述至少一个处理器执行以使所述至少一个处理器接收命令以相对于所述第二钳爪构件移动所述第一钳爪构件,并且响应于所述命令控制所述末端执行器的移动以同时(a)相对于所述第二钳爪构件移动所述第一钳爪构件,以及(b)致动腕部相对于器械轴定向末端执行器,其中末端执行器的参考方面的位置和定向中的至少一个在空间中基本保持。机器人手术系统可以被配置为执行本文描述的控制末端执行器的移动的方法的任何动作。
为了更全面地理解本发明的性质和优点,应该参考随后的详细描述和附图。根据下面的附图和详细描述,本发明的其它方面,目的和优点将变得显而易见。
附图说明
图1是根据许多实施例的正在用于执行手术的微创遥控手术系统的平面图。
图2是根据许多实施例的用于遥控手术系统的外科医生控制台的透视图。
图3是根据许多实施例的遥控手术系统电子推车的透视图。
图4是根据许多实施例的遥控手术系统的简化示意图。
图5a是根据许多实施例的遥控手术系统的患者侧推车的正视图。
图5b是手术工具的正视图。
图6是根据许多实施例的将末端执行器主体与器械轴联接的两个自由度的腕部的透视图。
图7是图6的两个自由度的腕部的透视图,图7示出了根据许多实施例的在腕部的中间构件与腕部的支撑构件之间以及在中间构件与末端执行器主体之间的旋转自由度。
图8是根据许多实施例的手术组件的简化示意图。
图9-13根据许多实施例的根据不同操作模式的外科组件的简化示意图。
图14是根据许多实施例的操作末端执行器的方法的简化流程图。
具体实施方式
在以下说明中,将描述本发明的各种实施例。为解释的目的,阐述了具体配置和细节,以便提供对实施例的全面理解。然而,对本领域中的技术人员也显而易见的是,本发明可在无这些具体细节的情况下进行实践。此外,为了不模糊将要描述的实施例,可省略或简化众所周知的特征结构。
图1为遥控手术系统10的平面图解,该系统通常用于在平躺在手术台14上的患者12身上执行微创诊断或外科手术程序。该系统能够包括用于在手术期间由外科医生18使用的外科医生的控制台16。一个或多个助手20也可以参与到手术中。遥控手术系统10能够进一步包括患者侧推车22和电子推车24。在外科医生18通过控制台16查看外科手术部位的同时,患者侧推车22能够操纵至少一个可移除的被联接的工具组件26(在下文中简称为“工具”)通过在患者12身上的微创切口。外科手术部位的图像可通过诸如立体内窥镜的内窥镜28获得,其能够由患者侧推车22操纵以定向内窥镜28。电子推车24能够被用来处理外科手术部位的图像,以用于随后通过外科医生的控制台16显示给外科医生18。一次使用的外科手术工具26的数量一般取决于诊断或外科手术程序和在手术室内的空间约束以及其他因素。如果必须改变在手术期间所使用的工具26中的一个或多个,则助手20可将工具26从患者侧推车22移除,并且用来自在手术室中的托盘30的另一个工具26将其取代。
图2为外科医生的控制台16的透视图。外科医生的控制台16包括左眼显示器32和右眼显示器34,以用于将能够实现深度感知的手术部位的协调立体图呈现给外科医生18。控制台16进一步包括一个或更多个输入控制设备36,输入控制设备36进而导致患者侧推车22(如图1所示)操纵一个或更多个工具。输入控制设备36将提供与其关联的工具26(如图1所示)相同的自由度从而提供给外科医生远程呈现或提供输入控制设备36与工具26成为一体的感知,使得外科医生具有直接控制工具26的强烈感觉。为此,可以使用位置传感器、力传感器和触觉反馈传感器(未示出)以通过输入控制设备36将位置、力和触觉感觉从工具26传输回至外科医生的手中。
