a2) United States Patent
`Tierneyet al.
`
`(10) Patent No.:
`(45) Date of Patent:
`
`US 7,524,320 B2
`*Apr. 28, 2009
`
`US007524320B2
`
`MECHANICAL ACTUATOR INTERFACE
`SYSTEM FOR ROBOTIC SURGICAL TOOLS
`
`(56)
`
`(54)
`
`(75)
`
`Inventors: Michael J. Tierney, Pleasanton, CA
`(US); Thomas G. Cooper, Menlo Park,
`CA (US): Chris A. Julian, Los Gatos,
`CA (US); Stephen J. Blumenkranz,
`Redwood City, CA (US); Gary S.
`Guthart, Foster City, CA (US); Robert
`G.Younge, Portola Valley, CA (US)
`
`(73)
`
`Assignee:
`
`Intuitive Surgical, Inc., Sunnyvale, CA
`(US)
`
`(*)
`
`Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 1036 days.
`
`This patent
`claimer.
`
`is subject to a terminal dis-
`
`(21)
`
`Appl. No.: 10/316,666
`
`(22)
`
`Filed:
`
`Dec. 10, 2002
`
`References Cited
`U.S. PATENT DOCUMENTS
`
`4,038,987 A
`
`8/1977 Komiya
`
`(Continued)
`FOREIGN PATENT DOCUMENTS
`
`JP
`
`7-194610
`
`8/1995
`
`(Continued)
`OTHER PUBLICATIONS
`
`Alexander, Arthur D., IIL, “Impacts of Telemanipulation on Modern
`Society,” International Centrefor Mechanical Sciences, Courses and
`Lectures No. 201, vol. II, pp. 122-136 (Sep. 5-8, 1973).
`
`(Continued)
`
`Primary Examiner—Eduardo C Robert
`Assistant Examiner—James L Swiger,II]
`
`(57)
`
`ABSTRACT
`
`Robotic surgical tools, systems, and methods for preparing
`for and performing robotic surgery include a memory
`mounted onthe tool. The memory can perform a number of
`functions when the tool is loaded on the tool manipulator:
`first, the memory can provide a signal verifying that the tool
`is compatible with that particular robotic system. Secondly,
`the tool memory may identify the tool-type to the robotic
`system sothat the robotic systemcanreconfigure its program-
`ming. Thirdly, the memory ofthe tool may indicate tool-
`specific information, including measured calibration offsets
`indicating misalignment of the tool drive system,
`tool life
`data, or the like. This information may be stored ina read only
`memory (ROM), or in a nonvolatile memory which can be
`written to only a single time. The invention further provides
`improved engagement structures for coupling robotic surgi-
`cal tools with manipulator structures.
`
`(65)
`
`(60)
`
`(60)
`
`(51)
`
`(52)
`(58)
`
`Prior Publication Data
`
`US 2003/0083673 Al
`
`May1, 2003
`
`Related U.S. Application Data
`
`Continuation of application No. 09/929,453, filed on
`Aug. 13, 2001, now Pat. No. 7,048,745, which is a
`division of application No. 09/418,726, filed on Oct.
`15, 1999, nowPat. No. 6,331,181.
`
`Provisional application No. 60/111,713, filed on Dec.
`8, 1998.
`Int. Cl.
`AGIB 19/00
`(2006.01)
`. 606/130; 606/1
`WSs CR iiccasccmcnacnsis
`Field of Classification Search ......0.000.00....... 606/1,
`606/130; 700/259, 260, 263
`See application file for complete search history.
`
`31 Claims, 22 Drawing Sheets
`
`
`
`IS 1007
`
`IS 1007
`
`1
`
`

`

`US 7,524,320 B2
`
`Page 2
`
`U.S. PATENT DOCUMENTS
`
`4,149,278 A
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`wo
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`Madhani et al., “The black falcon: A teleoperated surgical instrument
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`at the Massachusetts Institute ofTechnology (1992) pp. 1-106.
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`Neisius et al., “Robotic manipulator for endoscopic handling of sur-
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`3/1995 Lavallee et al.
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`vol. 2, Workshop (Part I & II)- Session VI, pp. 169-175.
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`STAN-CS-82-921 (1982) Chapter 9, pp. 67-77.
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`Thring, “Robots and telechirs: Manipulators with memory; remote
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`
`* cited by examiner
`
`2
`
`

