CN111512386A - Spatial perception of surgical hubs in operating rooms - Google Patents
Spatial perception of surgical hubs in operating rooms Download PDFInfo
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- CN111512386A CN111512386A CN201880083652.2A CN201880083652A CN111512386A CN 111512386 A CN111512386 A CN 111512386A CN 201880083652 A CN201880083652 A CN 201880083652A CN 111512386 A CN111512386 A CN 111512386A
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Abstract
Various surgical hubs are disclosed. The surgical hub is used with a surgical system in a surgical procedure performed in an operating room. The surgical hub includes a control circuit configured to: determining a boundary of an operating room; determining a device of the surgical system that is located within the boundary of the operating room; and pairing the surgical hub with a device of the surgical system located within a boundary of the operating room.
Description
Cross Reference to Related Applications
This patent application claims priority from U.S. provisional patent application 62/649,302 entitled "INTERACTIVE SURGICA L SYSTEMS WITH ENCRYPTED communica capaba L ITIES" filed on 2018, 3, 28, volume 35, clause 119 (e) of the U.S. code, the disclosure of which is incorporated herein by reference in its entirety.
This patent application also claims priority from U.S. provisional patent application serial No. 62/611,341 entitled "INTERACTIVE SURGICA L P L ATFORM" filed on 28.12.2017, 28.2017, U.S. provisional patent application serial No. 62/611,340 entitled "C L OUD-BASED medicine L ANA L YTICS" filed on 28.12.2017, and U.S. provisional patent application serial No. 62/611,339 entitled "ROBOT associated SURGICA L P L ATFORM" filed on 28.12.2017, the disclosures of each of which are incorporated herein by reference in their entirety.
Background
The present disclosure relates to various surgical systems. Surgery is typically performed in a medical facility, such as a surgical operating room or room in a hospital. A sterile field is typically formed around the patient. The sterile field may include a properly worn swabbed team member, as well as all furniture and fixtures in the area. Various surgical devices and systems are used to perform surgical procedures.
Disclosure of Invention
In one general aspect, a surgical hub is provided. The surgical hub is used with a surgical system in a surgical procedure performed in an operating room. The surgical hub includes a control circuit configured to: determining a boundary of an operating room; determining a device of the surgical system that is located within the boundary of the operating room; and pairing the surgical hub with a device of the surgical system located within a boundary of the operating room.
In another general aspect, another surgical hub is provided. The surgical hub is used with a surgical system in a surgical procedure performed in an operating room. The surgical hub includes a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to: determining a boundary of an operating room; determining a device of the surgical system that is located within the boundary of the operating room; and pairing the surgical hub with a device of the surgical system located within a boundary of the operating room.
In yet another general aspect, a computer-readable medium is provided. The computer readable medium is non-transitory and stores computer readable instructions that, when executed, cause a machine to: determining a boundary of an operating room; determining a device of a surgical system located within the boundary of the operating room; and pairing the surgical hub with a device of the surgical system located within a boundary of the operating room.
Drawings
The features of the various aspects are set out with particularity in the appended claims. The various aspects (relating to the surgical tissues and methods) and further objects and advantages thereof, however, may best be understood by reference to the following description taken in conjunction with the accompanying drawings.
Fig. 1 is a block diagram of a computer-implemented interactive surgical system in accordance with at least one aspect of the present disclosure.
Fig. 2 is a surgical system for performing a surgical procedure in an operating room according to at least one aspect of the present disclosure.
Fig. 3 is a surgical hub paired with a visualization system, a robotic system, and a smart instrument according to at least one aspect of the present disclosure.
Fig. 4 is a partial perspective view of a surgical hub housing and a composite generator module slidably received in a drawer of the surgical hub housing according to at least one aspect of the present disclosure.
Fig. 5 is a perspective view of a combined generator module having bipolar, ultrasonic and monopolar contacts and a smoke evacuation device according to at least one aspect of the present disclosure.
Fig. 6 illustrates a single power bus attachment for a plurality of lateral docking ports of a lateral modular housing configured to house a plurality of modules in accordance with at least one aspect of the present disclosure.
Fig. 7 illustrates a vertical modular housing configured to receive a plurality of modules according to at least one aspect of the present disclosure.
Fig. 8 illustrates a surgical data network including a modular communication hub configured to connect modular devices located in one or more operating rooms of a medical facility or any room in a medical facility dedicated to surgical operations to a cloud in accordance with at least one aspect of the present disclosure.
Fig. 9 is a computer-implemented interactive surgical system according to at least one aspect of the present disclosure.
Fig. 10 illustrates a surgical hub including a plurality of modules coupled to a modular control tower according to at least one aspect of the present disclosure.
Fig. 11 illustrates one aspect of a Universal Serial Bus (USB) hub device in accordance with at least one aspect of the present disclosure.
Fig. 12 illustrates a logic diagram of a control system of a surgical instrument or tool in accordance with at least one aspect of the present disclosure.
Fig. 13 illustrates a control circuit configured to control various aspects of a surgical instrument or tool in accordance with at least one aspect of the present disclosure.
Fig. 14 illustrates a combinational logic circuit configured to control various aspects of a surgical instrument or tool in accordance with at least one aspect of the present disclosure.
Fig. 15 illustrates sequential logic circuitry configured to control aspects of a surgical instrument or tool in accordance with at least one aspect of the present disclosure.
Fig. 16 illustrates a surgical instrument or tool including multiple motors that can be activated to perform various functions in accordance with at least one aspect of the present disclosure.
Fig. 17 is a schematic view of a robotic surgical instrument configured to operate a surgical tool described herein, according to at least one aspect of the present disclosure.
Fig. 18 illustrates a block diagram of a surgical instrument programmed to control distal translation of a displacement member in accordance with at least one aspect of the present disclosure.
Fig. 19 is a schematic view of a surgical instrument configured to control various functions in accordance with at least one aspect of the present disclosure.
Fig. 20 is a simplified block diagram of a generator configured to provide inductor-less tuning, among other benefits, in accordance with at least one aspect of the present disclosure.
Fig. 21 illustrates an example of a generator (which is one form of the generator of fig. 20) in accordance with at least one aspect of the present disclosure.
Fig. 22 illustrates a combined generator according to at least one aspect of the present disclosure.
Fig. 23 illustrates a method of capturing data from a combined generator and communicating the captured generator data to a cloud-based system in accordance with at least one aspect of the present disclosure.
Fig. 24 illustrates a data packet combining generator data in accordance with at least one aspect of the present disclosure.
Fig. 25 illustrates an encryption algorithm in accordance with at least one aspect of the present disclosure.
Fig. 26 illustrates another encryption algorithm in accordance with at least one aspect of the present disclosure.
Fig. 27 illustrates yet another encryption algorithm in accordance with at least one aspect of the present disclosure.
Fig. 28 illustrates a high-level representation of a datagram in accordance with at least one aspect of the present disclosure.
Fig. 29 illustrates a more detailed representation of the datagram of fig. 28 in accordance with at least one aspect of the present disclosure.
Fig. 30 illustrates another representation of the datagram of fig. 28 in accordance with at least one aspect of the present disclosure.
Fig. 31 illustrates a method of identifying surgical data associated with a failure event and preferentially communicating the identified surgical data to a cloud-based system in accordance with at least one aspect of the present disclosure.
Fig. 32 illustrates yet another representation of the datagram of fig. 28 in accordance with at least one aspect of the present disclosure.
Fig. 33 illustrates a partial artificial timeline of a surgical procedure performed in an operating room via a surgical system according to at least one aspect of the present disclosure.
Fig. 34 illustrates an echo ultrasound examination of an operating room wall to determine a distance between a surgical hub and the operating room wall in accordance with at least one aspect of the present disclosure.
Fig. 35 is a logic flow diagram of a method in accordance with at least one aspect of the present disclosure depicting a control program or logic configuration for a surgical hub paired with a surgical device of a surgical system located within the confines of an operating room.
Fig. 36 is a logic flow diagram of a method depicting a control program or logic configuration for selectively making and breaking connections between devices of a surgical system in accordance with at least one aspect of the present disclosure.
Fig. 37 is a logic flow diagram of a method depicting a control procedure or logic configuration for selectively re-evaluating the boundary of an operating room upon detection of a new device in accordance with at least one aspect of the present disclosure.
Fig. 38 is a logic flow diagram of a method depicting a control procedure or logic configuration for selectively re-evaluating the boundary of an operating room after disconnection from a paired device in accordance with at least one aspect of the present disclosure.
Fig. 39 is a logic flow diagram of a method depicting a control procedure or logic configuration for re-evaluating the boundary of an operating room by a surgical hub upon detecting a change in the position of the surgical hub, in accordance with at least one aspect of the present disclosure.
Fig. 40 is a logic flow diagram of a method depicting a control program or logic configuration for selectively forming connections between devices of a surgical system in accordance with at least one aspect of the present disclosure.
Fig. 41 is a logic flow diagram of a method depicting a control program or logic configuration for selectively making and breaking connections between devices of a surgical system in accordance with at least one aspect of the present disclosure.
Fig. 42 illustrates a surgical hub pairing a first device and a second device of a surgical system in an operating room according to at least one aspect of the present disclosure.
Fig. 43 illustrates a surgical hub that unparts a first device and a second device of a surgical system in an operating room, but pairs the first device and a third device in the operating room, in accordance with at least one aspect of the present disclosure.
Fig. 44 is a logic flow diagram of a method in accordance with at least one aspect of the present disclosure depicting a control program or logic configuration for making and breaking connections between devices of a surgical system in an operating room during a surgical procedure based on a progression of steps of the surgical procedure.
Fig. 45 is a logic flow diagram of a method in accordance with at least one aspect of the present disclosure depicting a control program or logic configuration for superimposing information derived from one or more stationary frames of a real-time stream of a distal surgical site onto the real-time stream.
Fig. 46 is a logic flow diagram of a method depicting a control procedure or logic configuration for differentiating surgical steps of a surgical procedure in accordance with at least one aspect of the present disclosure.
Fig. 47 is a logic flow diagram of a method 3230 depicting a control procedure or logic configuration for differentiating surgical steps of a surgical procedure, according to at least one aspect of the present disclosure.
Fig. 48 is a logic flow diagram of a method 3240 depicting a control procedure or logic configuration for identifying a staple cartridge from information derived from one or more stationary frames of staples deployed from the staple cartridge into tissue according to at least one aspect of the present disclosure, in accordance with at least one aspect of the present disclosure.
Fig. 49 is a partial view of a surgical system in an operating room including a surgical hub having an imaging module in communication with an imaging device at a distal surgical site according to at least one aspect of the present disclosure.
FIG. 50 illustrates a partial view of stapled tissue receiving first and second staple firings arranged end-to-end, according to at least one aspect of the present disclosure.
FIG. 51 illustrates three rows of staples deployed on one side of tissue stapled and cut by a surgical stapler, according to at least one aspect of the present disclosure.
FIG. 52 illustrates a non-anodized staple and an anodized staple in accordance with at least one aspect of the present disclosure.
Fig. 53 is a logic flow diagram of a method depicting a control procedure or logic configuration for coordinating control arrangements between surgical hubs in accordance with at least one aspect of the present disclosure.
Fig. 54 is an interaction between two surgical hubs in an operating room according to at least one aspect of the present disclosure.
Fig. 55 is a logic flow diagram of a method depicting a control procedure or logic configuration for coordinating control arrangements between surgical hubs in accordance with at least one aspect of the present disclosure.
Fig. 56 illustrates interaction between two surgical hubs in different operating rooms ("OR 1" and "OR 3"), according to at least one aspect of the present disclosure.
Fig. 57 illustrates an auxiliary display in an operating room ("OR 3") showing a surgical site in a colorectal procedure, according to at least one aspect of the present disclosure.
Fig. 58 illustrates a personal interface OR tablet computer in OR1 displaying a surgical site of OR3 in accordance with at least one aspect of the present disclosure.
Fig. 59 illustrates a perspective view of a surgical site of OR3 displayed on a main display of OR1, according to at least one aspect of the present disclosure.
Fig. 60 illustrates a personal interface OR tablet computer displaying an OR1 layout illustrating available displays according to at least one aspect of the present disclosure.
Fig. 61 illustrates a recommendation of a transection position of a surgical site of OR3 made by a surgical operator in OR1 via a personal interface OR tablet in OR1, in accordance with at least one aspect of the present disclosure.
Fig. 62 illustrates a timeline depicting situational awareness of a surgical hub in accordance with at least one aspect of the present disclosure.
Detailed Description
The applicant of the present patent application owns the following U.S. provisional patent applications filed on 28/3/2018, each of which is incorporated herein by reference in its entirety:
U.S. provisional patent application serial No. 62/649,302, entitled "INTERACTIVE SURGICA L SYSTEMS WITH encrypted COMMUNICATIONCAPABI L ITIES";
U.S. provisional patent application Ser. No. 62/649,294 entitled "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND DCREATE ANONYMIZED RECORD";
U.S. patent application Ser. No. 62/649,300 entitled "SURGICA L HUB STATATIONA L AWARENESS";
U.S. provisional patent application serial No. 62/649,309 entitled "SURGICA L HUB SPATIA L AWARENESS TO DETERMINE DEVICES INOPERATING THEREATER";
U.S. provisional patent application serial No. 62/649,310 entitled "transformer IMP L EMENTED INTERACTIVE SURGICA L SYSTEMS";
U.S. provisional patent application Ser. No. 62/649,291 entitled "USE OF L ASER L IGHT AND RED-GREEN-B L UE CO L ORATION DETERMINES PROPERTIES OF BACK SCATTERED L IGHT";
U.S. patent application Ser. No. 62/649,296 entitled "ADAPTIVE control L PROGRAM UPDATES FOR DEVICES L DEVICES";
U.S. provisional patent application Ser. No. 62/649,333 entitled "C L OUD-BASED MEDIA L ANA L YTICS FOR CUSTOMIZATION ANDRECOMMENDATIONS TO A USER";
U.S. provisional patent application Ser. No. 62/649,327 entitled "C L OUD-BASED MEDICA L ANA L YTICS FOR SECURITY ANDAUTHENTATION TRENDS AND REACTIVE MEASURES";
U.S. provisional patent application Ser. No. 62/649,315 entitled "DATA HAND L ING AND PRIORITIZATION IN A C L OUD ANA L YTICSNETWORK";
U.S. provisional patent application Ser. No. 62/649,313 entitled "C L OUD INTERFACE FOR COUP L ED SURGICA L DEVICES";
U.S. provisional patent application Ser. No. 62/649,320 entitled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICA L P L ATFORMS";
U.S. provisional patent application Ser. No. 62/649,307 entitled "AUTOMATIC TOO L ADJUSTMENT FOR ROBOT-ASSISTED SURGICA L P L ATFORMS", and
U.S. provisional patent application Ser. No. 62/649,323 entitled "SENSING ARRANGEMENTS FOR Robot-Assisted Surgical platformS".
The applicant of the present patent application owns the following U.S. patent applications filed on 3/29 of 2018, each of which is incorporated herein by reference in its entirety:
U.S. patent application Ser. No. ____________ entitled "INTERACTIVE SURGICA L SYSTEMS WITH ENCRYPTED COMMUNICATIONCAPABI L ITIES";
U.S. patent application Ser. No. ____________ entitled "INTERACTIVE SURGICA L SYSTEMS WITH Conditioning HAND L ING OFDEVICES AND DATA CAPABI L ITIES";
U.S. patent application Ser. No. ____________ entitled "Surgical hub association of control and communication of operating room devices"; attorney docket number END8499USNP 2/170766-2;
U.S. patent application Ser. No. ____________ entitled "Cooperative utilization of data derived from secondary sources by organic scientific hums"; attorney docket number END8499USNP 4/170766-4;
U.S. patent application Ser. No. ____________ entitled "Surgical hub control arrangements"; attorney docket number END8499USNP 5/170766-5;
U.S. patent application Ser. No. ____________ entitled "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND DCREATE ANONYMIZED RECORD"; attorney docket number END8500 USNP/170767;
U.S. patent application Ser. No. ____________ entitled "COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERSAND STATUS OF A SURGICA L DEVICE TO BE SHARED WITH C L OUD BASED ANA L YTICSSYSTEMS";
U.S. patent application Ser. No. ____________ entitled "SE L F DESCRING DATA PACKETS GENERATED AT AN ISSUING GINSTRUMENT";
U.S. patent application Ser. No. ____________ entitled "DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETERWITH AN OUTCOME"; attorney docket number END8500USNP 3/170767-3;
U.S. patent application Ser. No. ___________ entitled "SURGICA L HUB SITUATONA L AWARENESS";
U.S. patent application Ser. No. _________ entitled "SURGICA L SYSTEM DISTRIBUTED PROCESSING";
U.S. patent application Ser. No. ___________ entitled "AGGREGATION AND REPORTING OF SURGICA L HUB DATA";
U.S. patent application Ser. No. ______ entitled "SURGICA L HUB SPATIA L AWARENESS TO DETERMINE DEVICES INOPERATITING THEREATER";
U.S. patent application Ser. No. ____________ entitled DISP L AYOF A L IGNMENT OF STAP L E CARTRIDGE TO PRIOR L INEARSTAP L E L INE, attorney docket number END8502USNP 1/170769-1;
U.S. patent application Ser. No. ____________ entitled "STERI L E FIE L D INTERACTIVE CONTRO L DISP L AYS";
U.S. patent application Ser. No. ____________ entitled "COMPUTER IMP L EMENTED INTERACTIVE SURGICA L SYSTEMS";
U.S. patent application Ser. No. ____________ entitled "USE OF L ASER L IGHT AND RED-GREEN-B L UE CO L ORATION DETERMINE PROPERTIES OF BACK SCATTERED L IGHT";
U.S. patent application Ser. No. _____ entitled CHARACTERIZATION OF TISSUE IRREGU L ARITIES THROUGH THE USE OFMONO-CHROMATIC L IGHT REFRACTIVITY, attorney docket number END8504USNP1/170771-1, and
U.S. patent application Ser. No. __ entitled "DUA L CMOS ARRAY IMAGING," attorney docket number END8504USNP 2/170771-2.
The applicant of the present patent application owns the following U.S. patent applications filed on 3/29 of 2018, each of which is incorporated herein by reference in its entirety:
U.S. patent application Ser. No. __ entitled "ADAPTIVE control L PROGRAM UPDATES FOR SURGICA L DEVICES";
U.S. patent application Ser. No. ______ entitled "ADAPTIVE control L PROGRAM UPDATES FOR SURGICA L DEVICES";
U.S. patent application Ser. No. ____________ entitled "C L OUD-BASED MEDIA L ANA L YTICS FOR CUSTOMIZATION AND DRECOMM MEDIATIONS TO A USER";
U.S. patent application Ser. No. ____________ entitled "C L OUD-BASED MEDIA L ANA L YTICS FOR L INKING OF L OCA L USAGETRENDS WITH THE RESOURCE ACQUISITION BEHAVORS OF L ARGER DATA SET";
U.S. patent application Ser. No. _________ entitled "Cloud-based Medical analysis for Medical Facility Segmented introduction of Instrument Function"; attorney docket number END8507USNP 2/170774-2;
U.S. patent application Ser. No. ____ entitled "C L OUD-BASED MEDIA L ANA L YTICS FOR SECURITY ANDAUTHENTATION TRENDS AND REACTIVE MEASURES";
U.S. patent application Ser. No. ____________ entitled "DATA HAND L ING AND PRIORITIZATION IN A C L OUD ANA L YTICSNETWORK", attorney docket number END8509USNP/170776, AND
U.S. patent application Ser. No. ___________ entitled "C L OUD INTERFACE FOR COUP L ED SURGICA L DEVICES" and attorney docket number END8510 USNP/170777.
The applicant of the present patent application owns the following U.S. patent applications filed on 3/29 of 2018, each of which is incorporated herein by reference in its entirety:
U.S. patent application Ser. No. ______ entitled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICA L P L ATFORMs";
U.S. patent application Ser. No. ________ entitled "COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICA L P L ATFORMS";
U.S. patent application Ser. No. ___ entitled "CONTRO L S FOR ROBOT-ASSISTED SURGICA L P L ATFORMS";
U.S. patent application Ser. No. ____ entitled "AUTOMATIC TOO L ADJUSTMENTS FOR ROBOT-ASSISTED SURGIC L P L ATFORMS";
U.S. patent application Ser. No. _______ entitled "CONTRO LL ERS FOR ROBOT-ASSISTED SURGICA L P L ATFORMS";
U.S. patent application Ser. No. ______ entitled "passenger SURGICA L ACTIONS FOR ROBOT-ASSISTED SURGICA L P L ATFORMS";
U.S. patent application Ser. No. ________ entitled DISP L AY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICA L P L ATFORMS, attorney docket number END8512USNP3/170779-3, and
U.S. patent application Ser. No. ____________ entitled "SENSING ARRANGEMENTS FOR Robot-Assisted Surgical platformS"; attorney docket number END8513 USNP/170780.
Before explaining various aspects of the surgical device and generator in detail, it should be noted that the example illustrated application or use is not limited to the details of construction and arrangement of parts illustrated in the accompanying drawings and description. The illustrative examples may be implemented alone or in combination with other aspects, variations and modifications, and may be practiced or carried out in various ways. Furthermore, unless otherwise indicated, the terms and expressions employed herein have been chosen for the purpose of describing the illustrative embodiments for the convenience of the reader and are not for the purpose of limiting the invention. Moreover, it is to be understood that expressions of one or more of the following described aspects, and/or examples may be combined with any one or more of the other below described aspects, and/or examples.
Referring to fig. 1, a computer-implemented interactive surgical system 100 includes one or more surgical systems 102 and a cloud-based system (e.g., cloud 104, which may include a remote server 113 coupled to a storage device 105). Each surgical system 102 includes at least one surgical hub 106 in communication with cloud 104, which may include a remote server 113. In one example, as shown in fig. 1, the surgical system 102 includes a visualization system 108, a robotic system 110, and a handheld smart surgical instrument 112 configured to communicate with each other and/or with the hub 106. In some aspects, surgical system 102 may include M number of hubs 106, N number of visualization systems 108, O number of robotic systems 110, and P number of handheld intelligent surgical instruments 112, where M, N, O and P are integers greater than or equal to one.
Fig. 3 shows an example of a surgical system 102 for performing a surgical procedure on a patient lying on an operating table 114 in a surgical room 116. The robotic system 110 is used as part of the surgical system 102 during surgery. The robotic system 110 includes a surgeon's console 118, a patient side cart 120 (surgical robot), and a surgical robot hub 122. As the surgeon views the surgical site through the surgeon's console 120, the patient side cart 117 can manipulate at least one removably coupled surgical tool 118 through a minimally invasive incision in the patient. An image of the surgical site may be obtained by the medical imaging device 124, which may be manipulated by the patient side cart 120 to orient the imaging device 124. The robot hub 122 may be used to process images of the surgical site for subsequent display to the surgeon via the surgeon's console 118.
Various examples of robotic systems and surgical tools suitable for use with the present disclosure are described in U.S. provisional patent application serial No. 62/611,339 entitled "ROBOT assembly system dsurgica L P L ATFORM," filed on 28.12.2017, the disclosure of which is incorporated herein by reference in its entirety.
Various examples of cloud-BASED analyses performed by the cloud 104 and suitable for use with the present disclosure are described in U.S. provisional patent application serial No. 62/611,340 entitled "C L OUD-BASED medicine L ANA L YTICS," filed on 28.12.2017, the disclosure of which is incorporated herein by reference in its entirety.
In various aspects, the imaging device 124 includes at least one image sensor and one or more optical components. Suitable image sensors include, but are not limited to, Charge Coupled Device (CCD) sensors and Complementary Metal Oxide Semiconductor (CMOS) sensors.
The optics of the imaging device 124 may include one or more illumination sources and/or one or more lenses. One or more illumination sources may be directed to illuminate portions of the surgical field. The one or more image sensors may receive light reflected or refracted from the surgical field, including light reflected or refracted from tissue and/or surgical instruments.
The one or more illumination sources may be configured to radiate electromagnetic energy in the visible spectrum as well as the invisible spectrum. The visible spectrum (sometimes referred to as the optical spectrum or the luminescence spectrum) is that portion of the electromagnetic spectrum that is visible to (i.e., detectable by) the human eye, and may be referred to as visible light or simple light. A typical human eye will respond to wavelengths in air from about 380nm to about 750 nm.
The invisible spectrum (i.e., the non-luminescent spectrum) is the portion of the electromagnetic spectrum that lies below and above the visible spectrum (i.e., wavelengths below about 380nm and above about 750 nm). The human eye cannot detect the invisible spectrum. Wavelengths greater than about 750nm are longer than the red visible spectrum and they become invisible Infrared (IR), microwave and radio electromagnetic radiation. Wavelengths less than about 380nm are shorter than the violet spectrum and they become invisible ultraviolet, x-ray and gamma-ray electromagnetic radiation.
In various aspects, the imaging device 124 is configured for use in minimally invasive surgery. Examples of imaging devices suitable for use in the present disclosure include, but are not limited to, arthroscopes, angioscopes, bronchoscopes, cholangioscopes, colonoscopes, cytoscopes, duodenoscopes, enteroscopes, esophago-duodenoscopes (gastroscopes), endoscopes, laryngoscopes, nasopharyngo-nephroscopes, sigmoidoscopes, thoracoscopes, and intrauterine scopes.
The use of multispectral Imaging is described in more detail under the heading "Advanced Imaging Acquisition Module" of U.S. provisional patent application Serial No. 62/611,341 entitled "INTERACTIVE SURGICA L P L ATFORM," filed on 28.12.2017, the disclosure of which is incorporated herein by reference in its entirety.
It is self-evident that strict disinfection of the operating room and surgical equipment is required during any surgery. The stringent hygiene and disinfection conditions required in a "surgical room" (i.e., an operating room or a treatment room) require the highest possible sterility of all medical devices and equipment. Part of this sterilization process is any substance that needs to be sterilized, including the imaging device 124 and its attachments and devices, in contact with the patient or penetrating the sterile field. It should be understood that a sterile field may be considered a designated area that is considered free of microorganisms, such as within a tray or within a sterile towel, or a sterile field may be considered an area around a patient that has been prepared for surgery. The sterile field may include a properly worn swabbed team member, as well as all furniture and fixtures in the area.
In various aspects, the visualization system 108 includes one or more Imaging sensors, one or more image processing units, one or more storage arrays, and one or more displays strategically arranged with respect to a sterile field, as shown in FIG. 2. in one aspect, the visualization system 108 includes interfaces for H L7, PACS, and EMR various components of the visualization system 108 are described under the heading "Advanced Imaging Acquisition Module" of U.S. provisional patent application Ser. No. 62/611,341 entitled "INTERACTIVE SURGICA L P L ATFORM," filed on 28.12.2017, the disclosure of which is incorporated herein by reference in its entirety.
As shown in fig. 2, a main display 119 is positioned in the sterile field to be visible to the operator at the surgical table 114. Further, the visualization tower 111 is positioned outside the sterile field. Visualization tower 111 includes a first non-sterile display 107 and a second non-sterile display 109 facing away from each other. Visualization system 108, guided by hub 106, is configured to utilize displays 107, 109, and 119 to coordinate information flow to operators inside and outside the sterile field. For example, the hub 106 may cause the imaging system 108 to display a snapshot of the surgical site recorded by the imaging device 124 on the non-sterile display 107 or 109 while maintaining a real-time feed of the surgical site on the main display 119. A snapshot on non-sterile display 107 or 109 may allow a non-sterile operator to, for example, perform diagnostic steps associated with a surgical procedure.
In one aspect, hub 106 is further configured to route diagnostic inputs or feedback entered by non-sterile operators at visualization tower 111 to main display 119 within the sterile field, where it can be viewed by sterile operators on the operating floor. In one example, the input may be a modified form of a snapshot displayed on non-sterile display 107 or 109, which may be routed through hub 106 to main display 119.
Referring to FIG. 2, a Surgical Instrument 112 is used in surgery as part of the Surgical system 102. the hub 106 is also configured to coordinate the flow of information to the display of the Surgical Instrument 112. for example, U.S. provisional patent application Serial No. 62/611,341 entitled "INTERACTIVE SURGICA L P L ATFORM," filed on 28.12.2017, the disclosure of which is incorporated herein by reference in its entirety. diagnostic inputs or feedback entered by non-sterile operators at the visualization tower 111 may be routed by the hub 106 to the Surgical Instrument display 115 within the sterile field, where the inputs or feedback may be viewed by the operator of the Surgical Instrument 112. exemplary Surgical instruments suitable for use with the Surgical system 102 are described under the heading "Surgical Instrument Hardware," entitled U.S. provisional patent application Serial No. 62/611,341 entitled "INTERACTIVE SURGICA L P L ATFORM," filed on 28.12.2017, the disclosure of which is incorporated herein by reference in its entirety.
Referring now to fig. 3, hub 106 is depicted in communication with visualization system 108, robotic system 110, and handheld intelligent surgical instrument 112. Hub 106 includes a hub display 135, an imaging module 138, a generator module 140, a communication module 130, a processor module 132, and a storage array 134. In certain aspects, as shown in fig. 3, hub 106 further includes a smoke evacuation module 126 and/or a suction/irrigation module 128.
During surgery, the application of energy to tissue for sealing and/or cutting is typically associated with smoke evacuation, aspiration of excess fluid, and/or irrigation of the tissue. Fluid lines, power lines and/or data lines from different sources are often tangled during surgery. Valuable time may be lost in addressing the problem during surgery. Disconnecting the lines may require disconnecting the lines from their respective modules, which may require resetting the modules. The hub modular housing 136 provides a unified environment for managing power, data, and fluid lines, which reduces the frequency of tangling between such lines.
Aspects of the present disclosure provide a surgical hub for use in a surgical procedure involving application of energy to tissue at a surgical site. The surgical hub includes a hub housing and a composite generator module slidably received in a docking station of the hub housing. The docking station includes data contacts and power contacts. The combined generator module includes two or more of an ultrasonic energy generator device, a bipolar RF energy generator device, and a monopolar RF energy generator device seated in a single cell. In one aspect, the combined generator module further comprises a smoke evacuation device, at least one energy delivery cable for connecting the combined generator module to a surgical instrument, at least one smoke evacuation device configured to evacuate smoke, fluids and/or particles generated by application of therapeutic energy to tissue, and a fluid line extending from the distal surgical site to the smoke evacuation device.
In one aspect, the fluid line is a first fluid line and the second fluid line extends from the distal surgical site to a suction and irrigation module slidably received in the hub housing. In one aspect, the hub housing includes a fluid interface.
Certain surgical procedures may require more than one energy type to be applied to tissue. One energy type may be more advantageous for cutting tissue, while a different energy type may be more advantageous for sealing tissue. For example, a bipolar generator may be used to seal tissue, while an ultrasonic generator may be used to cut the sealed tissue. Aspects of the present disclosure provide a solution in which the hub modular housing 136 is configured to accommodate different generators and facilitate interactive communication therebetween. One of the advantages of the hub modular housing 136 is the ability to quickly remove and/or replace various modules.
Aspects of the present disclosure provide a modular surgical housing for use in a surgical procedure involving the application of energy to tissue. The modular surgical housing includes a first energy generator module configured to generate first energy for application to tissue, and a first docking station including a first docking port including first data and power contacts, wherein the first energy generator module is slidably movable into electrical engagement with the power and data contacts, and wherein the first energy generator module is slidably movable out of electrical engagement with the first power and data contacts,
as further described above, the modular surgical housing further includes a second energy generator module configured to generate a second energy different from the first energy for application to tissue, and a second docking station including a second docking port including a second data and power contact, wherein the second energy generator module is slidably movable into electrical engagement with the power and data contact, and wherein the second energy generator is slidably movable out of electrical contact with the second power and data contact.
In addition, the modular surgical housing further includes a communication bus between the first docking port and the second docking port configured to facilitate communication between the first energy generator module and the second energy generator module.
Referring to fig. 3-7, aspects of the present disclosure are presented as a hub modular housing 136 that allows for modular integration of the generator module 140, smoke evacuation module 126, and suction/irrigation module 128. The hub modular housing 136 also facilitates interactive communication between the modules 140, 126, 128. As shown in fig. 5, the generator module 140 may be a generator module with integrated monopolar, bipolar, and ultrasound devices supported in a single housing unit 139 that is slidably inserted into the hub modular housing 136. As shown in fig. 5, the generator module 140 may be configured to connect to a monopolar device 146, a bipolar device 147, and an ultrasound device 148. Alternatively, the generator modules 140 may include a series of monopole generator modules, bipolar generator modules, and/or ultrasonic generator modules that interact through the hub modular housing 136. The hub modular housing 136 may be configured to facilitate the insertion of multiple generators and the interactive communication between generators docked into the hub modular housing 136 such that the generators will act as a single generator.
In one aspect, the hub modular housing 136 includes a modular power and communications backplane 149 having external and wireless communications connections to enable removable attachment of the modules 140, 126, 128 and interactive communications therebetween.
In one aspect, the hub modular housing 136 includes a docking cradle or drawer 151 (also referred to herein as a drawer) configured to slidably receive the modules 140, 126, 128. Fig. 4 illustrates a partial perspective view of the surgical hub housing 136 and the composite generator module 145 slidably received in the docking station 151 of the surgical hub housing 136. The docking port 152 having power and data contacts on the back of the combined generator module 145 is configured to engage the corresponding docking port 150 with the power and data contacts of the corresponding docking station 151 of the hub module housing 136 when the combined generator module 145 is slid into place within the corresponding docking station 151 of the hub module housing 136. In one aspect, the combined generator module 145 includes bipolar, ultrasonic, and monopolar modules integrated together into a single housing unit 139, as shown in fig. 5.
In various aspects, the smoke evacuation module 126 includes a fluid line 154 that communicates captured/collected smoke and/or fluid from the surgical site to, for example, the smoke evacuation module 126. Vacuum suction from smoke evacuation module 126 may draw smoke into the opening of the common conduit at the surgical site. The utility conduit coupled to the fluid line may be in the form of a flexible tube terminating at the smoke evacuation module 126. The common conduit and fluid lines define a fluid path that extends toward the smoke evacuation module 126 housed in the hub housing 136.
In various aspects, the suction/irrigation module 128 is coupled to a surgical tool that includes an aspiration fluid line and a suction fluid line. In one example, the aspiration fluid line and the suction fluid line are in the form of flexible tubes extending from the surgical site toward the suction/irrigation module 128. One or more drive systems may be configured to irrigate fluid to and aspirate fluid from a surgical site.
In one aspect, a surgical tool includes a shaft having an end effector at a distal end thereof and at least one energy treatment associated with the end effector, a suction tube, and an irrigation tube. The draft tube may have an inlet at a distal end thereof, and the draft tube extends through the shaft. Similarly, a draft tube may extend through the shaft and may have an inlet adjacent the energy delivery tool. The energy delivery tool is configured to deliver ultrasonic and/or RF energy to the surgical site and is coupled to the generator module 140 by a cable that initially extends through the shaft.
The irrigation tube may be in fluid communication with a fluid source, and the aspiration tube may be in fluid communication with a vacuum source. The fluid source and/or vacuum source may be seated in the suction/irrigation module 128. In one example, the fluid source and/or vacuum source may be seated in the hub housing 136 independently of the suction/irrigation module 128. In such examples, the fluid interface can connect the suction/irrigation module 128 to a fluid source and/or a vacuum source.
In one aspect, the modules 140, 126, 128 on the hub modular housing 136 and/or their corresponding docking stations may include alignment features configured to align the docking ports of the modules into engagement with their corresponding ports in the docking stations of the hub modular housing 136. For example, as shown in fig. 4, the combined generator module 145 includes side brackets 155, the side brackets 155 configured to slidably engage with corresponding brackets 156 of corresponding docking mounts 151 of the hub modular housing 136. The brackets cooperate to guide the docking port contacts of the combined generator module 145 into electrical engagement with the docking port contacts of the hub modular housing 136.