外科医生的控制台16通常位于和患者相同的房间内,使得外科医生可以直接监控手术程序,如果必要,外科医生可以亲自到场,并且直接对助手讲话而不是通过电话或其他通信媒介。不过,外科医生能够在和患者不同的房间内、完全不同的建筑物内或其他远程位置,从而允许实现远程外科手术程序(即从无菌区外部操作)。
图3为电子推车24的透视图。电子推车24能够与内窥镜28联接,并且能够包括处理器以用于处理捕获的图像从而用于随后在外科医生的控制台上或在位于本地和/或远程的任何其他合适的显示器上显示给诸如外科医生。例如,在使用立体型内窥镜的情况下,电子推车24能够处理所捕获的图像,以将手术部位的协调立体图像呈现给外科医生。此类协调能够包括在相对的图像之间的对齐,并且能够包括调整立体型内窥镜的立体工作距离。作为另一示例,图像处理能够包括使用预先确定的相机校正参数,来补偿图像捕捉设备的成像误差,诸如光学像差。
图4图解示出遥控手术系统50(诸如图1中的遥控手术系统10)。如上所讨论,外科医生的控制台52(诸如图1中的外科医生的控制台16)能够由外科医生使用,以便在微创手术程序期间控制患者侧推车54(诸如图1中的患者侧推车22)。患者侧推车54能够使用成像设备,诸如立体内窥镜,来捕捉手术程序部位的图像并且将捕获的图像输出到电子推车56(诸如图1中的电子推车24)。如上所讨论,在任何随后的显示之前,电子推车56能够以各种方式处理所捕捉的图像。例如,在经由外科医生的控制台52将组合图像显示给外科医生之前,电子推车56能够用虚拟控制界面叠覆于所捕捉的图像。患者侧推车54能够将捕捉的图像输出以用于在电子推车56外部进行处理。例如,患者侧推车54能够将捕捉的图像输出到处理器58,处理器58能够被用于处理捕捉的图像。图像也能够由电子推车56和处理器58的组合进行处理,电子推车56和处理器58能够联接在一起以便共同、相继地和/或组合地处理捕捉的图像。一个或更多个独立的显示器60也能够与处理器58和/或电子推车56联接,以用于本地和/或远程显示图像,诸如手术程序部位的图像,或任何其他相关图像。
图5A和图5B分别示出患者侧推车22和外科手术工具62。外科手术工具62是外科手术工具26的示例。所示患者侧推车22用于操纵三个外科手术工具26和成像设备28,诸如用于捕捉手术程序部位图像的立体内窥镜。具有数个关节的机构提供操纵。成像设备28和外科手术工具26能够被定位且操纵通过在患者身上的切口,使得运动学远程中心维持在切口处,从而最小化切口的尺寸。当外科手术工具26的远端被定位在成像设备28的视野内时,手术部位的图像能够包括外科手术工具26远端的图像。
图6示出依照许多实施例的耦合末端执行器主体72与器械轴74的两个自由度腕部70的透视图。腕部70包括支撑构件76、第一铰链点78、中间构件80、第二铰链点82以及第三铰链点84。支撑构件76被通过四个附接部件86(例如,机械紧固件)固定地安装至器械轴74,以便如图所示,被定位在器械轴74的孔内。中间部件80被枢转地耦合支撑构件76,用于通过位于中心的第一铰链点78而关于第一轴线88旋转。末端执行器主体72被枢转地耦合中间构件80,用于通过位于外围的第二铰链点82,以及位于外围的第三铰链点84而关于第二轴线90旋转。第二铰链点82以及第三铰链点84同轴并且与第二轴线90对齐。第二轴线90与中间构件一起关于第一轴线88枢轴旋转。