`

`U.S. Patent
`
`Apr.28, 2009
`
`Sheet 1 of 22
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`US 7,524,320 B2
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`ge
`
`150
`
`i /Sa
`
`3
`
`

`

`
`
`4
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
`
`Sheet3 of 22
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`US 7,524,320 B2
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`
`
`FIG. 2A.
`
`5
`
`

`

`U.S. Patent
`
`Apr.28, 2009
`
`Sheet4 of 22
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`US 7,524,320 B2
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`
`
`
`6
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
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`Sheet 5 of 22
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`US 7,524,320 B2
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`
`
`FIG. 3.
`
`7
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
`
`Sheet6 of 22
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`US 7,524,320 B2
`
`
`
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`

`

`U.S. Patent
`
`Apr. 28, 2009
`
`Sheet 7 of 22
`
`US 7,524,320 B2
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`
`
`9
`
`

`

`U.S. Patent
`
`Apr.28, 2009
`
`Sheet8 of 22
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`US 7,524,320 B2
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`FIG.48.
`
`10
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
`
`Sheet9 of 22
`
`US 7,524,320 B2
`
`
`
`11
`
`

`

`U.S. Patent
`
`Apr.28, 2009
`
`Sheet10 of 22
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`US 7,524,320 B2
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`FIG. SC.
`
`12
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
`
`Sheet 11 of 22
`
`US 7,524,320 B2
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`
`
`FIG. 7C.
`
`FIG. 7D.
`
`FIG. 7E.
`
`13
`
`13
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
`
`Sheet 12 of 22
`
`US 7,524,320 B2
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`
`
`FIG. 7H.
`
`FIG. 71.
`
`14
`
`14
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
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`Sheet13 of 22
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`US 7,524,320 B2
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`
`
`15
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
`
`Sheet14 of 22
`
`US 7,524,320 B2
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`a ELBOW PCE
`
`>
`{RED}
`E36 [ \RED E37
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`
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`
`16
`
`

`

`U.S. Patent
`
`Apr.28, 2009
`
`Sheet 15 of 22
`
`US 7,524,320 B2
`
`17
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`

`

`Sheet 16 of 22
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`US 7,524,320 B2
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`Apr. 28
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`18
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`

`

`U.S. Patent
`
`Apr.28, 2009
`
`Sheet17 of 22
`
`US 7,524,320 B2
`
`
`MIDDLEMAN(CTP)
`
`
`SUPERVISOR (UMC)
`EXECUTES
`
`ONTROoW
`INSTRUCTIONS FROM
`
`
`
`
`
`SUPERVISOR
`
`
`
`PROCEDURE
`
`KERNEL (CTP AND CEs)
`
`MANAGEMENTI/DATA
`HANDLER (MDC)
`
`
`
`
`
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`
`
`DETECTION (RIA)
`
`
`FIG. 10.
`
`19
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
`
`Sheet18 of 22
`
`US 7,524,320 B2
`
`SEQUENCE FLOW
`
`DETAILED SEQUENCE
`BLOCKS
`
`
`
` REED
`
`SWITCH
`LOSED*®
`
`(on
`
`
`147
`
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`SWITCH
`OPEN
`
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`HARDWARESTATE
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`
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`FOR
`
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`
`TOOL DALLAS
`
`PRESET* feyPRESENT"
`
`FIG. 11.
`
`20
`
`20
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
`
`Sheet 19 of 22
`
`US 7,524,320 B2
`
`POWER ON
`
`INITIALIZATION
`
`
`
` TOOL IS
`
`
`BEING INSERTED
`
`\nitialization
`complete
`
`TOOLIS
`OUT (S2)
`
`
`
`(S4)
`
`
`
`111
`
`D = Dallas chip ( 1 = present, 0 = not present)
`E = Endof useindicator (0 = Open, 1 = Shorted)
`R = Reed Switch ( 0= open, 1 = shorted)
`
`Events occur in DER order
`
`e.g. 101 means Dallas chip present, End of use
`indicator is open, Reed switch is closed)
`
`A= 110, 100,010, 110, 101, 111
`B= 011, 101, 001
`C = 001, 010, 011, 100, 101, 110, 111
`
`
`Logging occursif the situation
`
`persists for more than 1 second
`
`12.
`
`21
`
`21
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
`
`US 7,524,320 B2
`
`Sheet 20 of 22
`
`DONE FIG. 13.
`
`CHANGE
`
`22
`
`22
`
`

