Medical robotic system with different scaling factors

US7695481B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL, INC. · US

Inventors

• Yulun Wang · Midland School, US
• Darrin Uecker · San Mateo, US
• Keith Philip Laby · Lompoc, US
• Jeff Wilson · Lompoc, US
• Charles S. Jordan · Lompoc, US
• James Wright · Lompoc, US
• Modjtaba Ghodoussi · Lompoc, US

Key dates

• Filing date: Jul 17, 2006
• Grant date: Apr 13, 2010
• Expiry date: Jul 24, 2028

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y02A90/10
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller to produce a corresponding movement of the end effectors. The movement of the handles is scaled such that the end effectors movement corresponds differently, typically smaller, than the movement performed by the hands of the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may include a robotically controlled endoscope allowing the surgeon to remotely view a surgical site. The surgeon may manipulate handles and move end effectors to perform a cardiac procedure.