In some aspects, the drawers 151 of the hub modular housing 136 are the same or substantially the same size, and the modules are sized to be received in the drawers 151. For example, the side brackets 155 and/or 156 may be larger or smaller depending on the size of the module. In other aspects, the drawers 151 are sized differently and are each designed to accommodate a particular module.
In addition, the contacts of a particular module may be keyed to engage the contacts of a particular drawer to avoid inserting the module into a drawer having unmatched contacts.
As shown in fig. 4, the docking port 150 of one drawer 151 may be coupled to the docking port 150 of another drawer 151 by a communication link 157 to facilitate interactive communication between modules seated in the hub modular housing 136. Alternatively or additionally, the docking port 150 of the hub modular housing 136 can facilitate wireless interactive communication between modules seated in the hub modular housing 136. Any suitable wireless communication may be employed, such as, for example, Air Titan-Bluetooth.
Fig. 6 illustrates a single power bus attachment for multiple lateral docking ports of a lateral modular housing 160, the lateral modular housing 160 configured to house multiple modules of a surgical hub 206. The lateral modular housing 160 is configured to laterally receive and interconnect the modules 161. The modules 161 are slidably inserted into docking feet 162 of a lateral modular housing 160, which lateral modular housing 160 includes a floor for interconnecting the modules 161. As shown in fig. 6, the modules 161 are arranged laterally in a lateral modular housing 160. Alternatively, the modules 161 may be arranged vertically in a lateral modular housing.
Fig. 7 illustrates a vertical modular housing 164 configured to house a plurality of modules 165 of the surgical hub 106. The modules 165 are slidably inserted into docking feet or drawers 167 of a vertical modular housing 164, which vertical modular housing 164 includes a floor for interconnecting the modules 165. Although the drawers 167 of the vertical modular housing 164 are arranged vertically, in some cases, the vertical modular housing 164 may include laterally arranged drawers. Further, the modules 165 may interact with each other through docking ports of the vertical modular housing 164. In the example of FIG. 7, a display 177 is provided for displaying data related to the operation of module 165. In addition, the vertical modular housing 164 includes a main module 178 that seats a plurality of sub-modules slidably received in the main module 178.
In various aspects, the imaging module 138 includes an integrated video processor and modular light source, and is adapted for use with a variety of imaging devices. In one aspect, the imaging device is constructed of a modular housing that can be fitted with a light source module and a camera module. The housing may be a disposable housing. In at least one example, the disposable housing is removably coupled to the reusable controller, the light source module, and the camera module. The light source module and/or the camera module may be selectively selected according to the type of the surgical operation. In one aspect, the camera module includes a CCD sensor. In another aspect, the camera module includes a CMOS sensor. In another aspect, the camera module is configured for scanning beam imaging. Also, the light source module may be configured to deliver white light or different light, depending on the surgical procedure.
During a surgical procedure, it may be inefficient to remove a surgical device from a surgical site and replace the surgical device with another surgical device that includes a different camera or a different light source. Temporary loss of vision at the surgical site can lead to undesirable consequences. The modular imaging apparatus of the present disclosure is configured to allow for the midstream replacement of either a light source module or a camera module during a surgical procedure without having to remove the imaging apparatus from the surgical site.
In one aspect, an imaging device includes a tubular housing including a plurality of channels. The first channel is configured to slidably receive a camera module, which may be configured to snap-fit engage with the first channel. The second channel is configured to slidably receive a light source module, which may be configured to snap-fit engage with the second channel. In another example, the camera module and/or the light source module may be rotated within their respective channels to a final position. Threaded engagement may be used instead of snap-fit engagement.
In various examples, multiple imaging devices are placed at different locations in a surgical field to provide multiple views. The imaging module 138 may be configured to switch between imaging devices to provide an optimal view. In various aspects, the imaging module 138 may be configured to integrate images from different imaging devices.
Various IMAGE PROCESSORs AND imaging devices suitable for use in the present disclosure are described in U.S. patent 7,995,045 entitled "COMBINED SBI AND associated technology L IMAGE PROCESSOR" published on 8/9/2011, which is incorporated herein by reference in its entirety, furthermore, U.S. patent 7,982,776 entitled "SBI MOTION ARTIFACT MOTION a L IMAGE AND METHOD" published on 19/7/2011, which is incorporated herein by reference in its entirety, describes various systems for removing MOTION ARTIFACTs from IMAGE data, such systems may be integrated with the imaging module 138, furthermore, U.S. patent application 2011/0306840 entitled "control LL AB L E MAGNETIC SOURCE TO fast IMAGE L IMAGE," published on 12/15/2011, U.S. patent application 2011/0306840 AND U.S. patent application LL Y INVASIVE 3 entitled "system IMAGE PROCESSOR a noise PROCESSOR 2 publication", published on 8/28/829, each of which is incorporated herein by reference in its entirety, AND patent 4934, each of which is incorporated herein by reference in its entirety.
Fig. 8 illustrates a surgical data network 201 including a modular communication hub 203, the modular communication hub 203 configured to connect modular devices located in one or more operating rooms of a medical facility or any room in the medical facility specifically equipped for surgical operations to a cloud-based system (e.g., a cloud 204 that may include a remote server 213 coupled to a storage device 205). In one aspect, modular communication hub 203 includes a network hub 207 and/or a network switch 209 that communicate with network routers. Modular communication hub 203 may also be coupled to local computer system 210 to provide local computer processing and data manipulation. The surgical data network 201 may be configured to be passive, intelligent, or switched. The passive surgical data network acts as a conduit for data, enabling it to be transferred from one device (or segment) to another device (or segment) as well as cloud computing resources. The intelligent surgical data network includes additional features to enable monitoring of traffic through the surgical data network and configuring each port in the hub 207 or network switch 209. The intelligent surgical data network may be referred to as a manageable hub or switch. The switching hub reads the destination address of each packet and then forwards the packet to the correct port.
The modular devices 1a-1n located in the operating room may be coupled to a modular communication hub 203. Network hub 207 and/or network switch 209 may be coupled to network router 211 to connect devices 1a-1n to cloud 204 or local computer system 210. Data associated with the devices 1a-1n may be transmitted via the router to the cloud-based computer for remote data processing and manipulation. Data associated with the devices 1a-1n may also be transmitted to the local computer system 210 for local data processing and manipulation. Modular devices 2a-2m located in the same operating room may also be coupled to the network switch 209. Network switch 209 may be coupled to network hub 207 and/or network router 211 to connect devices 2a-2m to cloud 204. Data associated with the devices 2a-2n may be transmitted via the network router 211 to the cloud 204 for data processing and manipulation. Data associated with the devices 2a-2m may also be transmitted to the local computer system 210 for local data processing and manipulation.
It should be understood that surgical data network 201 may be expanded by interconnecting multiple hubs 207 and/or multiple network switches 209 with multiple network routers 211. The modular communication hub 203 may be contained in a modular control tower configured to house a plurality of devices 1a-1n/2a-2 m. Local computer system 210 may also be contained in a modular control tower. The modular communication hub 203 is connected to a display 212 to display images obtained by some of the devices 1a-1n/2a-2m, for example, during surgery. In various aspects, the devices 1a-1n/2a-2m may include, for example, various modules such as non-contact sensor modules in an imaging module 138 coupled to an endoscope, a generator module 140 coupled to an energy-based surgical device, a smoke evacuation module 126, a suction/irrigation module 128, a communication module 130, a processor module 132, a memory array 134, a surgical device connected to a display, and/or other modular devices that may be connected to a modular communication hub 203 of a surgical data network 201.
In one aspect, the surgical data network 201 may include a combination of network hub(s), network switch (es), and network router(s) that connect the devices 1a-1n/2a-2m to the cloud. Any or all of the devices 1a-1n/2a-2m coupled to the hub or network switch may collect data in real time and transmit the data into the cloud computer for data processing and manipulation. It should be appreciated that cloud computing relies on shared computing resources rather than using local servers or personal devices to process software applications. The term "cloud" may be used as a metaphor for "internet," although the term is not so limited. Accordingly, the term "cloud computing" may be used herein to refer to a "type of internet-based computing" in which different services (such as servers, memory, and applications) are delivered to modular communication hub 203 and/or computer system 210 located in a surgical room (e.g., a fixed, mobile, temporary, or live operating room or space) and devices connected to modular communication hub 203 and/or computer system 210 over the internet. The cloud infrastructure may be maintained by a cloud service provider. In this case, the cloud service provider may be an entity that coordinates the use and control of the devices 1a-1n/2a-2m located in one or more operating rooms. Cloud computing services can perform a large amount of computing based on data collected by smart surgical instruments, robots, and other computerized devices located in the operating room. The hub hardware enables multiple devices or connections to connect to a computer in communication with the cloud computing resources and memory.
Applying cloud computer data processing techniques to the data collected by the devices 1a-1n/2a-2m, the surgical data network provides improved surgical results, reduced costs and improved patient satisfaction. At least some of the devices 1a-1n/2a-2m may be employed to observe tissue conditions to assess leakage or perfusion of sealed tissue following tissue sealing and cutting procedures. At least some of the devices 1a-1n/2a-2m may be employed to identify pathologies, such as the effects of disease, using cloud-based computing to examine data including images of body tissue samples for diagnostic purposes. This includes localization and edge confirmation of tissues and phenotypes. At least some of the devices 1a-1n/2a-2m may be employed to identify anatomical structures of the body using various sensors integrated with the imaging devices and techniques, such as overlaying images captured by multiple imaging devices. The data (including image data) collected by the devices 1a-1n/2a-2m may be transmitted to the cloud 204 or the local computer system 210 or both for data processing and manipulation, including image processing and manipulation. Such data analysis may further employ outcome analysis processing, and use of standardized methods may provide beneficial feedback to confirm or suggest modification of the behavior of the surgical treatment and surgeon.
In one implementation, the operating room devices 1a-1n may be connected to the modular communication hub 203 through a wired channel or a wireless channel, depending on the configuration of the devices 1a-1n to the network hub. In one aspect, hub 207 may be implemented as a local network broadcaster operating at the physical layer of the Open Systems Interconnection (OSI) model. The hub provides connectivity to devices 1a-1n located in the same operating room network. The hub 207 collects the data in the form of packets and transmits it to the router in half duplex mode. Hub 207 does not store any media access control/internet protocol (MAC/IP) used to transmit device data. Only one of the devices 1a-1n may transmit data through the hub 207 at a time. The hub 207 does not have routing tables or intelligence as to where to send information and broadcast all network data on each connection and to the remote server 213 (fig. 9) through the cloud 204. Hub 207 may detect basic network errors such as conflicts, but broadcasting all information to multiple ports may present a security risk and lead to bottlenecks.
In another implementation, the operating room devices 2a-2m may be connected to the network switch 209 via a wired channel or a wireless channel. Network switch 209 operates in the data link layer of the OSI model. The network switch 209 is a multicast device for connecting devices 2a-2m located in the same operating room to the network. Network switch 209 sends data in frames to network router 211 and operates in full duplex mode. Multiple devices 2a-2m may transmit data simultaneously through the network switch 209. The network switch 209 stores and uses the MAC addresses of the devices 2a-2m to transmit data.
In one example, hub 207 may be implemented as a USB hub, which allows multiple USB devices to be connected to a host. A USB hub may extend a single USB port to multiple tiers so that more ports are available for connecting devices to a host system computer. Hub 207 may include wired or wireless capabilities for receiving information over a wired channel or a wireless channel. In one aspect, a wireless USB short-range, high bandwidth wireless radio communication protocol may be used for communication between devices 1a-1n and devices 2a-2m located in an operating room.
In other examples, the operating room devices 1a-1n/2a-2m may communicate with the modular communication hub 203 via the Bluetooth wireless technology standard for exchanging data from stationary and mobile devices and constructing a Personal Area Network (PAN) over short distances (using short wavelength UHF radio waves of 2.4 to 2.485GHz in the ISM band). In other aspects, the operating room devices 1a-1n/2a-2m may communicate with the modular communication hub 203 via a variety of wireless or wired communication standards or protocols, including but not limited to Wi-Fi (IEEE 802.11 series), WiMAX (IEEE 802.16 series), IEEE 802.20, Long term evolution (L TE), and Ev-DO, HSPA +, UPA +, EDGE, GSM, GPRS, CDMA, TDMA, DECT, and their network derivatives, as well as any other wireless and wired protocols designated as 3G, 4G, 5G, and above.
The modular communication hub 203 may serve as a central connection for one or all of the operating room devices 1a-1n/2a-2m and handle a data type called a frame. The frames carry data generated by the devices 1a-1n/2a-2 m. When the modular communication hub 203 receives the frame, it is amplified and transmitted to the network router 211, which network router 211 transmits the data to the cloud computing resources using a plurality of wireless or wired communication standards or protocols as described herein.
Fig. 9 illustrates a computer-implemented interactive surgical system 200. The computer-implemented interactive surgical system 200 is similar in many respects to the computer-implemented interactive surgical system 100. For example, the computer-implemented interactive surgical system 200 includes one or more surgical systems 202 that are similar in many respects to the surgical system 102. Each surgical system 202 includes at least one surgical hub 206 in communication with a cloud 204, which may include a remote server 213. In one aspect, the computer-implemented interactive surgical system 200 includes a modular control tower 236, the modular control tower 236 being connected to a plurality of operating room devices, such as, for example, intelligent surgical instruments, robots, and other computerized devices located in an operating room. As shown in fig. 10, the modular control tower 236 includes a modular communication hub 203 coupled to the computer system 210. As shown in the example of fig. 9, the modular control tower 236 is coupled to an imaging module 238 coupled to an endoscope 239, a generator module 240 coupled to an energy device 241, a smoke ejector module 226, a suction/irrigation module 228, a communication module 230, a processor module 232, a storage array 234, a smart device/instrument 235 optionally coupled to a display 237, and a non-contact sensor module 242. The operating room devices are coupled to cloud computing resources and data storage via modular control tower 236. Robot hub 222 may also be connected to modular control tower 236 and cloud computing resources. The devices/instruments 235, visualization system 208, etc. may be coupled to the modular control tower 236 via wired or wireless communication standards or protocols, as described herein. The modular control tower 236 may be coupled to the hub display 215 (e.g., monitor, screen) to display and overlay images received from the imaging module, device/instrument display, and/or other visualization system 208. The hub display may also combine the image and the overlay image to display data received from devices connected to the modular control tower.
Fig. 10 shows the surgical hub 206 including a plurality of modules coupled to a modular control tower 236. The modular control tower 236 includes a modular communication hub 203 (e.g., a network connectivity device) and a computer system 210 to provide, for example, local processing, visualization, and imaging. As shown in fig. 10, the modular communication hub 203 may be connected in a hierarchical configuration to expand the number of modules (e.g., devices) that may be connected to the modular communication hub 203 and transmit data associated with the modules to the computer system 210, cloud computing resources, or both. As shown in fig. 10, each of the network hubs/switches in modular communication hub 203 includes three downstream ports and one upstream port. The upstream hub/switch is connected to the processor to provide a communication connection with the cloud computing resources and the local display 217. Communication with the cloud 204 may be through a wired or wireless communication channel.
The Surgical Hub 206 employs a non-contact sensor module 242 to measure the dimensions of the Operating Room and generate a map of the Operating Room using an ultrasound or laser type non-contact measuring device the ultrasound-based non-contact sensor module scans the Operating Room by emitting a burst of ultrasound waves and receiving echoes as they bounce off the enclosure of the Operating Room, as described under the heading "Surgical space with wireless communication with the Operating Room" in U.S. provisional patent application serial No. 62/611,341 entitled "INTERACTIVE SURGICA L P L ATFORM," filed on 28.12.2017, which is incorporated herein by reference in its entirety, wherein the sensor module is configured to determine the size of the Operating Room and adjust the bluetooth paired distance limit.
The computer system 210 includes a processor 244 and a network interface 245 the processor 244 is coupled via a system bus to a communication module 247, storage 248, memory 249, non-volatile memory 250, and an input/output interface 251 the system bus can be any of several types of bus structure(s) including a memory bus or memory controller, a peripheral bus or external bus, and/or a local bus using any of a variety of available bus architectures including, but not limited to, 9-bit bus, Industrial Standard Architecture (ISA), mini-Charmel architecture (MSA), extended ISA (eisa), Intelligent Drive Electronics (IDE), VESA local bus (V L B), Peripheral Component Interconnect (PCI), USB, Advanced Graphics Port (AGP), personal computer memory card international association bus (PCMCIA), Small Computer System Interface (SCSI), or any other peripheral bus.
The controller 244 may be any single-core or multi-core processor, such as those provided by Texas instruments under the tradename ARM Cortex. In one aspectThe processor may be a processor core available from, for example, Texas Instruments L M4F230H5QR ARM Cortex-M4F processor core, which includes 256KB of on-chip memory of single cycle flash or other non-volatile memory (up to 40MHZ), a prefetch buffer for improving performance above 40MHz, 32KB of single cycle Sequential Random Access Memory (SRAM), loaded with a load of memory, etc
Software internal Read Only Memory (ROM), 2KB Electrically Erasable Programmable Read Only Memory (EEPROM), and/or one or more Pulse Width Modulation (PWM) modules, one or more Quadrature Encoder Input (QEI) analog, one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, the details of which can be seen in the product data sheet.
In one aspect, the processor 244 may comprise a safety controller comprising two series controller-based controllers (such as TMS570 and RM4x), also known under the trade name Hercules ARM Cortex R4, also manufactured by Texas Instruments. The safety controller may be configured specifically for IEC 61508 and ISO26262 safety critical applications, etc., to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options.
For example, nonvolatile memory may include ROM, Programmable ROM (PROM), Electrically Programmable ROM (EPROM), EEPROM, or flash memory volatile memory includes Random Access Memory (RAM) which acts as external cache memory furthermore, RAM may be available in a variety of forms such as SRAM, Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link DRAM (S L) and Direct Rambus RAM (DRRAM).
The computer system 210 may also include removable/non-removable, volatile/nonvolatile computer storage media such as, for example, magnetic disk storage including, but not limited to, devices such as magnetic disk drives, floppy disk drives, tape drives, Jaz drives, Zip drives, L S-60 drives, flash memory cards, or memory sticks, hi addition, magnetic disk storage may include storage media separately or in combination with other storage media including, but not limited to, optical disk drives such as compact disk ROM devices (CD-ROMs), compact disk recordable drives (CD-R drives), compact disk rewritable drives (CD-RW drives), or digital versatile disk ROM drives (DVD-ROMs).
It is to be appreciated that the computer system 210 includes software that acts as an intermediary between users and the basic computer resources described in suitable operating environments. Such software includes an operating system. An operating system, which may be stored on disk storage, is used to control and allocate resources of the computer system. System applications utilize the operating system to manage resources through program modules and program data stored in system memory or on disk storage. It is to be appreciated that the various devices described herein can be implemented with various operating systems or combinations of operating systems.
A user enters commands or information into the computer system 210 through input device(s) coupled to the I/O interface 251. Input devices include, but are not limited to, a pointing device such as a mouse, trackball, stylus, touch pad, keyboard, microphone, joystick, game pad, satellite dish, scanner, TV tuner card, digital camera, digital video camera, web camera, and the like. These and other input devices are connected to the processor through the system bus via interface port(s). The interface port(s) include, for example, a serial port, a parallel port, a game port, and a USB. The output device(s) use the same type of port as the input device(s). Thus, for example, a USB port may be used to provide input to a computer system and to output information from the computer system to an output device. Output adapters are provided to illustrate that there are some output devices (such as monitors, displays, speakers, and printers) that require special adapters among other output devices.
In various aspects, the computer system 210, imaging module 238, and/or visualization system 208 of fig. 10, and/or the processor module 232 of fig. 9-10 may include an image processor, an image processing engine, a media processor, or any dedicated Digital Signal Processor (DSP) for processing digital images. The image processor may employ parallel computing with single instruction, multiple data (SIMD) or multiple instruction, multiple data (MIMD) techniques to increase speed and efficiency. The digital image processing engine may perform a series of tasks. The image processor may be a system on a chip having a multi-core processor architecture.
The hardware/software necessary for connection to the network interface includes, for exemplary purposes only, internal and external technologies such as, modems including regular telephone grade modems, cable modems and DS L modems, ISDN adapters, and Ethernet cards.
Fig. 11 illustrates a functional block diagram of one aspect of a USB hub 300 device in accordance with one aspect of the present disclosure. In the illustrated aspect, the USB hub device 300 employs a TUSB2036 integrated circuit hub from Texas Instruments. The USB hub 300 is a CMOS device that provides an upstream USB transceiver port 302 and up to three downstream USB transceiver ports 304, 306, 308 according to the USB 2.0 specification. The upstream USB transceiver port 302 is a differential root data port that includes a differential data negative (DP0) input paired with a differential data positive (DM0) input. The three downstream USB transceiver ports 304, 306, 308 are differential data ports, where each port includes a differential data positive (DP1-DP3) output paired with a differential data negative (DM1-DM3) output.
The USB hub 300 device is implemented with a digital state machine rather than a microcontroller and does not require firmware programming. Fully compatible USB transceivers are integrated into the circuitry for the upstream USB transceiver port 302 and all downstream USB transceiver ports 304, 306, 308. The downstream USB transceiver ports 304, 306, 308 support both full-speed devices and low-speed devices by automatically setting the slew rate according to the speed of the device attached to the port. The USB hub 300 device may be configured in a bus-powered mode or a self-powered mode and includes hub power logic 312 for managing power.
The USB hub 300 device includes a serial interface engine 310 (SIE). SIE 310 is the front end of the USB hub 300 hardware and handles most of the protocols described in section 8 of the USB specification. The SIE 310 typically includes signaling up to the transaction level. The processing functions thereof may include: packet identification, transaction ordering, SOP, EOP, RESET and RESUME signal detection/generation, clock/data separation, no return to zero inversion (NRZI) data encoding/decoding and digit stuffing, CRC generation and verification (token and data), packet id (pid) generation and verification/decoding, and/or serial-parallel/parallel-serial conversion. 310 receives a clock input 314 and is coupled to pause/resume logic and frame timer 316 circuitry and hub repeater circuitry 318 to control communications between the upstream USB transceiver port 302 and the downstream USB transceiver ports 304, 306, 308 through port logic circuitry 320, 322, 324. The SIE 310 is coupled to a command decoder 326 via interface logic to control commands from the serial EEPROM via a serial EEPROM interface 330.
In various aspects, the USB hub 300 may connect 127 functions configured in up to six logical layers (tiers) to a single computer. Further, the USB hub 300 may be connected to all external devices using a standardized four-wire cable that provides both communication and power distribution. The power configuration is a bus powered mode and a self-powered mode. The USB hub 300 may be configured to support four power management modes: bus-powered hubs with individual port power management or package port power management, and self-powered hubs with individual port power management or package port power management. In one aspect, the USB hub 300, upstream USB transceiver port 302, are plugged into the USB host controller using a USB cable, and downstream USB transceiver ports 304, 306, 308 are exposed for connection of USB compatible devices, or the like.
Surgical instrument hardware
Fig. 12 illustrates a logic diagram for a control system 470 for a surgical instrument or tool according to one or more aspects of the present disclosure. The system 470 includes control circuitry. The control circuit includes a microcontroller 461 that includes a processor 462 and a memory 468. For example, one or more of the sensors 472, 474, 476 provide real-time feedback to the processor 462. A motor 482 driven by a motor drive 492 is operably coupled to the longitudinally movable displacement member to drive the I-beam knife element. The tracking system 480 is configured to determine the position of the longitudinally movable displacement member. The position information is provided to a processor 462 that may be programmed or configured to determine the position of the longitudinally movable drive member as well as the positions of the firing member, firing bar, and I-beam knife element. Additional motors may be provided at the tool driver interface to control the I-beam firing, closure tube travel, shaft rotation, and articulation. The display 473 displays a variety of operating conditions of the instrument and may include touch screen functionality for data entry. The information displayed on the display 473 may be overlaid with the image acquired via the endoscopic imaging module.
In one aspect, the microprocessor 461 may be any single or multi-core processor, such as those known under the trade name ARM Cortex produced by Texas Instruments Inc. (Texas Instruments.) in one aspect, the microcontroller 461 may be an L M4F230H5QR ARM Cortex-M4F processor core available from, for example, Texas Instruments Inc. (Texas Instruments), which includes on-chip memory such as 256KB single cycle flash or other non-volatile memory (up to 40MHZ), a prefetch buffer for improving performance above 40MHz, 32KB single cycle SRAM, a prefetch buffer loaded with a memory that is loaded with 256KB
Internal ROM of software, EEPROM of 2KB, one or more PWM modules, one or more QEI analog, one or more 12-bit ADC with 12 analog input channels, the details of which can be seen in the product data table.
In one aspect, microcontroller 461 may comprise a safety controller comprising two controller-based families such as TMS570 and RM4x, also known under the trade name Hercules ARM Cortex R4, also manufactured by Texas Instruments. The safety controller may be configured specifically for IEC 61508 and ISO26262 safety critical applications, etc., to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options.
The microcontroller 461 may be programmed to provide precise control of the speed and position of the displacement member and the articulation system. The microcontroller 461 may be configured to calculate a response in the software of the microcontroller 461. The calculated response is compared to the measured response of the actual system to obtain an "observed" response, which is used for the actual feedback decision. The observed response is a favorable tuning value that balances the smooth continuous nature of the simulated response with the measured response, which can detect external effects on the system.
In one aspect, the motor 482 can be controlled by a motor driver 492 and can be employed by a firing system of a surgical instrument or tool. In various forms, the motor 482 may be a brushed DC drive motor having a maximum rotational speed of about 25,000 RPM. In other arrangements, the motor 482 may comprise a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor driver 492 may comprise, for example, an H-bridge driver including a Field Effect Transistor (FET). The motor 482 may be powered by a power assembly releasably mounted to the handle assembly or tool housing for supplying control power to the surgical instrument or tool. The power assembly may include a battery, which may include a plurality of battery cells connected in series that may be used as a power source to provide power to a surgical instrument or tool. In some cases, the battery cells of the power assembly may be replaceable and/or rechargeable. In at least one example, the battery cell may be a lithium ion battery, which may be coupled to and separated from the power assembly.
The driver 492 may be a3941 available from Allegro Microsystems, Inc. A 3941492 is a full-bridge controller for use with an external N-channel power Metal Oxide Semiconductor Field Effect Transistor (MOSFET) specifically designed for inductive loads, such as brushed DC motors. Driver 492 includes a unique charge pump regulator that provides full (>10V) gate drive for battery voltages as low as 7V and allows a3941 to operate with reduced gate drive as low as 5.5V. A bootstrap capacitor may be employed to provide the aforementioned battery supply voltage required for the N-channel MOSFET. The internal charge pump of the high-side drive allows for direct current (100% duty cycle) operation. The full bridge may be driven in fast decay mode or slow decay mode using diodes or synchronous rectification. In slow decay mode, current recirculation can pass through either the high-side or low-side FETs. The power FET is protected from breakdown by a resistor adjustable dead time. The integral diagnostics provide an indication of undervoltage, overheating, and power bridge faults, and may be configured to protect the power MOSFETs under most short circuit conditions. Other motor drives can be readily substituted for use in tracking system 480, including an absolute positioning system.
The tracking system 480 includes a controlled motor drive circuit arrangement according to one aspect of the present disclosure including a position sensor 472. the position sensor 472 for an absolute positioning system provides a unique position signal corresponding to the position of a displacement member in one aspect, the displacement member represents a longitudinally movable drive member including a rack of drive teeth for meshing engagement with a corresponding drive gear of a gear reducer assembly.
The electric motor 482 may include a rotatable shaft that operably interfaces with a gear assembly mounted on the displacement member in meshing engagement with the set or rack of drive teeth. The sensor element may be operably coupled to the gear assembly such that a single rotation of the position sensor 472 element corresponds to some linear longitudinal translation of the displacement member. The arrangement of the transmission and sensor may be connected to the linear actuator via a rack and pinion arrangement, or to the rotary actuator via a spur gear or other connection. The power source powers the absolute positioning system and the output indicator may display an output of the absolute positioning system. The displacement member represents a longitudinally movable drive member including a rack of drive teeth formed thereon for meshing engagement with a corresponding drive gear of the gear reducer assembly. The displacement member represents a longitudinally movable firing member, a firing bar, an I-beam, or a combination thereof.
A single rotation of the sensor element associated with position sensor 472 is equivalent to a longitudinal linear displacement d1 of the displacement member, where d1 is the longitudinal linear distance that the displacement member moves from point "a" to point "b" after a single rotation of the sensor element coupled to the displacement member. The sensor arrangement may be connected via a gear reduction that causes the position sensor 472 to complete only one or more rotations for the full stroke of the displacement member. The position sensor 472 may complete multiple rotations for a full stroke of the displacement member.
A series of switches (where n is an integer greater than one) may be employed alone or in conjunction with the gear reduction to provide unique position signals for more than one rotation of the position sensor 472. The state of the switch is fed back to the microcontroller 461, which applies logic to determine a unique position signal corresponding to the longitudinal linear displacement d1+ d2+ … dn of the displacement member. The output of the position sensor 472 is provided to a microcontroller 461. The position sensor 472 of the sensor arrangement may include a magnetic sensor, an analog rotation sensor (e.g., a potentiometer), an array of analog hall effect elements that output a unique combination of position signals or values.
In one aspect, the position sensor 472 for the tracking system 480 including an absolute positioning system includes a magnetic rotating absolute positioning system the position sensor 472 may be implemented AS an AS5055EQFT monolithic magnetic rotating position sensor, available from Austria Microsystems, AG, the position sensor 472 interfaces with a microcontroller 461 to provide an absolute positioning system the position sensor 472 is a low voltage and low power device and includes four hall effect elements located in the area of the position sensor 472 on the magnet a high resolution ADC and an intelligent power management controller are also provided on the chip a coordinate rotation digital computer (dic) processor (also known AS a bitwise method and a Volder algorithm) is provided to perform simple and efficient algorithms to compute hyperbolic and trigonometric functions that require only addition, subtraction, displacement and table lookup operations angular position, alarm bit and magnetic field information to be transmitted to the microcontroller over a standard serial communication interface, such AS a Serial Peripheral Interface (SPI) 461 to the position sensor provide 12 or 14 bit resolution the position sensor 472 may provide a qf 3585 mm package for an AS a small pin 5054.84.
The tracking system 480, including an absolute positioning system, may include AND/or may be programmed to implement a feedback controller, such as a PID, state feedback, AND ADAPTIVE controller, a power source converts the signal from the feedback controller into a physical input to the system, in this case a voltage, other examples include pwm OF voltage, current, AND force other sensor(s) may be provided to measure physical parameters OF the physical system in addition to the position measured by the position sensor 472 in some aspects, the other sensor(s) may include sensor arrangements such as those described in U.S. patent 9,345,481 entitled "STAP L E CARTRIDGE TISSUE THICKNESS" issued on 24 th 5 th 2016, which is incorporated herein by reference in its entirety, AND U.S. patent application 2014/0263552 entitled "STAP L E CARTRIDGE tissussi thknonsk" issued on 18 th 2014 9 th 2014/0263552 th which is incorporated herein by reference in its entirety, AND an absolute positioning system response calculation algorithm entitled "filed on 20 th 6 th 2017, which is combined with a weighted response calculation OF the system response to a digital response calculation OF a response to a calculated by a system response to a digital sampling algorithm such as a weighted average positioning system response calculated by comparison OF a digital sensor response to a digital sensor response model calculation OF a system response, including a weighted response calculation OF a sampling algorithm calculated by calculating absolute positioning system response OF inertial sensor response, a weighted average OF a system response, a sampling algorithm, including a weighted average OF inertial sensor response OF absolute positioning system, a sampling algorithm, calculation OF absolute positioning system response, calculation OF absolute positioning system response, AND calculation OF absolute positioning system response, such as calculated by a system response, calculation OF absolute positioning system response, AND calculation OF absolute positioning system response, calculation OF.
Thus, the absolute positioning system provides an absolute position of the displacement member upon power-up of the instrument, and does not retract or advance the displacement member to a reset (clear or home) position as may be required by conventional rotary encoders, which simply count the number of forward or backward steps taken by the motor 482 to infer the position of the device actuator, drive rod, knife, etc.
The sensor 474 (such as, for example, a strain gauge or a micro-strain gauge) is configured to measure one or more parameters of the end effector, such as, for example, the magnitude of the strain exerted on the anvil during a clamping operation, which may be indicative of the closing force applied to the anvil. The measured strain is converted to a digital signal and provided to the processor 462. Alternatively or in addition to the sensor 474, a sensor 476 (such as a load sensor) may measure the closing force applied to the anvil by the closure drive system. A sensor 476, such as, for example, a load sensor, may measure the firing force applied to the I-beam during the firing stroke of the surgical instrument or tool. The I-beam is configured to engage a wedge sled configured to cam the staple drivers upward to push the staples out into deforming contact with the anvil. The I-beam also includes a sharp cutting edge that can be used to sever tissue when the I-beam is advanced distally by the firing bar. Alternatively, a current sensor 478 may be employed to measure the current drawn by the motor 482. The force required to advance the firing member may correspond to, for example, the current consumed by the motor 482. The measured force is converted to a digital signal and provided to the processor 462.
In one form, the strain gauge sensor 474 may be used to measure the force applied to tissue by the end effector. A strain gauge may be coupled to the end effector to measure the force on the tissue being treated by the end effector. The system for measuring the force applied to tissue grasped by the end effector includes a strain gauge sensor 474, such as, for example, a micro-strain gauge, configured to measure one or more parameters of, for example, the end effector. In one aspect, the strain gauge sensor 474 can measure the amplitude or magnitude of the strain applied to the jaw members of the end effector during a clamping operation, which can indicate tissue compression. The measured strain is converted to a digital signal and provided to the processor 462 of the microcontroller 461. Load sensor 476 may measure a force used to operate the knife member, for example, to cut tissue captured between the anvil and the staple cartridge. A magnetic field sensor may be employed to measure the thickness of the trapped tissue. The measurements of the magnetic field sensors may also be converted to digital signals and provided to the processor 462.
The microcontroller 461 can use measurements of tissue compression, tissue thickness, and/or force required to close the end effector, as measured by the sensors 474, 476, respectively, to characterize selected positions of the firing member and/or corresponding values of the velocity of the firing member. In one example, the memory 468 may store techniques, formulas, and/or look-up tables that may be employed by the microcontroller 461 in the evaluation.
The control system 470 of the surgical instrument or tool may also include wired or wireless communication circuitry to communicate with the modular communication hub, as shown in fig. 8-11.
Fig. 13 illustrates a control circuit 500, the control circuit 500 configured to control aspects of a surgical instrument or tool according to an aspect of the present disclosure. The control circuit 500 may be configured to implement various processes described herein. The circuit 500 may include a microcontroller including one or more processors 502 (e.g., microprocessors, microcontrollers) coupled to at least one memory circuit 504. The memory circuitry 504 stores machine-executable instructions that, when executed by the processor 502, cause the processor 502 to execute machine instructions to implement the various processes described herein. The processor 502 may be any of a variety of single-core or multi-core processors known in the art. The memory circuit 504 may include volatile storage media and non-volatile storage media. Processor 502 may include an instruction processing unit 506 and an arithmetic unit 508. The instruction processing unit may be configured to receive instructions from the memory circuit 504 of the present disclosure.