`

`U.S. Patent
`
`Apr.28, 2009
`
`Sheet 21 of 22
`
`US 7,524,320 B2
`
`FIG.
`
`/4C.
`
`23
`
`23
`
`

`

`U.S. Patent
`
`Apr. 28, 2009
`
`Sheet22 of 22
`
`US 7,524,320 B2
`
`
`ALGORITHM
`
`TOOL COMPATIBILITY VERIFICATION
`
`166
`
`PROCESSOR
`
`FIG. 15.
`
`24
`
`24
`
`

`

`US 7,524,320 B2
`
`1
`MECHANICAL ACTUATOR INTERFACE
`SYSTEM FOR ROBOTIC SURGICAL TOOLS
`
`CROSS-REFERENCES TO RELATED
`APPLICATIONS
`
`This application also incorporates by references the fol-
`lowing U.S. Design patent application Ser. Nos. 29/097,544
`filed on Dec. 8, 1998, entitled “Portion OfAn Interface For A
`Medical Instrument”; 29/097,552 filed on Dec. 8, 1998,
`entitled “Interface For A Medical Instrument”; 29/097,550
`filed on Dec. 8, 1998, entitled “Portion OfAn Adaptor For A
`Medical Instrument”; and 29/097,551 filed on Dec. 8, 1998,
`entitled “Adaptor For A Medical Instrument”.
`
`BACKGROUND OF THE INVENTION
`
`ay
`
`0
`
`wa
`
`ba
`
`bh a
`
`30
`
`2
`Hence, a numberofdifferent surgical instruments will typi-
`cally be introduced through the same trocar sleeve into the
`abdomen during,
`for example,
`laparoscopic procedures.
`Likewise, in open surgery, there is typically not enough room
`adjacentthe surgicalsite to position morethan a few surgical
`manipulators, particularly where each manipulator/tool com-
`The present application is a continuation of U.S. patent bination hasarelatively large range of motion. As a result, a
`
`applicationSer. No. 09/929,453filed on Aug. 13, 2001, andis
`numberof surgical instruments will often be attached and
`a divisional application of U.S. patent application Ser. No.
`detached from a single instrument holder of a manipulator
`09/759,542 filed Jan. 12, 2001, nowU.S. Pat. No. 6,491,701,
`during an operation.
`whichis a continuation application of U.S. patent application
`Published PCT application WO98/25666, filed on Dec. 10,
`Ser. No. 09/418,726 filed Dec. 6, 1999, and in turn also claims
`1997 and assigned to the present assignee(the full disclosure
`priority to U.S. Provisional Patent Application No. 60/111,
`of which is incorporated herein by reference) describes a
`713 filed on Dec. 8, 1998; U.S. patent application Ser. No.
`Multicomponent Telepresence System and Method which
`significantly improves the safety and speed with which
`09/398,.958 filed Sep. 17, 1999, now U.S. Pat. No. 6,394,998;
`and U.S. Provisional Patent Application No. 60/116,844 filed
`robotic surgical tools can be removed and replaced during a
`on Jan. 2, 1999, entitled “Surgical Tools For Use In Mini-
`surgical procedure. While this
`represents a
`significant
`mally Invasive Telesurgical Applications”. The entirety of the
`advancementoftheart, as is often true, still further improve-
`above-referenced applications is herein incorporated by ref-
`ments would be desirable. In particular, each tool change
`erence.
`which occurs during a surgical procedure increases the over-
`all surgery time. While still further improvements in the
`mechanical tool/manipulator interface may help reduce a por-
`tion of this tool change time, work in connection with the
`present invention has shownthat the mechanical removal and
`replacement of the tool may represent only one portion of the
`total interruption for a tool change. U.S. Pat. No. 5,400,267
`describes a memory feature forelectrically powered medical
`equipment, and is also incorporated herein by reference.
`As more and more different surgical tools are provided for
`use with a robotic system, the differences betweenthe tool
`structures (and the interaction betweenthe tool and the other
`components of the robotic system) become more pro-
`nounced, Manyof these surgical tools will have one or more
`degrees of motion betweenthe surgical end effectors and the
`proximal interface which engagesthe too] to the holder of the
`manipulator. The desired and/or practicable ranges of motion
`for an electrosurgical scalpel may be significantly different
`than those of aclip applier, for example. Work in connection
`with the present invention has found that evenafter a tool is
`properly placed on the surgical manipulator,
`the time
`involved in reconfiguring the robotic system to take advan-
`tage of a different tool, and to perfect the master controller’s
`effective control over the degrees of motionof the tool, may
`add significantly to the total too] change delay.
`In light of the above,
`it would be desirable to provide
`improved robotic surgery tools, systems, and method.
