US20050027397A1 - Aspects of a control system of a minimally invasive surgical apparatus - Google Patents
Aspects of a control system of a minimally invasive surgical apparatus Download PDFInfo
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- US20050027397A1 US20050027397A1 US10/871,467 US87146704A US2005027397A1 US 20050027397 A1 US20050027397 A1 US 20050027397A1 US 87146704 A US87146704 A US 87146704A US 2005027397 A1 US2005027397 A1 US 2005027397A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
-
- 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
-
- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/246—Calibration of cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/327—Calibration thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40122—Manipulate virtual object, for trajectory planning of real object, haptic display
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45118—Endoscopic, laparoscopic manipulator
Abstract
A surgical method and a control system can be used in a minimally invasive surgical apparatus. The method includes generating a desired surgical instrument movement command signal. It further includes comparing the desired surgical instrument movement command signal with at least one preset surgical instrument movement limitation. Should the desired surgical instrument command signal transgress the preset surgical instrument movement limitation, the desired surgical instrument movement command signal is restricted to yield a restricted surgical instrument movement command signal. A surgical instrument is then caused to move in response to the restricted surgical instrument movement command signal. The method further provides for haptic feedback on a master control in response to restriction of the desired surgical instrument movement command signal.
Description
- The present application is a continuation patent application of U.S. patent application Ser. No. 10/269,336, filed Oct. 11, 2002, which is a continuation of U.S. patent application Ser. No. 09/288,068 filed Apr. 7, 1999, the full disclosures of which are incorporated herein by reference.
- This application is related to the following patents and patent applications, the full disclosures of which are incorporated herein by reference: PCT International Application No. PCT/US98/19508, entitled “Robotic Apparatus,” filed on Sep. 18, 1998, U.S. application Ser. No. 60/111,710, entitled “Master Having Redundant Degrees of Freedom,” filed on Dec. 8, 1998, U.S. application Ser. No. 60/111,713, entitled “Surgical Robotic Tools, Data Architecture, and Use,” filed on Dec. 8, 1998; U.S. application Ser. No. 60/111,711, entitled “Image-Shifting for a Telerobotic System,” filed on Dec. 8, 1998; U.S. application Ser. No. 60/111,714, entitled “Stereo Viewer System for Use in Telerobotic Systems”, filed on Dec. 8, 1998; U.S. application Ser. No. 60/116,842, entitled “Repositioning and Reorientation of Master/Slave Relationship in Minimally Invasive Telesurgery,” filed on Jan. 22, 1999; and U.S. Pat. No. 5,808,665, entitled “Endoscopic Surgical Instrument and Method for Use,” issued on Sep. 15, 1998; the full disclosures of which are incorporated herein by reference.
- Minimally invasive medical techniques are aimed at reducing the amount of extraneous tissue which is damaged during diagnostic or surgical procedures, thereby reducing patient recovery time, discomfort, and deleterious side effects. Millions of surgeries are performed each year in the United States. Many of these surgeries can potentially be performed in a minimally invasive manner. However, only a relatively small number of surgeries currently use these techniques due to limitations in minimally invasive surgical instruments and techniques and the additional surgical training required to master them.
- Advances in minimally invasive surgical technology could dramatically increase the number of surgeries performed in a minimally invasive manner. The average length of a hospital stay for a standard surgery is significantly longer than the average length for the equivalent surgery performed in a minimally invasive surgical manner. Thus, the complete adoption of minimally invasive techniques could save millions of hospital days, and consequently millions of dollars annually in hospital residency costs alone. Patient recovery times, patient discomfort, surgical side effects, and time away from work are also reduced with minimally invasive surgery.
- The most common form of minimally invasive surgery is endoscopy. Probably the most common form of endoscopy is laparoscopy, which is minimally invasive inspection and surgery inside the abdominal cavity. In standard laparoscopic surgery, a patient's abdomen is insufflated with gas, and cannula sleeves are passed through small (approximately {fraction (1/2)} inch) incisions to provide entry ports for laparoscopic surgical instruments.
- The laparoscopic surgical instruments generally include a laparoscope for viewing the surgical field, and working tools defining end effectors. Typical surgical end effectors include clamps, graspers, scissors, staplers, or needle holders, for example. The working tools are similar to those used in conventional (open) surgery, except that the working end or end effector of each tool is separated from its handle by, e.g., an approximately 12-inch long, extension tube.
- To perform surgical procedures, the surgeon passes these working tools or instruments through the cannula sleeves to a required internal surgical site and manipulates them from outside the abdomen by sliding them in and out through the cannula sleeves, rotating them in the cannula sleeves, levering (i.e., pivoting) the instruments against the abdominal wall and actuating end effectors on the distal ends of the instruments from outside the abdomen. The instruments pivot around centers defined by the incisions which extend through muscles of the abdominal wall. The surgeon monitors the procedure by means of a television monitor which displays an image of the surgical site via a laparoscopic camera. The laparoscopic camera is also introduced through the abdominal wall and into the surgical site. Similar endoscopic techniques are employed in, e.g., arthroscopy, retroperitoneoscopy, pelviscopy, nephroscopy, cystoscopy, cisternoscopy, sinoscopy, hysteroscopy, urethroscopy and the like.
- There are many disadvantages relating to current minimally invasive surgical (MIS) technology. For example, existing MIS instruments deny the surgeon the flexibility of tool placement found in open surgery. Most current laparoscopic tools have rigid shafts and difficulty is experienced in approaching the surgical site through the small incision. Additionally, the length and construction of many surgical instruments reduces the surgeon's ability to feel forces exerted by tissues and organs on the end effector of the associated tool. The lack of dexterity and sensitivity of surgical tools is a major impediment to the expansion of minimally invasive surgery.
- Minimally invasive telesurgical systems for use in surgery are being developed to increase a surgeon's dexterity as well as to allow a surgeon to operate on a patient from a remote location. Telesurgery is a general term for surgical systems where the surgeon uses some form of remote control, e.g., a servomechanism, or the like, to manipulate surgical instrument movements rather than directly holding and moving the instruments by hand. In such a telesurgery system, the surgeon is provided with an image of the surgical site at the remote location. While viewing typically a three-dimensional image of the surgical site on a suitable viewer or display, the surgeon performs the surgical procedures on the patient by manipulating master control devices, at the remote location, which control the motion of servomechanically operated instruments.
- The servomechanism used for telesurgery will often accept input from two master controllers (one for each of the surgeon's hands), and may include two robotic arms. Operative communication between each master control and an associated arm and instrument assembly is achieved through a control system. The control system includes at least one processor which relays input commands from a master controller to an associated arm and instrument assembly and from the arm and instrument assembly to the associated master controller in the case of, e.g., force feedback.
- With advances in computer technology, it is now possible for processors to accept and interpret the wide range of quite rapid, precise hand motions made by a surgeon in manipulating the master controllers during surgery. Unfortunately, robotic arms often have responsive limitations which may be more restrictive than the controller. Furthermore, the robotic arm joints often have limits in their displacement capability or range of achievable position relative to each other. Yet further, the robotic arm and surgical instrument assemblies may have positional limits beyond which it is not possible to move.
- It would be advantageous that master control movements and responsive end effector movements as displayed be as natural and comfortable to the surgeon as possible. To achieve this, certain obstacles should be overcome. One such obstacle is constraining master control movement input within bounds dictated by mechanically achievable positional movements and velocity of its associated arm and surgical instrument assembly.
- It is an object of this invention to provide a method and control system whereby master control movement can be constrained to remain within limitations imposed by its associated robotic arm and instrument assembly, in an intuitive manner.
- It is to be appreciated that although the method and control system of the invention is described with reference to a minimally invasive surgical apparatus in this specification, the application of the invention is not to be limited to this application only, but can be used in any type of apparatus where an input is entered at one location and a corresponding movement is required at a remote location and in which it is required, or merely beneficial, to constrain master control input to remain within limitations or constraints dictated by the corresponding movement at the remote location. Thus, the invention may find application in the fields of satellite dish tracking, handling hazardous substances, to name but two of many possible qualifying fields.
- According to one aspect of the invention, there is provided a surgical method including generating a desired surgical instrument movement command signal; comparing the desired surgical instrument movement command signal with at least one preset surgical instrument movement limitation; restricting the desired surgical instrument movement command signal to yield a restricted surgical instrument movement command signal should the desired surgical instrument movement command signal transgress the preset surgical instrument movement limitation; and causing a surgical instrument to move in response to the restricted surgical instrument movement command signal.
- According to another aspect of the invention, there is provided a control system including processing means arranged to generate a desired surgical instrument movement command signal; and processing means arranged to compare the desired surgical instrument movement command signal with at least one preset surgical instrument movement limitation, and to restrict the desired surgical instrument movement command signal to yield a restricted surgical instrument movement command signal should the desired surgical instrument command signal transgress the preset surgical instrument movement limitation.
- In accordance with another aspect of the invention, there is provided a method of effecting control between a master and a slave of a minimally invasive surgical apparatus, the method including generating slave movement commands in response to and corresponding with master movement; inputting the slave movement commands into a simulated domain, the simulated domain having at least one preset movement limitation; determining whether or not the slave movement command transgresses the movement limitation in the simulated domain; restricting the slave movement command in the simulated domain, if it transgresses the limitation, by a value calculated to yield a restricted slave movement command not transgressing the movement limitation; forwarding the restricted slave movement command to the slave to cause the slave to move in sympathy with the restricted slave movement command; and causing a master movement command, corresponding to the value by which the slave movement command was restricted, to be sent to the master to cause the master to resist movement promoting corresponding slave movement commands which transgress the slave movement limitation set in the simulated domain.
- In accordance with yet a further aspect of the invention, there is provided a control system for effecting control between a master and a slave of a minimally invasive surgical apparatus, the control system including generating means for generating slave movement commands in response to and corresponding with master movement; a simulated domain into which the slave movement commands are input prior to the slave movement commands being forwarded to the slave; at least one movement limitation set in the simulated domain; restriction means in the simulated domain for restricting the slave movement commands, should they transgress the limitation, by a calculated value so as to yield a restricted slave movement command which does not transgress the limitation; communication means for communicating the restricted slave movement command to the slave to cause the slave to move in sympathy with the restricted slave movement command; and feedback means whereby a master movement command signal, corresponding to the calculated value by which the slave movement command was restricted, is sent to the master to cause the master to resist movement promoting corresponding slave movement commands which transgress the slave movement limitation set in the simulated domain
- According to another aspect of the invention, there is provided a method of transforming a velocity signal relative to a reference coordinate system into joint space by means of a transformation relationship, the method including modifying the transformation relationship to account for at least one singularity.