Fig. 14 illustrates a combinational logic circuit 510, the combinational logic circuit 510 configured to control aspects of a surgical instrument or tool according to an aspect of the present disclosure. The combinational logic circuit 510 may be configured to implement the various processes described herein. The combinational logic circuit 510 may include a finite state machine including combinational logic 512, the combinational logic 512 configured to receive data associated with a surgical instrument or tool at input 514, process the data through the combinational logic 512 and provide output 516.
Fig. 15 illustrates a sequential logic circuit 520 configured to control various aspects of a surgical instrument or tool according to one aspect of the present disclosure. Sequential logic circuitry 520 or combinational logic 522 may be configured to implement the various processes described herein. Sequential logic circuit 520 may comprise a finite state machine. Sequential logic circuitry 520 may include, for example, combinatorial logic 522, at least one memory circuit 524, and a clock 529. The at least one memory circuit 524 may store the current state of the finite state machine. In some cases, sequential logic circuit 520 may be synchronous or asynchronous. The combinational logic 522 is configured to receive data associated with a surgical instrument or tool from inputs 526, process the data through the combinational logic 522, and provide outputs 528. In other aspects, a circuit may comprise a combination of a processor (e.g., processor 502, fig. 13) and a finite state machine to implement the various processes herein. In other embodiments, the finite state machine may include a combination of combinational logic circuitry (e.g., combinational logic circuitry 510, FIG. 14) and sequential logic circuitry 520.
Fig. 16 illustrates a surgical instrument or tool including multiple motors that can be activated to perform various functions. In some cases, the first motor may be activated to perform a first function, the second motor may be activated to perform a second function, and the third motor may be activated to perform a third function. In some instances, multiple motors of the robotic surgical instrument 600 may be individually activated to cause firing, closing, and/or articulation motions in the end effector. Firing motions, closing motions, and/or articulation motions can be transmitted to the end effector, for example, via a shaft assembly.
In certain instances, a surgical instrument system or tool may include a firing motor 602. The firing motor 602 is operably coupled to a firing motor drive assembly 604, which may be configured to transmit a firing motion generated by the motor 602 to the end effector, in particular for displacing the I-beam member. In some instances, the firing motion generated by the motor 602 can cause, for example, staples to be deployed from the staple cartridge into tissue captured by the end effector and/or cause a cutting edge of the I-beam member to be advanced to cut the captured tissue. The I-beam element may be retracted by reversing the direction of the motor 602.
In some cases, the surgical instrument or tool may include a closure motor 603. The closure motor 603 can be operably coupled to a closure motor drive assembly 605, the closure motor drive assembly 605 being configured to emit closure motions generated by the motor 603 to the end effector, in particular for displacing a closure tube to close the anvil and compress tissue between the anvil and staple cartridge. The closing motion can transition, for example, the end effector from an open configuration to an approximated configuration to capture tissue. The end effector may be transitioned to the open position by reversing the direction of the motor 603.
In some cases, the surgical instrument or tool may include, for example, one or more articulation motors 606a, 606 b. The motors 606a, 606b can be operably coupled to respective articulation motor drive assemblies 608a, 608b, which can be configured to transmit articulation motions generated by the motors 606a, 606b to the end effector. In some cases, the articulation can articulate the end effector relative to the shaft, for example.
As described above, a surgical instrument or tool may include multiple motors that may be configured to perform various independent functions. In some cases, multiple motors of a surgical instrument or tool may be activated individually or independently to perform one or more functions while other motors remain inactive. For example, the articulation motors 606a, 606b may be activated to articulate the end effector while the firing motor 602 remains inactive. Alternatively, the firing motor 602 may be activated to fire a plurality of staples and/or advance the cutting edge while the articulation motor 606 remains inactive. Further, the closure motor 603 may be activated simultaneously with the firing motor 602 to advance the closure tube and I-beam member distally, as described in more detail below.
In some instances, a surgical instrument or tool may include a common control module 610, which common control module 610 may be used with multiple motors of the surgical instrument or tool. In some cases, the common control module 610 may regulate one of the plurality of motors at a time. For example, the common control module 610 may be individually coupled to and decoupled from multiple motors of the surgical instrument. In some cases, multiple motors of a surgical instrument or tool may share one or more common control modules, such as common control module 610. In some instances, multiple motors of a surgical instrument or tool may independently and selectively engage a common control module 610. In some cases, the common control module 610 may switch from interfacing with one of the plurality of motors of the surgical instrument or tool to interfacing with another of the plurality of motors of the surgical instrument or tool.
In at least one example, the common control module 610 can be selectively switched between operably engaging the articulation motors 606a, 606b and operably engaging the firing motor 602 or the closure motor 603. In at least one example, as shown in fig. 16, the switch 614 may be moved or transitioned between a plurality of positions and/or states. In the first position 616, the switch 614 may electrically couple the common control module 610 to the firing motor 602; in a second position 617, the switch 614 may electrically couple the common control module 610 to the close motor 603; in a third position 618a, switch 614 may electrically couple common control module 610 to first articulation motor 606 a; and in the fourth position 618b, the switch 614 may electrically couple the common control module 610 to, for example, the second articulation motor 606 b. In some instances, a single common control module 610 may be electrically coupled to the firing motor 602, the closure motor 603, and the articulation motors 606a, 606b simultaneously. In some cases, the switch 614 may be a mechanical switch, an electromechanical switch, a solid state switch, or any suitable switching mechanism.
Each of the motors 602, 603, 606a, 606b may include a torque sensor to measure the output torque on the shaft of the motor. The force on the end effector can be sensed in any conventional manner, such as by a force sensor on the outside of the jaws or by a torque sensor of a motor used to actuate the jaws.
In various instances, as shown in fig. 16, the common control module 610 may include a motor driver 626, which motor driver 626 may include one or more H-bridge FETs. The motor driver 626 may regulate power transmitted from a power source 628 to the motors coupled to the common control module 610, for example, based on input from a microcontroller 620 ("controller"). In some cases, the microcontroller 620 may be employed, for example, to determine the current drawn by the motors when they are coupled to the common control module 610, as described above.
In some cases, microcontroller 620 may include a microprocessor 622 ("processor") and one or more non-transitory computer-readable media or storage units 624 ("memory"). In some cases, memory 624 may store various program instructions that, when executed, may cause processor 622 to perform various functions and/or computations as described herein. In some cases, one or more of the memory units 624 may be coupled to the processor 622, for example.
In some cases, power source 628 may be used, for example, to power microcontroller 620. In some cases, the power source 628 may include a battery (or "battery pack" or "power pack"), such as a lithium ion battery, for example. In some cases, the battery pack may be configured to be releasably mounted to the handle for powering the surgical instrument 600. A plurality of series-connected battery cells may be used as the power supply 628. In some cases, the power supply 628 may be replaceable and/or rechargeable, for example.
In various instances, the processor 622 may control the motor driver 626 to control the position, rotational direction, and/or speed of the motors coupled to the common controller 610. In some cases, the processor 622 may signal the motor driver 626 to stop and/or disable the motors coupled to the common controller 610. It is to be understood that the term "processor" as used herein includes any suitable microprocessor, microcontroller, or other basic computing device that combines the functions of a computer's Central Processing Unit (CPU) on one integrated circuit or at most several integrated circuits. A processor is a multipurpose programmable device that receives digital data as input, processes the input according to instructions stored in its memory, and then provides the result as output. Because the processor has internal memory, it is an example of sequential digital logic. The operands of the processor are numbers and symbols represented in a binary numerical system.
In one example, processor 622 may be any single or multi-core processor, such as those known under the trade name ARM Cortex, manufactured by Texas Instruments Inc. (Texas Instruments.) in some cases, microcontroller 620 may be, for example, L M4F230H5QR available from Texas Instruments, in at least one example, Texas Instruments L M4F230H5QR is an ARM Cortex-M4F processor core that includes an on-chip memory of 256KB of single cycle flash or other non-volatile memory (up to 40MHZ), a buffer prefetch to improve performance above 40MHz, 32KB of single cycle SRAM, loaded with ARM Cortex
Internal ROM of software, EEPROM of 2KB, one or more PWM modules, one or more QEI analog, one or more 12-bit ADCs with 12 analog input channels, and other features readily available. Other microcontrollers could be readily substituted for use with module 4410. Accordingly, the present disclosure should not be limited to this context.
In some cases, the memory 624 may include program instructions for controlling each of the motors of the surgical instrument 600, which may be coupled to the common controller 610. For example, the memory 624 may include program instructions for controlling the firing motor 602, the closure motor 603, and the articulation motors 606a, 606 b. Such program instructions may cause the processor 622 to control firing, closure, and articulation functions in accordance with input from an algorithm or control program of the surgical instrument or tool.
In some cases, one or more mechanisms and/or sensors (such as sensor 630) may be used to alert processor 622 of program instructions that should be used in a particular setting. For example, the sensor 630 may alert the processor 622 to use program instructions associated with firing, closing, and articulating the end effector. In some cases, sensor 630 may include, for example, a position sensor that may be used to sense the position of switch 614. Thus, the processor 622 can use program instructions associated with firing the I-beam of the end effector when the switch 614 is detected in the first position 616, such as by the sensor 630; the processor 622 can use the program instructions associated with closing the anvil when the switch 614 is in the second position 617, for example, as detected by the sensor 630; and the processor 622 may use the program instructions associated with articulating the end effector when the switch 614 is in the third position 618a or the fourth position 618b, for example, as detected by the sensor 630.
Fig. 17 is a schematic illustration of a robotic surgical instrument 700 configured to operate a surgical tool described herein, according to one aspect of the present disclosure. The robotic surgical instrument 700 may be programmed or configured to control distal/proximal translation of the displacement member, distal/proximal displacement of the closure tube, shaft rotation, and articulation with single or multiple articulation drive links. In one aspect, the surgical instrument 700 can be programmed or configured to individually control the firing member, the closure member, the shaft member, and/or one or more articulation members. The surgical instrument 700 includes a control circuit 710 configured to control the motor-driven firing member, closure member, shaft member, and/or one or more articulation members.
In one aspect, the robotic surgical instrument 700 includes a control circuit 710 configured to control the anvil 716 and I-beam 714 (including sharp cutting edges) portions of the end effector 702, the removable staple cartridge 718, the shaft 740, and the one or more articulation members 742a, 742b via a plurality of motors 704a-704 e. The position sensor 734 may be configured to provide position feedback of the I-beam 714 to the control circuit 710. Other sensors 738 may be configured to provide feedback to the control circuit 710. The timer/counter 731 provides timing and count information to the control circuit 710. An energy source 712 may be provided to operate the motors 704a-704e, and a current sensor 736 provides motor current feedback to the control circuit 710. The motors 704a-704e may be operated individually by the control circuit 710 in open loop or closed loop feedback control.
In one aspect, control circuit 710 may include one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause the one or more processors to perform one or more tasks. In one aspect, the timer/counter circuit 731 provides an output signal, such as a time elapsed or a digital count, to the control circuit 710 to correlate the position of the I-beam 714 as determined by the position sensor 734 with the output of the timer/counter 731 so that the control circuit 710 can determine the position of the I-beam 714 at a particular time (t) relative to a starting position or at a time (t) when the I-beam 714 is at a particular position relative to a starting position. The timer/counter 731 may be configured to measure elapsed time, count external events, or time external events.
In one aspect, the control circuit 710 can be programmed to control the function of the end effector 702 based on one or more tissue conditions. The control circuit 710 may be programmed to sense a tissue condition, such as thickness, directly or indirectly, as described herein. The control circuit 710 may be programmed to select a firing control program or a closing control program based on tissue conditions. The firing control routine may describe distal movement of the displacement member. Different firing control programs may be selected to better address different tissue conditions. For example, when thicker tissue is present, the control circuit 710 may be programmed to translate the displacement member at a lower speed and/or at a lower power. When thinner tissue is present, the control circuit 710 may be programmed to translate the displacement member at a higher speed and/or at a higher power. The closure control program can control the closure force applied to the tissue by the anvil 716. Other control programs control the rotation of the shaft 740 and the articulation members 742a, 742 b.
In one aspect, the control circuit 710 may generate a motor set point signal. The motor set point signals may be provided to various motor controllers 708a-708 e. The motor controllers 708a-708e may include one or more circuits configured to provide motor drive signals to the motors 704a-704e to drive the motors 704a-704e, as described herein. In some examples, the motors 704a-704e may be brushed DC electric motors. For example, the speeds of the motors 704a-704e may be proportional to the respective motor drive signals. In some examples, the motors 704a-704e can be brushless DC motors, and the respective motor drive signals can include PWM signals provided to one or more stator windings of the motors 704a-704 e. Also, in some examples, the motor controllers 708a-708e may be omitted and the control circuit 710 may generate the motor drive signals directly.
In one aspect, the control circuit 710 may initially operate each of the motors 704a-704e in an open loop configuration for a first open loop portion of the stroke of the displacement member. Based on the response of the robotic surgical instrument 700 during the open-loop portion of the stroke, the control circuit 710 may select a firing control program in a closed-loop configuration. The response of the instrument may include the translation distance of the displacement member during the open loop portion, the time elapsed during the open loop portion, the energy provided to one of the motors 704a-704e during the open loop portion, the sum of the pulse widths of the motor drive signals, and so forth. After the open loop portion, the control circuit 710 may implement the selected firing control routine for a second portion of the displacement member stroke. For example, during the closed-loop portion of the stroke, the control circuit 710 may modulate one of the motors 704a-704e based on translation data that describes the position of the displacement member in a closed-loop manner to translate the displacement member at a constant speed.
In one aspect, the motors 704a-704e may receive power from an energy source 712. The energy source 712 may be a DC power source driven by a main ac power source, a battery, a super capacitor, or any other suitable energy source. The motors 704a-704e may be mechanically coupled to individual movable mechanical elements, such as an I-beam 714, an anvil 716, a shaft 740, an articulation 742a, and an articulation 742b, via respective transmissions 706a-706 e. The transmissions 706a-706e may include one or more gears or other linkage devices to couple the motors 704a-704e to movable mechanical elements. The position sensor 734 may sense the position of the I-beam 714. The position sensor 734 may be or include any type of sensor capable of generating position data indicative of the position of the I-beam 714. In some examples, the position sensor 734 may include an encoder configured to provide a series of pulses to the control circuit 710 as the I-beam 714 translates distally and proximally. The control circuit 710 may track the pulses to determine the position of the I-beam 714. Other suitable position sensors may be used, including, for example, proximity sensors. Other types of position sensors may provide other signals indicative of the movement of the I-beam 714. Also, in some examples, position sensor 734 may be omitted. Where any of the motors 704a-704e are stepper motors, the control circuit 710 may track the position of the I-beam 714 by aggregating the number and direction of steps that the motor 704 has been instructed to perform. The position sensor 734 may be located in the end effector 702 or at any other portion of the instrument. The output of each of the motors 704a-704e includes a torque sensor 744a-744e for sensing force and has an encoder for sensing rotation of the drive shaft.
In one aspect, the control circuit 710 is configured to drive a firing member, such as an I-beam 714 portion of the end effector 702. The control circuit 710 provides a motor set point to the motor control 708a, which provides a drive signal to the motor 704 a. The output shaft of motor 704a is coupled to a torque sensor 744 a. The torque sensor 744a is coupled to the actuator 706a that is coupled to the I-beam 714. The transmission 706a includes movable mechanical elements, such as rotating elements and firing members, to control the distal and proximal movement of the I-beam 714 along the longitudinal axis of the end effector 702. In one aspect, the motor 704a may be coupled to a knife gear assembly that includes a knife gear reduction set that includes a first knife drive gear and a second knife drive gear. The torque sensor 744a provides a firing force feedback signal to the control circuit 710. The firing force signal represents the force required to fire or displace the I-beam 714. The position sensor 734 may be configured to provide the position of the I-beam 714 along the firing stroke or the position of the firing member as a feedback signal to the control circuit 710. The end effector 702 may include an additional sensor 738 configured to provide a feedback signal to the control circuit 710. When ready for use, the control circuit 710 may provide a firing signal to the motor control 708 a. In response to the firing signal, the motor 704a can drive the firing member distally along the longitudinal axis of the end effector 702 from a proximal stroke start position to an end of stroke position distal of the stroke start position. As the firing member is translated distally, the I-beam 714, having a cutting element positioned at the distal end, is advanced distally to cut tissue located between the staple cartridge 718 and the anvil 716.
In one aspect, the control circuit 710 is configured to drive a closure member, such as an anvil 716 portion of the end effector 702. The control circuit 710 provides a motor set point to the motor control 708b, which motor control 708b provides a drive signal to the motor 704 b. The output shaft of motor 704b is coupled to a torque sensor 744 b. The torque sensor 744b is coupled to the transmission 706b that is coupled to the anvil 716. The actuator 706b includes movable mechanical elements, such as rotating elements and closure members, to control movement of the anvil 716 from the open and closed positions. In one aspect, the motor 704b is coupled to a closure gear assembly that includes a closure reduction gear set supported in meshing engagement with a closure spur gear. The torque sensor 744b provides a closing force feedback signal to the control circuit 710. The closing force feedback signal is indicative of the closing force applied to the anvil 716. The position sensor 734 may be configured to provide the position of the closure member as a feedback signal to the control circuit 710. An additional sensor 738 in the end effector 702 may provide a closing force feedback signal to the control circuit 710. The pivotable anvil 716 is positioned opposite the staple cartridge 718. When ready for use, the control circuit 710 may provide a close signal to the motor control 708 b. In response to the closure signal, the motor 704b advances the closure member to grasp tissue between the anvil 716 and the staple cartridge 718.
In one aspect, the control circuit 710 is configured to rotate a shaft member, such as the shaft 740, to rotate the end effector 702. The control circuit 710 provides a motor set point to the motor control 708c, which motor control 708c provides a drive signal to the motor 704 c. The output shaft of motor 704c is coupled to a torque sensor 744 c. The torque sensor 744c is coupled to the transmission 706c, which is coupled to the shaft 740. Transmission 706c includes a movable mechanical element, such as a rotating element, to control shaft 740 to rotate more than 360 ° clockwise or counterclockwise. In one aspect, the motor 704c is coupled to a rotary transmission assembly that includes a tube gear section formed on (or attached to) the proximal end of the proximal closure tube for operable engagement by a rotary gear assembly operably supported on the tool mounting plate. The torque sensor 744c provides a rotational force feedback signal to the control circuit 710. The rotational force feedback signal represents the rotational force applied to the shaft 740. The position sensor 734 may be configured to provide the position of the closure member as a feedback signal to the control circuit 710. An additional sensor 738, such as a shaft encoder, may provide the control circuit 710 with the rotational position of the shaft 740.
In one aspect, the control circuit 710 is configured to articulate the end effector 702. The control circuit 710 provides a motor set point to the motor control 708d, which motor control 708d provides a drive signal to the motor 704 d. The output of the motor 704d is coupled to a torque sensor 744 d. The torque sensor 744d is coupled to the transmission 706d that is coupled to the articulation member 742 a. The transmission 706d includes mechanical elements, such as articulation elements, that are movable to control the + -65 deg. articulation of the end effector 702. In one aspect, the motor 704d is coupled to an articulation nut that is rotatably journaled on the proximal end portion of the distal spine and rotatably driven thereon by an articulation gear assembly. The torque sensor 744d provides an articulation force feedback signal to the control circuit 710. The articulation force feedback signal represents the articulation force applied to the end effector 702. A sensor 738, such as an articulation encoder, may provide the control circuit 710 with the articulated position of the end effector 702.
In another aspect, the articulation function of the robotic surgical system 700 may include two articulation members or links 742a, 742 b. These articulation members 742a, 742b are driven by separate disks on the robotic interface (rack) driven by the two motors 708d, 708 e. When a separate firing motor 704a is provided, each of the articulation links 742a, 742b can be driven antagonistic to the other link to provide resistance holding motion and load to the head when the head is not moving and to provide articulation when the head is articulating. When the head is rotated, the articulation members 742a, 742b are attached to the head at a fixed radius. Thus, the mechanical advantage of the push-pull link changes as the head rotates. This variation in mechanical advantage may be more apparent for other articulation link drive systems.
In one aspect, one or more of the motors 704a-704e can include a brushed DC motor having a gearbox and a mechanical link to a firing member, a closure member, or an articulation member. Another example includes electric motors 704a-704e that operate movable mechanical elements such as displacement members, articulation links, closure tubes, and shafts. External influences are unmeasured, unpredictable effects of things such as tissue, surrounding body and friction on the physical system. Such external influences may be referred to as drag forces, which act against one of the electric motors 704a-704 e. External influences such as drag forces may cause the operation of the physical system to deviate from the desired operation of the physical system.
In one aspect, position sensor 734 may be implemented as an absolute positioning system. In one aspect, the position sensor 734 may include a magnetic rotary absolute positioning system implemented AS an AS5055EQFT monolithic magnetic rotary position sensor, available from Austria Microsystems, AG. Position sensor 734 may interface with control circuitry 710 to provide an absolute positioning system. The location may include a hall effect element located above the magnet and coupled to a CORDIC processor, also known as a bitwise method and a Volder algorithm, which is provided to implement a simple and efficient algorithm for computing hyperbolic and trigonometric functions that require only an addition operation, a subtraction operation, a digit shift operation and a table lookup operation.
In one aspect, the control circuit 710 may be in communication with one or more sensors 738. The sensors 738 can be positioned on the end effector 702 and adapted to operate with the robotic surgical instrument 700 to measure various derivative parameters such as gap distance versus time, tissue compression versus time, and anvil strain versus time. The sensors 738 may include magnetic sensors, magnetic field sensors, strain gauges, load sensors, pressure sensors, force sensors, torque sensors, inductive sensors such as eddy current sensors, resistive sensors, capacitive sensors, optical sensors, and/or any other suitable sensors for measuring one or more parameters of the end effector 702. The sensors 738 may include one or more sensors. A sensor 738 may be located on the staple cartridge 718 deck to determine tissue location using segmented electrodes. The torque sensors 744a-744e may be configured to sense forces such as firing forces, closing forces, and/or articulation forces, among others. Thus, the control circuit 710 may sense (1) the closure load experienced by the distal closure tube and its position, (2) the firing member at the rack and its position, (3) the portion of the staple cartridge 718 having tissue thereon, and (4) the load and position on the two articulation bars.
In one aspect, the one or more sensors 738 may include a strain gauge, such as a micro-strain gauge, configured to measure a magnitude of strain in the anvil 716 during the clamped condition. The strain gauge provides an electrical signal whose magnitude varies with the magnitude of the strain. The sensor 738 can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 716 and the staple cartridge 718. The sensor 738 can be configured to detect an impedance of a section of tissue located between the anvil 716 and the staple cartridge 718 that is indicative of the thickness and/or integrity of the tissue located therebetween.
In one aspect, the sensors 738 may be implemented as one or more limit switches, electromechanical devices, solid state switches, Hall effect devices, Magnetoresistive (MR) devices, Giant Magnetoresistive (GMR) devices, magnetometers, and the like. In other implementations, the sensor 738 may be implemented as a solid state switch that operates under the influence of light, such as an optical sensor, an IR sensor, an ultraviolet sensor, and so forth. Also, the switch may be a solid state device, such as a transistor (e.g., FET, junction FET, MOSFET, bipolar transistor, etc.). In other implementations, the sensors 738 may include a non-conductor switch, an ultrasonic switch, an accelerometer, an inertial sensor, and so forth.
In one aspect, the sensor 738 may be configured to measure the force exerted by the closure drive system on the anvil 716. For example, one or more sensors 738 may be positioned at the point of interaction between the closure tube and the anvil 716 to detect the closing force applied by the closure tube to the anvil 716. The force exerted on the anvil 716 may be indicative of tissue compression experienced by a section of tissue captured between the anvil 716 and the staple cartridge 718. One or more sensors 738 may be positioned at various interaction points along the closure drive system to detect the closure force applied to the anvil 716 by the closure drive system. The one or more sensors 738 may be sampled in real time by a processor of the control circuit 710 during a clamping operation. The control circuit 710 receives real-time sample measurements to provide and analyze time-based information and evaluates the closing force applied to the anvil 716 in real-time.
In one aspect, a current sensor 736 may be used to measure the current consumed by each of the motors 704a-704 e. the force required to advance any of the movable mechanical elements (such as the I-beam 714) corresponds to the current consumed by one of the motors 704a-704 e. this force is converted to a digital signal and provided to the control circuit 710. the control circuit 710 may be configured to simulate the response of the actual system of the INSTRUMENT in the software of the controller.A displacement member may be actuated to move the I-beam 714 in the end effector 702 at or near a target speed.the ROBOTIC surgical system 700 may include a feedback controller, which may be one of any feedback controllers, including but not limited to, for example, a state feedback, a linear square (L) and/or an adaptive controller. the ROBOTIC surgical INSTRUMENT 700 may include a power source to, for example, convert the signal from the feedback controller to a physical input, such as a housing voltage, PWM voltage, frequency modulated voltage, current, torque, and/or force, as disclosed in the incorporated patent application number 3, incorporated by SUTURE-incorporated by reference, SUTURE-incorporated by reference 3982, US patent, 2016, US patent, incorporated by 3,82, 3, filed on year 2016.
Fig. 18 illustrates a block diagram of a surgical instrument 750 programmed to control distal translation of a displacement member according to one aspect of the present disclosure. In one aspect, the surgical instrument 750 is programmed to control distal translation of a displacement member, such as an I-beam 764. The surgical instrument 750 includes an end effector 752, which may include an anvil 766, an I-beam 764 (including a sharp cutting edge), and a removable staple cartridge 768.
The position, movement, displacement, and/or translation of a linear displacement member, such as an I-beam 764, may be measured by an absolute positioning system, a sensor arrangement, and a position sensor 784. Since the I-beam 764 is coupled to the longitudinally movable drive member, the position of the I-beam 764 may be determined by measuring the position of the longitudinally movable drive member using the position sensor 784. Thus, in the following description, the position, displacement, and/or translation of the I-beam 764 may be achieved by the position sensor 784 as described herein. The control circuit 760 may be programmed to control the translation of a displacement member, such as an I-beam 764. In some examples, the control circuit 760 may include one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause the one or more processors to control the displacement member (e.g., the I-beam 764) in the manner described. In one aspect, the timer/counter 781 provides an output signal, such as a time elapsed or a digital count, to the control circuit 760 to correlate the position of the I-beam 764, as determined by the position sensor 784, with the output of the timer/counter 781 so that the control circuit 760 can determine the position of the I-beam 764 at a particular time (t) relative to the starting position. The timer/counter 781 may be configured to measure elapsed time, count or time external events.
The control circuit 760 may generate a motor set point signal 772. The motor set point signal 772 may be provided to the motor controller 758. The motor controller 758 may include one or more circuits configured to provide a motor drive signal 774 to the motor 754 to drive the motor 754, as described herein. In some examples, the motor 754 may be a brushed DC electric motor. For example, the speed of motor 754 may be proportional to motor drive signal 774. In some examples, the motor 754 may be a brushless DC electric motor, and the motor drive signals 774 may include PWM signals provided to one or more stator windings of the motor 754. Also, in some examples, the motor controller 758 may be omitted and the control circuitry 760 may generate the motor drive signal 774 directly.
The motor 754 may receive power from an energy source 762. The energy source 762 may be or include a battery, a supercapacitor, or any other suitable energy source. The motor 754 may be mechanically coupled to the I-beam 764 via a transmission 756. The transmission 756 may include one or more gears or other linkage components to couple the motor 754 to the I-beam 764. The position sensor 784 may sense the position of the I-beam 764. The position sensor 784 may be or include any type of sensor capable of generating position data indicative of the position of the I-beam 764. In some examples, the position sensor 784 may include an encoder configured to provide a series of pulses to the control circuit 760 as the I-beam 764 translates distally and proximally. The control circuitry 760 may track these pulses to determine the position of the I-beam 764. Other suitable position sensors may be used, including, for example, proximity sensors. Other types of position sensors may provide other signals indicative of the motion of the I-beam 764. Also, in some examples, position sensor 784 may be omitted. Where the motor 754 is a stepper motor, the control circuit 760 may track the position of the I-beam 764 by aggregating the number and direction of steps the motor 754 has been instructed to perform. The position sensor 784 may be located in the end effector 752 or at any other portion of the instrument.
The control circuitry 760 may be in communication with one or more sensors 788. The sensors 788 may be positioned on the end effector 752 and adapted to operate with the surgical instrument 750 to measure various derivative parameters such as gap distance and time, tissue compression and time, and anvil strain and time. The sensors 788 may include magnetic sensors, magnetic field sensors, strain gauges, pressure sensors, force sensors, inductive sensors (such as eddy current sensors), resistive sensors, capacitive sensors, optical sensors, and/or any other suitable sensors for measuring one or more parameters of the end effector 752. The sensor 788 may include one or more sensors.
The one or more sensors 788 may include a strain gauge, such as a micro-strain gauge, configured to measure a magnitude of strain in the anvil 766 during a clamping condition. The strain gauge provides an electrical signal whose magnitude varies with the magnitude of the strain. The sensor 788 may comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 766 and the staple cartridge 768. The sensor 788 may be configured to detect an impedance of a section of tissue located between the anvil 766 and the staple cartridge 768, which impedance is indicative of the thickness and/or integrity of the tissue located therebetween.
The sensor 788 may be configured to measure the force exerted by the closure drive system on the anvil 766. For example, one or more sensors 788 may be located at an interaction point between the closure tube and the anvil 766 to detect the closing force applied by the closure tube to the anvil 766. The force exerted on the anvil 766 may be indicative of tissue compression experienced by a section of tissue captured between the anvil 766 and the staple cartridge 768. One or more sensors 788 may be positioned at various interaction points along the closure drive system to detect the closure force applied by the closure drive system to the anvil 766. The one or more sensors 788 may be sampled in real time by the processor of the control circuitry 760 during the clamping operation. The control circuit 760 receives real-time sample measurements to provide and analyze time-based information and evaluates the closing force applied to the anvil 766 in real-time.
A current sensor 786 may be employed to measure the current drawn by the motor 754. The force required to propel the I-beam 764 corresponds to the current consumed by the motor 754. The force is converted to a digital signal and provided to control circuitry 760.
The surgical instrument 750 may include a feedback controller, which may be one of any feedback controllers including, but not limited to, for example, a PID, status feedback, L QR, and/or an adaptive controller.
The actual drive system of the surgical instrument 750 is configured to drive the displacement member, cutting member, or I-beam 764 through a brushed dc motor having a gearbox and mechanical connection to the articulation and/or knife system. Another example is an electric motor 754 that operates a displacement member and articulation driver, for example, of an interchangeable shaft assembly. External influences are unmeasured, unpredictable effects of things such as tissue, surrounding body and friction on the physical system. Such external influences may be referred to as drag forces acting against the electric motor 754. External influences such as drag forces may cause the operation of the physical system to deviate from the desired operation of the physical system.
Various exemplary aspects relate to a surgical instrument 750 that includes an end effector 752 with a motorized surgical stapling and cutting tool. For example, the motor 754 can drive the displacement member distally and proximally along a longitudinal axis of the end effector 752. The end effector 752 may include a pivotable anvil 766 and, when configured for use, a staple cartridge 768 is positioned opposite the anvil 766. The clinician may hold tissue between the anvil 766 and the staple cartridge 768, as described herein. When the instrument 750 is ready for use, the clinician may provide a firing signal, for example, by depressing a trigger of the instrument 750. In response to the firing signal, the motor 754 can drive the displacement member distally along the longitudinal axis of the end effector 752 from a proximal stroke start position to an end of stroke position distal to the stroke start position. The I-beam 764 with the cutting element positioned at the distal end can cut tissue between the staple cartridge 768 and the anvil 766 as the displacement member is translated distally.
In various examples, the surgical instrument 750 can include a control circuit 760 that is programmed to control distal translation of a displacement member (such as an I-beam 764) based on one or more tissue conditions. Control circuit 760 may be programmed to sense a tissue condition, such as thickness, directly or indirectly, as described herein. The control circuit 760 may be programmed to select a firing control program based on tissue conditions. The firing control routine may describe distal movement of the displacement member. Different firing control programs may be selected to better address different tissue conditions. For example, when thicker tissue is present, the control circuit 760 may be programmed to translate the displacement member at a lower speed and/or at a lower power. When thinner tissue is present, the control circuit 760 may be programmed to translate the displacement member at a higher speed and/or at a higher power.
In some examples, the control circuit 760 may initially operate the motor 754 in an open loop configuration FOR a first open loop portion OF travel OF the displacement member based on a response OF the INSTRUMENT 750 during the open loop portion OF travel, the control circuit 760 may select a firing control procedure the response OF the INSTRUMENT may include a translation distance OF the displacement member during the open loop portion, time elapsed during the open loop portion, energy provided to the motor 754 during the open loop portion, a sum OF pulse widths OF motor drive signals, etc. after the open loop portion, the control circuit 760 may implement the selected firing control procedure FOR a second portion OF travel OF the displacement member.
Fig. 19 is a schematic illustration of a surgical instrument 790 configured to control various functions in accordance with an aspect of the present disclosure. In one aspect, the surgical instrument 790 is programmed to control distal translation of a displacement member, such as an I-beam 764. The surgical instrument 790 includes an end effector 792 that may include an anvil 766, an I-beam 764, and a removable staple cartridge 768 that may be interchanged with an RF cartridge 796 (shown in phantom).
In one aspect, the sensor 788 can be implemented as a limit switch, an electromechanical device, a solid state switch, a hall effect device, an MR device, a GMR device, a magnetometer, or the like. In other implementations, the sensor 638 may be implemented as a solid state switch that operates under the influence of light, such as an optical sensor, an IR sensor, an ultraviolet sensor, and so forth. Also, the switch may be a solid state device, such as a transistor (e.g., FET, junction FET, MOSFET, bipolar transistor, etc.). In other implementations, the sensors 788 may include a non-conductor switch, an ultrasonic switch, an accelerometer, an inertial sensor, and so forth.
In one aspect, the position sensor 784 may be implemented AS an absolute positioning system including a magnetic rotary absolute positioning system implemented AS an AS5055EQFT monolithic magnetic rotary position sensor, available from Austria Microsystems, AG. The position sensor 784 interfaces with the control circuitry 760 to provide an absolute positioning system. The location may include a hall effect element located above the magnet and coupled to a CORDIC processor, also known as a bitwise method and a Volder algorithm, which is provided to implement a simple and efficient algorithm for computing hyperbolic and trigonometric functions that require only an addition operation, a subtraction operation, a digit shift operation and a table lookup operation.
In one aspect, the I-beam 764 may be embodied as a knife member including a knife body that operably supports a tissue cutting blade thereon, and may also include an anvil-engaging tab or feature and a channel-engaging feature or foot in one aspect, the staple cartridge 768 may be embodied as a standard (mechanical) surgical fastener cartridge in one aspect, the RF cartridge 796 may be embodied as an RF cartridge these and other sensor arrangements are described in commonly owned U.S. patent application Ser. No. 15/628,175 entitled "TECHNIQUES ADAPTIVE CONTACTIVE L OF MOTOR VE L OCITY OF A SURGICANT L STAP L ING AND CATCHINTRINTRATURE," filed on 6, 20.2017, which is incorporated herein by reference in its entirety.
The position, movement, displacement, and/or translation of a linear displacement member, such as an I-beam 764, may be measured by an absolute positioning system, a sensor arrangement, and a position sensor represented as position sensor 784. Since the I-beam 764 is coupled to the longitudinally movable drive member, the position of the I-beam 764 may be determined by measuring the position of the longitudinally movable drive member using the position sensor 784. Thus, in the following description, the position, displacement, and/or translation of the I-beam 764 may be achieved by the position sensor 784 as described herein. The control circuit 760 may be programmed to control the translation of a displacement member, such as an I-beam 764 as described herein. In some examples, the control circuit 760 may include one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause the one or more processors to control the displacement member (e.g., the I-beam 764) in the manner described. In one aspect, the timer/counter 781 provides an output signal, such as a time elapsed or a digital count, to the control circuit 760 to correlate the position of the I-beam 764, as determined by the position sensor 784, with the output of the timer/counter 781 so that the control circuit 760 can determine the position of the I-beam 764 at a particular time (t) relative to the starting position. The timer/counter 781 may be configured to measure elapsed time, count or time external events.