`It
`would further be desirable to provide techniques for reducing
`the total delay associated with eachtool change. It would be
`especially desirable if these enhanced, and often more rapid,
`robotic tool change techniques resulted in still
`further
`improvementin the safety and reliability of these promising
`surgical systems.
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`This inventionrelates to robotically assisted surgery, and
`more particularly provides surgical
`tools having improved
`mechanical and/or data interface capabilities to enhance the
`safety, accuracy, and speed of minimally invasive and other
`robotically enhanced surgical procedures.
`In robotically assisted surgery, the surgeontypically oper-
`ates a master controller to remotely control the motion of
`surgical instrumentsat the surgical site. The controller may be
`separated from the patient by a significant distance (e.g.,
`across the operating room, in a different room, or in a com-
`pletely different building than the patient). Alternatively, a
`controller may be positioned quite near the patient in the
`operating room. Regardless,
`the controller will
`typically
`include one or more hand input devices (such as joysticks,
`exoskeletol gloves, master manipulators, or the like) which
`are coupled by a servo mechanismtothe surgical instrument.
`More specifically, servo motors move a manipulator or
`“slave” supporting the surgical instrument based onthe sur-
`geon’s manipulation of the hand input devices. During an
`operation, the surgeon may employ, via the robotic surgery
`system, a variety of surgical instruments suchas tissue grasp-
`ers, needle drivers, electrosurgical cautery probes, etc. Each
`of these structures performs functions for the surgeon, for
`example, holding or driving a needle, grasping a blood vessel,
`or dissecting, cauterizing, or coagulating tissue.
`This new method ofperforming robotic surgery has, of
`course, created many new challenges. One such challengeis
`that a surgeon will typically employ a significant number of
`different surgical instruments during eachsurgical procedure.
`The numberof independent surgical manipulators will often
`be limited due to space constraints and cost. Additionally,
`patient trauma can generally be reduced by eliminating the
`numberoftools used at any given time. More specifically, in
`minimally invasive procedures, the numberofentry ports into
`a patient is generally limited because of space constraints, as
`well as a desire to avoid unnecessary incisions inthepatient.
`
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`BRIEF SUMMARY OF THE INVENTION
`
`The present invention generally provides improved robotic
`surgical devices, systems, and methodsfor preparing for and
`performing robotic surgery. The robotic tools ofthe present
`invention will often make use ofa memory structure mounted
`onatool, manipulator arm, or movable support structure. The
`memory can, for example, perform a number ofimportant
`functions when a toolis loaded on the tool manipulator:first,
`the memory can provide a signal verifying that the tool is
`compatible with that particular robotic system. Secondly,the
`tool memory may identify the tool-type (whetherit is a scal-
`pel, needle grasper, jaws, scissors, clip applier, electrocautery
`blade, or the like) to the robotic system so that the robotic
`
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`In many embodiments, compatibility of the component
`system can reconfigure its programming to take full advan-
`with the robotic surgical system will be verified using the
`tage of the tools’ specialized capabilities. This tool-type data
`signal transmitted from the componentto the processor. This
`may simply be an identification signal referencing further
`can be accomplished by providing unique identification data
`data ina look-uptable ofthe robotic system. Alternatively, the
`on the component, and deriving verification data from the
`tool-type signal provided by the tool may define the tool
`identification data according to an algorithm. The verification
`characteristics in sufficient detail to allow reconfiguration of
`data is stored with a memoryof the component, the signal
`the robotic programming without havingto resort to an exter-
`transmitted to the processorincluding boththe identification
`nal table. Thirdly, the memory ofthe tool may indicate tool-
`and verification data. The algorithm may then be performed