- The invention will now be described, by way of example, and with reference to the accompanying diagrammatic drawings, in which:
-
FIG. 1A shows a three-dimensional view of an operator station of a telesurgical system in accordance with the invention; -
FIG. 1B shows a three-dimensional view of a cart or surgical station of the telesurgical system, the cart carrying three robotically controlled arms, the movement of the arms being remotely controllable from the operator station shown inFIG. 1A ; -
FIG. 2A shows a side view of a robotic arm and surgical instrument assembly; -
FIG. 2B shows a three-dimensional view corresponding toFIG. 2A ; -
FIG. 3 shows a three-dimensional view of a surgical instrument; -
FIG. 4 shows a schematic kinematic diagram corresponding to the side view of the robotic arm shown inFIG. 2A , and indicates the arm having been displaced from one position into another position; -
FIG. 5 shows, at an enlarged scale, a wrist member and end effector of the surgical instrument shown inFIG. 3 , the wrist member and end effector being movably mounted on a working end of a shaft of the surgical instrument; -
FIG. 6A shows a three-dimensional view of a hand held part or wrist gimbal of a master control device of the telesurgical system; -
FIG. 6B shows a three-dimensional view of an articulated arm portion of the master control device of the telesurgical system on which the wrist gimbal ofFIG. 6A is mounted in use; -
FIG. 6C shows a three-dimensional view of the master control device showing the wrist gimbal ofFIG. 6A mounted on the articulated arm portion ofFIG. 6B ; -
FIG. 7 shows a schematic three-dimensional drawing indicating the positions of the end effectors relative to a viewing end of an endoscope and the corresponding positions of master control devices relative to the eyes of an operator, typically a surgeon; -
FIG. 8 shows a schematic three-dimensional drawing indicating the position and orientation of an end effector relative to a camera Cartesian coordinate reference system; -
FIG. 9 shows a schematic three-dimensional drawing indicating the position and orientation of a pincher formation of the master control device relative to an eye Cartesian coordinate reference system; -
FIG. 10 shows a schematic side view of part of the surgical station of the minimally invasive surgical apparatus indicating the location of Cartesian reference coordinate systems used by a control system of the minimally invasive surgical apparatus to determine the position and orientation of an end effector relative to a Cartesian reference coordinate system at the viewing end of an image capturing device; -
FIG. 11 shows a schematic side view of part of the operator station of the minimally invasive surgical apparatus indicating the location of Cartesian reference coordinate systems used by the control system of the minimally invasive surgical apparatus to determine the position and orientation of the pincher formation of the master control device relative to an eye Cartesian reference coordinate system; -
FIG. 12 shows a schematic block diagram indicating steps followed by the control system of the minimally invasive surgical apparatus in determining end effector position and orientation relative to the Cartesian reference coordinate system at the viewing end of the image capturing device; -
FIG. 13 shows a schematic block diagram indicating steps followed by the control system of the minimally invasive surgical apparatus in determining pincher formation position and orientation relative to the eye Cartesian reference coordinate system; -
FIG. 13A shows an “overview” algorithm of a control system of a minimally invasive surgical apparatus in accordance with the invention; -
FIG. 14 shows a block diagram representing control steps followed by the control system of the minimally invasive surgical apparatus in effecting control between pincher formation positional and orientational movement and end effector positional and orientational movement; -
FIG. 15 shows further detail of a “simulated domain” of the control system shown inFIG. 14 ; -
FIG. 16 shows one embodiment of a simulation block shown inFIG. 15 ; -
FIG. 17 shows a relationship between L and 1/L; -
FIG. 18 shows another embodiment of the simulation block shown inFIG. 15 ; -
FIG. 19 shows a block diagram indicating the imposition of simulated velocity and position limits; -
FIG. 20 shows a preferred embodiment of the simulation block shown inFIG. 15 ; and -
FIG. 21 shows a block diagram indicating the imposition of simulated velocity and position limits relating to orientational slave movement. - Referring to
FIG. 1A of the drawings, an operator station or surgeon's console of a minimally invasive telesurgical system is generally indicated byreference numeral 200. Thestation 200 includes aviewer 202 where an image of a surgical site is displayed in use. Asupport 204 is provided on which an operator, typically a surgeon, can rest his or her forearms while gripping two master controls (not shown inFIG. 1A ), one in each hand. The master controls are positioned in aspace 206 inwardly beyond thesupport 204. When using thecontrol station 200, the surgeon typically sits in a chair in front of thecontrol station 200, positions his or her eyes in front of theviewer 202 and grips the master controls one in each hand while resting his or her forearms on thesupport 204. - In
FIG. 1B of the drawings, a cart or surgical station of the telesurgical system is generally indicated byreference numeral 300. In use, thecart 300 is positioned close to a patient requiring surgery and is then normally caused to remain stationary until a surgical procedure to be performed has been completed. Thecart 300 typically has wheels or castors to render it mobile. Thestation 200 is typically positioned remote from thecart 300 and can be separated from thecart 300 by a great distance, even miles away, but will typically be used within an operating room with thecart 300. - The
cart 300 typically carries three robotic arm assemblies. One of the robotic arm assemblies, indicated byreference numeral 302, is arranged to hold animage capturing device 304, e.g., an endoscope, or the like. Each of the twoother arm assemblies surgical instrument 14. Theendoscope 304 has aviewing end 306 at a remote end of an elongate shaft thereof. It will be appreciated that theendoscope 304 has an elongate shaft to permit itsviewing end 306 to be inserted through an entry port into an internal surgical site of a patient's body. Theendoscope 304 is operatively connected to theviewer 202 to display an image captured at itsviewing end 306 on theviewer 202. Eachrobotic arm assembly robotic arm assemblies instruments 14 of therobotic arm assemblies instruments 14, as is described in greater detail hereinbelow. It will be appreciated that theinstruments 14 have elongate shafts to permit the end effectors to be inserted through entry ports into the internal surgical site of a patient's body. Movement of the end effectors relative to the ends of the shafts of theinstruments 14 is also controlled by the master controls. - The
robotic arms carriage 97 by means of setupjoint arms 95. Thecarriage 97 can be adjusted selectively to vary its height relative to abase 99 of thecart 300, as indicated by arrows K. The setupjoint arms 95 are arranged to enable the lateral positions and orientations of thearms column 93 of thecart 300. Accordingly, the positions, orientations and heights of thearms instruments 14 and theendoscope 304 through the entry ports to desired positions relative to the surgical site. When thesurgical instruments 14 andendoscope 304 are so positioned, the setupjoint arms 95 andcarriage 97 are typically locked in position. - In
FIGS. 2A and 2B of the drawings, one of therobotic arm assemblies 10 is shown in greater detail. Eachassembly 10 includes an articulatedrobotic arm 12, and a surgical instrument, schematically and generally indicated byreference numeral 14, mounted thereon.FIG. 3 indicates the general appearance of thesurgical instrument 14 in greater detail. - The
surgical instrument 14 includes an elongate shaft 14.1. The wrist-like mechanism, generally indicated byreference numeral 50, is located at a working end of the shaft 14.1. Ahousing 53, arranged releasably to couple theinstrument 14 to therobotic arm 12, is located at an opposed end of the shaft 14.1. InFIG. 2A , and when theinstrument 14 is coupled or mounted on therobotic arm 12, the shaft 14.1 extends along an axis indicated at 14.2. Theinstrument 14 is typically releasably mounted on a carriage 11, which can be driven to translate along alinear guide formation 24 of thearm 12 in the direction of arrows P. - The
robotic arm 12 is typically mounted on a base or platform at an end of its associated setupjoint arm 95 by means of a bracket or mountingplate 16. - The
robotic arm 12 includes a cradle, generally indicated at 18, anupper arm portion 20, aforearm portion 22 and theguide formation 24. Thecradle 18 is pivotally mounted on theplate 16 in a gimbaled fashion to permit rocking movement of thecradle 18 in the direction ofarrows 26 as shown inFIG. 2B , about apivot axis 28. Theupper arm portion 20 includeslink members forearm portion 22 includeslink members link members cradle 18 and are pivotally connected to thelink members link members guide formation 24. The pivotal connections between thelink members cradle 18, and theguide formation 24 are arranged to constrain therobotic arm 12 to move in a specific manner. The movement of therobotic arm 12 is illustrated schematically inFIG. 4 . - With reference to
FIG. 4 , the solid lines schematically indicate one position of the robotic arm and the dashed lines indicate another possible position into which the arm can be displaced from the position indicated in solid lines. - It will be understood that the axis 14.2 along which the shaft 14.1 of the
instrument 14 extends when mounted on therobotic arm 12 pivots about a pivot center orfulcrum 49. Thus, irrespective of the movement of therobotic arm 12, thepivot center 49 normally remains in the same position relative to thestationary cart 300 on which thearm 12 is mounted. In use, thepivot center 49 is positioned at a port of entry into a patient's body when an internal surgical procedure is to be performed. It will be appreciated that the shaft 14.1 extends through such a port of entry, the wrist-like mechanism 50 then being positioned inside the patient's body. Thus, the general position of themechanism 50 relative to the surgical site in a patient's body can be changed by movement of thearm 12. Since thepivot center 49 is coincident with the port of entry, such movement of the arm does not excessively effect the surrounding tissue at the port of entry. - As can best be seen with reference to
FIG. 4 , therobotic arm 12 provides three degrees of freedom of movement to thesurgical instrument 14 when mounted thereon. These degrees of freedom of movement are firstly the gimbaled motion indicated byarrows 26, pivoting or pitching movement as indicated by arrows 27 and the linear displacement in the direction of arrows P. Movement of the arm as indicated byarrows 26, 27 and P is controlled by appropriately positioned actuators, e.g., electrical motors, or the like, which respond to inputs from its associated master control to drive thearm 12 to a required position as dictated by movement of the master control. Appropriately positioned sensors, e.g., potentiometers, encoders, or the like, are provided on the arm and its associated setupjoint arm 95 to enable a control system of the minimally invasive telesurgical system to determine joint positions, as described in greater detail hereinbelow. It will be appreciated that whenever “sensors” are referred to in this specification, the term is to be interpreted widely to include any appropriate sensors such as positional sensors, velocity sensors, or the like. It will be appreciated that by causing therobotic arm 12 selectively to displace from one position to another, the general position of the wrist-like mechanism 50 at the surgical site can be varied during the performance of a surgical procedure. - Referring now to
FIG. 5 of the drawings, the wrist-like mechanism 50 will now be described in greater detail. InFIG. 5 , the working end of the shaft 14.1 is indicated at 14.3. The wrist-like mechanism 50 includes awrist member 52. One end portion of thewrist member 52 is pivotally mounted in a clevis, generally indicated at 17, on the end 14.3 of the shaft 14.1 by means of apivotal connection 54. Thewrist member 52 can pivot in the direction of arrows 56 about thepivotal connection 54. An end effector, generally indicated byreference numeral 58, is pivotally mounted on an opposed end of thewrist member 52. Theend effector 58 is in the form of, e.g., a clip applier for anchoring clips during a surgical procedure. Accordingly, theend effector 58 has two parts 58.1, 58.2 together defining a jaw-like arrangement. - It will be appreciated that the end effector can be in the form of any required surgical tool, e.g., having two members or fingers which pivot relative to each other, such as scissors, pliers for use as needle drivers, or the like. Instead, it can include a single working member, e.g., a scalpel, cautery electrode, or the like. When a tool other than a clip applier is required during the surgical procedure, the
tool 14 is simply removed from its associated arm and replaced with an instrument bearing the required end effector, e.g., a scissors, or pliers, or the like. - The
end effector 58 is pivotally mounted in a clevis, generally indicated byreference numeral 19, on an opposed end of thewrist member 52, by means of apivotal connection 60. It will be appreciated that free ends 11, 13 of the parts 58.1, 58.2 are angularly displaceable about thepivotal connection 60 toward and away from each other as indicated byarrows pivotal connection 60 to change the orientation of theend effector 58 as a whole, relative to thewrist member 52. Thus, each part 58.1, 58.2 is angularly displaceable about thepivotal connection 60 independently of the other, so that theend effector 58, as a whole, is angularly displaceable about thepivotal connection 60 as indicated in dashed lines inFIG. 5 . Furthermore, the shaft 14.1 is rotatably mounted on thehousing 53 for rotation as indicated by thearrows 59. Thus, theend effector 58 has three degrees of freedom of movement relative to thearm 12, namely, rotation about the axis 14.2 as indicated byarrows 59, angular displacement as a whole about thepivot 60 and angular displacement about thepivot 54 as indicated by arrows 56. By moving the end effector within its three degrees of freedom of movement, its orientation relative to the end 14.3 of the shaft 14.1 can selectively be varied. It will be appreciated that movement of the end effector relative to the end 14.3 of the shaft 14.1 is controlled by appropriately positioned actuators, e.g., electrical motors, or the like, which respond to inputs from the associated master control to drive theend effector 58 to a required orientation as dictated by movement of the master control. Furthermore, appropriately positioned sensors, e.g., encoders, or potentiometers, or the like, are provided to permit the control system of the minimally invasive telesurgical system to determine joint positions as described in greater detail hereinbelow. - One of the master controls 700, 700 is indicated in