The control circuit 760 may generate a motor set point signal 772. The motor set point signal 772 may be provided to the motor controller 758. The motor controller 758 may include one or more circuits configured to provide a motor drive signal 774 to the motor 754 to drive the motor 754, as described herein. In some examples, the motor 754 may be a brushed DC electric motor. For example, the speed of motor 754 may be proportional to motor drive signal 774. In some examples, the motor 754 may be a brushless DC electric motor, and the motor drive signals 774 may include PWM signals provided to one or more stator windings of the motor 754. Also, in some examples, the motor controller 758 may be omitted and the control circuitry 760 may generate the motor drive signal 774 directly.
The motor 754 may receive power from an energy source 762. The energy source 762 may be or include a battery, a supercapacitor, or any other suitable energy source. The motor 754 may be mechanically coupled to the I-beam 764 via a transmission 756. The transmission 756 may include one or more gears or other linkage components to couple the motor 754 to the I-beam 764. The position sensor 784 may sense the position of the I-beam 764. The position sensor 784 may be or include any type of sensor capable of generating position data indicative of the position of the I-beam 764. In some examples, the position sensor 784 may include an encoder configured to provide a series of pulses to the control circuit 760 as the I-beam 764 translates distally and proximally. The control circuitry 760 may track these pulses to determine the position of the I-beam 764. Other suitable position sensors may be used, including, for example, proximity sensors. Other types of position sensors may provide other signals indicative of the motion of the I-beam 764. Also, in some examples, position sensor 784 may be omitted. In the case where the motor 754 is a stepper motor, the control circuit 760 may track the position of the I-beam 764 by aggregating the number and direction of steps that the motor has been instructed to perform. The position sensor 784 may be located in the end effector 792 or at any other portion of the instrument.
The control circuitry 760 may be in communication with one or more sensors 788. The sensors 788 may be positioned on the end effector 792 and adapted to operate with the surgical instrument 790 to measure various derivative parameters such as gap distance and time, tissue compression and time, and anvil strain and time. The sensors 788 may include magnetic sensors, magnetic field sensors, strain gauges, pressure sensors, force sensors, inductive sensors (such as eddy current sensors), resistive sensors, capacitive sensors, optical sensors, and/or any other suitable sensors for measuring one or more parameters of the end effector 792. The sensor 788 may include one or more sensors.
The one or more sensors 788 may include a strain gauge, such as a micro-strain gauge, configured to measure a magnitude of strain in the anvil 766 during a clamping condition. The strain gauge provides an electrical signal whose magnitude varies with the magnitude of the strain. The sensor 788 may comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 766 and the staple cartridge 768. The sensor 788 may be configured to detect an impedance of a section of tissue located between the anvil 766 and the staple cartridge 768, which impedance is indicative of the thickness and/or integrity of the tissue located therebetween.
The sensor 788 may be configured to measure the force exerted by the closure drive system on the anvil 766. For example, one or more sensors 788 may be located at an interaction point between the closure tube and the anvil 766 to detect the closing force applied by the closure tube to the anvil 766. The force exerted on the anvil 766 may be indicative of tissue compression experienced by a section of tissue captured between the anvil 766 and the staple cartridge 768. One or more sensors 788 may be positioned at various interaction points along the closure drive system to detect the closure force applied by the closure drive system to the anvil 766. The one or more sensors 788 may be sampled in real time by the processor portion of the control circuitry 760 during the clamping operation. The control circuit 760 receives real-time sample measurements to provide and analyze time-based information and evaluates the closing force applied to the anvil 766 in real-time.
A current sensor 786 may be employed to measure the current drawn by the motor 754. The force required to propel the I-beam 764 corresponds to the current consumed by the motor 754. The force is converted to a digital signal and provided to control circuitry 760.
When an RF cartridge 796 is loaded in the end effector 792 in place of the staple cartridge 768, an RF energy source 794 is coupled to the end effector 792 and applied to the RF cartridge 796. The control circuitry 760 controls the delivery of RF energy to the RF bin 796.
Additional details are disclosed in U.S. patent application serial No. 15/636,096 filed on 28.6.2017, entitled "SURGICA L SYSTEM COUP L AB L E WITH STAP L E CARTRIDGE AND RADIO FREQUENCY ARTRIDGE, AND METHOD OF USING SAME," which is incorporated herein by reference in its entirety.
Generator hardware
Fig. 20 is a simplified block diagram of a GENERATOR 800 configured to provide, among other benefits, no inductor tuning, additional details of the GENERATOR 800 are described in U.S. patent serial No. 9,060,775, published on 23/6/2015, entitled "motor L GENERATOR for L TRASONIC AND E L ECTROSURGICA L DEVICES," which is incorporated herein by reference in its entirety, the GENERATOR 800 may include a patient isolation station 802 that communicates with a non-isolation station 804 via a power transformer 806, a secondary winding 808 of the power transformer 806 is contained in the isolation station 802 AND may include a tapping configuration (e.g., center-tapped or non-center-tapped configuration) to define drive signal outputs 810a, 810b, 810c for delivering drive signals to different surgical instruments, such as an ultrasonic surgical instrument, an RF electrosurgical instrument, AND a multifunctional instrument that includes an ultrasonic energy mode AND an ultrasonic energy mode that may be delivered separately or simultaneously, such as an ultrasonic surgical instrument, an RF electrosurgical instrument, AND a drive signal output 810a transformer 420 a, 420 c may output an ultrasonic drive signal (e.g., RMS drive signal) to the ultrasonic surgical instrument, an RMS drive signal output 810b, wherein the drive signal may be output to the ultrasonic drive signal output 810, e.g., RMS drive signal output 810b, 100, a drive signal output corresponding to the ultrasonic surgical instrument.
In some forms, the ultrasonic drive signal and the electrosurgical drive signal may be provided simultaneously to different surgical instruments and/or a single surgical instrument having the ability to deliver both ultrasonic energy and electrosurgical energy to tissue, such as a multi-functional surgical instrument. It should be appreciated that the electrosurgical signal provided to the dedicated electrosurgical instrument and/or to the combined multi-function ultrasonic/electrosurgical instrument may be a treatment level signal or a sub-treatment level signal, wherein the sub-treatment signal may be used, for example, to monitor tissue or instrument conditions and provide feedback to the generator. For example, the ultrasound signal and the RF signal may be delivered separately or simultaneously from a generator having a single output port in order to provide the desired output signal to the surgical instrument, as will be discussed in more detail below. Thus, the generator may combine ultrasonic energy and electrosurgical RF energy and deliver the combined energy to a multifunctional ultrasonic/electrosurgical instrument. Bipolar electrodes may be placed on one or both jaws of the end effector. In addition to electrosurgical RF energy, one jaw may be simultaneously driven by ultrasonic energy. Ultrasonic energy may be used for anatomical tissue and electrosurgical RF energy may be used for vessel sealing.
The non-isolated stage 804 may include a power amplifier 812 having an output connected to a primary winding 814 of the power transformer 806. in some forms, the power amplifier 812 may include a push-pull amplifier, for example, the non-isolated stage 804 may also include a logic device 816 for providing a digital output to a digital-to-analog converter (DAC) circuit 818, which in turn provides a corresponding analog signal to an input of the power amplifier 812. in some forms, for example, the logic device 816 may include a Programmable Gate Array (PGA), an FPGA, a programmable logic device (P L D), among other logic circuits, thus, the logic device 816 may control any of a plurality of parameters (e.g., frequency, waveform shape, waveform amplitude) of the drive signals present at the drive signal outputs 810a, 810b, 810c as a result of controlling the input of the power amplifier 812 via the DAC circuit 818. in some forms, as described below, the logic device 816 in conjunction with a processor (e.g., a DSP discussed below) may implement a plurality of DSP-based algorithms and/or other control algorithms to control the parameters of the drive signals output by the generator 800.
Power may be provided to the power rail of the power amplifier 812 by a switch mode regulator 820 (e.g., a power converter). In some forms, the switch mode regulator 820 may comprise, for example, an adjustable buck regulator. The non-isolated stage 804 can also include a first processor 822, which in one form can include a DSP processor, such as Analog Devices DSP-21469 SHARC DSP, available from Andrographis, Norwood, MA, N.S., for example, although any suitable processor can be employed in various forms. In some forms, the DSP processor 822 may control operation of the switching mode regulator 820 in response to voltage feedback data received by the DSP processor 822 from the power amplifier 812 via the ADC circuit 824. In one form, for example, the DSP processor 822 may receive as input a waveform envelope of a signal (e.g., a radio frequency signal) amplified by the power amplifier 812 via the ADC circuit 824. The DSP processor 822 may then control the switch-mode regulator 820 (e.g., via a PWM output) such that the rail voltage provided to the power amplifier 812 tracks the waveform envelope of the amplified signal. By modulating the rail voltage of the power amplifier 812 in a dynamic manner based on the waveform envelope, the efficiency of the power amplifier 812 may be significantly increased relative to a fixed rail voltage amplifier scheme.
In some forms, logic device 816, in conjunction with DSP processor 822, may implement a digital synthesis circuit, such as a direct digital synthesizer control scheme, to control the waveform shape, frequency, and/or amplitude of the drive signal output by generator 800. in one form, for example, logic device 816 may implement a DDS control algorithm by recalling waveform samples stored in a dynamically updated look-up table (L UT), such as a RAM L UT, which may be embedded in an FPGA.
The non-isolation stage 804 may further include first and second ADC circuits 826, 828 coupled to the output of the power transformer 806 via respective isolation transformers 830, 832 for sampling the voltage and current of the drive signal output by the generator 800, respectively in some forms, the ADC circuits 826, 828 may be configured to sample at high speed (e.g., 80 mega-samples per second (MSPS)) to enable oversampling of the drive signal in some forms, e.g., the sampling speed of the ADC circuits 826, 828 may enable oversampling of about 200x (as a function of frequency) of the drive signal in some forms, the sampling operation of the ADC circuits 826, 828 may be performed by having a single ADC circuit receive the input voltage and current signals via a two-way multiplexer in some forms, by using high speed sampling in the form of the generator 800, among other things, complex current calculations for flow through a dynamic branch may be implemented (which may be used in some forms to implement the above-described DDS based waveform shape control), accurate digital filtering of the sampled signals, and high precision digital filtering of the sampled current may be implemented by, among other forms, e.g., a logic for processing of the voltage and current output by a high-speed sampling circuit 35, a DDS based on a feedback algorithm, e.g., a feedback algorithm, which may be used to enable the voltage and to be processed by a DSP circuit L, and to enable the output by a feedback device to be processed by a DSP logic for example, a feedback device, and to enable the output of a feedback device, e.g., a feedback device, such as a feedback device, such as a synchronous, a feedback device, a.
In some forms, voltage and current feedback data may be used to control the frequency and/or amplitude (e.g., current amplitude) of the drive signal. In one form, for example, voltage and current feedback data may be used to determine the impedance phase. The frequency of the drive signal may then be controlled to minimize or reduce the difference between the determined impedance phase and the impedance phase set point (e.g., 0 °), thereby minimizing or reducing the effects of harmonic distortion and correspondingly improving impedance phase measurement accuracy. The determination of the phase impedance and frequency control signals may be implemented in the DSP processor 822, for example, where the frequency control signals are provided as inputs to a DDS control algorithm implemented by the logic device 816.
In another form, for example, current feedback data may be monitored in order to maintain the current amplitude of the drive signal at a current amplitude set point.
In some forms, for example, both DSP processor 822 and UI processor 836 may determine and monitor the operating state of generator 800. For DSP processor 822, the operational state of generator 800 may indicate, for example, which control and/or diagnostic processes are being performed by DSP processor 822. For the UI processor 836, the operational state of the generator 800 may indicate, for example, which elements of the UI (e.g., display screen, sound) are presented to the user. Respective DSP processor 822 and UI processor 836 independently maintain the current operating state of generator 800 and identify and evaluate possible transitions of the current operating state. DSP processor 822 may serve as a subject in this relationship and determine when transitions between operating states may occur. The UI handler 836 may note valid transitions between operating states and may confirm whether a particular transition is appropriate. For example, when DSP processor 822 instructs UI processor 836 to transition to a particular state, UI processor 836 may confirm that the required transition is valid. If the UI processor 836 determines that the required inter-state transition is invalid, the UI processor 836 may cause the generator 800 to enter a failure mode.
The non-isolated stage 804 may also include a controller 838 for monitoring input devices (e.g., capacitive touch sensors, capacitive touch screens for turning the generator 800 on and off). In some forms, the controller 838 may include at least one processor and/or other controller device in communication with the UI processor 836. In one form, for example, the controller 838 may include a processor (e.g., a Meg 1688 controller, available from Atmel) configured to monitor user input provided via one or more capacitive touch sensors. In one form, the controller 838 may include a touchscreen controller (e.g., a QT5480 touchscreen controller available from Atmel corporation) to control and manage the acquisition of touch data from a capacitive touchscreen.
In some forms, the controller 838 may continue to receive operating power (e.g., via a line from the power supply of the generator 800, such as the power supply 854 discussed below) while the generator 800 is in a "power off" state. In this way, controller 838 may continue to monitor the input devices (e.g., capacitive touch sensors located on the front panel of generator 800) for turning generator 800 on and off. When the generator 800 is in a power-off state, the controller 838 may enable the power supply (e.g., enable operation of one or more DC/DC voltage converters 856 of the power supply 854) if activation of a user "on/off" input device is detected. The controller 838 may thus initiate a sequence for transitioning the generator 800 to the "power on" state. Conversely, when the generator 800 is in the powered-on state, if activation of the "on/off" input device is detected, the controller 838 may initiate a sequence for transitioning the generator 800 to the powered-off state. In some forms, for example, the controller 838 may report the activation of an "on/off" input device to the UI processor 836, which in turn implements the required process sequence for transitioning the generator 800 to a powered off state. In such forms, the controller 838 may not have the independent ability to remove power from the generator 800 after the power-on state is established.
In some forms, the controller 838 may cause the generator 800 to provide audible or other sensory feedback for alerting the user that a power-on or power-off sequence has been initiated. Such alerts may be provided at the beginning of a power-on or power-off sequence, as well as before the beginning of other processes associated with the sequence.
In some forms, isolation station 802 may include instrument interface circuitry 840 to provide a communication interface, for example, between control circuitry of the surgical instrument (e.g., control circuitry including a handpiece switch) and components of non-isolation station 804, such as logic device 816, DSP processor 822, and/or UI processor 836. Instrument interface circuitry 840 may exchange information with components of non-isolation station 804 via a communication link (such as an IR-based communication link) that maintains a suitable degree of electrical isolation between isolation station 802 and non-isolation station 804. For example, instrument interface circuit 840 may be powered using a low dropout regulator powered by an isolation transformer, which is driven from non-isolation stage 804.
In one form, the instrument interface circuit 840 may include a logic circuit 842 (e.g., logic circuit, programmable logic circuit, PGA, FPGA, P L D) in communication with the signal conditioning circuit 844 may be configured to receive a periodic signal (e.g., a 2kHz square wave) from the logic circuit 842 to generate a bipolar interrogation signal having the same frequency.
In one form, the instrument interface circuit 840 may include a first data circuit interface 846 to enable the exchange of information between the logic circuit 842 (or other element of the instrument interface circuit 840) and a first data circuit disposed in or otherwise associated with the surgical instrument. In certain forms, for example, the first data circuit may be disposed in a cable integrally attached to the surgical instrument handpiece or in an adapter for interfacing a particular surgical device type or model with the generator 800. The first data circuit may be implemented in any suitable manner and may communicate with the generator according to any suitable protocol including, for example, those described herein with respect to the first data circuit. In some forms the first data circuit may comprise a non-volatile storage device, such as an EEPROM device. In some forms, the first data circuit interface 846 may be implemented separately from the logic circuit 842 and include suitable circuitry (e.g., discrete logic, a processor) to enable communication between the logic circuit 842 and the first data circuit. In other forms, the first data circuit interface 846 may be integral to the logic circuit 842.
In some forms, the first data circuit may store information relating to the particular surgical instrument with which it is associated. Such information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument has been used, and/or any other type of information. Such information may be read by instrument interface circuitry 840 (e.g., via logic circuitry 842), transmitted to components of non-isolated station 804 (e.g., to logic device 816, DSP processor 822, and/or UI processor 836), presented to a user via output devices, and/or control functions or operations of generator 800. Additionally, any type of information may be communicated to the first data circuit via the first data circuit interface 846 (e.g., using the logic circuit 842) for storage therein. Such information may include, for example, the number of updates to the operation in which the surgical instrument is used and/or the date and/or time of its use.
As previously described, the surgical instrument may be detachable from the handpiece (e.g., the multi-function surgical instrument may be detachable from the handpiece) to facilitate instrument interchangeability and/or disposability. In such cases, the ability of the conventional generator to identify the particular instrument configuration used and to optimize the control and diagnostic procedures accordingly may be limited. However, from a compatibility perspective, solving this problem by adding a readable data circuit to the surgical instrument is problematic. For example, designing a surgical instrument to remain backward compatible with a generator that lacks the requisite data reading functionality may be impractical due to, for example, different signal schemes, design complexity, and cost. The form of the instrument described herein addresses these issues by using data circuits that can be economically implemented in existing surgical instruments with minimal design changes to maintain compatibility of the surgical instrument with the current generator platform.
Additionally, generator 800 may be in the form of a communication circuit that communicates with the instrument-based data circuit. For example, the generator 800 may be configured to communicate with a second data circuit included in an instrument (e.g., a multifunction surgical instrument). In some forms, the second data circuit may be implemented in a manner similar to the first data circuit described herein. The instrument interface circuit 840 may include a second data circuit interface 848 for enabling this communication. In one form, the second data circuit interface 848 may comprise a tri-state digital interface, although other interfaces may also be used. In some forms the second data circuit may generally be any circuit for transmitting and/or receiving data. In one form, for example, the second data circuit may store information relating to the particular surgical instrument associated. Such information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument has been used, and/or any other type of information.
In some forms, the second data circuit may store information about the electrical and/or ultrasonic performance of the associated ultrasonic transducer, end effector, or ultrasonic drive system. For example, the first data circuit may indicate an aging frequency slope, as described herein. Additionally or alternatively, any type of information can be transferred to the second data circuit via the second data circuit interface 848 (e.g., using the logic circuit 842) for storage therein. Such information may include, for example, the number of updates to the operation in which the surgical instrument is used and/or the date and/or time of its use. In some forms, the second data circuit may transmit data collected by one or more sensors (e.g., instrument-based temperature sensors). In some forms, the second data circuit may receive data from the generator 800 and provide an indication (e.g., a light emitting diode indication or other visual indication) to a user based on the received data.
In some forms, the second data circuit and second data circuit interface 848 may be configured such that communication between the logic circuit 842 and the second data circuit may be accomplished without providing additional conductors for this purpose (e.g., dedicated conductors for a cable connecting the handpiece to the generator 800). In one form, information may be communicated to and from the second data circuit using, for example, a single bus communication scheme implemented on an existing cable, such as one of the conductors used to transmit interrogation signals from the signal conditioning circuit 844 to the control circuit in the handpiece. In this way, design changes or modifications to the surgical instrument that may otherwise be necessary may be minimized or reduced. Furthermore, because the different types of communications implemented on the common physical channel may be band-separated, the presence of the second data circuit may be "invisible" to generators that do not have the requisite data reading functionality, thus enabling backward compatibility of the surgical instrument.
In some forms, the isolation station 802 may include at least one blocking capacitor 850-1 connected to the drive signal output 810b to prevent direct current flow to the patient. For example, the signal blocking capacitor may be required to comply with medical regulations or standards. While relatively few errors occur in single capacitor designs, such errors can have undesirable consequences. In one form, a second blocking capacitor 850-2 may be provided in series with the blocking capacitor 850-1, wherein current leakage from a point between the blocking capacitors 850-1, 850-2 is monitored, for example by the ADC circuit 852, to sample the voltage induced by the leakage current. These samples may be received by logic circuitry 842, for example. Based on the change in leakage current (as indicated by the voltage samples), the generator 800 can determine when at least one of the blocking capacitors 850-1, 850-2 has failed, thereby providing benefits over a single capacitor design with a single point of failure.
In some forms, the non-isolated stage 804 may include a power source 854 for delivering dc power at an appropriate voltage and current. The power supply may comprise, for example, a 400W power supply for delivering a system voltage of 48 VDC. The power supply 854 may also include one or more DC/DC voltage converters 856 for receiving the output of the power supply to produce a DC output at the voltages and currents required by the various components of the generator 800. As described above in connection with the controller 838, one or more of the DC/DC voltage converters 856 may receive input from the controller 838 when the controller 838 detects that a user has actuated an "on/off" input device to enable operation of the DC/DC voltage converter 856 or to wake up the DC/DC voltage converter.
Fig. 21 shows an example of a generator 900, which is one form of generator 800 (fig. 20). The generator 900 is configured to deliver a plurality of energy modalities to a surgical instrument. The generator 900 provides RF and ultrasonic signals for delivering energy to the surgical instrument independently or simultaneously. The RF signal and the ultrasound signal may be provided separately or in combination, and may be provided simultaneously. As described above, at least one generator output may deliver multiple energy modalities (e.g., ultrasound, bipolar or monopolar RF, irreversible and/or reversible electroporation, and/or microwave energy, etc.) through a single port, and these signals may be delivered separately or simultaneously to the end effector to treat tissue. The generator 900 includes a processor 902 coupled to a waveform generator 904. The processor 902 and waveform generator 904 are configured to generate various signal waveforms based on information stored in a memory coupled to the processor 902, which memory is not shown for clarity of the present disclosure. Digital information associated with the waveform is provided to a waveform generator 904, which waveform generator 904 includes one or more DAC circuits to convert a digital input to an analog output. The analog output is fed to an amplifier 1106 for signal conditioning and amplification. The regulated and amplified output of amplifier 906 is coupled to power transformer 908. The signal is coupled to the secondary side in the patient isolation side through a power transformer 908. A first signal of a first ENERGY modality is provided to the surgical instrument between terminals labeled ENERGY1 and RETURN. A second signal of the second ENERGY modality is coupled across capacitor 910 and provided to the surgical instrument between terminals labeled ENERGY2 and RETURN. It will be appreciated that more than two energy modes may be output, and thus the subscript "n" may be used to specify that up to n ENERGYn terminals may be provided, where n is a positive integer greater than 1. It should also be understood that up to "n" return paths RETURNn may be provided without departing from the scope of the present disclosure.
First voltage sensing circuit 912 has terminals coupled across terminals labeled ENERGY1 and RETURN path to measure the output voltage between the terminals. A second voltage sense circuit 924 is coupled across the terminals labeled ENERGY2 and RETURN path to measure the output voltage between the terminals. As shown, a current sensing circuit 914 is placed in series with the RETURN leg on the secondary side of the power transformer 908 to measure the output current of either energy mode. If a different return path is provided for each energy modality, a separate current sensing circuit should be provided in each return branch. The outputs of the first 912 and second 924 voltage sensing circuits are provided to respective isolation transformers 916, 922 and the output of the current sensing circuit 914 is provided to another isolation transformer 918. The output of the isolation transformers 916, 928, 922 on the primary side of the power transformer 908 (not the patient isolation side) is provided to one or more ADC circuits 926. The digitized output of the ADC circuit 926 is provided to the processor 902 for further processing and computation. Output voltage and output current feedback information may be employed to adjust the output voltage and current provided to the surgical instrument and calculate parameters such as output impedance. Input/output communication between the processor 902 and the patient isolation circuitry is provided through an interface circuit 920. The sensors may also be in electrical communication with the processor 902 through an interface 920.
In one aspect, the impedance may be determined by the processor 902 by dividing the output of a first voltage sensing circuit 912 having two terminals coupled at terminals labeled ENERGY1/RETURN or a second voltage sensing circuit 924 having two terminals coupled at terminals labeled ENERGY2/RETURN by the output of a current sensing circuit 914 disposed in series with the RETURN leg of the secondary side of the power transformer 908. The outputs of the first 912 and second 924 voltage sensing circuits are provided to separate isolation transformers 916, 922 and the output of the current sensing circuit 914 is provided to another isolation transformer 916. The digitized voltage and current sense measurements from the ADC circuit 926 are provided to the processor 902 for use in calculating the impedance. For example, the first ENERGY modality ENERGY1 may be ultrasonic ENERGY and the second ENERGY modality ENERGY2 may be RF ENERGY. However, in addition to ultrasound and bipolar or monopolar RF energy modalities, other energy modalities include irreversible and/or reversible electroporation and/or microwave energy, among others. Also, while the example shown in fig. 21 illustrates that a single RETURN path RETURN may be provided for two or more energy modalities, in other aspects multiple RETURN paths RETURN may be provided for each energy modality enerrgyn. Thus, as described herein, the ultrasound transducer impedance may be measured by dividing the output of the first voltage sensing circuit 912 by the output of the current sensing circuit 914, and the tissue impedance may be measured by dividing the output of the second voltage sensing circuit 924 by the output of the current sensing circuit 914.
As shown in fig. 21, the generator 900 including at least one output port may include a power transformer 908 having a single output and multiple taps to provide power to the end effector in the form of one or more energy modalities (such as ultrasound, bipolar or monopolar RF, irreversible and/or reversible electroporation, and/or microwave energy, etc.), for example, depending on the type of tissue treatment being performed. For example, the generator 900 may deliver energy with a higher voltage and lower current to drive an ultrasound transducer, with a lower voltage and higher current to drive an RF electrode for sealing tissue, or with a coagulation waveform for using monopolar or bipolar RF electrosurgical electrodes. The output waveform from the generator 900 may be manipulated, switched, or filtered to provide a frequency to the end effector of the surgical instrument. The connection of the ultrasonic transducer to the output of the generator 900 will preferably be between the outputs labeled ENERGY1 and RETURN as shown in figure 21. In one example, the connection of the RF bipolar electrode to the output of generator 900 will preferably be between the outputs labeled ENERGY2 and RETURN. In the case of a unipolar output, the preferred connection would be an active electrode (e.g. a pencil or other probe) at the output of ENERGY2 and a suitable RETURN pad connected to the RETURN output.
Additional details are disclosed in U.S. patent application publication 2017/0086914 entitled "TECHNIQUES FOR OPERATIATINGGENERATOR FOR DIGITA LL Y GENERATING E L ECTRICA L SIGNA L WAVEFORMS AND SURGICA L INSTRUMENTS," which is published 3, 30, 2017, AND which is incorporated herein by reference in its entirety.
As used throughout this specification, the term "wireless" and its derivatives may be used to describe circuits, devices, systems, methods, techniques, communication channels, etc., that may communicate data through a non-solid medium using modulated electromagnetic radiation, the term does not imply that the associated organization does not contain any wires, although in some aspects they may not.
As used herein, a processor or processing unit is an electronic circuit that performs operations on some external data source, typically a memory or some other data stream. The term is used herein to refer to a central processing unit (cpu) in one or more systems, especially systems on a chip (SoC), that combine multiple specialized "processors".
As used herein, a system-on-chip or system-on-chip (SoC or SoC) is an integrated circuit (also referred to as an "IC" or "chip") that integrates all of the devices of a computer or other electronic system. It may contain digital, analog, mixed signal, and often radio frequency functions-all on a single substrate. The SoC integrates a microcontroller (or microprocessor) with advanced peripherals such as a Graphics Processing Unit (GPU), Wi-Fi modules, or coprocessors. The SoC may or may not contain built-in memory.
As used herein, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuitry and memory. The microcontroller (or MCU of the microcontroller unit) may be implemented as a small computer on a single integrated circuit. It may be similar to a SoC; the SoC may include a microcontroller as one of its devices. Microcontrollers may include one or more Core Processing Units (CPUs) as well as memory and programmable input/output peripherals. Program memory in the form of ferroelectric RAM, NOR flash memory or OTP ROM as well as a small amount of RAM are often included on the chip. In contrast to microprocessors used in personal computers or other general-purpose applications composed of various discrete chips, microcontrollers may be used in embedded applications.
As used herein, the term controller or microcontroller may be a stand-alone IC or chip device that interfaces with peripheral devices. This may be a link between two components of a computer or a controller on an external device for managing the operation of (and connection to) the device.
Any of the processors or microcontrollers as described herein may be any single-core or multi-core processor, such as the tradename provided by Texas Instruments (Texas Instruments)In one aspect, the processor may be an L M4F230H5QR ARMCortex-M4F processor core, such as available from Texas Instruments (Texas Instruments), including 256KB of on-chip memory of single cycle flash or other non-volatile memory (up to 40MHZ), a prefetch buffer to improve performance beyond 40MHz, 32KB of single cycle Serial Random Access Memory (SRAM), loaded with a load of 32KB, a processor such as one-chip flash memory, a
Internal Read Only Memory (ROM) in software, Electrically Erasable Programmable Read Only Memory (EEPROM) in 2KB, one or more Pulse Width Modulation (PWM) modules, one or more Quadrature Encoder Input (QEI) analog, one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, and other features readily available.
In one example, the processor may include a safety controller that includes two series based controllers, such as TMS570 and RM4x, also available from Texas Instruments under the trade name Hercules ARMCortex R4. The safety controller may be configured specifically for IEC 61508 and ISO26262 safety critical applications, etc., to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options.
The modular device includes modules (as described in connection with fig. 3 and 9) that can be housed within a surgical hub and surgical devices or instruments that can be connected to the various modules for connection or mating with a corresponding surgical hub. Modular devices include, for example, smart surgical instruments, medical imaging devices, suction/irrigation devices, smoke ejectors, energy generators, respirators, insufflators, and displays. The modular devices described herein may be controlled by a control algorithm. The control algorithms may be executed on the modular devices themselves, on a surgical hub paired with a particular modular device, or on both the modular devices and the surgical hub (e.g., via a distributed computing architecture). In some examples, the control algorithm of the modular apparatus controls the apparatus based on data sensed by the modular apparatus itself (i.e., by sensors in, on, or connected to the modular apparatus). This data may be related to the patient being operated on (e.g., tissue characteristics or insufflation pressure) or the modular device itself (e.g., rate at which the knife is advanced, motor current, or energy level). For example, the control algorithm of a surgical stapling and severing instrument may control the rate at which the motor of the instrument drives its knife through tissue based on the resistance encountered by the knife as it advances.
Long-distance communication and condition processing of devices and data
The surgery is performed by different surgeons at different locations, some surgeons being much less experienced than others. For a given surgical procedure, there are many parameters that can be varied in an attempt to achieve a desired result. For example, for a given surgical procedure that utilizes energy provided by a generator, a surgeon typically relies solely on experience to determine the pattern of energy to utilize, the level of output power to utilize, the duration of time the energy is applied, etc., in order to attempt to achieve a desired result. To increase the likelihood of achieving the desired results of multiple different surgical procedures, each surgeon should be provided with best practice recommendations based on important relationships identified within a large and accurate data set of information associated with multiple surgical procedures performed in multiple locations over time. However, there are many ways in which such data sets may be compromised, inaccurate, and/or unsafe, thereby leaving the applicability of best practice recommendations derived therefrom questionable. For example, for data sent from a source to a cloud-based system, the data may be lost during transport to the cloud-based system, the data may be corrupted during transport to the cloud-based system, the confidentiality of the data may be included during transport to the cloud-based system, and/or the content of the data may change during transport to the cloud-based system.
Multiple operating rooms located in multiple locations may each be equipped with a surgical hub. When a given surgical procedure is performed in a given operating room, the surgical hub may receive data associated with the surgical procedure and transmit the data to the cloud-based system. Over time, the cloud-based system will receive a large dataset of information associated with the surgical procedure. The data may be transmitted from the surgical hub to the cloud-based system in a manner that allows the cloud-based system to (1) verify the authenticity of the transmitted data, (2) verify each of the respective surgical hubs that transmitted the data, and (3) track the path that the data follows from the respective surgical hub to the cloud-based system.
Accordingly, in one aspect, the present disclosure provides a surgical hub for transmitting generator data associated with a surgical procedure to a cloud-based system communicatively coupled to a plurality of surgical hubs. The surgical hub includes a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to receive data from the generator, encrypt the data, generate a Message Authentication Code (MAC) based on the data, generate a datagram including the encrypted data, the generated MAC, a source identifier, and a destination identifier, and transmit the datagram to a cloud-based system. The data is structured into data packets comprising at least two of the following fields: a field indicating a source of data, a unique timestamp, a field indicating an energy pattern of the generator, a field indicating a power output of the generator, and a field indicating a duration of the power output of the generator. The datagram allows the cloud-based system to decrypt encrypted data of the transmitted datagram, verify the integrity of the data based on the MAC, verify the surgical hub as the source of the datagram, and verify the transmission path followed by the datagram between the surgical hub and the cloud-based system.
In various aspects, the present disclosure provides a control circuit that transmits generator data associated with a surgical procedure to a cloud-based system communicatively coupled to a plurality of surgical hubs, as described above. In various aspects, the present disclosure provides a non-transitory computer-readable medium storing computer-readable instructions that, when executed, cause a machine to transmit generator data associated with a surgical procedure to a cloud-based system communicatively coupled to a plurality of surgical hubs, as described above.
In another aspect, the present disclosure provides a cloud-based system communicatively coupled to a plurality of surgical hubs. Each surgical hub is configured to transmit generator data associated with a surgical procedure to a cloud-based system. The cloud-based system includes a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to receive a datagram generated by the surgical hub, decrypt encrypted generator data of the received datagram, verify integrity of the generator data based on the MAC, verify the surgical hub as the source of the datagram, and verify a transmission path followed by the datagram between the surgical hub and the cloud-based system. The datagram includes generator data captured from a generator associated with the surgical hub, a MAC generated by the surgical hub based on the generator data, a source identifier, and a destination identifier. The generator data has been encrypted by the surgical hub. The encrypted generator data has been structured into data packets comprising at least two of the following fields: a field indicating a data source, a unique timestamp, a field indicating an energy pattern, a field indicating a power output, and a field indicating a duration of applied power.
In various aspects, the present disclosure provides a control circuit that transmits generator data associated with a surgical procedure to a cloud-based system. In various aspects, the present disclosure provides a non-transitory computer-readable medium storing computer-readable instructions that, when executed, cause a machine to transmit generator data associated with a surgical procedure to a cloud-based system.
In another aspect, the present disclosure provides a method comprising capturing data from a combined generator of a surgical hub during a surgical procedure, wherein the combined generator is configured to provide two or more different modes of energy. Encrypt the captured generator data, generate a MAC based on the captured generator data, generate a datagram including the encrypted generator data, the MAC, a source identifier, and a destination identifier, and transmit the datagram from the surgical hub to the cloud-based system. The datagram allows the cloud-based system to verify the integrity of the transmitted generator data, verify the surgical hub as the source of the datagram, and determine the communication path followed by the datagram between the surgical hub and the cloud-based system.