能够定位第一轴线88和第二轴线90,以便向紧凑两个自由度腕部提供期望的运动和/或空间特征。例如,第一轴线88和第二轴线90能够共面,并且因此向紧凑腕部构件提供球窝接头状运动。在许多实施例中,第一轴线88和第二轴线90被沿器械轴74的细长方向以期望距离分离。能够使用该分离,从而近似和/或匹配腕部机构的运动和致动系统组件的运动,其用于通过两个自由度的腕部相对于器械轴74定向末端执行器主体72。在许多实施例中,第一轴线88和第二轴线90被沿器械轴74的细长方向以期望距离分离,以便向两个自由度腕部提供紧凑度和运动的期望组合,其近似匹配致动系统组件的运动,后者用于相对于器械轴74定向末端执行器主体72。如果第一轴线88和第二轴线90之间分离4mm将匹配使用的致动系统定向组件的运动,就能够将两个自由度腕部配置更小的分离(例如,2mm),以便提供更紧凑的腕部。在许多实施例中,能够使用该分离距离折衷,而不由使用的致动系统定向组件运动的不精确匹配而引起任何显著的有害操作特征。能够定向第一轴线88和第二轴线90,从而向紧凑两个自由度腕部提供期望的空间特征。例如,能够分离第一轴线88和第二轴线90,从而向致动系统组件和相关的附接部件提供另外的空间。
支撑构架76在器械轴74和第一铰链点78之间提供过渡装配。支撑构件76包括矩形主部分92和悬臂远端部分100。矩形主部分92具有小于器械轴孔内部直径的厚度,这提供/留下孔的两个邻近区域,用于路由铰接和/或致动组件(未示出)。支撑构件主部分92包括两个内部通道94,其能够用于引导路由在器械轴孔内的末端执行器控制缆索。将中间通道94路由在主部分92的近端96和主部分92的远端98之间,并且将其大致与器械轴74的细长方向对齐。如下文将进一步讨论,在许多实施例中,配置内部通道94,从而结合中间构件的索引导表面工作,从而通过保持控制缆索路径长度不变,抑制关于第一和第二轴线枢轴旋转期间的控制缆索张力变化。悬臂远端部分100具有附接突缘,其接收第一铰链点78的单枢轴。使用单枢轴仅为例示性的,并且能够使用其他枢轴接头组件代替第一铰链点78,例如能够使用在相同轴线上对齐的两个枢轴销件。能够配置支撑构件76,从而在相对于器械轴74和末端执行器主体72的期望位置放置第一铰链点78(并且因此,第一轴线88),例如,从而在末端执行器主体72和器械轴74之间提供净空,其为相对于器械轴74,期望范围重定向末端执行器72所需。
中间构件80提供第一铰链点78、第二铰链点82以及第三铰链点84之间的过渡装配。中间构件80包括细长矩形主部分,其具有小于器械轴孔内部直径的厚度(例如,类似于主部分92的厚度),这提供孔的两个邻近区域,用于路由铰接和/或致动组件(未示出)。中间构件80包括中心狭槽102,其经配置,从而接收支撑构件远端部分100的附接突缘。配置中心狭槽102,从而贯穿关于第一轴线88的一系列中间构件80的转动,都适应远端部分100的附接突缘。也能够配置中心狭槽102,从而适应通过支撑构件内部通道94传送的末端执行器控制缆索(未示出)。中心狭槽102也能够包括表面,其经配置从而引导末端执行器控制缆索。如以下将进一步讨论,在许多实施例中,配置中心狭槽索引导表面,从而通过充分保持控制缆索路径长度不变,在关于第一和第二轴线枢轴旋转期间,抑制控制缆索张力变化。在许多实施例中,中心狭槽索引导表面与内部通道94结合工作,从而在关于第一和第二轴线枢轴旋转期间,保持控制缆索路径长度不变。中心狭槽102也提供相对附接凸缘,其接收第一铰链点78的单枢轴。第二铰链点82包括从中间构件80一端悬出的枢轴。第三铰链点84包括从中间构件80的相对第二端悬出的枢轴。使用悬臂枢轴仅为例示性的,并且能够使用其他适当的枢轴接头。在许多实施例中,选择第二和第三铰链点82、84的位置和定向(以及因此第二轴线90的位置和定向),从而提供相对于第一轴线88的第二轴线90的期望位置和定向。例如,在一些实施例中,第一和第二轴线不共面。在一些实施例中,第一和第二轴线共面。在一些实施例中,选择第二轴线90相对于第一轴线88的位置和/或定向,以便提供相对于器械轴74的末端执行器主体72动作的期望运动。