FIG. 6C of the drawings. A hand held part or wrist gimbal of themaster control device 700 is indicated inFIG. 6A and is generally indicated byreference numeral 699.Part 699 has an articulated arm portion including a plurality of members orlinks 702 connected together by pivotal connections or joints 704. The surgeon grips thepart 699 by positioning his or her thumb and index finger over apincher formation 706. The surgeon's thumb and index finger are typically held on thepincher formation 706 by straps (not shown) threaded throughslots 710. When thepincher formation 706 is squeezed between the thumb and index finger, the fingers or end effector elements of theend effector 58 close. When the thumb and index finger are moved apart the fingers of theend effector 58 move apart in sympathy with the moving apart of thepincher formation 706. The joints of thepart 699 are operatively connected to actuators, e.g., electric motors, or the like, to provide for, e.g., force feedback, gravity compensation, and/or the like, as described in greater detail hereinbelow. Furthermore, appropriately positioned sensors, e.g., encoders, or potentiometers, or the like, are positioned on each joint 704 of thepart 699, so as to enable joint positions of thepart 699 to be determined by the control system. - The
part 699 is typically mounted on an articulatedarm 712 as indicated inFIG. 6B .Reference numeral 4 inFIGS. 6A and 6B indicates the positions at which thepart 699 and the articulatedarm 712 are connected together. When connected together, thepart 699 can displace angularly about an axis at 4. - The articulated
arm 712 includes a plurality oflinks 714 connected together at pivotal connections or joints 716. It will be appreciated that also the articulatedarm 712 has appropriately positioned actuators, e.g., electric motors, or the like, to provide for, e.g., force feedback, gravity compensation, and/or the like. Furthermore, appropriately positioned sensors, e.g., encoders, or potentiometers, or the like, are positioned on thejoints 716 so as to enable joint positions of the articulatedarm 712 to be determined by the control system as described in greater detail hereinbelow. - To move the orientation of the
end effector 58 and/or its position along a translational path, the surgeon simply moves thepincher formation 706 to cause theend effector 58 to move to where he wants theend effector 58 to be in the image viewed in theviewer 202. Thus, the end effector position and/or orientation is caused to follow that of thepincher formation 706. - The
master control devices station 200 through pivotal connections at 717 as indicated inFIG. 6B . As mentioned hereinbefore, to manipulate eachmaster control device 700, the surgeon positions his or her thumb and index finger over thepincher formation 706. Thepincher formation 706 is positioned at a free end of thepart 699 which in turn is mounted on a free end of the articulatedarm portion 712. - The electric motors and sensors associated with the
robotic arms 12 and thesurgical instruments 14 mounted thereon, and the electric motors and sensors associated with themaster control devices 700 are operatively linked in the control system. The control system typically includes at least one processor, typically a plurality of processors, for effecting control between master control device input and responsive robotic arm and surgical instrument output and for effecting control between robotic arm and surgical instrument input and responsive master control output in the case of, e.g., force feedback. - In use, and as schematically indicated in
FIG. 7 of the drawings, the surgeon views the surgical site through theviewer 202. Theend effector 58 carried on eacharm 12 is caused to perform positional and orientational movements in response to movement and action inputs on its associated master controls. The master controls are indicated schematically at 700, 700. It will be appreciated that during a surgical procedure images of theend effectors 58 are captured by theendoscope 304 together with the surgical site and are displayed on theviewer 202 so that the surgeon sees the responsive movements and actions of theend effectors 58 as he or she controls such movements and actions by means of themaster control devices viewer 202 to be mapped onto orientational and positional movement of a pincher formation of the master control as will be described in greater detail hereinbelow. - The operation of the control system of the minimally invasive surgical apparatus will now be described in greater detail. In the description which follows, the control system will be described with reference to a
single master control 700 and its associatedrobotic arm 12 andsurgical instrument 14. Themaster control 700 will be referred to simply as “master” and its associatedrobotic arm 12 andsurgical instrument 14 will be referred to simply as “slave.” - The method whereby control between master movement and corresponding slave movement is achieved by the control system of the minimally invasive surgical apparatus will now be described with reference to FIGS. 7 to 9 of the drawings in overview fashion. The method will then be described in greater detail with reference to FIGS. 10 to 21 of the drawings.
- In essence, control between master and slave movement is achieved by comparing master position and orientation in an eye Cartesian coordinate reference system with slave position and orientation in a camera Cartesian coordinate reference system. For ease of understanding and economy of words, the term “Cartesian coordinate reference system” will simply be referred to as “frame” in the rest of this specification. Accordingly, when the master is stationary, the slave position and orientation within the camera frame is compared with the master position and orientation in the eye frame, and should the position and/or orientation of the slave in the camera frame not correspond with the position and/or orientation of the master in the eye frame, the slave is caused to move to a position and/or orientation in the camera frame at which its position and/or orientation in the camera frame does correspond with the position and/or orientation of the master in the eye frame. In
FIG. 8 , the camera frame is generally indicated by reference numeral 610 and the eye frame is generally indicated byreference numeral 612 inFIG. 9 . - When the master is moved into a new position and/or orientation in the
eye frame 612, the new master position and/or orientation does not correspond with the previously corresponding slave position and/or orientation in the camera frame 610. The control system then causes the slave to move into a new position and/or orientation in the camera frame 610 at which new position and/or orientation, its position and orientation in the camera frame 610 does correspond with the new position and/or orientation of the master in theeye frame 612. - It will be appreciated that the control system includes at least one, and typically a plurality, of processors which compute new corresponding positions and orientations of the slave in response to master movement input commands on a continual basis determined by the processing cycle rate of the control system. A typical processing cycle rate of the control system under discussion is about 1300 Hz. Thus, when the master is moved from one position to a next position, the corresponding movement required by the slave to respond is computed at about 1300 Hz. Naturally, the control system can have any appropriate processing cycle rate depending on the processor or processors used in the control system.
- The camera frame 610 is positioned such that its
origin 614 is positioned at theviewing end 306 of theendoscope 304. Conveniently, the z axis of the camera frame 610 extends axially along aviewing axis 616 of theendoscope 304. Although inFIG. 8 , theviewing axis 616 is shown in coaxial alignment with a shaft axis of theendoscope 304, it is to be appreciated that theviewing axis 616 can be angled relative thereto. Thus, the endoscope can be in the form of an angled scope. Naturally, the x and y axes are positioned in a plane perpendicular to the z axis. The endoscope is typically angularly displaceable about its shaft axis. The x, y and z axes are fixed relative to the viewing axis of theendoscope 304 so as to displace angularly about the shaft axis in sympathy with angular displacement of theendoscope 304 about its shaft axis. - To enable the control system to determine slave position and orientation, a frame is defined on or attached to the
end effector 58. This frame is referred to as an end effector frame or slave tip frame, in the rest of this specification, and is generally indicated byreference numeral 618. Theend effector frame 618 has its origin at thepivotal connection 60. Conveniently, one of the axes e.g. the z axis, of theframe 618 is defined to extend along an axis of symmetry, or the like, of theend effector 58. Naturally, the x and y axes then extend perpendicularly to the z axis. It will appreciated that the orientation of the slave is then defined by the orientation of theframe 618 having its origin at thepivotal connection 60, relative to the camera frame 610. Similarly, the position of the slave is then defined by the position of the origin of the frame at 60 relative to the camera frame 610. - Referring now to
FIG. 9 of the drawings, theeye frame 612 is chosen such that its origin corresponds with aposition 201 where the surgeon's eyes are normally located when he or she is viewing the surgical site at theviewer 202. The z axis extends along a line of sight of the surgeon, indicated byaxis 620, when viewing the surgical site through theviewer 202. Naturally, the x and y axes extend perpendicularly from the z axis at theorigin 201. Conveniently, the y axis is chosen to extend generally vertically relative to theviewer 202 and the x axis is chosen to extend generally horizontally relative to theviewer 202. - To enable the control system to determine master position and orientation within the
viewer frame 612, a point on the master is chosen which defines an origin of a master or master tip frame, indicated byreference numeral 622. This point is chosen at a point of intersection indicated byreference numeral 3A between axes ofrotation FIG. 6A of the drawings. Conveniently, the z axis of themaster frame 622 on the master extends along an axis of symmetry of thepincher formation 706 which extends coaxially along therotational axis 1. The x and y axes then extend perpendicularly from the axis ofsymmetry 1 at theorigin 3A. Accordingly, orientation of the master within theeye frame 612 is defined by the orientation of themaster frame 622 relative to theeye frame 612. The position of the master in theeye frame 612 is defined by the position of theorigin 3A relative to theeye frame 612. - How the position and orientation of the slave within the camera frame 610 is determined by the control system will now be described with reference to
FIG. 10 of the drawings.FIG. 10 shows a schematic diagram of one of therobotic arm 12 andsurgical instrument 14 assemblies mounted on thecart 300. However, before commencing with a description ofFIG. 10 , it is appropriate to describe certain previously mentioned aspects of thesurgical station 300 which impact on the determination of the orientation and position of the slave relative to the camera frame 610. - In use, when it is desired to perform a surgical procedure by means of the minimally invasive surgical apparatus, the
surgical station 300 is moved into close proximity to a patient requiring the surgical procedure. The patient is normally supported on a surface such as an operating table, or the like. To make allowance for support surfaces of varying height, and to make allowance for different positions of thesurgical station 300 relative to the surgical site at which the surgical procedure is to be performed, thesurgical station 300 is provided with the ability to have varying initial setup configurations. Accordingly, therobotic arms endoscope arm 302 are mounted on thecarriage 97 which is height-wise adjustable, as indicated by arrows K, relative to thebase 99 of thecart 300, as can best be seen inFIGS. 1B and 10 of the drawings. Furthermore, therobotic arms endoscope arm 302 are mounted on thecarriage 97 by means of the setupjoint arms 95. Thus, the lateral position and orientation of thearms joint arms 95. Thus, at the commencement of the surgical procedure, thecart 300 is moved into the position in close proximity to the patient, an appropriate height of thecarriage 97 is selected by moving it to an appropriate height relative to thebase 99 and thesurgical instruments 14 are moved relative to thecarriage 97 so as to introduce the shafts of theinstruments 14 and theendoscope 304 through the ports of entry and into positions in which theend effectors 58 and theviewing end 306 of theendoscope 304 are appropriately positioned at the surgical site and the fulcrums are coincident with the ports of entry. Once the height and positions are selected, thecarriage 97 is locked at its appropriate height and the setupjoint arms 95 are locked in their positions and orientations. Normally, throughout the surgical procedure, thecarriage 97 is maintained at the selected height and similarly the setupjoint arms 95 are maintained in their selected positions. However, if required, either the endoscope or one or both of the instruments can be introduced through other ports of entry during the surgical procedure. - Returning now to
FIG. 10 , the determination by the control system of the position and orientation of the slave within the camera frame 610 will now be described. It will be appreciated that this is achieved by means of one or more processors having a specific processing cycle rate. Thus, where appropriate, whenever position and orientation are referred to in this specification, it should be borne in mind that a corresponding velocity is also readily determined. The control system determines the position and orientation of the slave within the camera frame 610 by determining the position and orientation of the slave relative to acart frame 624 and by determining the orientation and position of theendoscope 304 with reference to thesame cart frame 624. Thecart frame 624 has an origin indicated byreference numeral 626 inFIG. 10 . - To determine the position and orientation of the slave relative to the
cart frame 624, the position of afulcrum frame 630 having its origin at thefulcrum 49 is determined within thecart frame 624 as indicated by thearrow 628 in dashed lines. It will be appreciated that the position of the fulcrum 49 normally remains at the same location, coincident with a port of entry into the surgical site, throughout the surgical procedure. The position of theend effector frame 618 on the slave, having its origin at thepivotal connection 60, is then determined relative to thefulcrum frame 630 and the orientation of theend effector frame 618 on the slave is also determined relative to thefulcrum frame 630. The position and orientation of theend effector frame 618 relative to the cart frame is then determined by means of routine calculation using trigonometric relationships. - It will be appreciated that the