By sending captured generator data from multiple different surgical hubs to the cloud-based system, the cloud-based system is able to quickly build large data sets of information associated with multiple surgical procedures performed in multiple locations over time. Further, due to the composition of the respective datagrams, for a given datagram, the cloud-based system can determine whether the datagram was originally sent by one of the surgical hubs (source verified), thereby providing an indication that the generator data received at the cloud-based system is legitimate data. For a given datagram, the cloud-based system is also able to determine whether the generator data received at the cloud-based system is the same as the generator data sent by a given surgical hub (data integrity), thereby allowing verification of the authenticity of the received generator data. In addition, for a given datagram, the cloud-based system is also able to re-track the communication path followed by the datagram, allowing for enhanced fault diagnosis in the event that a datagram received by the cloud-based system was originally sent from a device other than the surgical hub and/or the content of the datagram changed during transport to the cloud-based system. Notably, the present disclosure makes specific reference to generator data. Here, the present disclosure should not be limited to being able to process generator-only data. For example, the surgical hub 206 and/or the cloud-based system 205 may process data received from any component of the surgical system 202 coupled to the surgical hub 206 (e.g., imaging module 238, generator module 240, smoke ejector module 226, suction/irrigation module 228, communication module 230, processor module 232, storage array 234, smart device/instrument 235, non-contact sensor module 242, robotic hub 222, non-robotic surgical hub 206, wireless smart device/instrument 235, visualization system 208) and/or from any device (e.g., endoscope 239, energy device 241) coupled to/through such component (e.g., see fig. 9-10) in a manner similar to that discussed herein.
Unfortunately, the results of the surgical procedure are not always optimal. For example, malfunction events may occur, such as failure of a surgical device, undesired tissue perforation, undesired post-operative bleeding, and the like. The occurrence of a failure event may be attributable to any of a variety of different personnel and devices, including one or more surgeons, one or more devices associated with the surgical procedure, the condition of the patient, and combinations thereof. When a given failure event occurs, it is not always clear as to who or what caused the failure event or how to reduce the rate of occurrence of the failure event in conjunction with future surgery.
During a given surgical procedure, a large amount of data associated with the surgical procedure may be generated and captured. All of the captured data may be transmitted to the surgical hub, and the captured data may be time stamped before or after being received at the surgical hub. When a fault event associated with a surgical procedure is detected and/or identified, it may be determined which of the captured data is associated with the fault event and/or which of the captured data is not associated with the fault event. In making this determination, the fault event may be defined to include a time period prior to detection/identification of the fault event. Once a determination is made regarding the captured data associated with the failure event, the surgical hub may separate the captured data associated with the failure event from all other captured data, and the captured data may be separated based on the tag, label, or the like. The captured data associated with the fault event may then be chronologically ordered based on the timestamp and a defined time period applicable to the fault event. The captured data in a chronological order may then be preferentially transmitted to a cloud-based system for analysis, wherein the preference is relative to the captured data that is not associated with a failure event. Regardless of whether the analysis identifies the device associated with the surgical procedure as the cause of the failure event, the surgical hub may tag the device for removal from future use, further analysis of the device, and/or return the device to the manufacturer.
When a given surgical procedure is performed, a large amount of data associated with the surgical procedure may be generated and captured. All of the captured data may be communicated to the surgical hub where all "personal" associations of information may be stripped. The captured data may be time stamped before being received at the surgical hub, after being received at the surgical hub, before being stripped of the "personal" association, or after being stripped of the "personal" association. The surgical hub may transmit the stripped data to a cloud-based system for subsequent analysis. Over time, the cloud-based system will receive a large dataset of information associated with the surgical procedure. Accordingly, in one aspect, the present disclosure provides a surgical hub for prioritizing surgical data associated with a surgical procedure to a cloud-based system communicatively coupled to a plurality of surgical hubs. The surgical hub includes a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to capture surgical data, wherein the surgical data includes data associated with a surgical device, timestamp the captured surgical data, identify a fault event, identify a time period associated with the fault event, isolate the fault event surgical data from the surgical data not associated with the fault event based on the identified time period, time-sort the fault event surgical data by timestamp, encrypt the time-sorted fault event surgical data, generate a datagram including the encrypted fault event surgical data, and transmit the datagram to a cloud-based system. The datagram is structured to include a field that includes a flag that prioritizes encrypted failure event surgical data over other encrypted data of the datagram. The datagram allows the cloud-based system to decrypt encrypted fault event surgical data, focus analysis on the fault event surgical data rather than surgical data not associated with the fault event, and mark surgical devices associated with the fault event for at least one of: inoperable removed from the operating room, returned to the manufacturer, or in the future in a cloud-based system.
In various aspects, the present disclosure provides a control circuit that prioritizes generator data associated with a surgical procedure to a cloud-based system communicatively coupled to a plurality of surgical hubs. In various aspects, the present disclosure provides a non-transitory computer-readable medium storing computer-readable instructions that, when executed, cause a machine to prioritize surgical data associated with a surgical procedure to a cloud-based system communicatively coupled to a plurality of surgical hubs.
In another aspect, the present disclosure provides a method comprising: the method includes capturing data during a surgical procedure, transmitting the captured data to a surgical hub, time stamping the captured data, identifying a fault event associated with the surgical procedure, determining which of the captured data is associated with the fault event, separating the captured data associated with the fault event from all other captured data, time ordering the captured data associated with the fault event, and prioritizing the time ordered captured data for transmission to a cloud-based system.
By capturing a large amount of data associated with a surgical procedure, and by time stamping the captured data, portions of the captured data that are relevant to a detected/identified fault event may be more easily isolated from all of the other captured data, allowing for more focused subsequent analysis of only the relevant captured data. The data associated with the failure event may then be time-ordered (which requires less processing power than time-ordering all of the captured data), allowing for easier consideration of the event that caused the failure event to be detected/identified during subsequent analysis of the failure event. The time-ordered data may then be preferentially transmitted to the cloud-based system (which requires less communication resources than transmitting all of the captured data simultaneously), allowing the cloud-based system to perform centralized follow-up analysis of the failure event in a more time-sensitive manner.
To help ensure that best practices recommendations are developed based on accurate data, it is desirable to ensure that generator data received at the cloud-based system is the same as generator data transmitted to the cloud-based system. In addition, to help enable the cause of the failure event to be determined as quickly as possible, it is desirable to ensure that the surgical data associated with the failure event is transmitted to the cloud-based system in a prioritized manner (relative to surgical data not associated with the failure event) so that analysis of the surgical data can be performed in an accelerated manner.
Aspects of systems and methods for communicating data associated with a surgical procedure are described herein. As shown in fig. 9, aspects of the computer-implemented interactive surgical system 200 include a device/instrument 235, a generator module 240, a modular control tower 236, and a cloud-based system 205. As shown in fig. 10, the devices/instruments 235, the generator module 240, and the modular control tower 236 are components/portions of the surgical hub 206.
In various aspects, the generator module 240 of the surgical hub 206 may provide radiofrequency energy, such as monopolar radiofrequency energy, bipolar radiofrequency energy, and advanced bipolar energy and/or ultrasonic energy, to the devices/instruments 235 used in the surgical procedure. Thus, the generator module 240 may be referred to as a combined generator. An example of such a combined generator is shown in fig. 22, where combined generator 3700 is shown as including a monopolar module 3702, a bipolar module 3704, an advanced bipolar module 3706, and an ultrasound module 3708. When used during surgery, the respective energy modules (e.g., 3702, 3704, 3706, and/or 3708) of the combined generator 3700 may provide generator data, such as the type of energy provided to the device instruments (e.g., radiofrequency energy, ultrasonic energy, radiofrequency energy, and ultrasonic energy), the type of radiofrequency energy (e.g., monopolar, bipolar, advanced bipolar), frequency, power output, duration, etc., to the data communication module 3710 of the combined generator 3700.
Fig. 23 illustrates various aspects of a method of capturing data from a combined generator 3700 and communicating the captured generator data to the cloud-based system 205. Notably, as discussed herein, the present disclosure should not be limited to processing generator data. Thus, the method of fig. 23 similarly extends to other types of data (e.g., imaging module data, smoke ejector data, suction/irrigation data, device/instrument data) received from other components coupled to the surgical hub 206. The method includes (1) capturing 3712 data from a combined generator 3700 of the surgical hub 206 during a surgical procedure, wherein the combined generator 3700 is configured to provide two or more different modes of energy; (2) encrypting 3714 the captured generator data; (3) generating 3716 a MAC based on the captured generator data; (4) generating a 3718 datagram comprising encrypted generator data, MAC, source identifier and destination identifier; and (5) transmitting 3720 the datagram from the surgical hub 206 to the cloud-based system 205, wherein the datagram allows the cloud-based system 205 to (i) verify the integrity of the transmitted generator data, (ii) verify the surgical hub as the source of the datagram, and (iii) determine the communication path followed by the datagram between the surgical hub 206 and the cloud-based system 205.
More specifically, once the generator data is received at the data communication module 3710 of the combined generator 3700, the generator data may be transmitted to the modular communication hub 203 of the surgical hub 206 for subsequent communication with the cloud-based system 205. The data communication module 3710 may communicate the generator data to the modular communication hub 203 serially over a single communication line or in parallel over multiple communication lines, and such communication may occur in real-time or near real-time. Alternatively, such communication may be conducted in batches.
According to various aspects, components of the combined generator 3700 (e.g., the data communication module 3710) may organize the generator data into data packets prior to transmitting the generator data to the modular communication hub 203. An example of such a data packet is shown in fig. 24, where data packet 3722 includes a preamble 3724 or a self-describing data header that defines what the data is (e.g., combined generator data-CGD) and a field indicating where the generator data came from [ e.g., combined generator ID number 3726- (e.g., 017), unique timestamp 3728 (e.g., 08:27:16), energy pattern 3730 utilized (e.g., RF, U, RF + U), radio frequency energy type or pattern 3732 (e.g., MP, BP, ABP), frequency 3734 (e.g., 500KHz), power output 3736 (e.g., 30 watts), duration 3738 of applied power (e.g., 45 milliseconds), and authentication/identification credentials for data point 3740 (e.g., 01101011001011) ]. The example data packet 3722 may be considered a self-describing data packet, and the combination generator 3700 and other intelligent devices (e.g., the surgical hub 206) may use the self-describing data packet to minimize data size and data processing resources. Also, as discussed herein, the present disclosure should not be limited to processing generator data received from the combining generator 3700. Thus, the data packet 3722 of fig. 24 similarly generalizes to other types of data received from other components coupled to the surgical hub 206. In one aspect, the data packet 3722 may include data (e.g., image data) associated with the endoscope 239 received from a component of the imaging module 238. In another aspect, the data packets 3722 may include data associated with the smoke evacuation system (e.g., pressure, particle count, flow rate, motor speed) received from components of the smoke ejector module 226. In yet another aspect, the data packets 3722 may include data associated with the device/instrument (e.g., temperature sensor data, firing data, sealing data) received from components of the device/instrument 235. In various other aspects, the data packet 3722 may similarly include data received from other components (e.g., the suction/irrigation module 228, the non-contact sensor module 242) coupled to the surgical hub 206.
Additionally, the data communication module 3710 may compress the generator data and/or encrypt the generator data prior to transmitting the generator data to the modular communication hub 203. The particular method of compression and/or encryption may be the same as or different from the compression and/or encryption that may be performed by the surgical hub 206, as described in more detail below.
The modular communication hub 203 may receive the generator data transmitted from the combined generator 3700 (e.g., via the data communication module 3710), and the generator data may then be transmitted to the cloud-based system 205 (e.g., over the internet). According to various aspects, the modular communication hub 203 may receive the generator data through the hub 207/switch 209 (see fig. 10) of the modular communication hub 203, and the generator data may be transmitted to the cloud-based system 205 by the router 211 (see fig. 10) of the modular communication hub 203. The generator data may be transmitted to the cloud-based system 205 in real-time, near real-time, or in batches, or may be stored at the surgical hub 206 prior to transmission to the cloud-based system 205. The generator data may be stored at the memory array 234 or memory 249 of the computer system 210, such as the surgical hub 206.
In various aspects, for example, for the case where the generator data received at modular communication hub 203 is not encrypted, the generator data is encrypted prior to transmitting the received generator data to cloud-based system 205 to help ensure confidentiality of the generator data, whether when stored at surgical hub 206 or when transmitted to cloud 204 using the internet or other computer network. According to various aspects, the components of the surgical hub 206 convert the generator data from the readable version to the encoded version using an encryption algorithm to form encrypted generator data. The components of the surgical hub 206 that utilize/execute the encryption algorithm may be, for example, the processor module 232, the processor 244 of the computer system 210, and/or combinations thereof. The encryption algorithm utilized/performed may be a symmetric encryption algorithm and/or an asymmetric encryption algorithm.
Using a symmetric encryption algorithm, the surgical hub 206 will encrypt the generator data using a shared key (e.g., private key, password). In such an aspect, a recipient of the encrypted generator data (e.g., cloud-based system 205) would then use the same shared key to decrypt the encrypted generator data. In such an aspect, the surgical hub 206 and the recipient would need to access and/or know the same shared key. In one aspect, the shared key may be generated/selected by the surgical hub 206 and securely delivered (e.g., physically) to the recipient prior to encrypted transmission to the recipient.
Alternatively, using an asymmetric encryption algorithm, the surgical hub 206 will encrypt the generator data using a public key associated with the recipient (e.g., cloud-based system 205). The public key may be received by the surgical hub 206 from a certificate authority that issues a digital certificate certifying that the public key is in the possession of the recipient. The certificate authority may be any entity trusted by the surgical hub 206 and the recipient. In such an aspect, the recipient of the encrypted generator data would then decrypt the encrypted generator data using a private key (i.e., known only to the recipient) that is paired with the public key used by the surgical hub 206 to encrypt the generator data. It is worth noting that in such aspects, the encrypted generator data may only be decrypted using the recipient's private key.
According to aspects of the present disclosure, components of the surgical system 202 (e.g., surgical device/instrument 235, energy device 241, endoscope 239) are associated with unique identifiers, which may be in the form of serial numbers. Thus, according to various aspects of the present disclosure, when a component is coupled to the surgical hub 206, the component may establish a shared key with the surgical hub 206 using the unique identifier of the coupled component as the shared key. Additionally, in such aspects, the component may derive the checksum value by applying a checksum function/algorithm to the unique identifier and/or other data communicated to the surgical hub 206. Here, the checksum function/algorithm is configured to output a significantly different checksum value if there is a modification to the underlying data.
In one aspect, the component may initially encrypt the unique identifier of the coupling component using a public key associated with the surgical hub (e.g., received by the component from the surgical hub 206 at/after connection), and transmit the encrypted unique identifier to the surgical hub 206. In other aspects, the component can encrypt the unique identifier of the coupling component and the derived checksum value using a public key associated with the surgical hub 206 and transmit the encrypted unique identifier and the linked/associated checksum value to the surgical hub 206.
In other aspects, the component may encrypt the unique identifier and the checksum function/algorithm using a public key associated with the surgical hub 206 and communicate the encrypted unique identifier and checksum function/algorithm to the surgical hub 206. In such an aspect, the surgical hub 206 would then decrypt the encrypted unique identifier or encrypted unique identifier and linked/associated checksum value or encrypted unique identifier and checksum function/algorithm using a private key (i.e., known only to the surgical hub 206) paired with the public key used by the component to encrypt the unique identifier.
Since the encrypted unique identifier may only be decrypted using the private key of the surgical hub 206, and the private key is known only to the surgical hub, this is a secure way of communicating the shared key (e.g., the unique identifier of the coupling component) to the surgical hub 206. In addition, to the extent that the checksum value is linked to/associated with the unique identifier, the surgical hub 206 may apply the same checksum function/algorithm to the decrypted unique identifier to generate a verification checksum value. If the verification checksum value matches the decrypted checksum value, the integrity of the decrypted unique identifier is further verified. Further, in such aspects, where a shared key is established, the component may encrypt future communications to the surgical hub 206, and the surgical hub 206 may use the shared key (e.g., a unique identifier of the coupled component) to decrypt future communications from the component. Here, according to various aspects, a checksum value may be derived for and transmitted over each communication between the component and the surgical hub 206 (e.g., a checksum value based on the transmitted data or at least a designated portion thereof). Here, a checksum function/algorithm (e.g., known by the surgical hub 206 and/or the component or communicated when a shared key is established between the surgical hub 206 and the component, as described above) may be used to generate a verification checksum value for comparison with the communicated checksum value to further verify the integrity of the data communicated in each communication.
Notably, asymmetric encryption algorithms can be complex and can require a significant amount of computing resources to perform each communication. Thus, establishing the unique identifier of the coupling component as a shared key is not only faster (e.g., without requiring the use of a pseudo-random key generator to generate the shared key), but also improves the computational efficiency of all subsequent communications (e.g., allowing faster, less complex symmetric encryption algorithms to be performed). In various aspects, the established shared key may be used by the component and surgical hub 206 until the component is disconnected from the surgical hub (e.g., the surgical procedure is complete).
In accordance with other aspects of the present disclosure, the components of the surgical system 202 (e.g., surgical device/instrument 235, energy device 241, endoscope 239) may include subcomponents (e.g., handles, shafts, end effectors, cartridges), each of which is associated with its own unique identifier. Thus, according to various aspects of the present disclosure, when components are coupled to the surgical hub 206, the components may establish a shared key with the surgical hub 206 using a unique compilation/string (e.g., ordered or random) of unique identifiers associated with the subcomponents that combine to form the coupled component. In one aspect, the component may initially encrypt the unique compilation/string of coupled components using a public key associated with the surgical hub 206 and communicate the encrypted unique compilation/string to the surgical hub 206. In such an aspect, the surgical hub 206 would then decrypt the encrypted unique compilation/string using a private key (i.e., known only to the surgical hub 206) that is paired with the public key that the component uses to encrypt the unique compilation/string. Since the encrypted unique compilation/string may only be decrypted using the private key of the surgical hub 206 and the private key is known only to the surgical hub 206, this is a secure way of communicating the shared key (e.g., the unique compilation/string of the coupled components) to the surgical hub 206. Further, in such aspects, where a shared key is established, the component may encrypt future communications to the surgical hub 206, and the surgical hub 206 may decrypt future communications from the component using the shared key (e.g., a unique compilation/string of coupled components).
Also, asymmetric encryption algorithms can be complex and can require a significant amount of computing resources to perform each communication. Thus, establishing a unique compilation/string of coupled components (i.e., that can be easily combined by the components) as a shared key is not only faster (e.g., does not require the use of a pseudo-random key generator to generate the shared key), but also improves the computational efficiency of all subsequent communications (e.g., allows for faster, less complex symmetric encryption algorithms to be performed). In various aspects, the established shared key may be used by the component and surgical hub 206 until the component is detached from the surgical hub 206 (e.g., the surgical procedure is complete). Further, in such aspects, because various subcomponents may be reusable (e.g., handle, shaft, end effector) while other subcomponents may not be reusable (e.g., end effector, cartridge), each new combination of subcomponents that combine to form a coupling component provides a unique compilation/string that can be used as a shared key for the components to communicate with the surgical hub 206.
According to further aspects of the present disclosure, the components of the surgical system 202 (e.g., surgical device/instrument 235, energy device 241, endoscope 239) are associated with a unique identifier. Thus, according to various aspects of the present disclosure, when a component is coupled to the surgical hub 206, the surgical hub 206 may establish a shared key with a recipient (e.g., the cloud-based system 205) using the unique identifier of the coupled component. In one aspect, the surgical hub 206 may initially encrypt the unique identifier of the coupling component using a public key associated with the recipient and communicate the encrypted unique identifier to the recipient. In such an aspect, the recipient would then decrypt the encrypted unique identifier using a private key (i.e., known only to the recipient) that is paired with the public key used by the surgical hub 206 to encrypt the unique identifier. Since the encrypted unique identifier can only be decrypted using the recipient's private key, and the private key is known only to the recipient, this is a secure way of communicating the shared key (e.g., the unique identifier of the coupling component) to the recipient (e.g., the cloud-based system). Further, in such aspects, where a shared key is established, the surgical hub 206 can encrypt future communications to the recipient (e.g., cloud-based system 205), and the recipient can use the shared key (e.g., the unique identifier of the coupling component) to decrypt the future communications from the surgical hub 206.
Notably, asymmetric encryption algorithms can be complex and can require a significant amount of computing resources to perform each communication. Thus, establishing the unique identifier of the coupling component (i.e., already available to the surgical hub 206) as a shared key is not only faster (e.g., does not require the use of a pseudo-random key generator to generate the shared key), but also improves the computational efficiency of all subsequent communications by, for example, allowing faster, less complex symmetric encryption algorithms to be performed. In various aspects, the established shared key may be used by the surgical hub 206 until the component is disconnected from the surgical hub (e.g., the surgical procedure is complete).
According to still further aspects of the present disclosure, the components of the surgical system 202 (e.g., surgical device/instrument 235, energy device 241, endoscope 239) may include subcomponents (e.g., handle, shaft, end effector, cartridge), each subcomponent being associated with its own unique identifier. Thus, according to various aspects of the present disclosure, when the components are coupled to the surgical hub 206, the surgical hub 206 may establish a shared key with a recipient (e.g., the cloud-based system 205) using unique compilations/strings of unique identifiers (e.g., ordered or random) associated with the sub-components that combine to form the coupled components.
In one aspect, the surgical hub 206 may initially encrypt the unique compilation/string of coupling components using a public key associated with the recipient and communicate the encrypted unique compilation/string to the recipient. In such aspects, the recipient would then decrypt the encrypted unique compilation/string using a private key (i.e., known only to the recipient) paired with the public key used by the surgical hub 206 to encrypt the unique compilation/string. This is a secure way of communicating the shared key (e.g., the unique compilation/string of the coupling component) to the recipient, as the encrypted unique compilation/string may only be decrypted using the recipient's private key, and the private key is known only by the recipient. With the shared key established, the surgical hub 206 may encrypt future communications to the recipient (e.g., cloud-based system 205), and the recipient may decrypt the future communications from the surgical hub 206 using the shared key (e.g., a unique compilation/string of coupled components). Also, asymmetric encryption algorithms can be complex and can require a significant amount of computing resources to perform each communication. Thus, establishing a unique compilation/string of coupled components (i.e., that can be easily combined by the surgical hub 206) as a shared key is not only faster (e.g., does not require the use of a pseudorandom key generator to generate the shared key), but also improves the computational efficiency of all subsequent communications (e.g., allows for faster, less complex symmetric encryption algorithms to be performed).
In various aspects, the established shared key may be used by the surgical hub 206 until the component is disconnected from the surgical hub (e.g., the surgical procedure is complete). Further, in such aspects, because various subcomponents may be reusable (e.g., handle, shaft, end effector) while other subcomponents may not be reusable (e.g., end effector, cartridge), each new combination of subcomponents that combine to form a coupling component provides a unique compilation/string that can be used as a shared key for the surgical hub 206 to communicate with a recipient.
In some aspects, the encrypt-then-mac (etm) method may be used to generate encrypted generator data. An example of this approach is shown in fig. 25, where unencrypted generator data (i.e., plaintext 3742, e.g., data packet 3722) is first encrypted 3743 (e.g., via key 3746) to generate ciphertext 3744 (i.e., encrypted generator data), and then MAC 3745 is generated based on the resulting ciphertext 3744, key 3746, and MAC algorithm (e.g., hash function 3747). More specifically, cipher text 3744 is processed through a MAC algorithm using key 3746. In one aspect similar to symmetric encryption discussed herein, the key 3746 is a key that is accessible/known to the surgical hub 206 and the recipient (e.g., cloud-based system 205). In such aspects, the key is a shared key associated with/selected by the surgical hub 206, a shared key associated with/selected by the recipient, or a key selected via a pseudo-random key generator. For this approach, the encrypted generator data (i.e., cipher text 3744) and MAC 3745 would be transmitted together to cloud-based system 205, as shown generally at 3748.
In other aspects, the encrypt-and-MAC (E & M) method may be used to generate encrypted generator data. An example of this approach is shown in fig. 26, where MAC 3755 is generated based on unencrypted generator data (i.e., plaintext 3752, e.g., data packet 3722), key 3756, and a MAC algorithm (e.g., hash function 3757). More specifically, plaintext 3752 is processed through a MAC algorithm using key 3756. In one aspect similar to symmetric encryption discussed herein, the key 3756 is a key accessible/known to the surgical hub 206 and the recipient (e.g., cloud-based system 205). In such aspects, the key is a shared key associated with/selected by the surgical hub 206, a shared key associated with/selected by the recipient, or a key selected via a pseudo-random key generator. Further, in such aspects, unencrypted generator data (i.e., plaintext 3752, e.g., data packet 3722) is encrypted 3753 (e.g., via key 3756) to generate ciphertext 3754. For this approach, MAC 3755 (i.e., generated based on unencrypted generator data) and encrypted generator data (i.e., ciphertext 3754) would be transmitted together to cloud-based system 205, as shown generally at 3758.
In further aspects, a MAC-then-encrypt (mte) method may be used to generate the encrypted generator data. An example of this approach is shown in fig. 27, where MAC 3765 is generated based on unencrypted generator data (i.e., plaintext 3762), key 3766, and a MAC algorithm (e.g., hash function 3767). More specifically, plaintext 3762 is processed through a MAC algorithm using key 3766. In one aspect similar to symmetric encryption discussed herein, the key 3766 is a key accessible/known to the surgical hub 206 and the recipient (e.g., cloud-based system 205). In such aspects, the key is a shared key associated with/selected by the surgical hub 206, a shared key associated with/selected by the recipient, or a key selected via a pseudo-random key generator. Unencrypted generator data (i.e., plaintext 3762) is then encrypted 3763 along with MAC 3765 (e.g., via key 3766) to generate ciphertext 3764 based on both. For this approach, as shown generally at 3768, ciphertext 3764 (i.e., which includes encrypted generator data and encrypted MAC 3765) will be transmitted to cloud-based system 205.
In an alternative aspect, the key used to encrypt the unencrypted generator data (e.g., fig. 25 and 26) or the unencrypted generator data and MAC (e.g., fig. 27) may be different than the key used to generate the MAC (e.g., keys 3746, 3756, 3766). For example, the key used to encrypt the unencrypted generator data (e.g., fig. 25 and 26) or the unencrypted generator data and MAC (e.g., fig. 27) may be a different shared key or public key associated with the recipient.
According to other aspects, instead of utilizing a MAC to provide subsequent assurance of data integrity to the cloud-based system 205, the surgical hub 206 may utilize a digital signature to allow the cloud-based system 205 to subsequently verify the integrity of the transmitted generator data. For example, the processor module 232 and/or the processor 244 of the computer system 210 may utilize one or more algorithms to generate a digital signature associated with the generator data, and the cloud-based system 205 may utilize algorithms to determine the authenticity of the received generator data. The algorithms utilized by the processor module 232 and/or the processor 244 of the computer system 210 may include: (1) a key generation algorithm that randomly and uniformly selects a private key from a set of possible private keys, wherein the key generation algorithm outputs the private key and a corresponding public key; and (2) a signing algorithm that generates a digital signature associated with the generator data given the generator data and the private key. The cloud-based system 205 may utilize a signature verification algorithm that may accept the received generator data as authentic, given the received generator data, public key, and digital signature, if the digital signature is determined to be authentic, or may treat the generator data as compromised or altered, if the digital signature is not determined to be authentic.
According to other aspects of the disclosure, the surgical hub 206 may utilize a commercial authentication program (e.g., a secure hash algorithm, SHA-2 including SHA-256) to provide subsequent assurance of data integrity of the generator data transmitted to the cloud-based system 205.
After the generator data has been encrypted (e.g., via EtM, E & M, MtE), components of the surgical hub 206 may transmit the encrypted generator data to the cloud-based system 205. The components that communicate the encrypted generator data to the surgical hub 206 of the cloud-based system 205 may be, for example, the processor module 232, the hub 207/switch 209 of the modular communication hub 203, the router 211 of the modular communication hub 203, the communication module 247 of the computer system 210, and so forth.
According to various aspects, the communication of the encrypted generator data over the internet may conform to an IP: (1) define datagrams that encapsulate encrypted generator data to be delivered, and/or (2) define addressing methods for tagging datagrams with source and destination information. A high-level representation of an exemplary datagram 3770 is shown in fig. 28, where datagram 3770 includes a header 3772 and a payload 3774, and may also include a trailer (not shown) in other aspects. A more detailed representation of an exemplary datagram 3780 is shown in fig. 29, where the header 3782 may include fields for information such as, for example, an IP address of a source 3786 sending the datagram (e.g., router 211 of modular communication hub 203), an IP address of a destination 3788 to receive the datagram (e.g., cloud 204 and/or remote server 213 associated with cloud-based system 205), a type of service name (not shown), a header length 3790, a payload length 3792, and a checksum value 3794. In such aspects, the surgical hub 206 may also apply a checksum function/algorithm to the unencrypted generator data (i.e., plaintext 3742, such as data packet 3722) or at least a portion of the unencrypted generator data (e.g., combined generator ID 3726) to derive a checksum value 3794. Here, the checksum function/algorithm is configured to output a significantly different checksum value if there is any modification (e.g., even a slight change) to the underlying data (e.g., generator data). After the encrypted generator data is decrypted by its recipient (e.g., cloud-based system 205), the recipient may apply the same checksum function/algorithm to the decrypted generator data to generate a validation checksum value. If the verification checksum value matches checksum value 3794 (i.e., stored in header 3782 of received datagram 3780), the integrity of the received generator data is further verified. Payload 3784 may include encrypted generator data 3796 and may also include padding 3798 if encrypted generator data 3796 is less than the specified payload length. Notably, the transmitted encrypted generator data 3796 may include a MAC as discussed above in fig. 25, 26, and 27 (e.g., reference numerals 3748, 3758, and 3768, respectively). In some aspects, the header 3782 can also include the particular path to be followed by the datagram when it is communicated from the surgical hub 206 to the cloud-based system 205 (e.g., from the IP address of the source, to the IP address of at least one intermediate network component (e.g., a designated router, a designated server), to the IP address of the destination).
According to various aspects, the generator data may be time stamped (if not already time stamped by the combining generator 3700) and/or the generator data may be compressed (if not already compressed by the combining generator 3700) before the generator data is encrypted. Time stamping allows the cloud-based system 205 to associate generator data with other data (e.g., stripped patient data) that may be transmitted to the cloud-based system 205. Compression allows smaller representations of the generator data to be subsequently encrypted and transmitted to the cloud-based system 205. For compression, the components of the surgical hub 206 may utilize a compression algorithm to convert the representation of the generator data into a smaller representation of the generator data, allowing for more efficient and economical encryption of the generator data (e.g., less data for encryption utilizes less processing resources) and more efficient and economical transmission of the encrypted generator data (e.g., a smaller representation of the generator data within the payload of a datagram (e.g., fig. 28 and 29) allows for more generator data to be included in a given datagram, more generator data to be transmitted within a given time period, and/or allows for transmission of the generator data with less communication resources). The components of the surgical hub 206 that utilize/execute the compression algorithm may be, for example, the processor module 232, the processor 244 of the computer system, and/or combinations thereof. The compression algorithm utilized/performed may be a lossless compression algorithm or a lossy compression algorithm.
Once the generator data and MAC of a given datagram have been received at the cloud-based system 205 (e.g., fig. 25, reference numeral 3748; fig. 26, reference numeral 3758; and fig. 27, reference numeral 3768), the cloud-based system 205 may decrypt the encrypted generator data from the payload of the transmitted datagram to obtain the transmitted generator data.
In one aspect, referring back to fig. 25, the recipient (e.g., cloud-based system 205) may process the ciphertext 3744 through the same MAC algorithm using the same known/accessible key, similar to the surgical hub 206, to generate an authentication MAC. If the received MAC 3745 matches the authentication MAC, the recipient (e.g., cloud-based system 205) can safely assume that the ciphertext 3744 has not changed and is from the surgical hub 206. The recipient (e.g., cloud-based system 205) may then decrypt ciphertext 3744 (e.g., via key 3746) to obtain plaintext 3742 (e.g., a data packet comprising generator data).
In another aspect, referring back to fig. 26, the recipient (e.g., cloud-based system 205) can decrypt the ciphertext 3754 (e.g., via key 3756) to obtain the plaintext 3752 (e.g., data packets that include generator data). Then, similar to the surgical hub 206, the recipient (e.g., the cloud-based system 205) may process the plaintext 3752 with the same MAC algorithm using the same known/accessible key to generate an authentication MAC. If the received MAC 3755 matches the authentication MAC, the recipient (e.g., cloud-based system 205) can safely assume that the plaintext 3752 has not changed and is from the surgical hub 206.
In yet another aspect, referring back to fig. 27, the recipient (e.g., cloud-based system 205) can decrypt the ciphertext 3764 (e.g., via key 3766) to obtain the plaintext 3762 (e.g., data packets including generator data) and MAC 3765. Then, similar to the surgical hub 206, the recipient (e.g., the cloud-based system 205) may process the plaintext 3762 with the same MAC algorithm using the same known/accessible key to generate an authentication MAC. If the received MAC 3765 matches the authentication MAC, the recipient (e.g., cloud-based system 205) can safely assume that the plaintext 3762 has not changed and is from the surgical hub 206.
In an alternative aspect, the key used to encrypt the unencrypted generator data (e.g., fig. 25 and 26) or the unencrypted generator data and MAC (e.g., fig. 27) may be different than the key used to generate the MAC (e.g., keys 3746, 3756, 3766). For example, the key used to encrypt the unencrypted generator data (e.g., fig. 25 and 26) or the unencrypted generator data and MAC (e.g., fig. 27) may be a different shared key or public key associated with the recipient. In such aspects, referring to fig. 25, the recipient (e.g., cloud-based system 205) can, after verifying the authentication MAC via key 3746 (as described above), then decrypt the ciphertext 3744 (e.g., via a different shared key or private key associated with the recipient) to obtain the plaintext 3742 (e.g., a data packet including the generator data). In such an aspect, referring to fig. 26, the recipient can decrypt the ciphertext 3754 (e.g., via a different shared key or private key associated with the recipient) to obtain the plaintext 3752 (e.g., a data packet including the generator data), and then verify the authentication MAC via key 3756 (as described above). In such an aspect, referring to fig. 27, the recipient may decrypt the ciphertext 3764 (e.g., via a different shared key or private key associated with the recipient) to obtain the plaintext 3762 (e.g., a data packet including generator data) and MAC 3765, and then verify the authentication MAC via key 3766 (as described above).
In summary, referring to fig. 25-27, if the authenticated MAC determined/calculated by the cloud-based system 205 is the same as the MAC received with the datagram, the cloud-based system 205 may believe that the received generator data is authentic (i.e., it is the same as the generator data transmitted by the surgical hub 206) and that the data integrity of the transmitted generator data has not been compromised or changed. As described above, the recipient may further apply the plaintext 3742, 3752, 3762, or at least a portion thereof, to the same checksum function/algorithm (i.e., used by the surgical hub 206) to generate a verification checksum value based on the checksum value stored in the header of the transmitted datagram, thereby further verifying the integrity of the generator data.
In addition, based on the decrypted datagram, the IP address of the source (e.g., fig. 29, reference numeral 3786) that originally transmitted the datagram to the cloud-based system 205 may be determined from the header of the transmitted datagram. If the determined source is the identified source, the cloud-based system 205 can trust that the generator data originated from a trusted source, thereby providing source authentication and even more assurance of data integrity of the generator data. Furthermore, because each router that a datagram follows along the path to the cloud-based system 205 includes its IP address and the communications it forwards, the cloud-based system 205 is able to trace back the path that the datagram follows and identify each router that processes the datagram. The ability to identify the respective router may be helpful in cases where the content of the datagram received at the cloud-based system 205 is different from the content of the datagram originally transmitted by the surgical hub 206. For aspects in which communication paths are pre-designated and included in the header of a transmitted datagram, the ability to identify the respective router may allow path verification and provide additional confidence in the authenticity of the received generator data.
Further, according to various aspects, after verifying the received generator data, the cloud-based system 205 can transmit a message (e.g., a handshake or similar message) to the surgical hub 206 via the internet or another communication network confirming/ensuring that the datagram transmitted from the surgical hub 206 is completely received by the cloud-based system 205, thereby effectively closing the loop for that particular datagram.
