Systems and methods for performing minimally invasive procedures

Abstract

A robotic medical surgical system configured for performing prostate procedures includes a controller including a master input device, an instrument driver in communication with the controller, an instrument assembly operatively coupled to the instrument driver, and a surgical tool operatively coupled to the controller and carried on the distal end portion of the instrument assembly, wherein the controller and master input device are configured to allow a system operator to position the surgical tool proximate a prostate abnormality without entering a restricted zone, at least partially automatically controlled based on an images obtained of the surgical zone.

What we claim is: 
     
         1 . A robotic medical system configured for performing a medical procedure on an abnormality of a prostate of a patient, the system comprising:
 a controller including a master input device;   an instrument driver in communication with the controller;   an elongate flexible instrument operatively coupled to the instrument driver, whereby a distal end portion of the catheter instrument may be robotically manipulated by a remotely located system operator by corresponding manipulation of the master input device;   a surgical tool operatively coupled to the controller and carried on the distal end portion of the flexible instrument, and   an imaging system operatively coupled to the controller and configured to acquire and display an area of a patient's prostate containing the abnormality,   wherein the controller and master input device are configured to allow a system operator to advance the distal portion of the flexible instrument along the patient's urethra and operate the surgical tool by manipulation of the master input device in order to perform a medical procedure an abnormality of the patient's prostate, wherein the operation of the surgical tool is at least partially automatically controlled based on the image obtained by the imaging system.   
     
     
         2 . The system of  claim 1 , wherein the surgical tool is a laser, and the abnormality is treated by conveying laser energy from the laser to destroy tissue of the prostate. 
     
     
         3 . The system of  claim 1 , wherein the surgical tool is a resectoscope, and the abnormality is treated by scraping tissue away from the prostate with the resectoscope. 
     
     
         4 . The system of  claim 1 , wherein the surgical tool is a wire loop tool, and the abnormality is treated by conveying electrical energy from the wire loop tool. 
     
     
         5 . The system of  claim 1 , wherein the surgical instrument is a tissue grasper that is operated to remove tissue from the prostate. 
     
     
         6 . The system of  claim 1 , wherein the imaging system comprises an imaging device carried on the distal end portion of the flexible instrument. 
     
     
         7 . The system of  claim 6 , wherein the imaging device is an optical imaging fiber. 
     
     
         8 . The system of  claim 1 , further comprising a flush port disposed on the distal end portion of the flexible instrument. 
     
     
         9 . A robotic medical system configured for performing a medical procedure on an abnormality of a prostate of a patient, the system comprising:
 a controller including a master input device;   an instrument driver in communication with the controller;   an elongate flexible instrument operatively coupled to the instrument driver, whereby a distal end portion of the catheter instrument may be robotically manipulated by a remotely located system operator by corresponding manipulation of the master input device;   a surgical tool operatively coupled to the controller and carried on the distal end portion of the flexible instrument, and   an imaging system operatively coupled to the controller and configured to acquire and display an area of a patient's prostate containing the abnormality,   wherein the controller and master input device are configured to allow a system operator to (i) create a restricted zone, based on the displayed image of the area of the prostate, into which the surgical tool is restricted from entering by a navigation logic of the robotically controlled system, and (ii) cause the instrument driver to manipulate the distal end portion of the flexible instrument so that the surgical tool is positioned proximate the prostate abnormality without entering the restricted zone, and   wherein the operation of the surgical tool is at least partially automatically controlled based on the image obtained by the imaging system.   
     
     
         10 . The system of  claim 9 , wherein the controller and master input device are further configured to allow a system operator to locate an anatomical landmark using the displayed image of the area of the patient's prostate, and store a desired position and orientation of the distal end portion of the guide instrument proximate the anatomical landmark. 
     
     
         11 . The system of  claim 9 , wherein the controller and master input device are further configured to allow a system operator to advance the distal portion of the flexible instrument along the patient's urethra, and to operate the surgical tool by manipulation of the master input device. 
     
     
         12 . The system of  claim 9 , wherein the surgical tool is a laser, and the abnormality is treated by conveying laser energy from the laser to destroy tissue of the prostate. 
     
     
         13 . The system of  claim 9 , wherein the surgical tool is a resectoscope, and the abnormality is treated by scraping tissue away from the prostate with the resectoscope. 
     
     
         14 . The system of  claim 9 , wherein the surgical tool is a wire loop tool, and the abnormality is treated by conveying electrical energy from the wire loop tool. 
     
     
         15 . The system of  claim 9 , wherein the surgical instrument is a tissue grasper that is operated to remove tissue from the prostate. 
     
     
         16 . The system of  claim 9 , wherein the imaging system comprises an imaging device carried on the distal end portion of the flexible instrument. 
     
     
         17 . The system of  claim 16 , wherein the imaging device is an optical imaging fiber. 
     
     
         18 . The system of  claim 1 , further comprising a flush port disposed on the distal end portion of the flexible instrument.