System and method for minimally invasive cutting instrument operation

Patent metadata

Field	Value
Publication number	US-11737836-B2
Application number	US-202017102210-A
Country	US
Kind code	B2
Filing date	Nov 23, 2020
Priority date	May 15, 2015
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

Abstract

A system and method of operating a minimally invasive cutting instrument includes a surgical cutting instrument. The surgical cutting instrument includes a drive unit, an end effector located at a distal end of the instrument, and a garage for housing the cutting blade when the cutting blade is not in use. The end effector includes gripping jaws and a cutting blade. To perform a cutting operation, the instrument extends the cutting blade from a first position to a second position, retracts the cutting blade from the second position to a third position between the first and second positions, and further retracts the cutting blade to the first position. While the cutting blade is not in use, the cutting blade is maintained in the first position using a restraining mechanism in the drive unit, force or torque applied by a motor or other active actuator to the drive unit, or both.

First claim

What is claimed is:

1. A method of performing a cutting operation using a cutting instrument for use with a computer-assisted device, the method comprising:
holding a cutting blade of an end effector in a first position when the cutting blade is not in use, the holding being performed using at least a restraining mechanism of a drive unit, wherein the restraining mechanism is configured to apply force or torque without input from a motor or other active actuator external to the drive unit;
extending the cutting blade from the first position to a second position by applying force or torque to the drive unit;
retracting the cutting blade from the second position to a third position between the first and second positions; and
further retracting the cutting blade to the first position;
wherein the extending and retracting comprise applying first force or torque to the drive unit using a first motor or active actuator.

2. The method of claim 1 , wherein the restraining mechanism is a spring.

3. The method of claim 1 , further comprising guiding the cutting blade during the extending and retracting using a groove in one or more gripping jaws of the end effector.

4. The method of claim 1 , wherein the first position is within a garage.

5. The method of claim 4 , wherein the third position corresponds to a position where the cutting blade is retracted to just outside the garage.

6. The method of claim 1 , further comprising holding the cutting blade in the second position before retracting the cutting blade to the third position.

7. The method of claim 6 , wherein:
extending the cutting blade from the first position to the second position comprises applying force or torque to the cutting blade subject to first force or torque limits; and
holding the cutting blade in the second position comprises applying second force or torque to the cutting blade subject to the first force or torque limits.

8. The method of claim 1 , further comprising commanding the cutting blade to follow a positional profile, the positional profile comprising a time sequence of desired positions describing a smooth trajectory for the cutting blade between the first, second, and third positions.

9. The method of claim 1 , further comprising maintaining, while the cutting blade is not in use, the cutting blade in the first position by applying a second force or torque to the drive unit by the first motor or active actuator.

10. The method of claim 9 , wherein:
extracting or retracting the cutting blade comprises applying the first force or torque subject to first force or torque limits;
maintaining the cutting blade in the first position comprises applying the second force or torque subject to second force or torque limits; and
the second force or torque limits have a lower magnitude than the first force or torque limits.

11. The method of claim 1 , wherein:
retracting the cutting blade to the third position comprises applying the first force or torque subject to first force or torque limits; and
further retracting the cutting blade to the first position comprises applying the first force or torque subject to the first force or torque limits.

12. The method of claim 1 , wherein:
extending the cutting blade to the second position comprises applying the first force or torque subject to first force or torque limits having a first magnitude;
retracting the cutting blade to the third position and further retracting the cutting blade to the first position comprise applying the first force or torque subject to second force or torque limits having a second magnitude; and
the first magnitude of the first force or torque limits is greater than the second magnitude of the second force or torque limits.

13. The method of claim 12 , wherein a difference between the first and second magnitudes is based on a force or torque applied by the restraining mechanism.

14. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted device are adapted to cause the one or more processors to perform a method comprising:
holding a cutting blade of an end effector in a first position when the cutting blade is not in use, the holding being performed using at least a restraining mechanism of a drive unit, wherein the restraining mechanism is configured to apply force or torque without input from a motor or other active actuator external to the drive unit;
extending the cutting blade from the first position to a second position by applying force or torque to the drive unit;
retracting the cutting blade from the second position to a third position between the first and second positions; and
further retracting the cutting blade to the first position;
wherein the extending and retracting comprise applying first force or torque to the drive unit using a first motor or active actuator.

15. The non-transitory machine-readable medium of claim 14 , wherein the restraining mechanism is a spring.

16. The non-transitory machine-readable medium of claim 14 , wherein:
the first position is within a garage; and
the third position corresponds to a position where the cutting blade is retracted to just outside the garage.

17. The non-transitory machine-readable medium of claim 14 , wherein the method further comprises holding the cutting blade in the second position before retracting the cutting blade to the third position.

18. The non-transitory machine-readable medium of claim 14 , wherein the method further comprises commanding the cutting blade to follow a positional profile, the positional profile comprising a time sequence of desired positions describing a smooth trajectory for the cutting blade between the first, second, and third positions.

19. The non-transitory machine-readable medium of claim 14 , wherein:
extending the cutting blade to the second position comprises applying the first force or torque subject to first force or torque limits having a first magnitude;
retracting the cutting blade to the third position and further retracting the cutting blade to the first position comprise applying the first force or torque subject to second force or torque limits having a second magnitude; and
the first magnitude of the first force or torque limits is greater than the second magnitude of the second force or torque limits.

20. The non-transitory machine-readable medium of claim 19 , wherein a difference between the first and second magnitudes is based on a force or torque applied by the restraining mechanism.

Assignees

• Intuitive Surgical Operations

Inventors

• Weir David W
• Waldo Michael
• Wu Melody

Classifications

• A61B2090/031

  torque limiting · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B18/1442

  Probes having pivoting end effectors, e.g. forceps · CPC title

• A61B18/1445 Primary

  at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod · CPC title

• A61B34/00

  Computer-aided surgery; Manipulators or robots specially adapted for use in surgery · CPC title