Aspects of the above-described communication methods and/or variations thereof may also be used to communicate data other than generator data to the cloud-based system 205 and/or to communicate generator data and/or other data from the surgical hub 206 to systems and/or devices other than the cloud-based system 205. For example, according to various aspects, generator data and/or other data may be communicated from the surgical hub 206 to a handheld surgical device/instrument (e.g., wireless device/instrument 235), to a robotic interface (e.g., robotic hub 222) of the surgical device/instrument, and/or other servers, including servers (e.g., similar to server 213) associated with other cloud-based systems (e.g., similar to cloud-based system 205) according to the communication methods described above. For example, in some cases, the EEPROM chip of a given surgical instrument may initially be provided with only the electronic chip device ID. Upon connecting a given surgical instrument to the combined generator 3700, data may be downloaded from the cloud-based system 205 to the surgical hub 206 and subsequently to the EEPROM of the surgical instrument in accordance with the communication methods described above.
In addition to communicating generator data to the cloud-based system 205, the surgical hub 206 may also communicate data other than generator data to the cloud-based system 205 using the communication methods described above and/or variations thereof. For example, the surgical hub 206 may also communicate other information associated with the surgical procedure to the cloud-based system 205. Such other information may include, for example, the type of surgery being performed, the name of the facility in which the surgery is being performed, the location of the facility in which the surgery is being performed, the identification of the operating room within the facility in which the surgery is being performed, the name of the surgeon performing the surgery, the age of the patient, and data associated with the condition of the patient (e.g., blood pressure, heart rate, current medication). According to various aspects, all information that may identify a particular surgical procedure, patient, or surgeon may be stripped from such other information such that the information is substantially anonymized for further processing and analysis by the cloud-based system 205. In other words, the stripped data is not relevant to the particular surgery, patient, or surgeon. The stripped information may be transmitted to the cloud-based system 205 along with or differently from the transmitted generator data.
For the case where the stripped/other data is to be transmitted separately from the generator data, the stripped/other data may be time stamped, compressed, and/or encrypted in the same or different manner as described above with respect to the generator data, and the surgical hub 206 may be programmed/configured to generate a datagram that includes encrypted stripped/other information in place of the encrypted generator data. The datagram may then be transmitted from the surgical hub 206 over the internet to the cloud-based system 205, following IP: (1) define datagrams that encapsulate encrypted stripped/other data to be delivered, and (2) define addressing methods for tagging datagrams with source and destination information.
For the case where stripped/other information is to be transmitted with the generator data, the stripped/other data may be time stamped, compressed, and/or encrypted in the same or different manner as described above with respect to the generator data, and the surgical hub 206 may be programmed/configured to generate a datagram that includes both encrypted generator data and encrypted stripped information/other information. An example of such a datagram is shown in fig. 30, where the payload 3804 of datagram 3800 is split into two or more different payload data portions (e.g., a portion of generator data 3834 for encryption and a portion of stripped/other information 3836 for encryption), where each portion has an identification bit (e.g., Generator Data (GD)3806, Other Data (OD)3812), associated encrypted data 3808, 3814, and associated padding 3810, 3816, respectively, if desired. Further, as shown in fig. 30, header 3802 can be the same as header 3782 (e.g., IP address source 3818, IP address destination 3820, header length 3822) or different as described with reference to datagram 3780 shown in fig. 29. For example, header 3802 may differ in the following respects: header 3802 also includes a field that specifies the number (e.g., 2) of payload data portions 3824 included in payload 3804 of datagram 3800. The header 3802 may also differ in the following respects: it may include fields that specify the payload length 3826, 3830 and checksum values 3828, 2832 of each payload data portion 3834, 3836, respectively. Although only two payload data portions are shown in fig. 30, it should be understood that payload 3804 of datagram 3800 may include any amount/number of payload data portions (e.g., 1, 2, 3, 4, 5) where each payload data portion includes data associated with a different aspect of a surgical procedure. Datagram 3800 may then be transmitted from surgical hub 206 over the internet to cloud-based system 205, following IP: (1) define datagrams that encapsulate encrypted generator data and encrypted stripped/other data to be delivered, and (2) define addressing methods for marking datagrams with source and destination information.
As noted above, unfortunately, not all surgical outcomes are always optimal and/or successful. For the case where a fault event is detected and/or identified, surgical data associated with the fault event (e.g., fault event surgical data) and surgical data not associated with the fault event (e.g., non-fault event surgical data) may be isolated using variations of the above-described communication methods and preferentially transmitted from the surgical hub 206 to the cloud-based system 205 for analysis. In accordance with one aspect of the present disclosure, fault event surgical data is transmitted from the surgical hub 206 to the cloud-based system 205 preferentially over non-fault event surgical data.
Fig. 31 illustrates various aspects of a system-implemented method of identifying surgical data associated with a fault event (e.g., fault event surgical data) and preferentially transmitting the identified surgical data to cloud-based system 205. The method includes (1) receiving 3838 surgical data at a surgical hub 206, wherein the surgical data is associated with a surgical procedure; (2) time stamping 3840 the surgical data; (3) identifying 3842 a fault event associated with the surgical procedure; (4) determining 3844 which of the surgical data are associated with the fault event (e.g., fault event surgical data); (5) separate 3846 the surgical data associated with the failure event from all other surgical data (e.g., non-failure event surgical data) received at the surgical hub 206; (6) chronologically ordering 3848 the surgical data associated with the failure event; (7) encrypting 3850 surgical data associated with the failure event; and (8) preferentially transmitting 3852 the encrypted surgical data to the cloud-based system 205.
More specifically, various surgical data may be captured during a surgical procedure, and the captured surgical data, as well as other surgical data associated with the surgical procedure, may be communicated to the surgical hub 206. The surgical data may include, for example, data associated with a surgical device/instrument (e.g., fig. 9, surgical device/instrument 235) used during a surgical procedure, data associated with a patient, data associated with a facility performing the surgical procedure, and data associated with a surgeon. Before or after the surgical data is transmitted to and received by the surgical hub 206, the surgical data may be time stamped and/or all information that may identify a particular surgical procedure, patient, or surgeon stripped such that the information is substantially anonymized for further processing and analysis by the cloud-based system 205.
Once a failure event is detected and/or identified (e.g., which may be during or after a surgical procedure), the surgical hub 206 may determine which of the surgical data is associated with the failure event (e.g., failure event surgical data) and which of the surgical data is not associated with the surgical event (e.g., non-failure event surgical data). According to one aspect of the present disclosure, a malfunction event may include detection of one or more unfired staples, for example, during a stapling portion of a surgical procedure. For example, in one aspect, referring to fig. 9, an endoscope 239 can take a snapshot while a surgical device/instrument 235 including an end effector having a staple cartridge performs a stapling portion of a surgical procedure. In such aspects, the imaging module 238 may compare the snapshots to stored images expressing properly fired staples and/or images downloaded from the cloud-based system 205 to detect unfired staples and/or evidence of unfired staples (e.g., leaks). In another aspect, the imaging module 238 can analyze the snapshots themselves to detect unfired staples and/or evidence of unfired staples. In an alternative aspect, the surgical hub 206 may transmit the snapshot to the cloud-based system 205, and components of the cloud-based system 205 may perform the various imaging module functions described above to detect unfired staples and/or evidence of unfired staples and report the detection to the surgical hub 206. According to another aspect of the present disclosure, the failure event may include detection of a tissue temperature below an expected temperature during a tissue sealing portion of a surgical procedure and/or a visual indication of excessive bleeding or oozing after the surgical procedure (e.g., fig. 9, via endoscope 239). For example, in one aspect, referring to fig. 9, the surgical device/instrument 235 can include an end effector that includes a temperature sensor and the surgical hub 206, and/or the cloud-based system can compare at least one temperature detected by the temperature sensor (e.g., during a tissue sealing portion of a surgical procedure) to a stored temperature and/or an expected temperature range and/or a temperature range associated with the surgical procedure to detect an insufficient/low sealing temperature. In another aspect, the endoscope 239 may take snapshots during the surgical procedure. In such aspects, the imaging module 238 may compare the snapshot to stored images expressing that the tissue is properly sealed at the expected temperature and/or images downloaded from the cloud-based system 205 to detect evidence of inadequate/inadequate sealing temperature (e.g., charring, bleeding/hemorrhage). Further, in such aspects, the imaging module 238 may analyze the snapshot itself to detect evidence of inadequate/inadequate sealing temperatures (e.g., charring, bleeding/oozing). In an alternative aspect, the surgical hub 206 may transmit the snapshot to the cloud-based system 205, and the components of the cloud-based system 205 may perform the various imaging module functions described above to detect evidence of inadequate/inadequate seal temperature and report the detection to the surgical hub 206. In accordance with the various aspects described above, in response to a detected and/or identified failure event, the surgical hub 206 may download a program from the cloud-based system 205 for execution by the surgical device/instrument 235 that corrects the detected problem (i.e., a program that changes surgical device/instrument parameters to prevent unfired staples, a program that changes surgical device/instrument parameters to ensure that the sealing temperature is correct).
In some aspects, a fault event is considered to cover a particular time period, and all surgical data associated with that particular time period may be considered to be associated with the fault event.
After the surgical data associated with the fault event has been identified, the identified surgical data (e.g., fault event surgical data) may be separated or isolated from all of the other surgical data associated with the surgical procedure (e.g., non-fault event surgical data). The separation may be accomplished, for example, by tagging or marking the identified surgical data, by storing the identified surgical data separately from all of the other surgical data associated with the surgical procedure, or by storing only the other surgical data while continuing to process the identified surgical data for subsequent prioritized communication to the cloud-based system 205. According to various aspects, tagging or marking the identified surgical data may occur during the communication process when generating the datagram, as described in more detail below.
The components of the surgical hub 206 may utilize timestamps of all of the surgical data (e.g., before or after the surgical data is received at the surgical hub) to chronologically order the identified surgical data associated with the failure event. The component of the surgical hub 206 that utilizes the time stamps to chronologically order the identified surgical data may be, for example, the processor module 232, the processor 244 of the computer system 210, and/or a combination thereof. By chronologically ordering the identified surgical data, the cloud-based system 205 and/or other interested parties may then better understand the conditions that exist that lead to the occurrence of the failure event, and may pinpoint the exact cause of the failure event, thereby providing knowledge to potentially reduce the occurrence of similar failure events during the performance of similar surgical procedures on a future day.
Once the identified surgical data has been time-ordered, the time-ordered surgical data may be encrypted in a manner similar to that described above with respect to encrypting generator data. Thus, the identified surgical data may be encrypted to help ensure confidentiality of the identified surgical data, whether when it is stored at the surgical hub 206 or when it is transmitted to the cloud-based system 205 using the internet or other computer network. According to various aspects, components of the surgical hub 206 convert the identified surgical data from the readable version to the encoded version using an encryption algorithm to form encrypted surgical data associated with the failure event (e.g., fig. 25-27). The components of the surgical hub that utilize the encryption algorithm may be, for example, the processor module 232, the processor 244 of the computer system 210, and/or combinations thereof. The encryption algorithm utilized may be a symmetric encryption algorithm or an asymmetric encryption algorithm.
After the identified surgical data has been encrypted, components of the surgical hub may transmit encrypted surgical data associated with the fault event (e.g., encrypted fault event surgical data) to the cloud-based system 205. The means to communicate the encrypted surgical data to the surgical hub of the cloud-based system 205 may be, for example, the processor module 232, the hub 207/switch 209 of the modular communication hub 203, the router 211 of the modular communication hub 203, or the communication module 247 of the computer system 210. According to various aspects, communication of encrypted surgical data (e.g., encrypted fault event surgical data) over the internet may conform to an IP: (1) define a datagram that encapsulates encrypted surgical data to be delivered, and (2) define an addressing method for tagging the datagram with source information and target information. The datagram may be similar to the datagram shown in fig. 29 or the datagram shown in fig. 30, but may differ in the following respects: either the header or payload of the datagram may include a field that includes a tag or label that preferentially identifies encrypted surgical data (e.g., encrypted failure event surgical data) over other non-priority surgical data (e.g., encrypted non-failure event surgical data). An example of such a datagram is shown in fig. 32, where payload 3864 of datagram 3860 includes a field indicating (e.g., priority name 3834) that payload 3864 includes priority surgical data (e.g., combined generator data 3868). According to various aspects, the payload 3864 of datagram 3860 may also include untagged/un-prioritized surgical data 3836 (e.g., other surgical data 3874), as shown in fig. 32.
According to various aspects, the identified surgical data (e.g., the fault event surgical data) may be compressed (if not already compressed by one or more sources of the relevant surgical data) before the identified surgical data is encrypted. Compression allows a smaller representation of the surgical data associated with the failure event to be subsequently encrypted and transmitted to the cloud-based system 205. For compression, the components of the surgical hub 206 may utilize a compression algorithm to convert the representation of the identified surgical data into a smaller representation of the identified surgical data, allowing for more efficient and economical encryption of the identified surgical data (less data for encryption utilizes less processing resources) and for more efficient and economical transmission of the encrypted surgical data (a smaller representation of the surgical data within the payload of a datagram allows for more of the identified surgical data to be included in a given datagram, more of the identified surgical data to be transmitted within a given time period, and/or for less communication resources to be transmitted). The components of the surgical hub 206 that utilize the compression algorithm may be, for example, the processor module 232, the processor 244 of the computer system 210, and/or combinations thereof. The compression algorithm utilized may be a lossless compression algorithm or a lossy compression algorithm.
Where other non-priority surgical data (e.g., non-fault event surgical data) is to be transmitted with the priority surgical data (e.g., fault event surgical data), the other non-priority surgical data may be time stamped, compressed, and/or encrypted in the same or different manner as described above with respect to the surgical data identified as being associated with the fault event (e.g., fault event surgical data), and the surgical hub 206 may be programmed/configured to generate a datagram that includes both encrypted priority surgical data (e.g., encrypted fault event surgical data) and encrypted other non-priority surgical data (e.g., encrypted non-fault event surgical data). For example, per fig. 32, the payload 3864 of the datagram 3860 may be divided into two or more different payload data portions (e.g., one portion for the priority surgical data 3834 and one portion for the non-priority surgical data 3836), where each portion has an identification bit (e.g., Generator Data (GD)3866, Other Data (OD)3872), associated encrypted data (e.g., encrypted priority surgical data 3868, encrypted non-priority surgical data 3874), and associated padding 3870, 3876, respectively, if desired. Further, similar to fig. 30, header 3862 can be the same as header 3782 (e.g., IP address source 3878, IP address target 3880, header length 3882) or different as described with reference to datagram 3780 shown in fig. 29. For example, header 3862 may differ in the following respects: header 3862 also includes a field that specifies the number (e.g., 2) of payload data portions 3884 included in payload 3864 of datagram 3860. Header 3862 may also differ in the following respects: which may include fields specifying the payload length 3886, 3890 and checksum values 3888, 2892 of each payload data portion 3834, 3836, respectively. Although only two payload data portions are shown in fig. 32, it should be understood that payload 3864 of datagram 3860 may include any amount/number of payload data portions (e.g., 1, 2, 3, 4, 5) where each payload data portion includes data associated with a different aspect of a surgical procedure. Datagram 3860 may then be transmitted from the surgical hub 206 over the internet to the cloud-based system 205, following IP: (1) define datagrams that encapsulate encrypted generator data and encrypted stripped/other data to be delivered, and (2) define addressing methods for marking datagrams with source and destination information.
In some aspects, once a fault event associated with a surgical procedure has been identified, the surgical hub 206 and/or cloud-based system 205 may then mark or tag the surgical device/instrument 235 for use during the surgical procedure with inoperable and/or removed. For example, in one aspect, information (e.g., serial number, ID) associated with the surgical device/instrument 235 and stored at the surgical hub 206 and/or cloud-based system 205 can be used to effectively prevent the surgical device/instrument 235 from being used again (e.g., blacklisted). In another aspect, information associated with the surgical device/instrument (e.g., serial number, ID) may initiate printing of a shipping order and shipping instructions to return the surgical device/instrument 235 to the manufacturer or other designated party so that thorough analysis/inspection of the surgical device/instrument 235 may be performed (e.g., to determine the cause of the failure). According to various aspects described herein, once the cause of the fault is determined (e.g., via the surgical hub 206 and/or the cloud-based system 205), the surgical hub 206 may download a program from the cloud-based system 205 for execution by the surgical device/instrument 235 that corrects the determined cause of the fault (i.e., the program that changes the surgical device/instrument parameters to prevent the fault from occurring again).
According to some aspects, the surgical hub 206 and/or cloud-based system 205 may also provide/display prompts to administrators, staff, and/or other personnel (e.g., via the hub display 215 and/or the surgical device/instrument display 237) to physically remove the surgical device/instrument 235 from the operating room (e.g., if it is detected that it is still present in the operating room) and/or to send the surgical device/instrument 235 to a manufacturer or other designated party. In one aspect, the prompt may be set to be periodically provided/displayed until the administrator is able to remove the label or tag of the surgical device/instrument 235 from the surgical hub 206 and/or cloud-based system 205. According to various aspects, the administrator may remove the markings or labels once the administrator can confirm (e.g., system tracking of the surgical device/instrument 235 via its serial number/ID) that the surgical device/instrument 235 has been received by the manufacturer or another designated party. By marking and/or tracking surgical data associated with a fault event using the methods described above, closed loop control of the fault event and/or surgical data associated with the surgical device/instrument 235 may be achieved. Additionally, in view of the above, it should be appreciated that the surgical hub 206 may be used to effectively manage the utilization (or non-utilization) of surgical devices/instruments 235 that have been utilized or are likely to be available during a surgical procedure.
In various aspects of the present disclosure, the surgical hub 206 and/or cloud-based system 205 may want to control which components (e.g., surgical device/instrument 235, energy device 241) are being used in its interactive surgical system 100/200 to perform a surgical procedure (e.g., to minimize future failure events to avoid the use of unauthorized or counterfeit components).
Thus, in various aspects of the present disclosure, because interactive surgical system 100 may include multiple surgical hubs 106, cloud-based system 105 and/or each surgical hub 106 of interactive surgical system 100 may wish to track the component-surgical hub combination used over time. In one aspect, upon/after components (see fig. 9, e.g., surgical device/instrument 235, energy device 241) are connected to/used with a particular surgical hub 106 (e.g., surgical device/instrument 235 is wired/wirelessly connected to a particular surgical hub 106, energy device 241 is connected to a particular surgical hub 106 via generator module 240), a particular surgical hub 106 can communicate a record/block of that connection/use (e.g., a respective unique identifier linking the connected devices) to cloud-based system 105 and/or other surgical hubs 106 in interactive surgical system 100. For example, upon/after connecting/using energy device 241, a particular surgical hub 106 can communicate a record/block (e.g., a unique identifier linking energy device 241 to generator module 240, a unique identifier linking to a particular surgical hub 106) to cloud-based system 105 and/or other surgical hubs 106 in interactive surgical system 100. In such aspects, if this is the first time a component (e.g., energy device) is connected to/used with surgical hub 106 in interactive surgical system 100, cloud-based system 105 and/or each surgical hub 106 of interactive surgical system 100 can store the record/chunk as an originating record/chunk. In such aspects, the origin records/blocks stored at cloud-based system 105 and/or each surgical hub 106 may include a timestamp. However, in such aspects, if this is not the first time a component (e.g., energy device 241) is connected to/used with a surgical hub 106 in interactive surgical system 100, cloud-based system 105 and/or each surgical hub 106 of the interactive surgical system may store the records/blocks as new records/blocks in the record chain/block chain associated with the component. In such aspects, the new record/chunk may include a cryptographic hash of the most recently transmitted record/chunk, the transmitted link data, and a timestamp stored at cloud-based system 105 and/or each surgical hub 106. In such aspects, each cryptographic hash links each new record/chunk (e.g., each use of the component) to its previous records/chunks to form a chain that confirms the integrity of each previous record/chunk tracing back to the original originating record/chunk (e.g., the first use of the component). According to such aspects, this blockchain of records/blocks may be developed at each surgical hub 106 of the cloud-based system 105 and/or the interactive surgical system 100 to permanently and verifiably bind the use of a particular component to one or more surgical hubs 106 in the interactive surgical system 100 over time. Here, according to another aspect, the method may be similarly applied to subcomponents of the component (e.g., handle, shaft, end effector, cartridge) when/after the component is connected to/used with a particular surgical hub 106 of the interactive surgical system 100.
In accordance with various aspects of the present disclosure, cloud-based system 105 and/or each surgical hub 106 may utilize such records/blocks to track the use of particular components and/or subcomponents back to their initial use in interactive surgical system 100. For example, if a particular component (e.g., surgical device/instrument 235) is tagged/labeled as being associated with a failure event, cloud-based system 105 and/or surgical hub 106 may analyze such records/blocks to determine whether past use of the component and/or subcomponents of the component contributed to or caused the failure event (e.g., overuse). In one example, the cloud-based system 105 can determine that a sub-component of the component (e.g., an end effector) may actually be contributing to/causing a failure event, and then tag/mark the component as inoperable and/or removed based on the determination.
According to another aspect, cloud-based system 205 and/or surgical hub 206 may control which components (e.g., surgical device/instrument 235, energy device 241) are being used in interactive surgical system 200 to perform a surgical procedure by authenticating the components and/or their vendor/manufacturer. In one aspect, a supplier/manufacturer of a component may associate a serial number and a source ID with the component. In such aspects, the vendor/manufacturer may create/generate a private key for the serial number, encrypt the serial number with the private key, and store the encrypted serial number and source ID on an electronic chip (e.g., memory) in the component prior to shipment to the surgical site. Here, the surgical hub 206 may read the encrypted serial number and source ID from the electronic chip at/after the time the component is connected to the surgical hub 206. In response, the surgical hub 206 may send a message (i.e., including the encrypted serial number) to the server of the vendor/manufacturer associated with the source ID (e.g., directly or via the cloud-based system 205). In such aspects, the surgical hub 206 may encrypt the message using a public key associated with the vendor/manufacturer. In response, the surgical hub 206 may receive a message (i.e., including the private key generated by/associated with the encrypted serial number by the vendor/manufacturer) from the vendor/manufacturer server (e.g., directly or via the cloud-based system 205). In such aspects, the vendor/manufacturer server may encrypt the message using a public key associated with the surgical hub 206. Further, in such aspects, the surgical hub 206 may then decrypt the message (e.g., using a private key paired with a public key used to encrypt the message) to reveal the private key associated with the encrypted serial number. The surgical hub 206 may then use the private key to decrypt the encrypted serial number to reveal the serial number. Further, in such aspects, the surgical hub 206 may then compare the decrypted serial number to a comprehensive list of authorized serial numbers (e.g., stored at the surgical hub 206 and/or at the cloud-based system and/or downloaded from the cloud-based system, e.g., received separately from the vendor/manufacturer), and allow use of the connected component if the decrypted serial number matches the authorized serial number. Initially, such methods allow the surgical hub 206 to authenticate the supplier/manufacturer. In particular, the surgical hub 206 encrypts the message including the encrypted serial number using a public key associated with the supplier/manufacturer. Thus, receiving the response message (i.e., including the private key) authenticates the vendor/manufacturer to the surgical hub 206 (i.e., the vendor/manufacturer would otherwise not have access to the private key paired with the public key used by the surgical hub 206 to encrypt the message, and the vendor/manufacturer would not be able to associate the encrypted serial number received in the message with the private key it has generated). Further, such an approach allows the surgical hub 206 to authenticate the connected component/device itself. In particular, the vendor/manufacturer (e.g., just authenticated) encrypts the serial number of the component using the delivered private key. Upon secure receipt of the private key, the surgical hub 206 can decrypt the encrypted serial number (i.e., read from the connected component), which verifies the component and/or its association with the supplier/manufacturer (i.e., only the private key received from the supplier/manufacturer will decrypt the encrypted serial number). Nonetheless, the surgical hub 206 also verifies the component as authentic (e.g., compares the decrypted serial number to a comprehensive list of authorized serial numbers received separately from the supplier/manufacturer). Notably, such aspects as described above may alternatively be performed by the cloud-based system 205 and/or a combination of the cloud-based system 205 and the surgical hub 206 by authenticating the components and/or their vendor/manufacturer to control which components (e.g., surgical device/instrument 235, energy device 241) are being used in the interactive surgical system 200 (e.g., to perform a surgical procedure). In one aspect, such described methods may prevent the use of one or more dummy components within interactive surgical system 200 and ensure the safety and well-being of the surgical patient.
According to another aspect, the electronic chip of a component (e.g., surgical device/instrument 235, energy device 241) may store (e.g., in memory) data associated with the use of that component (i.e., usage data, e.g., number of uses of limited use device, number of remaining uses, firing algorithm executed, designation of single use components). In such aspects, upon/after connecting the component to the interactive surgical system, the surgical hub 206 and/or the cloud-based system 205 can read such usage data from the memory of the component and write back at least a portion of that usage data for storage (e.g., in the memory 249) at the surgical hub 206 and/or for storage at the cloud-based system 205 (e.g., individually and/or in a block chain manner as described herein). According to such aspects, upon/after subsequent connection of the component to the interactive surgical system, the surgical hub 206 and/or cloud-based system 205 can again read such usage data and compare the usage to previously stored usage data. Here, if there is a discrepancy or if the predetermined/authorized use has been satisfied, the surgical hub 206 and/or cloud-based system 205 may prevent the component from being used on the interactive surgical system 200 (e.g., blacklisted, rendered inoperable, flagged for removal). In various aspects, such methods prevent bypass of encrypted systems-on-chip. If the electronic chip/memory of the component has been tampered with (e.g., the memory has been reset, the number of uses has changed, the firing algorithm has changed, the single use device is designated as a multiple use device), there will be a conflict and use of the component will be controlled/prevented.
Additional details are disclosed in U.S. patent application publication 2017/0086914 entitled "TECHNIQUES FOR OPERATING GENERATOR FOR DIGITA LL YGENERATING E L ECTRICA L SIGNA L WAVEFORMS AND SURGICA L INSTRUMENTS," which is incorporated by reference herein in its entirety.
Surgical hub coordination of device pairing in an operating room
One of the functions of the surgical hub 106 is to pair with (also referred to herein as "connect" or "couple") other components of the surgical system 102 to control, collect information from, or coordinate interactions between components of the surgical system 102. Since the operating rooms of a hospital may be in close physical proximity to each other, the surgical hub 106 of the surgical system 102 may inadvertently pair with components of the surgical system 102 in an adjacent operating room, which would significantly interfere with the function of the surgical hub 106. For example, surgical hub 106 may inadvertently activate surgical instruments in a different operating room or record information from different ongoing surgical procedures in an adjacent operating room.
Aspects of the present disclosure provide a solution in which the surgical hub 106 is paired only with detected devices of the surgical system 102 that are located within the confines of the surgical hub operating room.
In addition, the surgical hub 106 relies on its knowledge of the location of the other components of the surgical system 102 within its operating room to make decisions regarding, for example, which surgical instruments should be paired or activated with each other. A change in the position of the surgical hub 106 or another component of the surgical system 102 can be problematic.
Aspects of the present disclosure also provide a solution in which surgical hub 106 is configured to reevaluate or redetermine the boundary of its operating room upon detecting that surgical hub 106 has been moved. Aspects of the present disclosure also provide a solution in which the surgical hub 106 is configured to re-determine the boundaries of its operating room upon detection of a potential device of the surgical system 102 (which may be an indication that the surgical hub 106 has been moved).
In various aspects, the surgical hub 106 is used with the surgical system 102 in a surgical procedure performed in an operating room. The surgical hub 106 includes control circuitry configured to determine the boundaries of the operating room, determine the devices of the surgical system 102 that are located within the boundaries of the operating room, and pair the surgical hub 106 with the devices of the surgical system 102 that are located within the boundaries of the operating room.
In one aspect, the control circuitry is configured to determine the boundary of the operating room after surgical hub 106 is activated. In one aspect, surgical hub 106 includes communication circuitry configured to detect and pair with devices of a surgical system that are located within the confines of an operating room. In one aspect, the control circuitry is configured to re-determine the boundary of the operating room after detecting a potential device of the surgical system 102. In one aspect, the control circuitry is configured to periodically determine the boundary of the operating room.
In one aspect, surgical hub 106 includes operating room mapping circuitry including a plurality of non-contact sensors configured to measure the boundary of the operating room.
In various aspects, surgical hub 106 includes a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to pair the surgical hub with devices of the surgical system 102 located within the confines of the operating room, as described above. In various aspects, the present disclosure provides a non-transitory computer readable medium storing computer readable instructions that, when executed, cause a machine to pair a surgical hub 106 with a device of a surgical system 102 located within a boundary of an operating room, as described above.
Fig. 35 and 36 are logic flow diagrams of methods as described above depicting control procedures or logic configurations for pairing the surgical hub 106 with devices of the surgical system 102 that are located within the confines of the operating room.
The surgical hub 106 is also equipped with an operating room mapping module 133 that is capable of identifying the boundary of the operating room and identifying the devices of the surgical system 102 within the operating room. The surgical hub 106 is configured to identify the boundary of the operating room and pair or connect only with potential devices of the surgical system 102 that are detected within the operating room.
In one aspect, the pairing includes establishing a communication link or path. In another aspect, the pairing includes establishing a control link or path.
An initial mapping or evaluation of the boundary of the operating room is performed during an initial activation of surgical hub 106. Further, surgical hub 106 is configured to maintain spatial awareness during operation by periodically marking its operating room, which may help determine whether surgical hub 106 has been moved. The re-evaluation 3017 may be performed periodically, or it may be triggered by an event, such as observing a change in the device of the surgical system 102 that is deemed to be within the operating room. In one aspect, the change is the detection 3010 of a new device that was not previously considered to be within the bounds of the operating room, as shown in fig. 37. In another aspect, the change is the disappearance, disconnection, or unpairing of a paired device previously considered to reside in the operating room, as shown in fig. 38. The surgical hub 106 may continuously monitor 3035 for connection with paired devices to detect 3034 disappearance, disconnection, or unpairing of the paired devices.
In other aspects, the reevaluation of the trigger event may be, for example, a change in the surgeon's position, an instrument swap, or sensing a new set of tasks being performed by surgical hub 106.
In one aspect, the assessment of the boundary of the room by the surgical hub 106 is accomplished by activating a sensor array of the operating room mapping module 133 within the surgical hub 106 that enables it to detect the walls of the operating room.
Other components of the surgical system 102 may be made spatially aware in the same or similar manner as the surgical hub 106. For example, the robotic hub 122 may also be equipped with an operating room mapping module 133.
The spatial awareness of the surgical hub 106 and its ability to map the operating room of potential components of the surgical system 102 allows the surgical hub 106 to make an autonomous decision as to whether to include or exclude such potential components as part of the surgical system 102, which frees the surgical staff from handling such tasks. Further, surgical hub 106 is configured to infer information about the type of surgical procedure to be performed, for example, in an operating room, based on information collected before, during, and/or after the surgical procedure is performed. Examples of information collected include the type of device introduced into the operating room, the time such a device was introduced into the operating room, and/or the device activation sequence.
In one aspect, surgical hub 106 employs an operating room mapping module 133 to determine the boundary of a surgical room (e.g., a fixed, mobile, or temporary operating room or space) using ultrasound or laser non-contact measurement devices.
Referring to fig. 34, an ultrasound-based contactless sensor 3002 can be employed to scan an operating room by transmitting a beam of ultrasound and receiving echoes as the ultrasound bounces off the perimeter wall 3006 of the operating room to determine the size of the operating room and adjust the bluetooth pairing distance limit. In one example, the non-contact sensor 3002 may be a Ping ultrasonic distance sensor, as shown in fig. 34.
Fig. 34 shows how the ultrasound sensor 3002 sends a brief chirp signal with its ultrasound speaker 3003 and enables the microcontroller 3004 of the operating room mapping module 133 to measure the time it takes for an echo to return to the ultrasound microphone 3005 of the ultrasound sensor. The microcontroller 3004 must send a pulse to the ultrasonic sensor 3002 to begin the measurement. The ultrasonic sensor 3002 then waits long enough for the microcontroller program to initiate a pulse input command. Then, at about the same time that the ultrasonic sensor 3002 chirps the 40kHz tone, the ultrasonic sensor sends a high signal to the microcontroller 3004. When the ultrasonic sensor 3002 detects an echo with its ultrasonic microphone 3005, the ultrasonic sensor changes the high signal back to a low signal. The pulse input to the microcontroller commands the time between high and low changes to be measured and its measurement stored in a variable. This value can be used along with the speed of sound in air to calculate the distance between surgical hub 106 and operating room wall 3006.
In one example, as shown in fig. 33, the surgical hub 106 may be equipped with four ultrasonic sensors 3002, wherein each of the four ultrasonic sensors is configured to evaluate the distance between the surgical hub 106 and the wall of the operating room 3000. The surgical hub 106 may be equipped with more or less than four ultrasound sensors 3002 to determine the boundaries of the operating room.
The operating room mapping module 133 may employ other distance sensors to determine the boundary of the operating room. In one example, the operating room mapping module 133 may be equipped with one or more photoelectric sensors that may be used to assess the boundary of the operating room. In one example, suitable laser distance sensors may also be employed to assess the boundary of the operating room. The laser-based non-contact sensor may scan the operating room by emitting laser pulses, receiving laser pulses bouncing off a perimeter wall of the operating room, and comparing the phase of the emitted pulses to the phase of the received pulses to determine the size of the operating room and adjust the bluetooth paired distance limit.
Referring to the upper left corner of fig. 33, surgical hub 106 is introduced into operating room 3000. Surgical hub 106 is activated when setup is initiated prior to surgery. In the example of fig. 33, the setting starts at actual time 11:31:14(EST) based on the real-time clock. However, at the surgical setup start time, surgical hub 106 starts 3001 the manual randomized real time clock timing scheme at manual real time 07:36:00 to protect private patient information.
In manual real-time 07:36:01, the operating room mapping module 133 uses ultrasonic distance sensors to ultrasonically interrogate the room (e.g., send out a beam of ultrasonic waves and listen for echoes as they bounce off the perimeter walls of the operating room, as described above) to verify the size of the operating room and adjust the paired distance limit.
At artificial real-time 07:36:03, the data is stripped and time stamped. At manual real-time 07:36:05, the surgical hub 106 begins pairing with devices located only within the operating room 3000 as verified using the ultrasonic distance sensors 3002 of the operating room mapping module 133. The upper right corner of fig. 33 shows several exemplary devices within the confines of the operating room 3000 and paired with the surgical hub 106, including an auxiliary display device 3020, an auxiliary hub 3021, a common interface device 3022, a powered stapler 3023, a video tower module 3024, and a powered hand-held dissector 3025. On the other hand, the auxiliary hub 3021', the auxiliary display device 3020', and the motorized stapler 3026 are all outside the boundaries of the operating room 3000, and therefore are not paired with the surgical hub 106.
In addition to establishing a communication link with the devices of the surgical system 102 within the operating room, the surgical hub 106 assigns a unique identification and communication sequence or signal to each of the devices. The unique sequence may include the name of the device and a timestamp of the first time the communication was established. Other suitable device information may also be incorporated into the unique sequence of devices.
As shown in the upper left corner of FIG. 33, surgical hub 106 has determined that operating room 3000 boundaries are at distances a, -a, b, and-b from surgical hub 106. Since device "D" is outside of the determined boundaries of its operating room 3000, surgical hub 106 will not be paired with device "D". Fig. 35 is an exemplary algorithm showing how surgical hub 106 may pair only with devices within the confines of its operating room. After activation, the surgical hub 106 uses the operating room mapping module 133 to determine 3007 the boundary of the operating room, as described above. After the initial determination, surgical hub 106 continuously searches for or detects 3008 devices within pairing range. If a device is detected 3010, the surgical hub 106 then determines 3011 whether the detected device is within the bounds of the operating room. If the device is determined to be within the confines of the operating room, the surgical hub 106 will pair 3012 with the device. In some cases, the surgical hub 106 also assigns 3013 an identifier to the device. However, if the surgical hub 106 determines that the detected device is outside the boundary of the operating room, the surgical hub 106 will ignore 3014 the device.