robotic arm 302 of theendoscope 304 is constrained to move in similar fashion to therobotic arm 10, as indicated schematically inFIG. 4 of the drawings. Thus, theendoscope 304 when positioned with itsviewing end 306 directed at the surgical site, also defines a fulcrum coincident with its associated port of entry into the surgical site. Theendoscope arm 302 can be driven to cause theendoscope 304 to move into a different position during a surgical procedure, to enable the surgeon to view the surgical site from a different position in the course of performing the surgical procedure. It will be appreciated that movement of theviewing end 306 of theendoscope 304 is performed by varying the orientation of theendoscope 304 relative to its pivot center or fulcrum. The position and orientation of the camera frame 610 within thecart frame 624 is determined in similar fashion to the position and orientation of the slave within thecart frame 624. When the position and orientation of the camera frame 610 relative to thecart frame 624, and the position and orientation of the slave relative to thecart frame 624 have been determined in this manner, the position and the orientation of the slave relative to the camera frame 610 is readily determinable through routine calculation using trigonometric relationships. - How the position and orientation of the master within the
viewer frame 612 is determined by the control system will now be described with reference toFIG. 11 of the drawings.FIG. 11 shows a schematic diagram of one of the master controls 700 at theoperator station 200. - The
operator station 200 optionally also includes setup joint arms, as indicated at 632, to enable the general location of themasters masters masters masters joint arms 632 are locked in position and are normally maintained in that position throughout the surgical procedure. - To determine the position and orientation of the
master 700, as indicated inFIG. 11 , within theeye frame 612, the position and orientation of theeye frame 612 relative to a surgeon'sstation frame 634, and the position and orientation of themaster 700 relative to the surgeon'sframe 634 is determined. The surgeon'sstation frame 634 has its origin at a location which is normally stationary during the surgical procedure, and is indicated at 636. - To determine the position and orientation of the
master 700 relative to thestation frame 634, a position of amaster setup frame 640 at an end of the setupjoint arms 632 on which themaster 700 is mounted, relative to thestation frame 636, is determined, as indicated by thearrow 638 in dashed lines. The position and orientation of themaster frame 622 on themaster 700 having its origin at 3A is then determined relative to themaster setup frame 640. In this manner, the position and orientation of themaster frame 622 relative to theframe 634 can be determined by means of routine calculation using trigonometric relationships. The position and orientation of theeye frame 612 relative to thestation frame 634 is determined in similar fashion. It will be appreciated that the position of theviewer 202 relative to the rest of the surgeon'sconsole 200 can selectively be varied to suit the surgeon. The position and orientation of themaster frame 622 relative to theeye frame 612 can then be determined from the position and orientation of themaster frame 622 and theeye frame 612 relative to thesurgeon station frame 634 by means of routine calculation using trigonometric relationships. - In the manner described above, the control system of the minimally invasive surgical apparatus determines the position and orientation of the
end effector 58 by means of theend effector frame 618 in the camera frame 610, and, likewise, determines the position and orientation of the master by means of themaster frame 622 relative to theeye frame 612. - As mentioned, the surgeon grips the master by locating his or her thumb and index finger over the
pincher formation 706. When the surgeon's thumb and index finger are located on the pincher formation, the point ofintersection 3A is positioned inwardly of the thumb and index finger tips. The master frame having its origin at 3A is effectively mapped onto theend effector frame 618, having its origin at thepivotal connection 60 of theend effector 58 as viewed by the surgeon in theviewer 202. Thus, when performing the surgical procedure, and the surgeon manipulates the position and orientation of thepincher formation 706 to cause the position and orientation of theend effector 58 to follow, it appears to the surgeon that his or her thumb and index finger are mapped onto the fingers of theend effector 58 and that thepivotal connection 60 of theend effector 58 corresponds with a virtual pivot point of the surgeon's thumb and index finger inwardly from the tips of the thumb and index finger. It will be appreciated that depending upon the actual configuration of the pincher formation, in particular the point of intersection of theaxes pincher formation 706, theframe 622 on themaster 700 can be offset from theintersection 3A so as to approach a point relative to the surgeon's hand at which point thepivotal connection 60 approximately corresponds. - Accordingly, as the surgical procedure is being performed the position and orientation of the fingers of the end effector tracks orientation and position changes of the surgeon's thumb and index finger in a natural intuitive or superimposed fashion. Furthermore, actuation of the
end effector 58, namely causing the end effector fingers selectively to open and close, corresponds intuitively to the opening and closing of the surgeon's thumb and index finger. Thus, actuation of theend effector 58 as viewed in theviewer 302 is performed by the surgeon in a natural intuitive manner, since thepivot point 60 of theend effector 58 is appropriately mapped onto a virtual pivot point between the surgeon's thumb and index finger. - It will be appreciated that the
end effector frame 618 can, where appropriate, be offset relative to thepivotal connection 60. Thus, for example, should the end effector have fingers of a relatively long length, the origin of the end effector frame can be offset in a direction toward the end effector finger tips. It will also be appreciated that using positional and/or orientational offsets between themaster frame 622 and theintersection 3A, as well as between theend effector frame 618 and thepivotal connection 60, the mapping of thepincher formation 706 onto theend effector 58 may be shifted, for example to map the tips of the pincher formation onto the tips of the end effector. - It will be appreciated that the
cart frame 624 can be chosen at any convenient location in which its origin corresponds with a location on thecart 300 which does not vary relative to itsbase 99. The surgeon'sstation frame 634 can likewise be chosen at any convenient location such that its origin is located at a position which does not vary relative to a base 642 thereof. Furthermore, to determine the position and orientation of the camera frame 610 relative to thecart frame 624, use can be made of a plurality of different intermediate frame paths. To determine the position and orientation of theend effector frame 618 relative to thecart frame 624 use can also be made of a plurality of different intermediate frame paths. - However, it has been found that should the intermediate frame paths be appropriately selected, the control system is then arranged to be readily adaptable to accommodate modular replacement of modular parts having different characteristics than the modular parts being replaced. It will be appreciated that selecting intermediate frames also eases the computational process involved in determining master and slave position and orientation.
- Referring again to
FIG. 10 of the drawings, the cart frame is chosen at 624, as already mentioned. It will be appreciated that determining the position of thefulcrum frame 630 relative to thecart frame 624 is achieved through appropriately positioned sensors, such as potentiometers, encoders, or the like. Conveniently, thefulcrum frame position 630 relative to thecart frame 624 is determined through two intermediate frames. One of the frames is acarriage guide frame 644 which has its origin at a convenient location on a guide along which thecarriage 97 is guided. The other frame, an arm platform frame indicated at 646 is positioned at an end of the setupjoint arm 95 on which therobotic arm 12 is mounted. Thus, when slave position and orientation is determined relative to thecart frame 624, thecarriage guide frame 644 position relative to thecart frame 624 is determined, then the platform frame 646 position relative to thecarriage guide frame 644, then thefulcrum frame 630 relative to the platform frame 646, and then the slave orientation and position relative to thefulcrum frame 630, thereby to determine the slave position and orientation relative to thecart frame 624. It will be appreciated that the slave position and orientation relative to thecart frame 624 is determined in this manner for eacharm 10 and in similar fashion for the camera frame 610, through itsarm 302, relative to thecart frame 624. - Referring to
FIG. 11 , the position and orientation of the master control is determined by determining the position of abase frame 648 relative to the surgeon'sstation frame 634, then determining the position of theplatform frame 640 relative to thebase frame 648, and then determining master position and orientation relative to theplatform frame 640. The position and orientation of themaster frame 622 relative to the surgeon'sstation frame 634 is then readily determined through routine calculation using trigonometric relationships. It will be appreciated that the position and orientation of the other master frame relative to thesurgeon console frame 634 is determined in a similar fashion. - Referring to
FIG. 10 , by choosing the frames as described, the setup joint 95 can be replaced with another setup joint while the same robotic arm is used. The control system can then be programmed with information, e.g., arm lengths and/or the like, relating to the new setup joint only. Similarly, therobotic arm 10 can be replaced with another arm, the control system then requiring programming with information, e.g., fulcrum position and/or the like, relating to the new robotic arm only. It will be appreciated that in this way theendoscope arm 302 and its associated setup joint can also be independently replaced, the control system then requiring programming of information relating only to the part being replaced. Furthermore, referring toFIG. 11 , the setup joint and master control can also independently be replaced, the control system requiring programming of information relating to the characteristics of the new part only. - Further aspects of the control system of the minimally invasive surgical apparatus will now be described with reference to
FIG. 12 . -
FIG. 12 indicates the control steps whereby the control system of the minimally invasive surgical apparatus determines slave position and orientation, namely the position and orientation of theend effector frame 618 in the camera frame 610. - The position or offsets of the
carriage guide frame 644 relative to thecart frame 624 is indicated at 621. The offsets at 621 are fed through a forward kinematics block (FKIN) at 623 to yield corresponding Cartesian coordinates of theframe 644 relative to thecart frame 624. -
Sensors 625 operatively associated with the setupjoint arm 95 and sensors determining the height of thecarriage 97, are read by aprocessor 627 to determine translational and joint positions. The translational and joint positions are then input to anFKIN block 629 to determine corresponding Cartesian coordinates. At 631, the Cartesian coordinates of thecarriage guide frame 644 relative to thecart frame 624 and the Cartesian coordinates of the platform frame 646 relative to thecarriage frame 644 are used to determine the Cartesian coordinates of the platform frame 646 relative to thecart frame 624. - Since the position of the fulcrum 49 relative to the platform frame 646 does not change, an offset relative to the platform frame 646, indicated at 633, is input to an FKIN controller at 635 to yield Cartesian coordinates of the
fulcrum frame 630 relative to the platform frame 646. It will be appreciated that, where appropriate, the term FKIN controller is to be interpreted to include an appropriate conversion matrix and kinematic relationships. At 637, the Cartesian coordinates of thefulcrum frame 630 relative to thecart frame 624 are determined by means of the values determined at 631 and 635 respectively. - It will be appreciated that, in similar fashion, the Cartesian coordinates of the fulcrum of the endoscope is determined relative to the
cart frame 624. This is indicated at 639. - As mentioned, the position and orientation of the
endoscope 304 can be varied. The position and orientation of theendoscope 304 can be varied during set up of thecart 300 before the surgical procedure commences or during the performance of a surgical procedure should the surgeon wish to view the surgical site from a different location. - To enable the control system to determine endoscope position and orientation relative to the
cart frame 624, sensors are provided on its associatedarm 302. These sensors, indicated at 641, are read by a processor at 643 to determine joint positions. The joint positions thus determined are fed to an FKIN controller at 645, together with the Cartesian coordinates determined at 639 to determine endoscope orientation and position relative to thecart frame 624. These values are then input to 647 together with the values determined at 637, so as to enable thefulcrum frame 630 of the slave to be determined relative to the camera frame 610. - During the course of the surgical procedure, the slave orientation and position is normally constantly changing. Varying joint positions and velocities are fed into an FKIN controller at 653, together with the Cartesian coordinate values of the slave position relative to the camera frame determined at 647 to yield Cartesian position and velocity of the slave, namely the
end effector frame 618, relative to the camera frame 610, as indicated byarrows 655, 657 respectively. For economy of words, Cartesian position is to be interpreted to include Cartesian orientation in the rest of this specification where appropriate. The varying joint positions and velocities are fed into the FKIN block 653 from a simulation domain as described in greater detail hereinbelow. - Referring now to
FIG. 13 , master position and orientation relative to theviewer frame 612 will now be described. - The
base frame 648 normally does not change relative to thesurgeon station frame 634. Similarly, the frame at 640 normally does not change relative to thebase frame 648. As mentioned, setup joints can optionally be provided at 632 if required. For the sake of the description which follows, the position of the frame at 640 relative to thebase frame 648 is assumed to be unchangeable. Naturally, if setup joint arms are provided at 632, appropriate sensors would then be provided to enable the position of the frame at 640 to be determined relative to the frame at 648. - Referring now to
FIG. 13 , offsets determining theframe 648 position relative to thesurgeon station frame 634, as indicated at 659, are fed through anFKIN controller 665 to yield Cartesian coordinates of thebase frame 648 relative to thesurgeon station frame 634. Similarly, offsets relating to frame 640 position relative tobase frame 648 position, as indicated at 661, are fed through an FKIN controller at 663 to yield Cartesian coordinates of theframe 640 relative to thebase frame 648. From the values derived at 665, 663, the Cartesian coordinates of theframe 640 relative to thesurgeon station frame 634 are determined at 667. - Offsets at 697 relating to a viewer base frame, not indicated in