图7示出依照许多实施例的图6的两个自由度腕部70的透视图,其示出关于第一轴线88在中间构件80和支撑构件76之间的旋转自由度,以及关于第二轴线90在末端执行器主体(未示出)和中间构件80之间的旋转自由度。将支撑构件76安装至器械轴74,以便远离器械轴74的端,在期望位置定位第一铰链点78,从而在末端执行器主体和器械轴之间提供净空,以便为末端执行器的移动提供空间。中间构件中心狭槽102对邻近末端执行器主体的中间构件80侧开放,以便容纳/适合路由末端执行器控制缆索(未示出)。从图7的观察方向,可见支撑构件76的一个内部通道94,并且不可见其他内部通道94。在许多实施例中,通过两个内部通道94中的每个路由控制缆索。这些两个控制缆索中的每个都被进一步通过中间构件中心狭槽102路由,在第一轴线88的每侧上有一个。
图8示出依照许多实施例的具有两个自由度腕部70的工具组件104的简化概略图。工具组件104包括近端致动组件106、主轴108、末端执行器110的铰接末端执行器基部以及两个自由度的腕部70。在许多实施例中,近端致动组件106被可操作地耦合末端执行器基部,以便在二维中,相对于主轴108选择性地重定向末端执行器基部,并且可操作地耦合末端执行器110,以便相对于末端执行器基部,铰接一个或更多末端执行器部件。能够使用多个致动组件,从而耦合致动组件106和末端执行器110,例如,控制缆索、缆索/海波管组合、驱动轴、拉杆以及推杆。在许多实施例中,通过主轴108的孔,将致动组件路由在致动组件106和末端执行器110之间。这种连接的细节可以在先前并入的美国公开号US20140183244中找到。
能够配置工具组件104,用于在许多应用中使用,例如手持式装置,其具有在近端致动机构106中使用的手动和/或自动致动。同样地,工具组件104能够具有微创机器人手术之外的应用,例如,非机器人微创手术、非微创机器人手术、非机器人非微创手术、以及其他应用,其中使用两个自由度的腕部将有益。腕部70可以联接到各种末端执行器,包括但不限于手术缝合装置,诸如之前并入的美国公开号US20140183244所公开的装置。
工具组件104电子地联接到控制系统111,控制系统111可以包括用于控制工具组件的至少一个处理器和用于存储可由所述至少一个处理器执行以执行本文描述的方法动作的非暂态指令的存储器。控制系统111可以位于任何合适的位置,诸如在工具组件的任何部分上,或者控制系统111可以是患者侧推车22/54或外科医生控制台16的子系统的一部分。通常,控制系统111被配置为执行用于执行本文公开的方法的指令。
图9是工具组件104的简化视图。末端执行器110包括通过铰链116连接到下钳爪部分114的上钳爪部分112。上钳爪112可通过上钳爪112在铰链116处的旋转而相对于下钳爪部分114打开和闭合。在该实施例中,下钳爪部分114不能在铰链116处致动,因为下钳爪部分114承载铰链。然而,在其它实施例中,两个钳爪部可以在铰链116处致动。下钳爪部分114包括用于在铰链116处致动上钳爪部分112的一个或更多个机构。这种机构的细节可以在先前并入的美国公开号US20140183244中找到。铰链116在空间上与腕部70分开。因此,下钳爪部分114可以在承载上钳爪部分112的同时在腕部70处俯仰和偏转。
图10示出了工具组件104的用于致动上钳爪部分112到下钳爪部分114的第一操作模式。在操作中,轴线A-A上的上钳爪112在轴线B-B上相对朝向下钳爪114移动。为了简单起见,主轴的轴线C-C显示为与轴线B-B共线,然而,这不是必需的。工具组件104的其他操作可以在此期间发生,例如轴108的旋转和下钳爪114在腕部70处的移动,然而,通常,轴线B-B可以在空间中保持静止以用于末端执行器110的更关键的手术操作。