`specific information, including (for example) measuredcali-
`onthe transmitted unique identification data with the proces-
`bration offsets indicating misalignment between the tool
`sor, and the results compared with the verification data.
`drive systemandthe tool end effector elements, tool life data
`Advantageously, this method can take advantage of unique
`(such as the numberof times the tool has been loaded onto a
`surgical system,
`the number of surgical procedures per-
`identification data which is often unalterably stored in a
`formed with the tool, and/or the total time the tools has been
`memory of commercially available integrated circuits.
`used), or the like. The information may be stored in some
`In another aspect, the invention provides a robotic surgical
`tool for use in robotic surgical systems having a processor.
`form of non-volatile memory such as one-time program-
`
`mable EPROM, Flash EPROM, EEPROM, battery-backed- The tool comprises a shaft having a proximal end andadistal
`up SRAM, or similar memory technology where data can be
`end. A surgical end effectoris disposed adjacentthe distal end
`updated and retained in either a serial or random access
`ofthe shaft. The end effector has a plurality of degrees of
`motionrelative to the proximal end. Aninterface is disposed
`method, or with any ofa wide variety ofalternative hardware,
`adjacent the proximal end of the shaft. The interface can be
`firmware, or software. The invention further provides
`improved engagement structures for coupling robotic surgi-
`releasably coupled with a robotic probe holder. The interface
`cal tools with manipulator structures.
`comprises a plurality of driven elements. A plurality of tool
`In a first aspect, the invention provides a robotic surgical
`drive systems couple the driven elements to the degrees of
`tool for use ina robotic surgical system. ‘The robotic surgical
`motion ofthe end effector. The tool drive system has calibra-
`system has a processor which directs movement ofa tool
`tion offsets between a nominal relative position of the end
`effector and the driven elements, and a measured relative
`holder. The tool comprises a probe having a proximal end and
`a distal end. A surgical end effector is disposed adjacent the
`position of the end effector and driven elements.A memory
`distal end ofthe probe. An interface is disposed adjacentto the
`stores data indicating the offsets. The memory is coupled to
`proximal end of the probe. The interface can be releasably
`the interface so as to transmit the offsets to the processor.
`coupled with the tool holder. Circuitry is mounted on the
`In yet another aspect, the invention provides a robotic
`probe. The circuitry defines a signal for transmitting to the
`surgical system comprising a plurality of tools of different
`processorsoas to indicate compatibility ofthe tool with the
`tool-types. Each tool comprises an elongate shaft with a
`system.
`cross-section suitable for introduction into an internal surgi-
`The too] will often comprise a surgical instrumentsuitable
`cal site within a patient body via a minimally invasive open-
`for manipulating tissue, an endoscope or other image capture
`ing. A distal surgical end effector is coupled to the shaft byat
`device, or the like. Preferably, the signal will comprise unique
`least one joint. The joint is drivingly coupled to a proximal
`tool identifier data. The processor of the robotic surgical
`interlace by a tool drive system. Circuitry ofthe tooltransmits
`system may include programming to manipulate the tool
`a tool-type via the interface. The tool types may optionally
`identifier according to a pre-determined function or algorithm
`differin at least one characteristic suchas joint geometry, end
`so as to derive verification data. The signal transmitted to the
`effector geometry, drive system characteristics, end effector
`processorwill often include the verification data. Alternative
`or drive system strength, or the like. The system also includes
`compatibility signals may include a signal whichis listed in a
`a robotic manipulator including a linkage supporting a tool
`table accessible to the processor, an arbitrary compatibility
`holder. The tool holder releasably receives the interface. A
`data string, or thelike.
`manipulator drive motor drivingly engages the linkage so as
`In another aspect, the invention provides a robotic surgical