FIG. 11 , are fed through an FKIN controller at 669 to yield corresponding Cartesian coordinates of the base frame relative to theframe 634. Theviewer 202 can be positionally adjustable relative to the rest of theoperator station 200. To enable a viewer position relative to the viewer base frame to be determined, appropriately positioned sensors 671 are provided. Sensor readings from these sensors at 671 are processed at 673 to determine joint or translational positions which are then fed through an FKIN controller at 675 to yield Cartesian coordinates of the viewer frame relative to the viewer base frame. At 677, the viewer frame position in Cartesian coordinates relative to thesurgeon station frame 634 are determined from the values derived at 669 and 675 respectively. - Offsets corresponding to the position of the surgeon's eyes relative to the viewer frame at 679 are fed through an FKIN controller at 681 to yield Cartesian coordinates of the position of the surgeon's eyes relative to the viewer frame. At 683, the values from 677 and 681 are used to determine the surgeon's
eye frame 612 relative to thesurgeon station frame 634. - At 685, the values from 667 and 683 are used to determine the position of the
frame 640 relative to theeye frame 612. - Naturally, master position and orientation relative to the
eye frame 612 is continually changing during the course of a surgical procedure. The sensors on themaster 700, indicated at 687, are read by a processor at 689 to determine master joint position and velocity. These joint position and velocity values are then fed through an FKIN controller at 691, together with the value derived at 685 to yield master Cartesian position and velocity values 693, 695 relating to Cartesian position and velocity ofmaster frame 622, relative to theeye frame 612. - At the commencement of a surgical procedure, an initial position of the
master 700 is set to correspond with an initial position of the slave. Thereafter, as themaster 700 is moved, the control system monitors such movement and commands the slave to track the master movement. Thus, at the commencement of a surgical procedure, theframe 618 on the slave at thepivotal connection 60, relative to its reference frame 610 at theviewing end 306 of theendoscope 304, at the initial position, is mapped onto themaster frame 622 relative to itsreference eye frame 612 at its initial position. Similarly, the system maps an initial orientation of thepincher formation frame 622 with an initial orientation of theend effector frame 618. Thus, the orientation of theend effector frame 618 is also caused to track the orientation of themaster frame 622. The position and orientation of the slave in the camera frame 610 need not correspond identically with the position and orientation of the master in theeye frame 612. Accordingly, offsets can be introduced relating to the orientation and the position of theend effector frame 618 relative to the camera frame 610 to define an arbitrary end effector frame position and orientation which corresponds to amaster frame 622 position and orientation in theeye frame 612. It will be appreciated that the control system can readily determine the orientation and the position of theend effector frame 618 relative to the camera frame 610 at which it is to correspond with that of the master frame relative to the eye frame by means of the frames and offsets discussed above. Thus, even during the course of a surgical procedure, if the control between master and slave is interrupted and the endoscope is moved, or one or both of the surgical instruments are repositioned through different ports of entry, or the master positions are changed at the surgeon's console, or the like, re-mapping of slave relative to master in their respective camera and eye frames can readily be achieved by the control system. - The control system of the minimally invasive surgical apparatus will now be described in overview fashion with reference to
FIG. 13A of the drawings and individual aspects of the control system will then be described in greater detail with reference to FIGS. 9 to 21. InFIG. 13A the control system of the minimally invasive surgical apparatus is generally indicated byreference numeral 810. - For ease of understanding and explanation, the
control system 810 will be described in terms of the operative association between a single master control device and its associated robotic arm and instrument assembly. For economy of words, themaster control device 700 will simply be referred to asmaster 700 in the rest of this specification. Similarly, its associated robotic arm and instrument assembly will simply be referred to asslave 798. Theslave 798 includes one of therobotic arm assemblies 12 having asurgical instrument 14 mounted thereon. - Control between
master 700 andslave 798 is performed by means of a simulated or virtual domain. The simulated domain is indicated byreference numeral 812. - The surgeon is schematically indicated at 701. The surgeon commands responsive slave movements by selectively moving the
master 700 from one position to a next position on a continual basis during the performance of a surgical procedure. The movement input commands on themaster 700 by the surgeon 701 is indicated by arrow 703. - The
system 810 monitors the position of the master within a reference system as already described. - The movement input commands on the
master 700 are transformed from joint space to Cartesian space and are then input to thesimulated domain 812 as indicated byarrow 707. In thesimulated domain 812 responsive slave movement commands as dictated by master input commands is continually monitored at the processing cycle rate, i.e., about 1300 Hz, of thecontrol system 810. Thus, thesimulated domain 812 monitors resultant slave responsive movement in a simulated environment before theactual slave 798 is instructed to respond to the master control input commands. - The
slave 798 has certain physical movement limitations or constraints. For example, theend effector 58 cannot be moved to a position, relative to the mountingplate 16, beyond the positional range dictated by the mechanical arm and pivotal connection structures. Furthermore, it is desirable to limit to a maximum the velocity of theslave 798 when moving in response to master control input. Furthermore, theslave 798 has certain positional singularities, which will be described in greater detail hereinbelow, in which responsive movement is not readily achievable, and the closer a singularity is approached the more difficult it becomes for theslave 798 to respond effectively. - These limitations are imposed on the responsive slave movement commands in the
simulated domain 812 before theactual slave 798 is instructed to respond. Thus, in thesimulated domain 812, the control system tracks the simulated responsive slave movements. Should the responsive slave movements as dictated by master input commands not transgress these limitations, corresponding commands are sent to theactual slave 798 to cause it to track master movement input commands. However, should the master input commands correspond with a responsive slave movement in thesimulated domain 812 which transgresses one or more of the limitations, the corresponding slave movement commands are restricted in thesimulated domain 812 to remain within the limitations. Instructions corresponding to the restricted slave movement commands are then forwarded to the actual slave ensuring that the actual slave does not transgress the limitations set in thesimulated domain 812. The instructions from thesimulated domain 812 to theslave 798 are indicated by reference numeral 711 and are in the form of joint space commands. Where the slave movement commands have been restricted, instructions are sent to themaster 700 corresponding to the degree of restriction and as indicated byarrow 705. In this manner, corresponding haptic feedback is provided on themaster 700 so that the surgeon is urged not to move themaster 700 in a manner causing the corresponding slave movement to transgress the set limitations. - Accordingly, the effect of the
control system 810 is that where one or more limitations have been imposed on the slave commands, theactual slave 798 is prevented from transgressing the set limitations and at generally the same time themaster 700 is caused to resist movement by the surgeon beyond such limitations. The resistance on themaster 700 is typically caused by torques on the motors associated therewith. In this manner haptic feedback is supplied to the master which is felt by the surgeon as indicated byarrow 709. - As the
slave 798 is caused to move in sympathy with master input commands, theend effector 58 interacts with the surgical site, indicated byreference numeral 713, as indicated by arrow 715. - The
control system 810 also provides for actual feedback from theslave 798 to themaster 700. Thus, should theactual slave 798 be subjected to an extraneous force, as indicated byarrow 721, physical feedback is directly supplied to themaster 700 as indicated byarrow 717 and as discussed in greater detail hereinbelow. It will be appreciated that an extraneous force can typically be imposed on theslave 798 when theend effector 58 contacts tissue at thesurgical site 713 for example. - The control system, generally indicated by
reference numeral 810, will now be described in greater detail with reference toFIG. 14 of the drawings, in which like reference numerals are used to designate similar parts or aspects, unless otherwise stated. - As mentioned earlier, the
master control 700 has sensors, e.g., encoders, or potentiometers, or the like, associated therewith to enable thecontrol system 810 to determine the position of themaster control 700 in joint space as it is moved from one position to a next position on a continual basis during the course of performing a surgical procedure. InFIG. 14 , signals from these positional sensors are indicated byarrow 814. Positional readings measured by the sensors at 687 are read by the processor indicated at 689 (refer toFIG. 13 ). It will be appreciated that since themaster control 700 includes a plurality of joints connecting one arm member thereof to the next, sufficient positional sensors are provided on themaster 700 to enable the angular position of each arm member relative to the arm member to which it is joined to be determined thereby to enable the position and orientation of themaster frame 622 on the master to be determined. As the angular positions of one arm member relative to the arm member to which it is joined is read cyclically by theprocessor 689 in response to movements induced on themaster control 700 by the surgeon, the angular positions are continuously changing. The processor at 689 reads these angular positions and computes the rate at which these angular positions are changing. Thus, theprocessor 689 reads angular positions and computes the rate of angular change, or joint velocity, on a continual basis corresponding to the system processing cycle time, i.e., 1300 Hz. Joint position and joint velocity commands thus computed at 689 are then input to the Forward Kinematics (FKIN) controller at 691, as already described hereinabove. - At the
FKIN controller 691, the positions and velocities in joint space are transformed into corresponding positions and velocities in Cartesian space, relative to the eye frame 612 (refer toFIGS. 11 and 13 ). TheFKIN controller 691 is a processor which typically employs a Jacobian (J) matrix to accomplish this. It will be appreciated that the Jacobian matrix transforms angular positions and velocities into corresponding positions and velocities in Cartesian space by means of conventional trigonometric relationships. Thus, corresponding positions and velocities in Cartesian space, or Cartesian velocity and position commands, are computed by theFKIN controller 691 which correspond to Cartesian position and velocity changes of themaster frame 622 in theeye frame 612. - The velocity and the position in Cartesian space is input into a Cartesian controller, indicated at 820, and into a scale and offset converter, indicated at 822.
- The minimally invasive surgical apparatus provides for a scale change between master control input movement and responsive slave output movement. Thus, a scale can be selected where, for example, a 1-inch movement of the
master control 700 is transformed into a corresponding responsive ⅕-inch movement on the slave. At the scale and offset step 822, the Cartesian position and velocity values are scaled in accordance with the scale selected to perform the surgical procedure. Naturally, if a scale of 1:1 has been selected, no change in scale is effected at 822. Similarly, offsets are taken into account which determine the corresponding position and/or orientation of theend effector frame 618 in the camera frame 610 relative to the position and orientation of themaster frame 622 in theeye frame 612. - After a scale and offset step is performed at 822, a resultant desired slave position and desired slave velocity in Cartesian space is input to a simulated or virtual domain at 812, as indicated by
arrows 811. It will be appreciated that the labeling of theblock 812 as a simulated or virtual domain is for identification only. Accordingly, the simulated control described hereinbelow is performed by elements outside theblock 812 also. - The
simulated domain 812 will be described in greater detail hereinbelow. However, the steps imposed on the desired slave velocity and position in thevirtual domain 812 will now be described broadly for ease of understanding of the description which follows. In essence, a current slave position and velocity is continually monitored in the virtual orsimulated domain 812. The desired slave position and velocity is compared with the current slave position and velocity. Should the desired slave position and/or velocity as input from 822 not cause transgression of limitations, e.g., velocity and/or position and/or singularity, and/or the like, as set in thevirtual domain 812, a similar Cartesian slave velocity and position is output from thevirtual domain 812 and input into an inverse scale and offset converter as indicated at 826. The similar velocity and position output in Cartesian space from thevirtual domain 812 is indicated byarrows 813 and corresponds with actual commands in joint space output from thevirtual domain 812 as indicated byarrows 815 as will be described in greater detail hereinbelow. From the inverse scale and offsetconverter 826, which performs the scale and offset step of 822 in reverse, the reverted Cartesian position and velocity is input into the Cartesian controller at 820. At theCartesian controller 820, the original Cartesian position and velocities as output from theFKIN controller 691 is compared with the Cartesian position and velocity input from thesimulated domain 812. If no limitations were transgressed in thesimulated domain 812 the velocity and position values input from theFKIN controller 691 would be the same as the velocity and position values input from thesimulated domain 812. In such a case, a zero error signal is generated by theCartesian controller 820. - In the event that the desired Cartesian slave position and velocity input at 811 would transgress one or more set limitations, the desired values are restricted to stay within the bounds of the limitations. Consequently, the Cartesian velocity and position forwarded from the
simulated domain 812 to theCartesian controller 820 would then not be the same as the values from theFKIN controller 691. In such a case, when the values are compared by theCartesian controller 820, an error signal is generated. - The type of limitations imposed on the desired slave Cartesian position and velocity will be described in greater detail hereinbelow.