Referring to fig. 36, after initially determining the boundaries of a room, and after initially pairing with devices located within such boundaries, surgical hub 106 continues to detect 3015 new devices that become available for pairing. If a new device is detected 3016, surgical hub 106 is configured to re-evaluate 3017 the boundary of the operating room before pairing with the new device. If it is determined 3018 that the new device is within the newly determined boundaries of the operating room, surgical hub 106 pairs 3019 with the device and assigns 3030 a unique identifier to the new device. However, if the surgical hub 106 determines that the new device is outside the newly determined boundaries of the operating room, the surgical hub 106 will ignore 3031 the device.
The more "hub" enabled modules that reside in the operating room, the higher the accuracy that can be achieved, the more accurate the operating room mapping module 133 can be, the more accurate it can be, the bluetooth low power (B L E) beacon technology can currently achieve, the more accurate it can be, within a closer distance (within 0 to 6 meters).
In the case where multiple surgical hubs 106, modules, and/or other peripheral devices are present in the same operating room, as shown in the upper right corner of fig. 33, the operating room mapping module 133 is configured to map the physical location of each module residing within the operating room. The user interface may use this information to display a virtual map of the room so that the user can more easily identify which modules are present and enabled, and their current state. In one aspect, mapping data collected by surgical hub 106 is uploaded to cloud 104, where the data is analyzed for identifying, for example, how to physically set up an operating room.
The surgical hub 106 is configured to determine the location of the device by evaluating the strength and direction of the transmitted radio signals. For the bluetooth protocol, the Received Signal Strength Indication (RSSI) is a measure of the received radio signal strength. In one aspect, the devices of the surgical system 102 may be equipped with a USB bluetooth adapter. Surgical hub 106 may scan the USB bluetooth beacon for range information. In another aspect, multiple high gain antennas on a bluetooth access point with variable attenuators may produce more accurate results than RSSI measurements. In one aspect, the hub is configured to determine the location of the device by measuring signal strength from multiple antennas. Alternatively, in some examples, the surgical hub 106 may be equipped with one or more motion sensor devices configured to detect a change in the location of the surgical hub 106.
Referring to the lower left corner of fig. 33, surgical hub 106 has been moved from its original position (shown in phantom) to a new position closer to device "D," which is still outside the confines of operating room 3000. The surgical hub 106 is in its new location and will naturally infer that device "D" is a potential component of the surgical system 102 based on the previously determined boundary of the operating room. However, the introduction of a new device is a triggering event that causes the boundaries of the operating room to be re-evaluated 3017, as shown in the exemplary algorithms of fig. 35, 37. After performing the reevaluation, surgical hub 106 determines that the operating room boundary has changed. Based on the new boundary, at a distance anew、-anew、bnewAnd-bnewAt this point, surgical hub 106 concludes that it has moved and that device "D" is outside the newly determined boundaries of its operating room. Thus, surgical hub 106 will still not be paired with device "D".
In one aspect, the present disclosure discloses one or more methods as shown in fig. 35-39 that may be performed by the control circuitry (processor 244) of the surgical hub 106 as shown in fig. 10. In another aspect, the present disclosure discloses one or more methods as illustrated in fig. 35-39, which may be performed by the cloud computing system 104 as illustrated in fig. 1. In yet another aspect, the present disclosure discloses one or more methods as illustrated in fig. 35-39 that may be performed by at least one of the aforementioned control circuits of the cloud computing system 104 and/or the surgical hub 106 in conjunction with a control circuit of a modular device, such as the microcontroller 461 of the surgical instrument illustrated in fig. 12, the microcontroller 620 of the surgical instrument illustrated in fig. 16, the control circuit 710 of the robotic surgical instrument 700 illustrated in fig. 17, the control circuits 760 of the surgical instruments 750, 790 illustrated in fig. 18-19, or the controller 838 of the generator 800 illustrated in fig. 20.
Spatial perception of surgical hubs in operating rooms
During a surgical procedure, a surgical instrument, such as an ultrasonic or RF surgical instrument, may be coupled to the generator module 140 of the surgical hub 106. In addition, the operator of the surgical instrument may use a separate surgical instrument controller, such as a foot or hand, a switch, or an activation device, to activate the flow of energy from the generator to the surgical instrument. Multiple surgical instrument controllers and multiple surgical instruments may be used simultaneously in the operating room. Pressing or activating the wrong surgical instrument control may result in undesirable consequences. Aspects of the present disclosure provide a solution in which a surgical hub 106 coordinates the pairing of surgical instrument controllers and surgical instruments to ensure patient and operator safety.
Aspects of the present disclosure are presented as a surgical hub 106 configured to establish and sever pairings between components of the surgical system 102 within the confines of an operating room to coordinate information flow and control actions between such components. Surgical hub 106 may be configured to establish a pairing between a surgical instrument controller and a surgical instrument residing within the confines of the operating room of surgical hub 106.
In various aspects, the surgical hub 106 may be configured to establish and disconnect pairings between components of the surgical system 102 based on operator requests or situational awareness and/or spatial awareness. Hub situational awareness is described in more detail below in connection with FIG. 62.
Aspects of the present disclosure are presented as a surgical hub for use with a surgical system in a surgical procedure performed in an operating room. The surgical hub includes control circuitry that selectively forms and shuts down pairs between devices of the surgical system. In one aspect, the hub includes a control circuit configured to pair the hub with a first device of a surgical system, assign a first identifier to the first device, pair the hub with a second device of the surgical system, assign a second identifier to the second device, and selectively pair the first device with the second device. In one aspect, the surgical hub includes a storage medium, wherein the control circuit is configured to store a record in the storage medium indicating a pairing between the first device and the second device. In one aspect, a pairing between a first device and a second device defines a communication path therebetween. In one aspect, a pairing between a first device and a second device defines a control path for transmitting a control action from the second device to the first device.
In addition to the above, in one aspect, the control circuit is further configured to pair the hub with a third device of the surgical system, assign a third identifier to the third device, sever the pairing between the first device and the second device, and selectively pair the first device with the third device. In one aspect, the control circuitry is further configured to store a record in the storage medium indicating a pairing between the first device and the third device. In one aspect, a pairing between a first device and a third device defines a communication path therebetween. In one aspect, a pairing between the first device and the third device defines a control path for transmitting a control action from the third device to the first device.
In various aspects, a surgical hub includes a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to selectively form and sever pairs between devices of the surgical system, as described above. In various aspects, the present disclosure provides a non-transitory computer readable medium storing computer readable instructions that, when executed, cause a machine to selectively form and sever pairings between devices of a surgical system, as described above. Fig. 40 and 41 are logic flow diagrams of methods as described above depicting control routines or logic configurations for selectively forming and severing pairings between devices of a surgical system.
In one aspect, surgical hub 106 establishes a first pairing with a surgical instrument and a second pairing with a surgical instrument controller. Surgical hub 106 then links these pairs together, allowing the surgical instruments and surgical instrument controllers to operate with one another. In another aspect, the surgical hub 106 can disconnect an existing communication link between the surgical instrument and the surgical instrument controller and then link the surgical instrument to another surgical instrument controller that is linked to the surgical hub 106.
In one aspect, a surgical instrument controller is paired with two sources. First, the surgical instrument controller is paired with the surgical hub 106, which includes the generator module 140, for controlling its activation. Second, the surgical instrument controller is also paired with a particular surgical instrument to prevent accidental activation of the wrong surgical instrument.
Referring to fig. 40 and 42, the surgical hub 106 may pair 3100 the communication module 130 with or establish a first communication link 3101 with a first device 3102 of the surgical system 102, which may be a first surgical instrument. The hub may then assign 3104 the first identifier to the first device 3102. This is a unique identification and communication sequence or communication signal that may include the name of the device and a timestamp of the first time the communication was established.
In addition, the surgical hub 106 may then pair 3106 or establish 3107 a second communication link between the communication module 130 and a second device 3108 of the surgical system 102, which may be a surgical instrument controller. The surgical hub 106 then assigns 3110 a second identification number to the second device 3108.
In various aspects, the step of pairing surgical hub 106 with a device may include detecting the presence of a new device, determining that the new device is within the boundaries of an operating room, as described in more detail above, and pairing with the new device only when the new device is located within the boundaries of the operating room.
The surgical hub 106 may then pair 3112 the first device 3102 with the second device 3108 or authorize a communication link 3114 to be established between the first and second devices, as shown in fig. 42. Records indicative of communication link 3114 are stored by surgical hub 106 in memory array 134. In one aspect, communication link 3114 is established through surgical hub 106. On the other hand, as shown in fig. 42, the communication link 3114 is a direct link between the first apparatus 3102 and the second apparatus 3108.
Referring to fig. 41 and 43, the surgical hub 106 can then detect and pair 3120 with a third device 3116 of the surgical system 102, which can be, for example, another surgical instrument controller, or establish a third communication link 3124 therewith. Surgical hub 106 may then assign 3126 a third identification number to third device 3116.
In certain aspects, as shown in fig. 43, the surgical hub 106 may then pair 3130 the first device 3102 with the third device 3116 or authorize establishing a communication link 3118 between the first and third devices while causing the communication link 3114 to be severed 3128, as shown in fig. 43. A record indicating the formation of communication link 3118 and the severing of communication link 3114 is stored by surgical hub 106 in memory array 134. In one aspect, communication link 3118 is established through surgical hub 106. On the other hand, as shown in fig. 43, the communication link 3118 is a direct link between the first apparatus 3102 and the third apparatus 3116.
As described above, the surgical hub 106 may manage indirect communication between the devices of the surgical system 102. For example, where the first device 3102 is a surgical instrument and the second device 3108 is a surgical instrument controller, the output of the surgical instrument controller can be transmitted to the surgical hub 106 over the communication link 3107, which can then transmit the output to the surgical instrument over the communication link 3101.
In making the decision to connect or disconnect the connections between the devices of the surgical system 102, the surgical hub 106 may rely on the perioperative data received or generated by the surgical hub 106. Perioperative data includes operator input, hub situational awareness, hub spatial awareness, and/or cloud data. For example, a request may be transmitted from the operator user interface to the surgical hub 106 to assign a surgical instrument controller to a surgical instrument. If the surgical hub 106 determines that the surgical instrument controller is already connected to another surgical instrument, the surgical hub 106 may disconnect the connection and establish a new connection according to the operator's request.
In certain examples, the surgical hub 106 may establish a first communication link between the visualization system 108 and the primary display 119 to transmit images or other information from the visualization system 108 residing outside the sterile field to the primary display 119 located within the sterile field. The surgical hub 106 may then disconnect the first communication link and establish a second communication link between the robot hub 122 and the main display 119, for example, to transmit another image or other information from the robot hub 122 to the main display 119. The ability of surgical hub 106 to assign and reassign primary display 119 to different components of surgical system 102 allows surgical hub 106 to manage the flow of information within the operating room, particularly between components within and outside the sterile field, without physically moving these components.
In another example involving hub situational awareness, the surgical hub 106 may selectively connect or disconnect devices of the surgical system 102 within the operating room based on the type of surgical procedure being performed or based on determining that an upcoming step of the surgical procedure requires connecting or disconnecting certain devices. Hub situational awareness is described in more detail below in connection with FIG. 62.
Referring to fig. 44, the surgical hub 106 may track 3140 the progress of the surgical steps in the surgical procedure and may coordinate the pairing and unpairing of the devices of the surgical system 102 based on such progress. For example, the surgical hub 106 may determine that a first surgical step requires the use of a first surgical instrument and a second surgical step occurring after completion of the first surgical step requires the use of a second surgical instrument. Thus, the surgical hub 106 may assign the surgical instrument controller to the first surgical instrument for the duration of the first surgical step. After detecting 3142 that the first surgical step has been completed, the surgical hub 106 may cause 3144 the communication link between the first surgical instrument and the surgical instrument controller to be severed. The surgical hub 106 may then assign the surgical instrument controller to the second surgical instrument by pairing 3146 the surgical instrument controller with the second surgical instrument or authorizing the establishment of a communication link between the surgical instrument controller and the second surgical instrument.
Various other examples of hub situational awareness that may affect the decision to connect or disconnect devices of the surgical system 102 are described in more detail below in connection with fig. 62.
In certain aspects, the surgical hub 106 may utilize its spatial perception capabilities, as described in more detail elsewhere herein, to track the progress of the surgical steps of the surgical procedure and autonomously reassign the surgical instrument controller from one surgical instrument to another surgical instrument within the operating room of the surgical hub 106. In one aspect, the surgical hub 106 uses bluetooth pairing and compass information to determine the physical location of the components of the surgical system 102.
In the example shown in fig. 2, the surgical hub 106 is paired with a first surgical instrument held by a surgical operator at the operating table and a second surgical instrument positioned on the side tray. The surgical instrument controller is selectively mateable with either the first surgical instrument or the second surgical instrument. Using the bluetooth pairing and compass information, the surgical hub 106 autonomously assigns the surgical instrument controller to the first surgical instrument because it is close to the patient.
After completion of the surgical procedure involving use of the first surgical instrument, the first surgical instrument may be returned to the side tray or otherwise moved away from the patient. Upon detecting a change in position of the first surgical instrument, the surgical hub 106 can disconnect the communication link between the first surgical instrument and the surgical instrument controller to prevent the surgical instrument controller from accidentally activating the first surgical instrument. The surgical hub 106 may also reassign the surgical instrument controller to another surgical instrument if the surgical hub 106 detects that the other surgical instrument has been moved to a new location at the surgical table.
In various aspects, the devices of the surgical system 102 are equipped with a simple handoff mode of operation that will allow one user to hand off the active control of the device they are currently controlling to another surgical instrument controller within reach of another operator. In one aspect, the devices are equipped to effect the handoff through a predetermined activation sequence of the devices that causes the activated devices in the predetermined activation sequence to pair with each other.
In one aspect, the activation sequence is implemented by energizing devices that are to be paired with each other in a particular order. In another aspect, the activation sequence is implemented by powering on devices that are to be paired with each other for a predetermined period of time. In one aspect, the activation sequence is implemented by activating communication components, such as bluetooth, of the devices that are to be paired with each other in a particular order. In another aspect, the activation sequence is implemented by activating communication components of the devices to be paired with each other, such as bluetooth, for a predetermined period of time.
Alternatively, the interface may also be achieved by selecting a device by one of the surgical operator input devices. After the selection is completed, the next activation by another controller will allow the new controller to take control.
In various aspects, the surgical hub 106 may be configured to directly identify the components of the surgical system 102 when they are introduced into the operating room. In one aspect, the devices of the surgical system 102 may be provided with an identifier, such as, for example, a barcode or RFID tag, that is recognizable by the surgical hub 106. NFC may also be employed. Surgical hub 106 may be equipped with a suitable reader or scanner for detecting devices introduced into the operating room.
The surgical hub 106 may also be configured to check and/or update various control programs for the devices of the surgical system 102. Upon detecting and establishing a communication link with a device of the surgical system 102, the surgical hub 106 may check whether its control program is up-to-date. If the surgical hub 106 determines that a later version of the control program is available, the surgical hub 106 may download the latest version from the cloud 104 and may update the device to the latest version. The surgical hub 106 may issue a serial identification and communication signal to each paired or connected device.
Intelligent surgical hub collaboratively utilizing data from secondary sources
In surgery, the surgeon's attention must be focused on the task at hand. Receiving information from multiple sources, such as multiple displays, while helpful, may also cause interference. The imaging module 138 of the surgical hub 106 is configured to intelligently collect, analyze, organize/package and disseminate relevant information to the surgical operator in a manner that minimizes interference.
Aspects of the present disclosure are presented as utilizing data from imaging modules 138 of multiple sources, such as surgical hub 106, in concert. In one aspect, the imaging module 138 is configured to overlay data originating from one or more sources onto a real-time stream designated for the main display 119, for example. In one aspect, the overlay data may be derived from one or more frames acquired by the imaging module 138. The imaging module 138 may enlist image frames on their way for display on a local display, such as the main display 119. The imaging module 138 also includes an image processor that can perform local image array processing on the acquired image.
In addition, surgical procedures typically include a plurality of surgical tasks that may be performed by one or more surgical instruments that are guided by, for example, a surgical operator or surgical robot. The success or failure of the surgical procedure depends on the success or failure of each of the surgical tasks. Without relevant data about the individual surgical tasks, it is determined that the cause of the surgical failure is a probabilistic problem.
Aspects of the present disclosure are presented to capture one or more frames of a real-time stream of a surgical procedure for further processing and/or pairing with other data. Frames may be captured at the completion of a surgical task (also referred to herein elsewhere as a "surgical step") to assess whether the surgical task was successfully completed. In addition, the frames and pairing data may be uploaded to the cloud for further analysis.
In one aspect, the one or more captured images are used to identify at least one previously completed surgical task to evaluate the outcome of the surgical task. In one aspect, the surgical task is a tissue suturing task. In another aspect, the surgical task is a high-grade energy transection.
Fig. 45 is a logic flow diagram of a method 3210 that depicts a control program or logic configuration for superimposing information derived from one or more stationary frames of a real-time stream of a distal surgical site onto the real-time stream. The method 3210 includes receiving 3212 a real-time stream of the distal surgical site from the medical imaging device 124, for example, capturing 3214 at least one image frame of a surgical step of the surgical procedure from the real-time stream, deriving 3216 information related to the surgical step from data extracted from the at least one image frame, and superimposing 3218 the information onto the real-time stream.
In one aspect, the stationary frame may be a surgical step performed at a distal surgical site. The still frames may be analyzed to obtain information about the completion of the surgical procedure. In one aspect, the surgical step includes suturing tissue at the surgical site. In another aspect, the surgical task includes applying energy to tissue at a surgical site.
Fig. 46 is a logic flow diagram of a method 3220 depicting a control procedure or logic configuration for differentiating surgical steps of a surgical procedure. The method 3220 includes receiving 3222 a real-time stream of the surgical site from the medical imaging device 124, e.g., capturing 3224 at least one first image frame of a first surgical step of the surgical procedure from the real-time stream, deriving 3226 information related to the first surgical step from data extracted from the at least one image frame, capturing 3228 at least one second image frame of a second surgical step of the surgical procedure from the real-time stream, and distinguishing 3229 the first and second surgical steps based on the at least one first image frame and the at least one second image frame.
Fig. 47 is a logic flow diagram of a method 3230 depicting a control program or logic configuration for differentiating surgical steps of a surgical procedure. The method 3232 includes receiving 3232 a real-time stream of a surgical site from a medical imaging device 124, e.g., capturing 3234 image frames of a surgical step of a surgical procedure from the real-time stream, and discriminating 3236 the surgical step based on data extracted from the image frames.
FIG. 48 is a logic flow diagram of a method 3240 that depicts a control program or logic configuration for identifying a staple cartridge from information derived from one or more stationary frames of staples deployed from the staple cartridge into tissue. The method 3240 includes receiving 3242 a real-time stream of a surgical site from a medical imaging device 124, e.g., capturing 3244 image frames from the real-time stream, detecting a staple pattern in the 3246 image frames, wherein the staple pattern is defined by staples deployed from a staple cartridge into tissue at the surgical site. Method 3240 also includes identifying 3248 a staple cartridge based on the staple pattern.
In various aspects, one or more of the steps of the methods 3210, 3220, 3230, 3240 may be performed by control circuitry of an imaging module of the surgical hub, as shown in fig. 3, 9, 10. In certain examples, the control circuitry may include a processor and a memory coupled to the processor, where the memory stores instructions executable by the processor to perform one or more steps of methods 3210, 3220, 3230, 3240. In certain examples, a non-transitory computer readable medium stores computer readable instructions that, when executed, cause a machine to perform one or more steps of methods 3210, 3220, 3230, 3240. For economy, the following description of the methods 3210, 3220, 3230, 3240 will be described as being performed by the control circuitry of the imaging module of the surgical hub; however, it should be understood that execution of the methods 3210, 3220, 3230, 3240 may be accomplished by any of the foregoing examples.
Referring to fig. 34 and 49, surgical hub 106 communicates with a medical imaging device 124 located at a distal surgical site during a surgical procedure. The imaging module 138 receives the real-time stream of the distal surgical site transmitted by the imaging device 124 to the main display 119, for example, according to steps 3212, 3222, 3232, 3242.
In addition to the above, the imaging module 138 of the surgical hub 106 includes a frame grabber 3200. The frame grabber 3200 is configured to capture (i.e., "grab") individual digital still frames according to steps 3214, 3224, 3234, 3244, for example during surgery, from a real-time stream transmitted by the imaging device 124, for example, to the main display 119. The captured still frames are stored and processed by the computer platform 3203 (fig. 49) of the imaging module 138 to derive information about the surgical procedure. Processing of the captured frames may include performing simple operations on the pixel array, such as histogram calculations, 2D filtering, and arithmetic operations, to perform more complex tasks, such as object detection, 3D filtering, and so forth.
In one aspect, the derived information may be superimposed onto the real-time stream. In one aspect, the still frames and/or information resulting from processing the still frames may be communicated to the cloud 104 for data aggregation and further analysis.
In various aspects, frame grabber 3200 may comprise a digital video decoder and a memory, such as a frame buffer, for storing captured still frames. Frame grabber 3200 may also include a bus interface through which the processor may control the acquisition and access of data, and general purpose I/O for triggering image acquisition or controlling external devices.
As described above, the imaging device 124 may be in the form of an endoscope, including a camera and a light source positioned at the distal surgical site, and configured to provide real-time streaming of the distal surgical site, for example, at the main display 119.
In various aspects, an image recognition algorithm may be implemented to identify features or objects in the still frames of the surgical site captured by the frame grabber 3200. Available information about the surgical step associated with the captured frame may be derived from the identified features. For example, identifying a staple in the captured frame indicates that a tissue stapling surgical step has been performed at the surgical site. The type, color, arrangement, and size of the identified staples may also be used to derive useful information about the staple cartridge and the surgical instrument used to deploy the staples. As described above, such information may be superimposed on a real-time stream involving the main display 119 in the operating room.
The image recognition algorithm may be executed locally, at least in part, by the computer platform 3203 (fig. 49) of the imaging module 138. In certain instances, the image recognition algorithm may be executed at least in part by the processor module 132 of the surgical hub 106. An image database may be used to perform image recognition algorithms and may be stored in memory 3202 of computer platform 3203. Alternatively, the image database may be stored in memory array 134 (fig. 3) of surgical hub 106. The image database may be updated from the cloud 104.
Exemplary image recognition algorithms executable by the computer platform 3203 may include keypoint-based comparisons and region-based color comparisons. The algorithm comprises the following steps: receiving input at a processing device, such as computer platform 3203; inputting data comprising data relating to a stationary frame of a distal surgical site; performing a retrieving step comprising retrieving an image from an image database and designating the image as a candidate image until the image is accepted or rejected; performing an image recognition step comprising performing an image recognition algorithm on the still frame and the candidate image using the processing means to obtain an image recognition algorithm output; and performing a comparison step comprising: accepting the candidate image as a still frame if the image recognition algorithm output is within a preselected range; and if the image recognition algorithm output is not within the preselected range, rejecting the candidate image and repeating the retrieving, image recognizing, and comparing steps.
Referring to fig. 50-52, in one example, the surgical procedure involves stapling and cutting tissue. Fig. 50 shows a stationary frame 3250 of the stapled and cut tissue T. The staple deployment 3252 includes staples 3252', 3252 "from a first staple cartridge. The second staple deployment 3254 includes staples 3254', 3254 "from a second staple cartridge. A proximal portion 3253 of the staple deployment 3252 overlaps with a distal portion 3255 of the staple deployment 3254. Six rows of staples were deployed in each deployment. Tissue T is cut between the third and fourth rows of each deployment, but only one side of the stapled tissue T is fully shown.
In various aspects, the imaging module 138 identifies one or more of the pins 3252', 3252 ", 3254', 3254" in the still frame 3250 that were not present in the previous still frame captured by the frame grabber 3200. The imaging module 138 then infers that the surgical stapling and severing instrument has been used at the surgical site.
In the example of fig. 50, the staple deployment 3252 includes two different staples 3252', 3252 ". Likewise, the staple deployment 3254 includes two different staples 3254', 3254 ". For the sake of simplicity, the following description focuses on staples 3252', 3252 ", but applies equally to staples 3254', 3254". The staples 3252', 3252 "are arranged in a predetermined pattern or sequence that forms a unique identifier corresponding to the staple cartridge containing the staples 3252', 3252". The unique pattern may be located in a single row or multiple rows of staples 3250. In one example, a unique pattern may be achieved by alternating the staples 3252', 3252 "in a predetermined arrangement.
In one aspect, multiple patterns can be detected in the firing of the staples. Each pattern may be associated with a unique characteristic of the staples, the staple cartridge containing the staples, and/or the surgical instrument used to fire the staples. For example, the firing of the staples can include a pattern representing staple shapes, staple sizes, and/or firing positions.
In the example of fig. 50, the imaging module 138 can identify a unique pattern of pins 3252 from the stationary frame 3250. A database storing staple patterns and corresponding identification numbers of staple cartridges can then be explored to determine the identification number of the staple cartridge containing the staple 3252.
The pattern of the example of fig. 50 is based on only two different staples; however, other aspects may include three or more different staples. Different staples may be coated with different coatings that may be applied to the staples by one or more of the following methods: anodization, dyeing, electrocoating, photoluminescent coating, nitride applications, methyl methacrylate, painting, powder coating, paraffin coating, oil stain or phosphor coating, use of hydroxyapatite, polymers, titanium oxynitride, zinc sulfide, carbides, and the like. It should be noted that while the listed coatings are quite specific as disclosed herein, other coatings known in the art for distinguishing staples are also within the contemplation of the present disclosure.
In the example of fig. 50-52, the staples 3252' are anodized staples and the staples 3252 "are non-anodized staples. In one aspect, the different staples may comprise two or more different colors. Different metal staples may include magnetic or radioactive staple markers that distinguish them from unlabeled staples.
FIG. 51 illustrates staple deployment 3272 from a staple cartridge into tissue via a surgical instrument. Only three rows of staples 3272a, 3272b, 3272c are shown in fig. 51. Rows 3272a, 3272b, 3272c are disposed between a midline through the tissue and a sideline at the tissue edge. For clarity, the inner row 3272a of staples is individually redrawn to the left, and the outer two rows 3272b, 3272c are individually redrawn to the right. For clarity, the proximal end 3273 and distal end portions of the staple deployment 3272 are also redrawn in fig. 51.
Further, a unique pattern at the end of the staple deployment 3272 identifies the proximal end portion 3273 and the distal end portion 3275. In the example of fig. 51, the unique arrangement of three staples 3272 "identifies the distal end 3275, while the unique arrangement of four staples 3272" identifies the proximal end 3273. The identification of the proximal and distal ends of the staple deployment allows the imaging module 128 to distinguish between different staple deployments within the captured frame, which may be used, for example, to indicate a source of leakage.
In various aspects, the imaging module 138 may detect sealed tissue in a stationary frame of the distal surgical site captured by the frame grabber 3200. Detection of sealed tissue may indicate a surgical step involving application of therapeutic energy to the tissue.
Sealing tissue may be accomplished, for example, by applying energy, such as electrical energy, to tissue captured or clamped within an end effector of a surgical instrument to create a thermal effect within the tissue. Various monopolar and bipolar RF surgical instruments and harmonic surgical instruments have been developed for such purposes. Generally, the transfer of energy to the captured tissue can elevate the temperature of the tissue, and thus, the energy can at least partially denature proteins within the tissue. For example, such proteins (e.g., collagen) may be denatured into a proteinaceous mixture that mixes and fuses or seals together upon renaturation of the protein.
Thus, for example, the sealed tissue has a different color and/or shape that can be detected by the imaging module 138 using image recognition algorithms. Further, detection of smoke at the surgical site may indicate that therapeutic energy is being applied to the tissue.
In addition to the above, the imaging module 138 of the surgical hub 106 is capable of distinguishing surgical steps of a surgical procedure based on captured frames. As described above, a stationary frame comprising fired staples indicates a surgical step involving tissue stapling, while a stationary frame comprising sealed tissue indicates a surgical step involving application of energy to the tissue.
In one aspect, surgical hub 106 may selectively overlay information related to previously completed surgical tasks onto the real-time stream. For example, the superimposed information may include image data from a still frame of the surgical site captured during a previously completed surgical task. Further, the imaging module 138 may interleave one image frame to another image frame, guided by a common landmark location at the surgical site, to establish and detect surgical position and relationship data for previously completed surgical tasks.
In one example, surgical hub 106 is configured to overlay information about potential leaks in tissue treated by suturing or applying therapeutic energy in a previously completed surgical task. During processing of a stationary frame of tissue, potential leaks may be discovered by the imaging module 138. The surgical operator may be alerted about the leak by superimposing information about the potential leak onto the real-time stream.
In various aspects, a stationary frame of an end effector of a surgical instrument at a surgical site may be used to identify the surgical instrument. For example, the end effector may include an identification number that may be recognized by the imaging module 138 during image processing of a still frame. Accordingly, the still frames captured by the imaging module 138 may be used to identify the surgical instrument used in the surgical step of the surgical procedure. The still frame may also include useful information about the performance of the surgical instrument. All such information may be uploaded to cloud 104 for data aggregation and further analysis.
In various examples, surgical hub 106 may also selectively overlay information related to a current or upcoming surgical task, such as an anatomical location or a surgical instrument suitable for the surgical task.
The imaging module 138 may employ various imaging and edge detection techniques to track the surgical site where surgical instruments are used to complete the surgical task. The success or failure of the surgical task may then be assessed. For example, surgical instruments may be used to seal and/or cut tissue at a surgical site. For example, upon completion of a surgical task, a still frame of the surgical site may be stored in memory 3202 or storage array 134 of surgical hub 106.
In the following surgical steps, the quality of the seal may be tested by different mechanisms. To ensure that the test is accurately applied to the processed tissue, a stored still frame of the surgical site is superimposed on the real-time stream to search for a match. Once a match is found, a test can be performed. One or more additional still frames may be acquired during testing, which may be later analyzed by imaging module 138 of surgical hub 106. The test mechanisms include, for example, bubble detection, bleeding detection, dye detection (where a dye is employed at the surgical site), and/or protrusion detection (where local strain is applied adjacent to the anastomosis site).
The imaging module 138 may capture still frames of the processed tissue in response to these tests, which may be stored in, for example, the memory 3202 or the storage array 134 of the surgical hub 106. The still frames may be stored alone or in combination with other data (e.g., data from a surgical instrument that has performed the tissue processing). Pairing data can also be uploaded to the cloud 104 for additional analysis and/or pairing.
In various aspects, the still frames captured by frame grabber 3200 may be processed locally, paired with other data, and also transmitted to cloud 104. The size of the data processed and/or transmitted will depend on the number of frames captured. In various aspects, the rate at which frame grabber 3200 captures still frames from a real-time stream may vary in an effort to reduce the size of the data without sacrificing quality.
In one aspect, the frame capture rate may depend on the type of surgical task being performed. Some surgical tasks may require a greater number of stationary frames to assess success or failure than other surgical tasks. The frame capture rate may be scaled to accommodate such needs.
In one aspect, the frame capture rate depends on the detected movement of the imaging device 124. In use, the imaging device 124 may target a surgical site over a period of time. The imaging module 138 may reduce the frame capture rate of the frame grabber 3200 when no or only slight changes in the captured static frame are observed when the imaging device 124 is not moving. However, if the situation changes, imaging module 138 may respond by increasing the frame capture rate of frame grabber 3200 if frequent movement is detected. In other words, imaging module 138 may be configured to correlate the frame capture rate of frame grabber 3200 with the detected degree of movement of imaging device 124.
For additional efficiency, only the portions of the stationary frames where movement is detected need to be stored, processed, and/or transmitted to the cloud 104. The imaging module 138 may be configured to select the portion of the still frame where movement is detected. In one example, motion detection may be accomplished by comparing a still frame to a previously captured still frame. If movement is detected, imaging module 138 may cause frame grabber 3200 to increase the frame capture rate, but only the portions where movement is detected are stored, processed, and/or transmitted to cloud 104.
In another aspect, the data size can be managed by scaling the resolution of the captured information, for example, based on the area of the screen where the focus is located or the end effector is located. The rest of the screen may be captured at a lower resolution.
In one aspect, corners and edges of the screen may be captured at a generally lower resolution. However, if significant events are observed, the resolution may be magnified.
During surgery, surgical hub 106 may be connected to various operating room monitoring devices, such as heart rate monitors and insufflation pumps. The data collected from these devices may improve situational awareness of the surgical hub 106. Hub situational awareness is described in more detail below in connection with FIG. 62.
In one example, surgical hub 106 may be configured to utilize patient data received from a heart rate monitor in conjunction with data regarding the location of the surgical site to assess the proximity of the surgical site to the sensory nerve. When combined with anatomical data indicating that the surgical site is in an area of sensory nerve density, an increase in the patient's heart rate may be interpreted as indicating proximity to the sensory nerve. The anatomical data may be available to the surgical hub 106 by accessing a patient record (e.g., an EMR database containing patient records).
In various aspects, ancillary devices in the operating room that are not capable of communicating with surgical hub 106 may be equipped with communication interface devices (communication modules) that may facilitate pairing of these devices with surgical hub 106. In one aspect, the communication interface devices may be configured as bridging elements that will allow them to communicate bi-directionally between surgical hub 106 and such devices.
In one aspect, surgical hub 106 may be configured to control one or more operating parameters of the auxiliary device via the communication interface device. For example, surgical hub 106 may be configured to increase or decrease insufflation pressure through a communication interface device coupled to the insufflation device.
In one aspect, a communication interface device may be configured to interface with an interface port of a device. In another aspect, the communication interface device may include a laminate or other interface that directly interacts with the control panel of the auxiliary device. In other aspects, auxiliary devices such as heart rate monitors and/or insufflation devices may be equipped with integrated communication modules that allow the auxiliary devices to be paired with the hub for bi-directional communication therewith.
In one aspect, surgical hub 106 may also be connected through a communication interface device to, for example, a muscle pad that is connected to a neural stimulation detection device to improve the resolution of the neural sensing device.
In addition, surgical hub 106 may also be configured to manage operating room supplies. Different surgical procedures require different supplies. For example, two different surgical procedures may require different sets of surgical instruments. Some surgical procedures may involve the use of robotic systems, while others may not. In addition, two different surgical procedures may require staple cartridges that differ in number, type, and/or size. Thus, supplies introduced into the operating room may provide clues as to the nature of the surgical procedure to be performed.
In various aspects, surgical hub 106 may be integrated with an operating room supply scanner to identify items brought into the operating room and introduced into the sterile field. The surgical hub 106 may utilize data from the operating room supply scanner, along with data from the devices of the surgical system 102 that are paired with the surgical hub 106, to autonomously determine the type of surgical procedure to be performed. In one example, surgical hub 106 may record a list of serial numbers of the smart cartridges to be used in the surgical procedure. During a surgical procedure, surgical hub 106 may gradually remove the fired staples based on the information collected from the staple cartridge chip. In one aspect, surgical hub 106 is configured to ensure that all items are considered at the end of a procedure.
Surgical hub control arrangement
During surgery, a second surgical hub may be introduced into the operating room already under the control of the first surgical hub. The second surgical hub may be, for example, a surgical robotic hub introduced into the operating room as part of a robotic system. Without coordination between the first and second surgical hubs, the robotic surgical hub will attempt to pair with all other components of the surgical system 102 within the operating room. Confusion caused by competition between two hubs in a single operating room can lead to undesirable consequences. Additionally, ordering instrument distributions between hubs during surgery can be time consuming.