图11示出了工具组件104用于致动上钳爪部分112到下钳爪部分114的第二操作模式。在一些情况下,外科医生关于照相机的视野可期望上钳爪部分112的轴线A-A相对于患者保持相对静止,同时上钳爪部分112在铰链116处被致动以抵靠下钳爪部分114闭合。因此,在第二操作模式中,当上钳爪部分112朝向下钳爪部分114致动时,下钳爪部分114可以被重新定向和/或重新定位(例如,通过腕部70的铰接)以在空间中提供轴线A-A的静止定位。下钳爪部分114的致动可以经由腕部70和/或器械轴108的铰接来实现,使得上钳爪部分112在空间中保持静止,而下钳爪部分114相对于上钳爪部分112重新定向。
在所示的实施例中,由于腕部70和铰链116之间的空间分离,上钳爪部分112和轴线A-A在空间中的位置可能并不总是被精确地保持,但能够基本上保持足够的以用于外科医生。换句话说,上钳爪部分112在空间中的位置可以稍微变化,但可以以明显小于下钳爪部分114在空间中移动的程度而变化。这可能是由于侧推车22的运动学限制,或者在某些情况下,是由于物理障碍(例如腹壁),其由于关于侧推车22和/或工具组件104的潜在碰撞而阻止期望操纵。然而,在一些情况下,可以执行轴108在空间中的移动以移动腕部70的位置,同时发生钳爪部分的致动以帮助保持轴线A-A和铰链116在空间中的精确位置。
如图5A所示,患者侧推车22的臂的一个或更多个可移动方面可被操纵以保持上钳爪部112和轴线A-A在周围空间中的精确位置。在一些情况下,这可能需要保持工具组件104的臂的多达7个运动轴线的坐标运动。这种臂和运动轴线的示例公开于美国专利号7,594,912和美国公开号20130325032中,其通过引用并入本文。由于腕部70和铰链116的上述特殊分离,如图11所示的腕部70可以经由控制患者侧推车22并且操纵保持工具组件104的臂的若干可移动方面来向下移动,以精确地保持上钳爪部分112的位置。
图11所示的第二操作模式不同于图10所示的第一操作模式,在于,上钳爪部分112相对于下钳爪部分114的铰接伴随着腕部70的同时铰接,使得上钳爪部分112在空间中保持基本静止。相反,在图10所示的第一操作模式中,上钳爪部分112相对于下钳爪部分114的铰接独立于腕部70的铰接发生,使得上钳爪部分112改变空间位置。可以采用第二操作模式来控制任何合适手术工具的操作。此外,工具的任何合适的方面可被选择成在上钳爪部分112相对于下钳爪部分114的致动期间保持静止。
第二操作模式可以以多种不同的方式发生,例如,第二操作模式可以是在控制台16处提供的选项。在其他实施例中,根据指定程序、位于末端执行器110上的物理选择开关或者位于缝合器盒(或其他工具插入件)上的被馈送到末端执行器110中(为了向用户识别,盒可以是彩色编码的,例如基于颜色的)的电子标识符,使第二操作模式是默认的。在其他实施例中,当腕部70铰接到特定位置或角度时,发生第二操作模式。在其他实施例中,第二操作模式的角度限制可以由用户调整。另外,虽然在这些示例中使用上钳爪部分112作为固定不动的末端执行器的参考方面,但是可以替代地使用工具组件104的任何合适的方面。例如,参考轴线可以被选择和保持静止,例如上钳爪部分112和下钳爪部分114之间的打开角度之间的轴线。虚拟参考轴可以通过控制台16上的合适的显示元件表示。作为另一个示例,工具的任何合适的部分可以被选择并保持静止。使用者在工具组件104的操作之前或期间可以可选地选择在工具组件104的铰接期间保持静止的这样的参考轴线或物体。末端执行器的合适的可选参考方面可以作为实时可选选项的列表可视地提供在控制台16上。