- Assuming that a zero error is generated at the
Cartesian controller 820 no signal is passed from the Cartesian controller orconverter 820. In the case that an error signal is generated the signal is passed through asummation junction 827 to a mastertranspose kinematics controller 828. - The error signal is typically used to calculate a Cartesian force. The Cartesian force is typically calculated, by way of example, in accordance with the following formula:
F CART =K(Δx)+B(Δ{dot over (x)})
where K is a spring constant, B is a damping constant, Δ{dot over (x)} is the difference between the Cartesian velocity inputs to theCartesian controller 820 and Δx is the difference between the Cartesian position inputs to theCartesian controller 820. It will be appreciated that for an orientational error, a corresponding torque in Cartesian space is determined in accordance with conventional methods. - The Cartesian force corresponds to an amount by which the desired slave position and/or velocity extends beyond the limitations imposed in the
simulated domain 812. The Cartesian force, which could result from a velocity limitation, a positional limitation, and/or a singularity limitation, as described in greater detail below, is then converted into a corresponding torque signal by means of the mastertranspose kinematics controller 828 which typically includes a processor employing a Jacobian Transpose (JT) matrix and kinematic relationships to convert the Cartesian force to a corresponding torque in joint space. The torque thus determined is then input to a processor at 830 whereby appropriate electrical currents to the motors associated with themaster 700 are computed and supplied to the motors. These torques are then applied on the motors operatively associated with themaster control 700. The effect of this is that the surgeon experiences a resistance on the master control to either move it at the rate at which he or she is urging the master control to move, or to move it into the position into which he or she is urging the master control to move. The resistance to movement on the master control is due to the torque on the motors operatively associated therewith. Accordingly, the higher the force applied on the master control to urge the master control to move to a position beyond the imposed limitation, the higher the magnitude of the error signal and the higher an opposing torque on the motors resisting displacement of the master control in the direction of that force. Similarly, the higher the velocity imposed on the master beyond the velocity limitation, the higher the error signal and the higher the opposing torque on the motors associated with the master. - The imposition of the limitations in the
simulated domain 812 will now be described in greater detail with reference toFIG. 15 of the drawings. InFIG. 15 , like reference numerals are used to designate similar parts or aspects, unless otherwise stated. - The slave desired Cartesian velocity is passed from the scale and offset converter 822 through a summation junction at 832. It will be appreciated that the slave desired Cartesian velocity is passed through the
summation junction 832 sequentially at the rate of the control system processing cycle, namely 1300 Hz. At thejunction 832, an error signal is imparted on the slave desired Cartesian velocity when the desired velocity of a prior desired Cartesian velocity signal would have instructed the simulated slave to transgress one or more limitations. This will be described in greater detail hereinbelow. If the prior desired slave velocity would not have caused a transgression, no error signal would have been generated and the desired slave velocity would then pass through thesummation junction 832 unchanged. The velocity signal passed from thesummation junction 832 is referred to as Cartesian reference velocity as indicated byarrow 833. - From the
summation junction 832, the Cartesian reference velocity is fed to asimulation block 834. The reference velocity is then compared with the limitations in thesimulation block 834, as will be described in greater detail hereinbelow with reference to FIGS. 16 to 21 of the drawings. - In the case where the slave reference velocity does not transgress a limitation, the slave reference velocity passes through the
simulation block 834 unchanged. However, a corresponding simulated slave joint velocity is computed in thesimulation block 834. - The simulated joint velocity is integrated in the
simulation block 834 to yield a corresponding simulated joint position. The simulated joint velocity and position is output from thesimulation block 834 as indicated byarrows 835. - The simulated joint velocity and position is then passed through a filter at 838. The
filter 838 is arranged to separate tremors from the velocity and position signals. It will be appreciated that such tremors could result from inadvertent shaking of the master control which can be induced on the master control by the surgeon. Since it would be desirable to remove such tremor movements from the actual slave velocity and position signals so as to enhance slave precisional movement in response to master input, these tremors are filtered from the velocity and position signals by means of thefilter 838. After the filtering step at 838, resultant slave joint velocity and position signals are passed to the slave as indicated byarrows 815 and as will be described in greater detail hereinbelow. It will be appreciated that the simulated slave joint position and/or velocity signal can be modified in any required manner at 838. Typically, modifications not requiring feedback to the master can be implemented at 838. Thus, thefiltering step 838 is not necessarily limited to filtering tremors from the signal only. In addition, or instead, the frequency of the position and/or velocity signals may be modified to inhibit resonance in the slave, for example. - Still referring to
FIG. 15 of the drawings, the simulated joint velocity and position, after passing through thesimulation block 834, is routed through an FKIN controller at 653 to compute corresponding velocities and positions in Cartesian space, as described with reference toFIG. 12 of the drawings. The signals are then passed to theCartesian controller 820 as already described with reference toFIG. 14 . - Still referring to
FIG. 15 , the position signal from theFKIN controller 653 is routed into a Cartesian scaled error block at 844. The desired Cartesian slave position derived from the scale and offset block 822 is also routed into the Cartesian scalederror block 844. The two signals are compared at 844 to compute an error signal should they not correspond. Should the two signals be equal, namely where the desired slave velocity signal was not restricted in thesimulated domain 834, no error signal is generated. - In the case where the desired slave velocity was restricted in the
simulation block 834, the simulated joint velocity output would not correspond with the reference Cartesian slave velocity input to thesimulation block 834. Accordingly, after integration in thesimulation block 834, and conversion to Cartesian space by theFKIN controller 653, the resultant corresponding Cartesian position would not correspond with the original desired Cartesian slave position input to the Cartesian scalederror block 844. Accordingly, an error signal of a magnitude determined typically by subtraction of the resultant Cartesian position from the original desired position and multiplication with an appropriate constant, is generated by the Cartesian scalederror block 844. This error signal is imposed on the next desired slave velocity signal at thesummation junction 832. - It will be appreciated that only the velocity signal is input to the
simulation block 834. Thus, limitations are imposed in a dynamic fashion in the simulation block. The simulated slave position does not necessarily track the master position simultaneously. This is particularly the case where a limitation has been imposed in thesimulation block 834. For example, should a velocity limit have been imposed where the master was moved too quickly, a degree of lagging of the simulated slave position to catch up with the master position results. Accordingly, a discrepancy between the master and the slave positions ensues. By means of the positional error generated at 844, an appropriate velocity signal change is effected at thejunction 852 to effect a positional “catch up” function on the velocity signal. Thus, should the master be brought to rest where a positional error is generated, the velocity signal input to 832 would be zero, but a Cartesian reference velocity would still be input to thesimulation block 834 to effect the catching up of the simulated slave position with that of the master. - Referring once again to
FIG. 14 of the drawings, the resultant slave joint velocity and position signal is passed from thesimulated domain 812 to ajoint controller 848. At thejoint controller 848, the resultant joint velocity and position signal is compared with the current joint position and velocity. The current joint position and velocity is derived through the sensors on the slave as indicated at 849 after having been processed at aninput processor 851 to yield slave current position and velocity in joint space. - The
joint controller 848 computes the torques required on the slave motors to cause the slave to follow the resultant joint position and velocity signal taking its current joint position and velocity into account. The joint torques so determined are then routed to a feedback processor at 852 and to an output processor at 854. - The joint torques are typically computed, by way of example, by means of the following formula:
T=K(Δθ)+B(Δ{dot over (θ)})
where K is a spring constant, B is a damping constant, Δ{dot over (θ)} is the difference between the joint velocity inputs to thejoint controller 851, and Δθ is the difference between the joint position inputs to thejoint controller 851. - The
output processor 854 determines the electrical currents to be supplied to the motors associated with the slave to yield the commanded torques and causes the currents to be supplied to the motors as indicated byarrow 855. - From the
feedback processor 852 force feedback is supplied to the master. As mentioned earlier, force feedback is provided on themaster 700 whenever a limitation is induced in thesimulated domain 812. Through thefeedback processor 852 force feedback is provided directly from theslave 798, in other words, not through a virtual or simulated domain but through direct slave movement. This will be described in greater detail hereinbelow. - As mentioned earlier, the slave indicated at 798 is provided with a plurality of sensors. These sensors are typically operatively connected to pivotal joints on the
robotic arm 10 and on theinstrument 14. - These sensors are operatively linked to the processor at 851. It will be appreciated that these sensors determine current slave position. Should the
slave 798 be subjected to an external force great enough to induce reactive movement on theslave 798, the sensors will naturally detect such movement. Such an external force could originate from a variety of sources such as when therobotic arm 10 is accidentally knocked, or knocks into the otherrobotic arm 10 or theendoscope arm 302, or the like. As mentioned, thejoint controller 848 computes torques required to cause theslave 798 to follow themaster 700. An external force on theslave 798 which causes its current position to vary also causes the required slave movement to follow the master to vary. Thus a compounded joint torque is generated by thejoint controller 848, which torque includes the torque required to move the slave to follow the master and the torque required to compensate for the reactive motion induced on the slave by the external force. The torque generated by thejoint controller 848 is routed to the feedback processor at 852, as already mentioned. Thefeedback processor 852 analyzes the torque signal from thejoint controller 848 and accentuates that part of the torque signal resulting from the extraneous force on theslave 798. The part of the torque signal accentuated can be chosen depending on requirements. In this case, only the part of the torque signal relating to therobotic arm kinematic mapping block 860 from which a corresponding Cartesian force is determined. At thekinematic block 860, the information determining slave fulcrum position relative to the camera frame is input from 647 as indicated. In this regard refer toFIG. 12 of the drawings. Thus, the Cartesian force is readily determined relative to the camera frame. This Cartesian force is then passed through a gain step at 862 appropriately to vary the magnitude of the Cartesian force. The resultant force in Cartesian space is then passed to the summation junction at 827 and is then communicated to themaster control 700 as described earlier. -
Reference numeral 866 generally indicates another direct force feedback path of thecontrol system 810, whereby direct force feedback is supplied to themaster control 700. Thepath 866 includes one or more sensors which are not necessarily operatively connected to slave joints. These sensors can typically be in the form of force or pressure sensors appropriately positioned on thesurgical instrument 14, typically on theend effector 58. Thus, should theend effector 58 contact an extraneous body, such as body tissue at the surgical site, it generates a corresponding signal proportionate to the force of contact. This signal is processed by a processor at 868 to yield a corresponding torque. This torque is passed to akinematic mapping block 864, together with information from 647 to yield a corresponding Cartesian force relative to the camera frame. From 864, the resultant force is passed through a gain block at 870 and then forwarded to thesummation junction 827. Feedback is imparted on themaster control 700 by means of torque supplied to the motors operatively associated with themaster control 700 as described earlier. It will be appreciated that this can be achieved by means of any appropriate sensors such as current sensors, pressure sensors, accelerometers, proximity detecting sensors, or the like. - As mentioned, the
control system 810 enables limitations to be set in thesimulation block 834. These limitations can be chosen to conform with mechanical system limitations or constraints and/or can be preset to correspond with environmentally-sensitive movement limitations at the surgical site as will be described in greater detail hereinbelow. Thus, the limitations imposed in thesimulated domain 812, in one instance, can be regarded as virtual limitations corresponding with actual physical system limitations. The limitations at thesimulated domain 812 are not derived from actual slave movement but from simulated or virtual slave movement. Thus, the slave is prevented from actually transgressing a limitation by simulating its movement and velocity and restricting the simulated movement and velocity before instructing the actual slave to respond. One typical limitation set in thesimulated domain 812 concerns singularities of the system. - What is meant by the term singularity will now be described by way of an example of a singularity in the mechanical structure of the minimally invasive surgical apparatus. Referring to
FIG. 2A of the drawings, and as already mentioned, theinstrument 14 when mounted on therobotic arm 10 is linearly displaceable in the direction of arrow P. If theinstrument 14 is positioned such that theend effector 58 is relatively far removed from thefulcrum 49 and the master control is manipulated to command responsive movements, the responsive movement of the slave can normally readily be performed. At a specific fixed distance from thefulcrum 49, the end effector has a range of lateral movement constrained within bounds dictated by constraints in the mechanical structure of thearm 12. It will be appreciated that the closer theend effector 58 is displaced toward thefulcrum 49, the smaller the possible range of lateral movement becomes. This can be visualized by picturing a cone having its apex at thefulcrum 49 and extending from the fulcrum 49 in a downward direction inFIG. 2A . The range of lateral movement of theend effector 58 being limited to within the visualized cone. It will thus be appreciated that toward the base of the visualized cone, e.g., a 1-inch lateral movement of the end effector, can normally readily be achieved by the mechanical structure of thearm 12. However, toward the apex of the cone, in other words toward thefulcrum 49, a point is reached where a 1-inch lateral movement of theend effector 58 is simply not achievable due to the mechanical constraints ofarm 12. Furthermore, the movement by therobotic arm 12 to induce lateral movement of theend effector 58 becomes more radical the closer theend effector 58 is displaced toward thefulcrum 49. - When a surgeon is performing a surgical procedure by means of the minimally invasive surgical apparatus, he or she is normally unaware of the
robotic arm 12 movements since he or she is viewing the surgical site through theviewer 202. Accordingly, unless provision is made to the contrary, it could happen that in the course of a surgical procedure theend effector 58 is displaced too near the fulcrum 49 so that master input causes therobotic arm 12 to move too quickly over corresponding long distances in responding to the commanded end effector movements. Thecontrol system 810 is arranged to provide a method of inhibiting the robotic arm from making too rapid or large a movement in response to master input because of the singularity described above. - Another singularity of the mechanical structure of the slave, in particular of the
surgical instrument 14, will now be described with reference toFIG. 5 of the drawings. - As mentioned, the
end effector 58 is angularly displaceable about axis 14.2 as indicated byarrows 59. Should the axis ofsymmetry 60A of the end effector be positioned along the axis 14.2, angular displacement of the end effector aboutaxis 60A is readily induced. However, should theaxis 60A be positioned perpendicular to the axis 14.2, angular displacement of theend effector 58 aboutaxis 60A is not possible. Thus, a singularity is approached as theaxis 60A approaches a position perpendicular to the axis 14.2. - A further singularity of the
robotic arm 10, can be understood with reference toFIG. 4 of the drawings. As already mentioned, the robotic arm is angularly displaceable aboutaxis 28 as indicated byarrows 26. When the axis 14.2 is perpendicular to theaxis 28, movement of thearm 10 in the direction ofarrows 26 is readily induced on theend effector 58. As will readily be observed inFIG. 4 , a singularity is approached the closer the axis 14.2 is moved toward a position parallel to theaxis 28. - Another typical limitation imposed in the
simulated domain 812 relates to positional constraints of the various joints. - Another typical limitation imposed in the simulated domain is a velocity limitation corresponding to practicably mechanically achievable slave velocity. Naturally, the slave has greater mass and moments of inertia than the master. Thus, should the surgeon move the master too quickly, or should the master accidentally be knocked to induce rapid movement thereon, the slave would be commanded to move in sympathy with the master but at a rate not practicably achievable by the
arm 10 due to mechanical constraints. - As mentioned, optionally, limitations relating to surgical environmental constraints can also be effected as described in greater detail hereinbelow.