`to movethe tool holder relative to the opening and position
`component for use in a robotic surgical system having a
`the shaft within the surgical site. A tool drive motor is coupled
`processor and a component holder. The component comprises
`to the tool holder so as to drivingly engage the tool drive
`a component body having an interface mountable to the com-
`systemandarticulate the joint. A processoris coupled to the
`ponentholder. The body supports a surgical end effector, and s
`tool holder. The processor has programming that effects a
`a drive system is coupled to the body for moving the end
`desired movement of the end effector by transmitting drive
`effector per commands from the processor. Circuitry is
`signals to the tool drive motors of the manipulator. The pro-
`mounted on the body and defines a signal for transmitting to
`cessor reconfigures the program for the different joint geom-
`the processor. The signal may indicate compatibility of the
`etries based onthe tool-type signals.
`component with the system, may define a componenttype of
`In anotheraspect, the invention provides a robotic surgical
`the component, may indicate coupling of the component to
`system comprising a surgical tool having a surgical end effec-
`the system, and/or may indicate calibration of the component.
`tor and an interface. A manipulator assembly has a base and a
`Typically, the component will comprise a surgical tool, a
`tool holder for releasably engaging the interface. A plurality
`manipulator arm, a pre-positioning linkage supporting the
`of tool engagement sensors are coupled to the tool holder.
`manipulator arm, or the like.
`Eachtool sensor producesa signal whenthe interface engages
`In another aspect, the invention provides a method for
`the holder. A processor is coupled to the tool engagement
`installing a robotic surgical component in a robotic surgical
`sensors. The processor has a tool change mode and a tissue
`system. The method comprises mounting the componentto a
`manipulation mode. The processor requirestool signals from
`component holder. A signal is transmitted from the compo-
`each of the sensors before changing the tool change modeto
`nent to a processorof the robotic surgical system. The com-
`the tissue manipulation mode. The processor remains in the
`ponentis articulated in responseto the signal per commands
`tissue manipulation mode whenat least one, butnot all, of the
`of the processor.
`tool signals is lost.
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`The tools used in robotic surgery will be subjected to
`significant structural stress during use. The stress may result
`in temporary loss of an engagement signal from an engage-
`ment sensor. By providing at least two, and preferably three
`engagement sensors,
`the surgical procedure can continue
`safely with the loss of an engagement signal froman indi-
`vidual sensor so long as the system can still verify proper
`engagement betweenthe manipulator and tool. This arrange-
`ment results in a robust tool engagement sensing system that
`avoids frequent delays during the surgical procedure as might
`occur fromthe loss of an individual signal.
`In yet another aspect, the invention provides a robotic
`surgical system comprising a manipulator assemblyhaving a
`base and tool holder which movesrelative to the base. The
`tool holder has a plurality of drive elements. A sterile drape
`covers at least a portion of the manipulator. A sterile tool has
`a proximal interface and distal end effector. The distal end
`effector has a plurality of degrees of motion relative to the
`proximal interface. The degrees of motion are coupled to
`drive elements of the interface. An adapter is disposed adja-
`cent the sterile drape between the holder andthe interface.
`The adapter comprises a plurality of movable bodies. Each
`movable body hasa first surface driven by the drive elements
`of the holder, and a second surface driving the drivenele-
`ments of the tool.
`In yet another aspect, the invention provides a robotic
`surgical tool for use with a robotic manipulator having a tool
`holder. The tool holder has magnetically actuatable circuitry.
`The tool comprises a probe having a proximal end anda distal
`end. A surgical end effector is disposed adjacentthedistal end
`of the probe. An interface adjacent the proximal end of the
`probeis releasably coupleable with the holder. The interface
`comprises a magnet positionedsoasto actuate the circuitry of
