Systems and methods for using a robotic medical system

Patent metadata

Field	Value
Publication number	US-12262965-B2
Application number	US-202318467203-A
Country	US
Kind code	B2
Filing date	Sep 14, 2023
Priority date	Jan 10, 2017
Publication date	Apr 1, 2025
Grant date	Apr 1, 2025

Abstract

A support structure comprises a base joint coupling a proximal link of the support structure to a base. The proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a linkage mechanism. The linkage mechanism maintains an orientation of an instrument support relative to the base as the support structure is moved from a first configuration to a second configuration. In the second configuration, the support structure is rotated relative to the base about the first axis.

First claim

What is claimed is:

1. A support structure, comprising:
a base joint coupling a proximal link of the support structure to a base, wherein the proximal link is configured to rotate about a first axis associated with the base joint; and
a linkage mechanism,
wherein the linkage mechanism maintains an orientation of an instrument support relative to the base as the support structure is moved from a first configuration to a second configuration, wherein in the second configuration, the support structure is rotated relative to the base about the first axis.

2. The support structure of claim 1 , further comprising:
the proximal link; and
a distal link,
wherein the linkage mechanism couples the proximal link to the distal link.

3. The support structure of claim 2 , wherein in the second configuration, the distal link is extended from the proximal link.

4. The support structure of claim 2 , wherein the instrument support is coupled to the distal link.

5. The support structure of claim 2 , wherein the distal link is sized to extend within a channel of the proximal link, and wherein a length of the support structure is variable with movement of the distal link within the channel.

6. The support structure of claim 1 , wherein the proximal link is configured to rotate about a second axis associated with the base joint, and wherein the linkage mechanism maintains the orientation of the instrument support relative to the base as the support structure is moved into a third configuration in which the support structure is rotated relative to the base about the first and second axes.

7. The support structure of claim 1 , wherein the instrument support is coupled to an instrument manipulator, and wherein the linkage mechanism maintains an orientation of the instrument manipulator relative to the base as the support structure is moved into the second configuration in which the support structure is rotated relative to the base about the first axis.

8. The support structure of claim 1 , wherein the instrument support is coupled to a medical instrument, and wherein the linkage mechanism maintains an orientation of the medical instrument relative to the base as the support structure is moved into the second configuration in which the support structure is rotated relative to the base about the first axis.

9. The support structure of claim 1 , further comprising:
a counterbalance mechanism comprising a counterweight block configured to move linearly within the support structure, the counterweight block having a counterweight mass to counterbalance linear movement of the support structure as a distal link of the support structure extends from the proximal link of the support structure.

10. The support structure of claim 1 , wherein the linkage mechanism comprises:
an input gear coupled to the base joint;
an output gear coupled to the instrument support;
an input pinion engaged with the input gear;
an output pinion engaged with the output gear; and
an extension mechanism coupled between the input and output pinions.

11. The support structure of claim 10 , wherein the first axis is through the input gear and the input gear is rotationally stationary with respect to the base, and wherein the output gear is configured to rotate about the first axis while maintaining an orientation of the output gear relative to the input gear.

12. The support structure of claim 1 , wherein the linkage mechanism comprises:
a first push-pull cylinder; and
a second push-pull cylinder,
wherein the base joint includes an input disk connected to a piston of the first push-pull cylinder and to a cylinder of the second push-pull cylinder via respective hinged connections.

13. The support structure of claim 1 , wherein the linkage mechanism comprises:
a first ball screw drive; and
a second ball screw drive,
wherein the base joint comprises an input disk connected to an extended ball nut of the first ball screw drive and to a ball screw of the second ball screw drive via respective hinged joints.

14. The support structure of claim 1 , wherein the linkage mechanism comprises:
an input pulley;
an output pulley;
at least one inner pulley; and
a chain,
wherein the chain is coupled to an outer edge of the input pulley, an outer edge of the output pulley, and an outer edge of the at least one inner pulley.

15. A medical system comprising:
a support structure including a linkage mechanism;
a base joint coupling a proximal link of the support structure to a base, wherein the proximal link is configured to rotate about a first axis associated with the base joint;
an instrument manipulator for manipulating a medical instrument, wherein the instrument manipulator has an orientation relative to the base in a first configuration of the support structure;
a cart configured to support the base;
a master control console comprising an input device for controlling the instrument manipulator during a medical procedure; and
a plurality of monitors to display information related to the medical procedure,
wherein the linkage mechanism maintains the orientation of the instrument manipulator relative to the base as the support structure is moved from the first configuration to a second configuration, wherein in the second configuration, the support structure is rotated relative to the base about the first axis.

16. The medical system of claim 15 , wherein the support structure further includes:
the proximal link; and
a distal link,
wherein the linkage mechanism couples the proximal link to the distal link.

17. The medical system of claim 16 , wherein in the second configuration, the distal link is extended from the proximal link.

18. The medical system of claim 16 , wherein the instrument manipulator is coupled to the distal link.

19. The medical system of claim 16 , wherein the distal link is sized to extend within a channel of the proximal link, and wherein a length of the support structure is variable with movement of the distal link within the channel.

20. The medical system of claim 15 , wherein the proximal link is configured to rotate about a second axis associated with the base joint, and wherein the linkage mechanism maintains the orientation of the instrument manipulator relative to the base as the support structure is moved into a third configuration in which the support structure is rotated relative to the base about the first and second axes.

Assignees

• Intuitive Surgical Operations

Inventors

• Cassell Scott L
• Bailey David W
• Blumenkranz Stephen J
• Boucher Timothy D
• Rohr Daniel Matthew D

Classifications

• A61B2090/504

  with a counterweight · CPC title

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B2017/00809

  Lung operations · CPC title