- Referring now to
FIG. 16 of the drawings, one embodiment of thesimulation block 834 includes a modified Jacobian inverse controller indicated by J−1* at 870. The modified Jacobian inverse controller is arranged to inhibit the detrimental effects which result when a singularity is approached. This is achieved by modifying a Jacobian inverse matrix of the controller J−1*. The modification to the matrix will now be described by way of example and with reference toFIGS. 2A and 17 of the drawings. - In
FIGS. 2A and 17 , the length of the arm portion of the shaft 14.1 of theinstrument 14 which extends beyond thefulcrum 49 is indicated by L. - The relationship between velocity {dot over (x)} in Cartesian space relative to angular velocity {dot over (θ)} in joint space is typically expressed by the relationship
{dot over (x)}=J.{dot over (θ)} - For the minimally invasive surgical apparatus, the Jacobian matrix is typically in the form of a 6×6 term matrix for converting joint space coordinates to corresponding Cartesian coordinates. Naturally, some of the terms in the matrix include a multiplication factor equal to L. Accordingly, when it is required to determine positions in joint space corresponding to Cartesian coordinates, the following relationship is used:
{dot over (θ)}=J−1.{dot over (x)} - When the inverse Jacobian matrix is used in this fashion, the terms including the multiplication factor of L become terms having a multiplication factor of 1/L.
- It will be appreciated that as L decreases the
term 1/L approaches infinity. This characteristic associated with a singularity is schematically illustrated inFIG. 17 . The length L is indicated along the horizontally extending axis and thecorresponding factor 1/L is indicated along the vertically extending axis. The parabolic lines indicate the relationship between L and 1/L. It is clear that when the required joint velocity is determined by means of the Cartesian velocity {dot over (x)} and a term includes themultiplication factor 1/L, the joint velocity approaches infinity as the value of L decreases, thus as the end effector is moved closer to thefulcrum 49. - To compensate for these detrimental effects when a singularity is approached, the 1/L term in the Jacobian Inverse matrix is replaced with a function of L which yields a resultant relationship between L and 1/L as indicated in dashed lines in
FIG. 17 . Two dashed lines are indicated to show different possible functions of L. In similar fashion the Jacobian Inverse matrix is modified to cater for all the singularities of the system already described. - Referring again to
FIG. 16 of the drawings, thesimulation block 834 will now be described in further detail. - The modified Jacobian Inverse controller which makes allowance for singularities as hereinbefore described is indicated by the
reference numeral 870. The Cartesian space reference velocity is input as indicated byarrow 833. After conversion to a resulting joint velocity by thecontroller 870, the resultant joint velocity is output at 874. The resultantjoint velocity 874 is then input to a joint velocity limitation step at 876. At this step the resultant joint velocity is limited to remain within a range between a predetermined maximum velocity Vmax, and a predetermined minimum velocity Vmin. These maximum and minimum values are typically selected to constrain the joint velocity within limitations corresponding to constraints of the mechanical structure of the system. Accordingly, at 876, should thejoint velocity input 874 have a magnitude greater than the maximum and minimum values, thejoint velocity magnitude 874 is decreased to within the set range. Thus:
if {dot over (θ)}>max {dot over (θ)}=max
if {dot over (θ)}<(min) {dot over (θ)}=(min)
where {dot over (θ)} represents joint velocity, and max denotes a positive magnitude and min denotes a negative magnitude. - After the joint velocity is limited in this manner, the joint velocity is integrated at 878 to yield a corresponding position in joint space. In similar fashion to the joint velocity limitation step at 876, the position is limited at 880 to remain within a set positional range.
- From 880, the resultant joint positional signal is routed to the
filter 838 as indicated by one of thearrows 835 and as already described herein with reference toFIG. 14 . The resultant velocity signal as output from 876 is routed to thefilter 838 as indicated by theother arrow 835. The resultant velocity signal is linked to thepositional control step 880, as indicated at 881, so that in the event that the position is limited, the velocity signal is rendered zero. - As mentioned, velocity, position and singularity limitations or constraints are applied to the Cartesian reference velocity in the
simulation block 834 indicated inFIG. 14 to yield a simulated slave joint position and velocity. Naturally, should the Cartesian reference velocity input to thesimulation block 834 not result in a transgression of any of the limitations set for the slave, the Cartesian reference velocity input to thesimulation block 834 is then simply transferred into corresponding slave joint position and velocity signals without any imposition of limitations. The corresponding slave joint position and velocity is then forwarded to the slave after the filtering step at 838. - An
alternative simulation block 834B and another method of imposing limitations will now be described with reference toFIG. 18 of the drawings in which like reference numerals are used to designate similar parts unless otherwise indicated. - Referring now to
FIG. 18 , and in thesimulation block 834B, the Cartesian reference velocity is initially input into a Cartesian position and velocity limit block at 902. At 902, any desired limitations to position and velocity in Cartesian space can be set. This can be achieved in similar fashion to the manner in which the joint velocity and position limitations were imposed inFIG. 16 . Such limitations can be chosen to suit the specific surgical procedure to be performed. Thus, for example, should the surgical procedure to be performed be at a sensitive location, such as close to the brain, or heart, or the like, limitations can be set to constrain end effector movement within a space so as not to be able to contact the area of sensitivity. Thus, at 902, limitations can be tailored to meet specific environmental limitations defined by the specific surgical procedure to be performed so as to avoid accidental damage to a sensitive organ, or the like. Thus, at 902, slave position and velocity can be restricted to remain within preset limitations dictated by the surgical procedure to be performed. It will be appreciated that such surgical environment dependent limitations can be imposed in thesimulation block 834 inFIG. 16 , and also in the preferredsimulation block 834A to be discussed with reference toFIG. 20 . - After the limitation step at 902, the resultant Cartesian velocity is input to a modified Jacobian Inverse controller at 904. The modified
controller 904 imposes limitations on the Cartesian velocity input during conversion of the Cartesian velocity input into a corresponding joint space velocity to make allowance for singularities as already described. - From the modified Jacobian
Inverse controller 904, the resultant joint velocity is input into a joint position and velocity block at 906. At the joint position andvelocity block 906, the joint velocity input is monitored to ensure that corresponding velocity and position commands to each specific joint would not transgress set limitations corresponding to actual angular position and velocity limitations of that joint. After the joint velocity has been monitored at 906, and any limitations imposed, the resultant simulated slave joint velocity is output as indicated byarrow 835. The simulated slave joint velocity is also fed through an integration step at 910 to yield the corresponding simulated slave joint position. - The simulated joint position for each specific joint is routed to the joint position and
velocity block 906, and the modified JacobianInverse block 904 as indicated in dashed lines. Theposition signal 835 is routed to the modified JacobianInverse block 904 to enable transformation from Cartesian to joint space. Theposition signal 835 is routed to the position andvelocity block 906 in order that joint position and velocity limits can be imposed at 906. This will now be described with reference toFIG. 19 in which like reference numerals are used to designate similar parts unless otherwise indicated. It will be appreciated thatFIG. 19 exemplifies the imposition of positional and velocity limits on a single joint. The same method of imposing such positional and velocity limits is employed for each joint at 906. - In
FIG. 19 , the joint velocity input from the modified Jacobian Inverse controller at 904 is indicated byarrow 912. The resultant velocity after having passed through the joint position and velocity block is indicated byarrow 914 and the joint position input is indicated byarrow 835 and is shown in dashed lines. The joint for which position and velocity limits are to be imposed by the block diagram shown inFIG. 19 normally has physical limitations. Thus, the joint has a maximum position in which the arm members which are pivotally connected thereby are at a maximum angular position relative to each other. Similarly, the joint has a minimum position in which the arm members which are connected one to another thereby are at a minimum angular position relative to each other. Accordingly, the joint has an angular displacement range extending between its minimum and its maximum position. The angular limits of the joint are indicated byblocks angular positions - The position input at 835 is normally varying continually as the surgeon manipulates the master during the course of a surgical procedure. The
positional input 835 is fed to thesummation junctions junction 922, the angular position as input at 835 is compared with the positional minimum or lower limit to yield an angular value corresponding to the angular deviation of theposition input 835 relative to thelimit 918. Thus, at 922, an angular value equal to the difference between the angular limit and theangular position input 835 is determined. The angular deviation from thelower limit 918 thus determined, is then fed to a velocity determination block at 926. The processing cycle rate of the control system is known. In this case, it is typically 1300 Hz. At 926, the velocity which the joint needs to have to cause its position to coincide with the lowerjoint limit 918 at the next processing cycle is determined. This velocity value is then routed to a decision block at 928. Naturally, if the angular position as input at 835 is far removed from thelower limit 918, the resultant velocity value derived at 926 will be very large, and typically physically unattainable. However, as the angular deviation approaches zero, namely, where theangular position 835 approaches thelower limit 918, the velocity output from 926 becomes less than the attainable joint velocity and becomes zero where theangular position 835 is at thelower limit 918. -
Reference numeral 930 represents a set joint velocity limit. This limit is typically chosen in accordance with the acceptable joint velocity limit of that joint. This set velocity lower limit is also fed into thedecision block 928. At 928 the two joint velocities are compared and the largest of the two selected. It will be appreciated that the largest value is selected because we are regarding a velocity limit in a negative direction. Thus, the largest value is the same as the smallest absolute value. The selected velocity value thus determined defines the lower velocity limit as indicated at 932. - It could happen that the joint is positioned beyond the positional
lower limit 918. This can occur when the minimally invasive surgical apparatus is initially setup, or where the positional limits are selectively changed, for example. In such a case, it is desirable to cause the joint position to return to within the range set by the upper and lower limits at 918 and 920, respectively. For the lower angular position limit, this is achieved by theblock 934. In essence, what is achieved by theblock 934, is a constant curbing of positional movement beyond the lower limit. Thus, as the surgeon manipulates the master, movements causing the angular position of the joint to move toward the limit are permitted, but once such movement has taken place, the joint is restricted to its new position closer to the limit. The process is maintained until the joint position is within the range set by the values at 918, 920, respectively. - It will be appreciated that a maximum velocity, as indicated by
reference numeral 935 is determined in similar fashion as the minimum velocity, as can be seen inFIG. 19 of the drawings. - Referring now to
FIG. 20 of the drawings, apreferred simulation block 834A will now be described. InFIG. 20 the same reference numerals are used to designate similar parts or aspects unless otherwise stated. - In
FIG. 20 , the Cartesian reference velocity is input as indicated byarrow 833. The simulated joint positions and velocities are output at 835. TheCartesian reference velocity 833 is routed to a modified full Jacobian Inverse block at 942 and to an isolation block at 944. - At 942, the Cartesian
reference velocity signal 833 is transformed into a correspondingjoint velocity signal 946. The modified full JacobianInverse block 942 makes allowance for singularities as already described with reference to 904 inFIG. 18 . - In the minimally invasive surgical apparatus under discussion, the modified full Jacobian Inverse block typically includes a six by six term matrix. After transformation at the