`the holder.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`FIG. 1 illustrates a robotic surgical procedure in which a
`surgeonat a master station directs movementofrobotic sur-
`gical tools effected by a slave manipulator, and shows an
`assistant preparing to change a tool mounted toa tool holder
`ofthe slave.
`
`FIG, 2 is a perspective view of a robotic surgical armcart
`system in which a series of passive set-up joints support
`robotically actuated manipulators (typically, the center arm
`would support a camera).
`FIG. 2A is a perspective view ofa robotic surgical manipu-
`lator for use in the cart system ofFIG. 2.
`FIGS. 2B and C are side and front views, respectively, of
`the linkage ofthe robotic manipulator ofFIG, 2, showing how
`the manipulator maintains a remote center of rotation along a
`shafi of the surgical tool.
`FIGS. 3 and 3A are perspective views of exemplarycart
`structures with positioning linkages which support
`the
`robotic manipulators in the system of FIG, 2.
`FIG. 4 is a perspective view ofan exemplary tool according
`to the principles ofthe present invention.
`FIGS. 4.4 and B are schematic viewsof alternative drive
`systemsfor the tool of FIG. 4.
`FIGS. 5A throughHare illustrations ofa variety ofsurgical
`end effectors ofdiffering tool-types.
`FIG. 6 illustrates the mechanical and electrical interface of
`the tool of FIG. 4.
`
`FIGS. 7A through E illustrate an adapter for coupling the
`interface of FIG. 6 to the surgical manipulator.
`FIGS. 7G through I illustrate the adapter of FIGS. 7A
`through E mountedto a holder or carriage of the manipulator.
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`FIGS. 7J through L illustrate the holder, its driving ele-
`ments, and its electrical contacts.
`FIG. 8 is a wiring diagramfor the tool of FIG. 4, the adapter
`of FIG. 7A-E, and related components ofthe robotic system.
`FIGS. 8A and B are rear and front views of the master
`console, respectively.
`FIG, 9 is a functional block diagram schematically illus-
`trating the signal path hardware ofthe tool change system.
`FIG. 10 is a schematic diagram illustrating the interaction
`betweenthe software modules related to tool change.
`FIG. 11 is a logic flow chart illustrating an exemplary
`method for sensing engagementofa tool with the manipula-
`tor.
`
`FIG, 12 is a flow diagramillustrating how the tool engage-
`ment signals are used to change the operating state of the
`robotic system.
`FIG. 13 illustrates the tool engagement method steps ini-
`tiated by the processor in response to a change in operating
`state during tool changes.
`FIGS. 14A throughC illustrate mounting of the adapter of
`FIGS. 7A through E to a manipulator arm, and of mounting
`the tool of FIG. 4 onto the adapter.
`FIG. 15 schematically illustrates an exemplary tool com-
`patibility verification algorithmaccordingto the principles of
`the present invention.
`
`DETAILED DESCRIPTION OFTHE INVENTION
`
`The present invention provides robotic surgery systems,
`devices, and methods. Robotic surgery will generally involve
`the use of multiple robotic arms. One or more ofthe robotic
`arms will often support a surgical tool which may bearticu-
`lated (such as jaws, scissors, graspers, needle holders, micro-
`dissectors, staple appliers, tackers, suction/irrigation tools,
`clip appliers, or the like) or non-articulated (suchas cutting
`blades, cautery probes, irrigators, catheters, suction orifices,
`or the like). One or more ofthe robotic armswill often be used
`to support one or more surgical image capture devices suchas
`an endoscope (which may be any of thevariety of structures
`such as a laparoscope, an arthroscope, a hysteroscope,or the
`like), or optionally, some other imaging modality (such as
`ultrasound, fluoroscopy, magnetic resonance imaging, or the
`like), Typically, the robotic arms will support at least two
`surgical tools corresponding tothe two hands of a surgeon and
`one optical image capture device.
`The present invention will find application in a variety of
`surgical procedures. The most immediate applications will be
`to improve existing minimally invasive surgical procedures,
`such as coronary artery bypass grafting and mitral and aortic
`valve repair and/or replacement. The invention will also have
`applications for surgical procedures which are difficult to
`perform using existing minimally invasive techniques, such
`as Nissen Fundoplications. Additionally, it is anticip