图12示出了下钳爪部分114相对于腕部70处于机械极限的示例。这里,由于腕部70和下钳爪114的机械限制,轴线B-B与轴线C-C之间的角度α处于最大值。该位置不妨碍图10所示的第一模式操作,因为上钳爪部分112在铰链116处自由枢转。该位置也不妨碍图11所示的第二操作模式,因为下钳爪部114所需的相对移动不受腕部70的阻碍,因为角度α不需要增加,而只是减小(这在此不受限制)。
图13示出了下钳爪部分114相对于腕部70处于机械极限的另一个示例。这里,由于腕部70和下钳爪114的机械限制,轴B-B和C-C之间的角度α1处于最大值。该位置不妨碍图10所示的第一模式操作,因为上钳爪部分112在铰链116处自由枢转。然而,这个位置确实阻碍了图11所示的第二操作模式,因为下钳爪部分114所需的相对移动被腕部70阻碍,因为角度α1不能进一步增大。
在第二操作模式被期望的这种情况下,可以发生多种替代模式。在一些实施例中,在第二操作模式中,下钳爪部分114的俯仰和偏转被电子地限制为(a1-x),使得如果需要,角度α1可以增加至x的量,其中x是提供第二操作模式的最小角度。在其他实施例中,下钳爪部分114的俯仰和偏转不受限制,并且控制台16被配置为提供第二操作模式对外科医生不可用的指示。而在其他实施例中,下钳爪部分114的俯仰和偏转不受限制,并且在这种情况下末端执行器110的移动自动切换到第一操作模式。在一些实施例中,角度α1可以不处于硬停止(hard stop),也不处于提供第二操作模式的完全操作的适当位置。在这种情况下,可以将第二操作模式设定为由角度α1提供的最大量,然后可以发生第一操作模式以完成关闭钳爪部分。因此,运动的某些部分可以由上钳爪部分112执行,并且运动的某些部分可以由下钳爪部分114执行。在一些实施例中,如果只有运动的一小部分可以通过第二操作模式完成,则可以自动执行切换到第一操作模式。
图14示出了用于操作诸如工具组件104的工具的方法120,该工具具有诸如末端执行器110的末端执行器。方法120可以使用任何合适的手术系统实施,例如本文所述的手术系统。在许多实施例中,使用至少一个处理器(诸如控制系统111的处理器)执行方法120。
方法120包括通过控制器接收关闭或打开末端执行器的命令(动作122)。可以使用任何合适的末端执行器。例如,末端执行器可以包括通过铰链连接到第二钳爪构件的第一钳爪构件。末端执行器可通过腕部联接到器械轴,腕部可重新配置成相对于器械轴铰接末端执行器,从而相对于患者重新定向和/或重新定位末端执行器。在一些实施例中,器械轴也可以被铰接以将末端执行器在空间中重新定向和/或重新定位。
方法120可包括通过控制器接收指定末端执行器的参考方面的输入(动作124)。能够由用户和提供至控制器的对应输入指定末端执行器的任何合适的参考方面(包括任何合适的物理方面或虚拟方面(如本文描述的参考方面))。替代地,可以使用末端执行器的默认参考方面。末端执行器的参考方面也可以通过控制器基于任何合适的已知状态信息来选择,例如末端执行器的当前定向和/或位置。例如,末端执行器在空间中的当前定向和/或位置可以用于选择位于最接近患者的相邻组织的参考方面,以在末端执行器闭合或打开期间抑制末端执行器与患者的相邻组织之间的不期望的接触。