block 942, the resultant joint velocity signal is passed to anisolation block 948. At theisolation block 948, the terms relating to the wrist joints, as indicated inFIG. 5 of the drawings, are isolated from the terms relating to the joints on therobotic arm 12, as indicated inFIGS. 2A and 2B . After isolation at 948, the wrist joint velocities are forwarded to a wrist joint velocity and position limitation block at 950. - At 950 wrist joint velocity limits are imposed on each wrist joint in similar fashion to the method described above with reference to
FIG. 19 . However, for the wrist joints, namely the joints providing the three degree of freedom of movements to theend effector 58, the limitations are imposed simultaneously rather than on a joint by joint basis. This will now be described with reference toFIG. 21 . - Referring to
FIG. 21 , the limits for each joint are determined in similar fashion to that described with reference toFIG. 19 . But, as indicated at 970, the limitations are used to define a corresponding velocity limitation for the three joints together as indicated by thebox 972. Accordingly, a multidimensional joint velocity limitation, in this case a three-dimensional joint velocity limitation, is provided. - The input joint velocity signal at 951 is compared to the multidimensional joint velocity limitation, at 970. Should the
input velocity signal 951 fall entirely inside the limitation, it is unchanged by the limitation. In such a case theoutput velocity signal 952 is the same as theinput velocity signal 951. However, should theinput velocity signal 951 fall outside the limitation, the limitation block at 970 will select theoutput velocity 952 according to a criterion, which will now be described. - A joint velocity error between the
input velocity signal 951 and the selectedoutput velocity 952 is defined as illustrated at 974. The joint velocity error is transformed into a Cartesian velocity error using a Jacobian matrix at 976. It will be appreciated that the Jacobian matrix at 976 describes the kinematics of the wrist joints, which includespivots FIG. 5 . The magnitude of the Cartesian velocity error is then determined at 978. - The criterion for selection of the
output velocity 952 by thelimitation block 970 is the obedience of the multidimensional limitation and the minimization of the Cartesian velocity error magnitude. - Returning now to
FIG. 20 the drawings, theoutput 952 from thelimitation block 950 represents a combined joint velocity signal including joint velocities at the joints or pivots 54, 60 and joint velocity about axis 14.2, with reference toFIG. 5 of the drawings, after any limitations relating to velocity, position and singularities have been imposed. - At the
isolation block 944, the translational Cartesian velocity terms are isolated from the Cartesianreference velocity signal 833. The isolated terms correspond to the Cartesian velocity commands addressing the joints on therobotic arm 12. After isolation, the Cartesian reference velocity signal for the outer joints only is forwarded to an adjustment block at 954. - In the event that the wrist joint velocity signal was restricted at one or both of the
blocks FIG. 5 of the drawings. - It will be appreciated that a command at the
master control 700 relating to only an orientation change of theend effector 58 can result in not only responsive angular movement about pivots 54, 60 and about axis 14.2 but also responsive outer joint movement. This is so because of structural dissimilarities between master and slave. Thus, for the slave to perform an orientational movement corresponding to a master orientational movement, it is sometimes required for the slave outer joints to move also. - Accordingly, in the event that wrist joint velocity limits were imposed, it is required to adapt outer joint, or translational, velocity to the extent to which the outer joint velocity formed part of the orientational wrist limitation. This is achieved at 954.
- The resultant, possibly adapted, translational Cartesian velocity signal is then forwarded to a modified translation Jacobian Inverse block at 956. At 956, the signal is converted into a corresponding joint space velocity signal. The modified Jacobian Inverse matrix at 956 makes allowance for the fulcrum 49 singularity and the maximum robotic arm pitch singularity as already described with reference to
FIG. 4 . The joint space velocity signal from 956 is then passed to a limitation block at 958. At 958 positional and velocity limitations are imposed on the signal in a manner similar to that already described with reference toFIG. 19 orFIG. 21 of the drawings, and for each outer joint. - The final wrist joint velocity signal and the final outer joint velocity signal are then combined at 960 to yield the simulated
joint velocity 835. The simulatedjoint velocity 835 is integrated at 962 to yield a corresponding simulated joint position, indicated by the other of thearrows 835. - The simulated joint position is fed to the
blocks - While this invention has been particularly shown and described with references to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made thereto without departing from the spirit and scope of the invention as defined in the accompanying claims. Where reference is made to Cartesian coordinates, polar coordinates, or cylindrical coordinates, or the like, may be used instead.
Claims (29)
1. A telerobotic system comprising:
an input device having a handle, the handle movable so as to receive an input command;
a robotic arm having an end effector, the robotic arm moving the end effector in response to an actual slave command;
a master-slave control system coupling the input device to robotic arm, the control system simulating a movement of the robotic arm in response to the input command, deriving an actual command in response to the simulated robotic arm movement, and transmitting the actual command to the robotic arm so that the end effector moves.
2. A telerobotic system as in claim 1 , further comprising a drive system coupled to the input device, wherein the control system transmits haptic feedback commands to the drive system in response to the simulated robotic arm movement so as to impose haptic feedback forces against a hand of the operator holding the handle.
3. A telerobotic system as in claim 2 , wherein the control system also transmits physical feedback commands to the drive system in response to physical forces imposed against the end effector so as to provide feedback to the hand of the operator.
4. A telerobotic system as in claim 1 , wherein the control system simulates the robotic arm movement and derives the actual command within a process cycling rate.
5. A telerobotic system as in claim 1 , wherein the simulation of the control system comprises a kinematic simulated movement of a simulated robotic arm, and wherein the control system modifies the input command in response to the kinematic simulated movement.
6. A telerobotic system as in claim 5 , wherein the control system modifies the input command prior to the robotic arm transgressing a limitation.
7. A telerobotic system as in claim 6 , wherein the control system provides feedback to the input device so as to resist the input movement of the handle and inhibit transgressing the limitation.
8. A telerobotic system as in claim 5 , wherein the control system effects the simulation by calculating simulated joint positions and simulated velocities of the simulated robotic arm.
9. A telerobotic system as in claim 1 , wherein the end effector comprises a surgical end effector, the system comprising a telesurgical system.
10. A telerobotic method comprising:
moving a handle of an input device so as to input a command;
simulating a movement of the robotic arm in response to the input command;
deriving an actual command in response to the simulated robotic arm movement; and
transmitting the actual command to a robotic arm having an end effector using a master-slave control system so as to effect telerobotic movement of the end effector in response to the input command.
11. A telerobotic method as in claim 10 , further comprising transmitting haptic feedback commands to a drive system of the input device in response to the simulated robotic arm movement so as to impose haptic feedback forces against a hand of an operator holding the handle.
12. A telerobotic method as in claim 11 , further comprising transmitting physical feedback commands to the drive system in response to physical forces imposed against the end effector so as to provide feedback to the hand of the operator.
13. A telerobotic method as in claim 10 , wherein the control system simulates the robotic arm movement and derives the actual command within a process cycling rate.
14. A telerobotic method as in claim 10 , wherein simulating the movement of the robotic arm comprises generating a simulated movement of a simulated robotic arm with a kinematic model, and wherein the control system modifies the input command in response to the kinematic simulated movement.
15. A telerobotic method as in claim 14 , wherein the control system modifies the input command prior to the robotic arm transgressing a limitation.
16. A telerobotic method as in claim 15 , wherein the control system provides feedback to the input device so as to resist the input movement of the handle and inhibit transgressing the limitation.
17. A telerobotic method as in claim 14 , wherein the control system effects the simulation by calculating simulated joint positions and simulated velocities of the simulated robotic arm.
18. A telerobotic method as in claim 10 , wherein the end effector comprises a surgical end effector, the method comprising a telesurgical procedure.
19. A method for moving a master-slave surgical instrument including:
generating an instrument movement input command signal by moving a master control with an input movement from a first location to a second location;
generating a kinematic simulated instrument movement corresponding to the input movement;
comparing the simulated instrument movement with at least one preset instrument movement limitation;
generating a restricted instrument movement command signal in response to the simulated instrument movement transgressing the preset instrument movement limitation;
moving the surgical instrument in response to the restricted instrument movement command signal; and
urging the master control away from transgressing the preset instrument limitation.
20. A surgical method as in claim 19 , further comprising generating a feedback signal in response to the simulated instrument movement transgressing the preset instrument movement limitation, wherein urging the master control comprises forwarding the feedback signal to the master control to apply a force against the master control to urge against transgressing the preset instrument movement limitation, the feedback signal comprising a haptic feedback signal so that a surgeon is urged not to transgress the preset limitations.
21. A surgical method as in claim 20 , further comprising generating an instrument feedback signal in response to application of a force against the surgical instrument, wherein movement of the master control is resisted in response to the instrument feedback signal and the simulated instrument movement.
22. A surgical method as in claim 20 , wherein the force corresponds with an amount by which the simulated instrument movement transgresses the preset instrument movement limitation.
23. A surgical method as in claim 1 , wherein the preset instrument movement limitation corresponds to a singularity of the surgical instrument.
24. A surgical method as in claim 1 , wherein the preset instrument movement limitation corresponds to a positional limitation of the surgical instrument.
25. A surgical method as in claim 1 , wherein the preset instrument movement limitation corresponds to a velocity limitation of the surgical instrument.
26. A surgical method as in claim 19 , wherein moving the surgical instrument and resisting the master control movement occur substantially simultaneously.
27. A surgical method as in claim 19 , wherein generating an instrument movement input command signal comprises generating a velocity command signal.
28. A surgical method as in claim 27 , wherein generating an instrument movement input command signal comprises measuring a position of the master control at the first location and at the second location with one or more sensors to generate a position command signal and calculating the rate of change of the position from the first location to the second location to generate the velocity command signal.
29. A surgical apparatus control system including
a movable master control arranged to generate an instrument movement input command signal corresponding to a movement of the master control from a first location to a second location;
a surgical instrument operatively coupled to the master control; and
one or more processor arranged to generate a kinematic simulated instrument movement, compare the simulated instrument movement with at least one preset instrument movement limitation, restrict the simulated instrument movement so as to yield a restricted instrument movement command signal in response to the simulated instrument movement transgressing the preset instrument movement limitation, the surgical instrument moving in response to the restricted instrument command signal, and generate a feedback signal against the master control corresponding to the simulated instrument movement transgressing the preset instrument movement limitation, the master control resisting the movement from the first location to the second location in response to the feedback signal.
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US6493608B1 (en) | 2002-12-10 |
US20030029463A1 (en) | 2003-02-13 |
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