方法120还包括由控制器响应于命令控制末端执行器的铰接以同时(a)使第一钳爪构件相对于第二钳爪构件移动,以及(b)致动腕部以使末端执行器相对于器械轴定向,使得末端执行器的参考方面在空间中的位置和/或定向被基本上保持(动作126)。可以使用任何适合的末端执行器的同时铰接。例如,腕部可以被重新配置为使末端执行器相对于器械轴铰接,使得当第一钳爪构件相对于第二钳爪构件重新定向时末端执行器的参考方面保持基本静止。另外,器械轴可以单独铰接或与腕部的铰接组合地铰接,以将末端执行器在空间中定向,使得当第一钳爪构件相对于第二钳爪构件移动时末端执行器的参考方面保持基本静止。
方法120可以包括通过控制器确定在末端执行器的闭合或打开期间保持末端执行器的参考方面静止的末端执行器的移动是否超过移动极限(动作128)。例如,可用于产生在末端执行器的闭合或打开期间保持末端执行器的参考方面静止的末端执行器的移动的腕部和/或器械轴的重新配置可以与腕部和/或器械轴的剩余可用重新配置比较。如果控制器确定来自腕部和/或器械轴的当前配置的可用重新配置足以在末端执行器的整个闭合或打开期间保持末端执行器的参考方面静止,控制器可以在控制末端执行器的铰接的情况下继续,以便在末端执行器的整个闭合或打开期间保持末端执行器的参考方面静止。如果控制器确定来自腕部和/或器械轴的当前配置的可用重新配置不足以在末端执行器的整个闭合或打开期间保持末端执行器的参考方面静止,控制器可以在控制末端执行器的铰接的情况下继续,以便在末端执行器的闭合或打开期间的整个相应部分保持末端执行器的参考方面静止。
另外,控制器可以被配置成能够闭合或打开末端执行器,而不同时铰接末端执行器,以在末端执行器的整个闭合或打开期间保持末端执行器的参考方面静止。例如,方法120可以包括由控制器接收关闭或打开末端执行器的第二命令。响应于接收到第二命令,控制器可以控制末端执行器的铰接,以使第一钳爪构件相对于第二钳爪构件重新定向,而不同时铰接末端执行器(例如,通过腕部和/或器械轴的铰接),从而基本上保持末端执行器的参考方面在空间中的位置和/或取向(动作130)。
其他变化也在本发明的精神内。所描述的实施例的各个方面,实施例,实施方式或特征可以单独使用或以任何组合使用。所描述的实施例的与手术工具的操作相关联的各个方面可以通过软件、硬件或硬件和软件的组合来实现。因此,尽管本发明易于有各种修改和替换构造,但其某些说明的实施例在图中被示出并且已经在以上被详细描述。然而,应该清楚,并非旨在将本发明限制到具体的形式或所公开的形式,反而相反地,本发明将覆盖属于如随附权利要求所限定的本发明的精神和保护范围内的全部修改、替换的构造和等价物。
除非本文另外指出或由上下文清楚否认,否则在描述本发明的上下文中(特别是在随附权利要求书的上下文中)使用术语“一个(a和an和the)”以及类似的指示物,应被解释为涵盖单数和复数两者。除非另有说明,否则术语“包含”、“具有”、“包括”和“含有”应解释为开放式术语(即,意味着“包括,但不限于”)。术语“被连接”应解释为部分或完全包含在、附接到或结合在一起,即使某物介入其间。除非本文另外指出,否则本文对值的范围的详述仅仅旨在用作个别地指属于范围内的每个单独值的速记法,并且每个单独值被并入到本说明书中,好似在本文被个别列举出。除非本文另外指出或由上下文另外清楚否认,否则本文描述的全部方法可以以任何合适的顺序执行。除非另外声明,否则任何和全部实例,或在此提供的示例性语言(例如,“诸如”)的使用,仅仅旨在更好地说明该发明的实施例,且并不造成对该发明保护范围的限制。在说明书中的语言均不可解释为将任何非要求的要素指定为对该发明的实践必不可少的要素。
本文描述的本发明的优选实施例,包括用于实施该发明的对发明者已知的最优模式。一旦阅读以上描述,这些优选实施例的变化对本领域的技术人员就可变得显而易见的。发明者期望熟练的工匠视情况使用此类变化,并且发明者希望该发明除如在此所具体描述外能够得以实践。相应地,如由适用法律所允许的,本发明包括在所附权利要求中列举的主题的全部修改和等价物。此外,除非另外指出或由上下文另外清楚否认,否则在其全部可能变化中的上述要素的任何组合均由该发明包含。
Claims (12)
1.一种机器人手术系统,包括:
机器人臂,其包括末端执行器,腕部和具有联接到所述腕部的远端的器械轴;所述末端执行器包括第一钳爪构件、第二钳爪构件和铰链,所述第一钳爪构件通过所述铰链枢转地联接到所述第二钳爪构件;所述末端执行器联接到所述腕部;该腕部可重新配置以相对于所述器械轴重新定向所述末端执行器;和
用于操作所述机器人臂的控制器,所述控制器包括至少一个处理器和存储指令的存储器装置,所述指令可由所述至少一个处理器执行以使所述至少一个处理器:
接收命令以相对于所述第二钳爪构件实现所述第一钳爪构件的重新定向;和
响应于所述命令的接收以相对于所述第二钳爪构件实现所述第一钳爪构件的所述重新定向,控制所述末端执行器的移动以同时通过以下各项以相对于所述第二钳爪构件实现所述第一钳爪构件的所述重新定向:
相对于所述第二钳爪构件移动所述第一钳爪构件,并且
重新配置所述腕部以相对于所述器械轴重新定向所述末端执行器以使得所述第二钳爪构件在空间中移动。
2.根据权利要求1所述的系统,其中所述第一钳爪构件在所述第一钳爪构件相对于所述第二钳爪构件的所述重新定向期间保持静止。
3.根据权利要求1所述的系统,其中所述第二钳爪构件在所述第一钳爪构件相对于所述第二钳爪构件的所述重新定向期间朝向所述第一钳爪构件移动。
4.根据权利要求1所述的系统,其中所述第一钳爪构件在所述第一钳爪构件相对于所述第二钳爪构件的所述重新定向期间抵靠所述第二钳爪构件闭合。
5.根据权利要求1所述的系统,其中:
所述第一钳爪构件配置成在所述铰链处枢转以抵靠所述第二钳爪构件闭合;和
所述第二钳爪构件不配置成在所述铰链处枢转。
6.根据权利要求1所述的系统,其中所述第一钳爪构件相对于所述第二钳爪构件的所述重新定向包括铰接所述器械轴以移动所述铰链。
7.根据权利要求1所述的系统,其中所述控制器被配置为确定所述腕部的相对于所述器械轴重新定向所述末端执行器以相对于所述第二钳爪构件完成所述第一钳爪构件的所述重新定向的重新配置是否受到所述腕部的机械极限。
8.根据权利要求7所述的系统,其中所述控制器基于所述腕部的相对于所述第二钳爪构件完成所述第一钳爪构件的所述重新定向的所述重新配置是否受到所述腕部的机械极限进行所述末端执行器的移动。
9.根据权利要求1所述的系统,其中所述存储器装置存储可由所述至少一个处理器执行的指令,以使所述至少一个处理器:
接收关闭或打开所述末端执行器的第二命令;和
响应于所述第二命令的接收,控制所述末端执行器的移动,以在保持所述第二钳爪构件静止的同时相对于所述第二钳爪构件重新定向所述第一钳爪构件。
10.根据权利要求1所述的系统,其中:
所述存储器装置存储可由所述至少一个处理器执行的指令,以使所述至少一个处理器接收指定所述末端执行器的参考方面的输入;并且
所述末端执行器的所述参考方面的在空间中的位置和在空间中的定向中的至少一个在所述第一钳爪构件相对于所述第二钳爪构件的所述重新定向期间被保持。
11.根据权利要求1所述的系统,其中所述腕部可重新配置成绕偏转轴线和垂直于所述偏转轴线的俯仰轴线相对于所述器械轴重新定向所述末端执行器。
12.根据权利要求1所述的系统,其中所述末端执行器的参考方面的在空间中的位置和在空间中的定位中的至少一个在所述第一钳爪构件相对于所述第二钳爪构件的所述重新定向期间被保持。
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