Aspects of the present disclosure are presented as a surgical hub for use with a surgical system in a surgical procedure performed in an operating room. The control circuitry of the surgical hub is configured to determine a boundary of the operating room and establish a control arrangement with the detected surgical hub located within the boundary of the operating room.
In one aspect, the control arrangement is a peer-to-peer arrangement. In another aspect, the control arrangement is a master-slave arrangement. In one aspect, the control circuit is configured to select one of a master mode of operation or a slave mode of operation in a master-slave arrangement. In one aspect, the control circuit is configured to relinquish control of the detected surgical hub by at least one surgical instrument from the operational mode.
In one aspect, a surgical hub includes operating room mapping circuitry including a plurality of non-contact sensors configured to measure a boundary of an operating room.
In various aspects, a surgical hub includes a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to coordinate the control arrangement between the surgical hubs, as described above. In various aspects, the present disclosure provides a non-transitory computer readable medium storing computer readable instructions that, when executed, cause a machine to coordinate control arrangements between surgical hubs, as described above.
Aspects of the present disclosure are presented as a surgical system including two independent surgical hubs configured to interact with each other. Each of the hubs has its own linked surgical device and control specification and distribution of the location where data is recorded and processed. This interaction causes one or both hubs to change their behavior prior to the interaction. In one aspect, the change involves a redistribution of devices previously assigned to each of the hubs. In another aspect, the change involves establishing a master-slave arrangement between the hubs. In yet another aspect, the change may be a change in the location of a process shared between hubs.
Fig. 53 is a logic flow diagram of a method depicting a control procedure or logic configuration for coordinating control arrangements between surgical hubs. The method of fig. 53 is similar in many respects to the method of fig. 35, except that the method of fig. 53 is directed to detecting a surgical hub by another surgical hub. As shown in fig. 53, surgical hub 106 determines 3007 the boundary of the operating room. After the initial determination, surgical hub 106 continuously searches for or detects 3008 devices within pairing range. If a device 3010 is detected, and if the detected device is located 3011 within the confines of the operating room, the surgical hub 106 pairs 3012 with the device and assigns 3013 an identifier to the device. If, through initial interaction, as described in more detail below, the surgical hub 106 determines 3039 that the device is another surgical hub, a control arrangement is established 3040 therebetween.
Referring to fig. 54, the robotic surgical hub 3300 enters the operating room already occupied by the surgical hub 3300. The robotic surgical hub 3310 and surgical hub 3300 are similar in many respects to other surgical hubs described in more detail elsewhere herein, such as surgical hub 106. For example, the robotic surgical hub 3310 includes a non-contact sensor configured to measure the boundary of the operating room, as described in more detail elsewhere herein in connection with fig. 33, 34.
When the robotic surgical hub 3310 powers up, it determines the boundaries of the operating room and begins pairing with other components of the surgical system 102 that are located within the boundaries of the operating room. The robotic surgical hub 3310 is paired with a robotic advanced energy tool 3311, a robotic stapler 3312, a monopolar energy tool 3313, and a robotic visualization tower 3314, all of which are located within the confines of the operating room. The surgical hub 3300 has been paired with a handheld stapler 3301, a handheld motorized dissector 3302, an auxiliary display 3303, a surgeon interface 3304, and a visualization tower 3305. Since the handheld stapler 3301, handheld motorized dissector 3302, auxiliary display 3303, surgeon interface 3304, and visualization tower 3305 are already paired with the surgical hub 3300, such devices cannot be paired with another surgical hub without permission from the surgical hub 3300.
In addition to the above, the robotic surgical hub 3310 detects and/or is detected by the surgical hub 3300. Communication links are established between the communication modules of the surgical hubs 3300, 3310. The surgical hubs 3300, 3310 then determine the nature of their interaction by determining the control arrangement between them. In one aspect, the control arrangement may be a master-slave arrangement. In another aspect, the control arrangement may be a peer-to-peer arrangement.
In the example of fig. 54, a master-slave arrangement is established. The surgical hub 3300, 3310 requests that the surgical operator permit the robotic surgical hub 3310 to take control of the operating room of the surgical hub 3300. Permission may be requested through a surgeon interface or console 3304. Once permission is granted, the robotic surgical hub 3310 requests that the surgical hub 3300 transfer control to the robotic surgical hub 3310.
Alternatively, the surgical hub 3300, 3310 may negotiate the nature of its interaction without external input based on previously collected data. For example, the surgical hubs 3300, 3310 may collectively determine that the next surgical task requires use of the robotic system. Such a determination may cause the surgical hub 3300 to autonomously relinquish control of the operating room to the robotic surgical hub 3310. Upon completion of the surgical task, the robotic surgical hub 3310 may then autonomously return control of the surgical suite to the surgical hub 3300.
The result of the interaction between the surgical hubs 3300, 3310 is shown on the right side of fig. 54. The surgical hub 3300 has transferred control to the robotic surgical hub 3310, which has also taken control of the surgeon interface 3304 and auxiliary display 3303 from the surgical hub 3300. The robotic surgical hub 3310 assigns a new identification number to the newly transferred device. The surgical hub 3300 holds a control hand-held stapler 3301, a hand-held motorized dissector 3302, and a visualization tower 3305. In addition, the surgical hub 3300 performs a supporting role, wherein the processing and memory capabilities of the surgical hub 3300 are now available to the robotic surgical hub 3310.
Fig. 55 is a logic flow diagram of a method depicting a control procedure or logic configuration for coordinating control arrangements between surgical hubs. In various aspects, two independent surgical hubs will interact with each other in a predetermined manner to assess the nature of their relationship. In one example, after establishing 3321 the communication link, the surgical hubs exchange 3322 data packets. The data packet may include the type, identification number, and/or status of the surgical hub. The data packets may also include records of devices under the control of the surgical hub and/or any limited communication connections, such as data ports for other auxiliary operating room devices.
A control arrangement between the surgical hubs is then determined 3323 based on input from the surgical operator or autonomous input between the surgical hubs. The surgical hubs may store instructions on how to determine the control arrangement between the surgical hubs. The control arrangement between the two surgical hubs may depend on the type of surgical procedure being performed. The control arrangement between the two surgical hubs may depend on their type, identification information and/or status. The control arrangement between the two surgical hubs may depend on the device with which the surgical hub is paired. The surgical hub then redistributes 3324 the devices of the surgical system 102 among the surgical hubs based on the determined control arrangement.
In a master-slave arrangement, record communications may be unidirectional from slave hub to master hub. The master hub may also need to hand off some of its wireless devices from the hub to consolidate the communication path. In one aspect, the slave hub can be downgraded to a relay configuration where the master hub generates all commands and records all data. The slave hub may remain linked to the master hub for distributed sub-processing of master hub commands, records, and/or controls. Such interaction extends the processing power of the dual link hub beyond the capabilities of the primary hub itself.
In a peer-to-peer arrangement, each surgical hub may maintain control of its devices. In one aspect, the surgical hub can cooperate to control a surgical instrument. In one aspect, an operator of a surgical instrument may specify a surgical hub that will control the surgical instrument when the surgical instrument is used.
Referring generally to fig. 56-61, the interaction between surgical hubs may extend beyond the boundary of the operating room. In various aspects, surgical hubs in separate operating rooms may interact with each other within predefined limits. Depending on their relative proximity, the surgical hubs in the individual operating rooms may interact through any suitable wired or wireless data communication network, such as bluetooth and WiFi. As used herein, a "data communication network" means any number of physical, virtual, or logical components, including hardware, software, firmware, and/or processing logic configured to support data communication between a source component and a target component, where the data communication is performed over one or more specified communication media according to one or more specified communication protocols.
In various aspects, a first surgical operator in a first surgical room may wish to consult a second surgical operator in a second surgical room, such as in an emergency. A temporary communication link may be established between the surgical hubs of the first and second surgical rooms to facilitate consultation when the first and second surgical operators remain in their respective operating rooms.
The consultation request may be presented to the surgical operator being consulted through a surgical hub in his/her operating room. If the surgical operator accepts, he/she will have access to all the data compiled by the surgical hub requesting consultation. The surgical operator has access to all previously stored data, including the complete history of the procedure. In addition, a real-time stream requesting a surgical site at an operating room may be transmitted through the surgical hub to a display at a receiving operating room.
When a consultation request is initiated, the receiving surgical hub begins to record all of the received information in a temporary storage location, which may be a dedicated portion of the memory array of the surgical hub. At the end of the consultation, all the information of the temporary deposit location is cleared. In one aspect, during the consultation, the surgical hub records all accessible data, including blood pressure, ventilation data, oxygen statistics, generator settings and usage, and all patient electronic data. The data recorded will likely be more than stored by the surgical hub during normal operation, which helps to provide the consulted surgical operator with as much information for consultation as possible.
Referring to fig. 56, a non-limiting example of interaction between surgical hubs in different operating rooms is shown. Fig. 56 depicts an operating room OR1 that includes a surgical system 3400 that supports a chest segmental resection, and a second operating room OR 3 that includes a surgical system 3410 that supports a colorectal surgery. The surgical system 3400 includes a surgical hub 3401, a surgical hub 3402, and a robotic surgical hub 3403. The surgical system 3400 also includes a personal interface 3406, a main display 3408, and secondary displays 3404, 3405. The surgical system 3410 includes a surgical hub 3411 and an auxiliary display 3412. For clarity, several components of the surgical systems 3400, 3410 are removed.
In the example of fig. 56, the surgical operator of OR 3 is requesting consultation from the surgical operator of OR 1. The surgical hub 3411 of the OR 3 transmits the consultation request to one of the surgical hubs of the OR1, such as the surgical hub 3401. In OR1, the surgical hub 3401 presents the request at a personal interface 3406 held by the surgical operator. The counseling is about selecting the best position for colon transection. The operator of OR1 advises through the personal interface 3406 the optimal location to avoid the transection site of the vasopacked portion of the colon. The recommendations are transmitted in real time by the surgical hubs 3401, 3411. Thus, the surgical operator can respond to the consultation request in real time without having to leave the sterile field of his own operating room. The surgical operator requesting the consultation does not have to leave the sterile field of the OR 3.
If the surgical hub 3401 is not in communication with the personal interface 3406, it may relay the message to another surgical hub, for example, the surgical hub 3402 or the robotic surgical hub 3403. Alternatively, the surgical hub 3401 may request control of a personal interface 3406 of another surgical hub.
In any case, if the surgical operator of the OR1 decides to accept the consultation request, a real-time stream OR frame of the surgical site 3413 of the colorectal surgery of the OR 3 is transmitted to the OR1 through, for example, a connection established between the surgical hubs 3401, 3411. Fig. 57 shows a real-time flow of the surgical site 3413 displayed on the auxiliary display of the OR 3. The surgical hubs 3401, 3411 cooperate to transmit real-time streaming of the surgical site of the OR 3 to the personal interface 3406 of the OR1, as shown in fig. 58.
Referring to fig. 59-61, the surgical operator may extend the real-time flow of laparoscopy from OR 3 to the main display 3405 in OR1, for example, by controlling the personal interface 3406. The personal interface 3406 allows the surgical operator to select the target of the real-time flow by presenting the surgical operator with icons representing displays available in the OR1, as shown in fig. 60. Other navigation controls 3407 are available to the surgical operator through the personal interface 3406, as shown in fig. 61. For example, the personal interface 3406 includes navigation controls for adjusting the real-time flow of the surgical site in OR 3 by the surgical operator moving his OR her finger in OR1 over the real-time flow displayed on the personal interface 3406. To visualize the vascular dense area, the consulted surgical operator may change the view of the real-time flow from OR 3 to an advanced imaging screen through the personal interface 3406. The surgical operator may then manipulate the images in multiple planes to see the vessel formation, for example, using the wide-angle multispectral view.
As shown in fig. 61, the surgical operator may also access an array 3420 of relevant information, such as heart rate, blood pressure, ventilation data, oxygen statistics, generator settings and usage, and all patient electronic data for the patient in OR 3.
Situation awareness
Situational awareness is the ability of some aspects of a surgical system to determine or infer information related to a surgical procedure from data received from a database and/or instruments. The information may include the type of surgery being performed, the type of tissue being operated on, or the body cavity being the subject of the surgery. With background information related to a surgical procedure, a surgical system may, for example, improve the manner in which the surgical system controls modular devices (e.g., robotic arms and/or robotic surgical tools) connected thereto, and provide background information or recommendations to a surgeon during the course of the surgical procedure.
Referring now to fig. 62, a timeline 5200 depicting situational awareness of a hub (e.g., surgical hub 106 or 206) is shown. The time axis 5200 is illustrative of the surgical procedure and background information that the surgical hub 106, 206 may derive from the data received from the data source at each step in the surgical procedure. The time axis 5200 depicts typical steps that nurses, surgeons, and other medical personnel will take during a lung segment resection procedure, starting from the establishment of an operating room and ending with the transfer of the patient to a post-operative recovery room.
The situation aware surgical hub 106, 206 receives data from data sources throughout the surgical procedure, including data generated each time medical personnel utilize a modular device paired with the surgical hub 106, 206. The surgical hub 106, 206 may receive this data from the paired modular devices and other data sources, and continually derive inferences about the procedure being performed (i.e., contextual information) as new data is received, such as which step of the procedure is performed at any given time. The situational awareness system of the surgical hub 106, 206 can, for example, record data related to the procedure used to generate the report, verify that the medical personnel are taking steps, provide data or prompts (e.g., via a display screen) that may be related to particular procedure steps, adjust the modular device based on context (e.g., activate a monitor, adjust the field of view of a medical imaging device, or change the energy level of the ultrasonic surgical instrument or RF electrosurgical instrument), and take any other such actions described above.
As a first step 5202 in this exemplary procedure, the hospital staff retrieves the patient's EMR from the hospital's EMR database. Based on the selected patient data in the EMR, the surgical hub 106, 206 determines that the procedure to be performed is a chest procedure.
In a second step 5204, the staff scans the incoming medical supply for surgery. The surgical hub 106, 206 cross-references the scanned supplies with a list of supplies used in various types of procedures and confirms that the supplied mix corresponds to a chest procedure. In addition, the surgical hub 106, 206 may also be able to determine that the procedure is not a wedge procedure (because the incoming supplies lack some of the supplies required for a chest wedge procedure, or otherwise do not correspond to a chest wedge procedure).
In a third step 5206, the medical personnel scans the patient belt via a scanner communicatively connected to the surgical hub 106, 206. The surgical hub 106, 206 may then confirm the identity of the patient based on the scanned data.
In a fourth step 5208, the medical professional turns on the ancillary device. The ancillary equipment utilized may vary depending on the type of surgery and the technique to be used by the surgeon, but in this exemplary case they include smoke ejectors, insufflators, and medical imaging devices. When activated, the auxiliary device as a modular device may be automatically paired with a surgical hub 106, 206 located in a specific vicinity of the modular device as part of its initialization process. The surgical hub 106, 206 may then derive contextual information about the surgical procedure by detecting the type of modular device with which it is paired during the pre-operative or initialization phase. In this particular example, the surgical hub 106, 206 determines that the surgical procedure is a VATS procedure based on the particular combination of paired modular devices. Based on a combination of data from the patient's EMR, a list of medical supplies used in the procedure, and the type of modular device connected to the hub, the surgical hub 106, 206 can generally infer the particular procedure that the surgical team will perform. Once the surgical hub 106, 206 knows what specific procedure is being performed, the surgical hub 106, 206 may retrieve the steps of the procedure from memory or cloud and then cross-reference the data it subsequently receives from the connected data sources (e.g., modular devices and patient monitoring devices) to infer what steps of the surgical procedure are being performed by the surgical team.
In a fifth step 5210, the staff member attaches EKG electrodes and other patient monitoring devices to the patient. EKG electrodes and other patient monitoring devices can be paired with the surgical hubs 106, 206. When the surgical hub 106, 206 begins to receive data from the patient monitoring device, the surgical hub 106, 206 thus confirms that the patient is in the operating room.
In a sixth step 5212, the medical personnel induce anesthesia in the patient. The surgical hub 106, 206 may infer that the patient is under anesthesia based on data from the modular device and/or the patient monitoring device, including, for example, EKG data, blood pressure data, ventilator data, or a combination thereof. Upon completion of the sixth step 5212, the pre-operative portion of the lung segmentation resection procedure is completed and the operative portion begins.
In a seventh step 5214, the patient's lungs being operated on are collapsed (while ventilation is switched to the contralateral lungs). For example, the surgical hub 106, 206 may infer from the ventilator data that the patient's lungs have collapsed. The surgical hub 106, 206 may infer that the surgical portion of the procedure has begun because it may compare the detection of the patient's lung collapse to the expected steps of the procedure (which may have been previously visited or retrieved), thereby determining that collapsing the lungs is the first surgical step in that particular procedure.
In an eighth step 5216, a medical imaging device (e.g., an endoscope) is inserted and video from the medical imaging device is initiated. The surgical hub 106, 206 receives medical imaging device data (i.e., video or image data) through its connection to the medical imaging device. After receiving the medical imaging device data, the surgical hub 106, 206 may determine that a laparoscopic portion of the surgical procedure has begun. In addition, the surgical hub 106, 206 may determine that the particular procedure being performed is a segmental resection, rather than a leaf resection (note that wedge procedures have been excluded based on the data received by the surgical hub 106, 206 at the second step 5204 of the procedure). Data from the medical imaging device 124 (fig. 2) may be used to determine contextual information relating to the type of procedure being performed in a number of different ways, including by determining the angle of visualization orientation of the medical imaging device relative to the patient anatomy, monitoring the number of medical imaging devices utilized (i.e., activated and paired with the surgical hub 106, 206), and monitoring the type of visualization devices utilized. For example, one technique for performing a VATS lobectomy places the camera in the lower anterior corner of the patient's chest above the septum, while one technique for performing a VATS segmental resection places the camera in an anterior intercostal location relative to the segmental cleft. For example, using pattern recognition or machine learning techniques, the situational awareness system may be trained to recognize the positioning of the medical imaging device from a visualization of the patient's anatomy. As another example, one technique for performing a VATS lobectomy utilizes a single medical imaging device, while another technique for performing a VATS segmental resection utilizes multiple cameras. As another example, one technique for performing VATS segmental resection utilizes an infrared light source (which may be communicatively coupled to a surgical hub as part of a visualization system) to visualize segmental fissures that are not used in VATS pulmonary resection. By tracking any or all of this data from the medical imaging device, the surgical hub 106, 206 can thus determine the particular type of surgical procedure being performed and/or the technique being used for a particular type of surgical procedure.
In a ninth step 5218, the surgical team begins the dissection step of the procedure. The surgical hub 106, 206 may infer that the surgeon is dissecting to mobilize the patient's lungs because it receives data from the RF generator or ultrasound generator indicating that the energy instrument is being fired. The surgical hub 106, 206 may intersect the received data with the retrieved steps of the surgical procedure to determine that the energy instrument fired at that point in the procedure (i.e., after completion of the previously discussed surgical steps) corresponds to an anatomical step. In some cases, the energy instrument may be an energy tool mounted to a robotic arm of a robotic surgical system.
In a tenth step 5220, the surgical team continues with the surgical ligation step. The surgical hub 106, 206 may infer that the surgeon is ligating arteries and veins because it receives data from the surgical stapling and severing instrument indicating that the instrument is being fired. Similar to the previous steps, the surgical hub 106, 206 may deduce the inference by cross-referencing the receipt of data from the surgical stapling and severing instrument with the retrieval steps in the procedure. In some cases, the surgical instrument may be a surgical tool mounted to a robotic arm of a robotic surgical system.
In an eleventh step 5222, a segmental resection portion of the procedure is performed. The surgical hub 106, 206 may infer that the surgeon is transecting soft tissue based on data from the surgical stapling and severing instrument, including data from its cartridge. The cartridge data may correspond to, for example, the size or type of staples fired by the instrument. Since different types of staples are used for different types of tissue, the cartridge data can indicate the type of tissue being stapled and/or transected. In this case, the type of staple fired is for soft tissue (or other similar tissue type), which allows the surgical hub 106, 206 to infer that the segmental resection portion of the procedure is in progress.
In a twelfth step 5224, a node dissection step is performed. The surgical hub 106, 206 may infer that the surgical team is dissecting a node and performing a leak test based on data received from the generator indicating that the RF or ultrasonic instrument is being fired. For this particular procedure, the RF or ultrasound instruments used after transecting the soft tissue correspond to a nodal dissection step that allows the surgical hub 106, 206 to make such inferences. It should be noted that the surgeon periodically switches back and forth between the surgical stapling/severing instrument and the surgical energy (i.e., RF or ultrasonic) instrument depending on the particular step in the procedure, as different instruments are better suited to the particular task. Thus, the particular sequence in which the stapling/severing instrument and the surgical energy instrument are used may dictate the steps of the procedure being performed by the surgeon. Further, in some cases, robotic implements may be used for one or more steps in a surgical procedure, and/or hand-held surgical instruments may be used for one or more steps in a surgical procedure. The surgeon(s) may alternate and/or may use the device simultaneously, for example, between a robotic tool and a hand-held surgical instrument. Upon completion of the twelfth step 5224, the incision is closed and the post-operative portion of the procedure is initiated.
In a thirteenth step 5226, the patient's anesthesia is reversed. For example, the surgical hub 106, 206 may infer that the patient is waking up from anesthesia based on, for example, ventilator data (i.e., the patient's breathing rate begins to increase).
Finally, in a fourteenth step 5228, the medical personnel remove the various patient monitoring devices from the patient. Thus, when the hub loses EKG, BP, and other data from the patient monitoring device, the surgical hub 106, 206 may infer that the patient is being transferred to a recovery room. As can be seen from the description of this exemplary procedure, the surgical hub 106, 206 may determine or infer when each step of a given surgical procedure occurs from data received from various data sources communicatively coupled to the surgical hub 106, 206.
Situational awareness is further described in U.S. provisional patent application serial No. 62/611,341 entitled "INTERACTIVE SURGICA L P L ATFORM" filed on 28.12.2017, which is incorporated herein by reference in its entirety in some instances, operation of a robotic surgical system (including the various robotic surgical systems disclosed herein) may be controlled, for example, by the surgical hub 106, 206 based on its situational awareness and/or feedback from its components and/or based on information from the cloud 102.
Various aspects of the subject matter described herein are set forth in the following numbered examples.
Embodiment 4. the surgical hub of any one of embodiments 1 to 3, wherein the control circuit is configured to re-determine the boundary of the operating room after determining that the surgical hub has been moved.
Embodiment 6. the surgical hub of any one of embodiments 1 to 5, wherein the control circuit is configured to periodically determine the boundary of the operating room.
Embodiment 7 the surgical hub of any of embodiments 1-6, comprising a non-contact sensor configured to measure a boundary of an operating room.
Embodiment 8. a surgical hub for use with a surgical system in a surgical procedure performed in an operating room, wherein the surgical hub comprises: a processor; a memory coupled to the processor, the memory storing instructions executable by the processor to: determining a boundary within an operating room; determining a device of the surgical system that is located within a boundary of an operating room; and pairing the surgical hub with a device of the surgical system located within a boundary of the operating room.
Embodiment 9 the surgical hub of embodiment 8, wherein the step of determining the device of the surgical system comprises: detecting a potential device of the surgical system; and assessing whether a potential device of the surgical system is within the boundary of the operating room or outside the boundary of the operating room.
Embodiment 11 the surgical hub of any one of embodiments 8 to 10, wherein the memory further stores instructions executable by the processor to re-determine the operating room boundary after determining that the surgical hub has been moved.
Embodiment 12 the surgical hub of any one of embodiments 8 to 11, wherein the memory further stores instructions executable by the processor to re-determine operating room boundaries after detecting potential devices of the surgical system.
Embodiment 13 the surgical hub of any one of embodiments 8 to 12, wherein the memory further stores instructions executable by the processor to periodically determine the boundary of the operating room.
Embodiment 14 the surgical hub of any one of embodiments 8 to 13, comprising a non-contact sensor configured to measure the boundary of the operating room.
An embodiment 15. a non-transitory computer readable medium storing computer readable instructions that, when executed, cause a machine to: determining a boundary of an operating room; determining a device of a surgical system located within the boundary of the operating room; and pairing the surgical hub with a device of the surgical system located within a boundary of the operating room.
The non-transitory computer readable medium of embodiment 15, wherein the step of determining the device of the surgical system comprises: detecting a potential device of the surgical system; and assessing whether a potential device of the surgical system is within the boundary of the operating room or outside the boundary of the operating room.
Embodiment 17 the non-transitory computer readable medium of any of embodiments 15-16, wherein the computer readable instructions, when executed, further cause the machine to determine the boundary of the operating room after the surgical hub is activated.
Embodiment 18 the non-transitory computer readable medium of any of embodiments 15 to 17, wherein the computer readable instructions, when executed, further cause the machine to: re-determining the boundary of the operating room after determining that the surgical hub has been moved.
Embodiment 19 the non-transitory computer readable medium of any of embodiments 15-18, wherein the computer readable instructions, when executed, further cause the machine to re-determine the boundary of the operating room after detecting the potential device of the surgical hub.
Embodiment 20 the non-transitory computer readable medium of any of embodiments 15-19, wherein the computer readable instructions, when executed, further cause the machine to periodically determine the boundary of the operating room.
While several forms have been illustrated and described, it is not the intention of the applicants to restrict or limit the scope of the appended claims to such detail. Numerous modifications, changes, variations, substitutions, combinations, and equivalents of these forms can be made without departing from the scope of the present disclosure, and will occur to those skilled in the art. Further, the structure of each element associated with the described forms may alternatively be described as a means for providing the function performed by the element. In addition, where materials for certain components are disclosed, other materials may also be used. It is, therefore, to be understood that the foregoing detailed description and appended claims are intended to cover all such modifications, combinations and variations as fall within the scope of the disclosed forms of the invention. It is intended that the following claims cover all such modifications, changes, variations, substitutions, modifications, and equivalents.
The foregoing detailed description has set forth various forms of the devices and/or methods via the use of block diagrams, flowcharts, and/or examples. Insofar as such block diagrams, flowcharts, and/or examples contain one or more functions and/or operations, it will be understood by those within the art that each function and/or operation within such block diagrams, flowcharts, or examples can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will recognize that some aspects of the forms disclosed herein, in whole or in part, can be equivalently implemented in integrated circuits, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as virtually any combination thereof, and that designing the electronic circuitry and/or writing the code for the software and or hardware would be well within the skill of one of skill in the art in light of this disclosure. In addition, those skilled in the art will appreciate that the mechanisms of the subject matter described herein are capable of being distributed as one or more program products in a variety of forms, and that an exemplary form of the subject matter described herein applies regardless of the particular type of signal bearing media used to actually carry out the distribution.
The instructions for programming logic to perform the various disclosed aspects may be stored within a memory within the system, such as a Dynamic Random Access Memory (DRAM), cache, flash memory, or other memory. Further, the instructions may be distributed via a network or through other computer readable media. Thus, a machine-readable medium may include a mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), but is not limited to, floppy diskettes, optical disks, read-only memories (CD-ROMs), magneto-optical disks, read-only memories (ROMs), Random Access Memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), magnetic or optical cards, flash memory, or a tangible, machine-readable storage device for use in transmitting information over the internet via electrical, optical, acoustical or other forms of propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.). Thus, a non-transitory computer-readable medium includes any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).
As used herein in any aspect, the term "control circuitry" may refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor including one or more separate instruction processing cores, processing units, processors, microcontrollers, microcontroller units, controllers, Digital Signal Processors (DSPs), programmable logic devices (P L D), programmable logic arrays (P L a), Field Programmable Gate Arrays (FPGAs)), state machine circuitry, firmware storing instructions executed by programmable circuitry, and any combination thereof.
As used in any aspect herein, the term "logic" may refer to an application, software, firmware, and/or circuitry configured to perform any of the foregoing operations. The software may be embodied as a software package, code, instructions, instruction sets, and/or data recorded on a non-transitory computer-readable storage medium. Firmware may be embodied as code, instructions or instruction sets and/or data that are hard-coded (e.g., nonvolatile) in a memory device.
As used in any aspect herein, the terms "device," "system," "module," and the like can refer to a computer-related entity, either hardware, a combination of hardware and software, or software in execution.
An "algorithm," as used in any aspect herein, is a self-consistent sequence of steps leading to a desired result, wherein "step" refers to the manipulation of physical quantities and/or logical states which may (but are not necessarily) take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. And are used to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. These and similar terms may be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities and/or conditions.
The communication devices may be capable of communicating with each other using an X.25 communication protocol, the X.25 communication protocol may conform to or conform to a standard promulgated by the International telecommunication Union, telecommunication sector (ITU-T), or alternatively or additionally, the communication devices may be capable of communicating with each other using a frame relay communication protocol, the frame relay communication protocol may conform to or conform to a standard promulgated by the International Committee for telephone and Phone Negotiation (CCITT) and/or the American National Standards Institute (ANSI), the transceivers may be capable of communicating with each other using an Asynchronous Transfer Mode (ATM) communication protocol, the ATM communication protocols may be capable of issuing Asynchronous Transfer Mode (ATM) communication protocols, the ATM communication protocols may be capable of communicating with each other, the ATM communication protocols may be capable of complying with ATM communication protocol, the ATM communication protocol may be capable of communicating with each other, the ATM communication protocols may be capable of communicating with ATM, or may be developed in the year 358, the MP 8 communication protocol, the MP-compatible with the ATM communication protocol, and the MP-S-A communication protocol, which is also contemplated herein.
Unless specifically stated otherwise as apparent from the above discussion, it is appreciated that throughout the above disclosure, discussions utilizing terms such as "processing," "computing," "calculating," "determining," "displaying," or the like, refer to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices.
One or more components may be referred to herein as "configured," "configurable," "operable," "adaptable," "capable," "conformable," "conforming," or the like. Those skilled in the art will recognize that "configured to" may generally encompass components in an active state and/or components in an inactive state and/or components in a standby state unless the context indicates otherwise.
The terms "proximal" and "distal" are used herein with respect to a clinician manipulating a handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion located away from the clinician. It will be further appreciated that for simplicity and clarity, spatial terms such as "vertical," "horizontal," "up," and "down" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.
Those skilled in the art will recognize that, in general, terms used herein, and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as "open" terms (e.g., the term "including" should be interpreted as "including but not limited to," the term "having" should be interpreted as "having at least," the term "includes" should be interpreted as "includes but is not limited to," etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases "at least one" and "one or more" to introduce claims. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles "a" or "an" limits any particular claim containing such introduced claim recitation to claims containing only one such recitation, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles such as "a" or "an" (e.g., "a" and/or "an" should typically be interpreted to mean "at least one" or "one or more"); this also applies to the use of definite articles used to introduce claim recitations.
In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of "two recitations," without other modifiers, typically means at least two recitations, or two or more recitations). Further, in those instances where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended to have a meaning that one of ordinary skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include, but not be limited to, systems having a alone, B alone, C, A and B together alone, a and C together, B and C together, and/or A, B and C together, etc.). In those instances where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended to have a meaning that one of skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems having a alone, B alone, C, A and B together alone, a and C together, B and C together, and/or A, B and C together, etc.). It will also be understood by those within the art that, in general, disjunctive words and/or phrases having two or more alternative terms, whether appearing in the detailed description, claims, or drawings, should be understood to encompass the possibility of including one of the terms, either of the terms, or both terms, unless the context indicates otherwise. For example, the phrase "a or B" will generally be understood to include the possibility of "a" or "B" or "a and B".
Those skilled in the art will appreciate from the appended claims that the operations recited therein may generally be performed in any order. In addition, while the various operational flow diagrams are presented in an order(s), it should be appreciated that the various operations may be performed in an order other than that shown, or may be performed concurrently. Examples of such alternative orderings may include overlapping, interleaved, interrupted, reordered, incremental, preliminary, complementary, simultaneous, reverse, or other altered orderings, unless context dictates otherwise. Furthermore, unless the context dictates otherwise, terms like "responsive," "related," or other past adjectives are generally not intended to exclude such variations.
It is worthy to note that any reference to "an aspect," "an example" means that a particular feature, structure, or characteristic described in connection with the aspect is included in at least one aspect. Thus, the appearances of the phrases "in one aspect," "in an example" in various places throughout this specification are not necessarily all referring to the same aspect. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more aspects.
Any patent applications, patents, non-patent publications or other published materials mentioned in this specification and/or listed in any application data sheet are herein incorporated by reference, to the extent that the incorporated materials are not inconsistent herewith. Thus, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.
In summary, a number of benefits resulting from employing the concepts described herein have been described. The foregoing detailed description of one or more forms has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. The form or forms selected and described are to be illustrative of the principles and practical applications to thereby enable one of ordinary skill in the art to utilize the form or forms and various modifications as are suited to the particular use contemplated. The claims as filed herewith are intended to define the full scope.
Claims (20)
1. A surgical hub for use with a surgical system in a surgical procedure performed in an operating room, wherein the surgical hub comprises control circuitry configured to:
determining a boundary of an operating room;
determining a device of the surgical system that is located within the boundary of the operating room; and
pairing the surgical hub with the device of the surgical system that is located within the boundary of the operating room.
2. The surgical hub of claim 1, wherein the step of determining the device of the surgical system comprises:
detecting a potential device of the surgical system; and
evaluating whether the potential device of the surgical system is within the boundary of the operating room or outside the boundary of the operating room.
3. The surgical hub according to claim 1, wherein the control circuit is configured to determine the boundary of the operating room after the surgical hub is activated.
4. The surgical hub according to claim 1, wherein the control circuit is configured to re-determine the boundary of the operating room after determining that the surgical hub has been moved.
5. The surgical hub of claim 1, wherein the control circuit is configured to re-determine the boundary of the operating room after detecting a potential device of the surgical system.
6. The surgical hub according to claim 1, wherein the control circuit is configured to periodically determine a boundary of an operating room.
7. The surgical hub according to claim 1, comprising a non-contact sensor configured to measure the boundary of the operating room.
8. A surgical hub for use with a surgical system in a surgical procedure performed in an operating room, wherein the surgical hub comprises:
a processor; and
a memory coupled to the processor, the memory storing instructions executable by the processor to:
determining a boundary of an operating room;
determining a device of the surgical system that is located within the boundary of the operating room; and
pairing the surgical hub with the device of the surgical system that is located within the boundary of the operating room.
9. The surgical hub of claim 8, wherein the step of determining the device of the surgical system comprises:
detecting a potential device of the surgical system; and
evaluating whether the potential device of the surgical system is within the boundary of the operating room or outside the boundary of the operating room.
10. The surgical hub according to claim 8, wherein the memory further stores instructions executable by the processor to determine a boundary of the operating room after the surgical hub is activated.
11. The surgical hub of claim 8, wherein the memory further stores instructions executable by the processor to re-determine the boundary of the operating room after determining that the surgical hub has been moved.
12. The surgical hub of claim 8, wherein the memory further stores instructions executable by the processor to re-determine the boundary of the operating room after a potential device of the surgical system is detected.
13. The surgical hub of claim 8, wherein the memory further stores instructions executable by the processor to periodically determine the boundary of the operating room.
14. The surgical hub according to claim 8, comprising a non-contact sensor configured to measure the boundary of the operating room.
15. A non-transitory computer readable medium storing computer readable instructions that, when executed, cause a machine to:
determining a boundary of an operating room;
determining a device of a surgical system located within the boundary of the operating room; and
pairing a surgical hub with the device of the surgical system that is located within the boundary of the operating room.
16. The non-transitory computer readable medium of claim 15, wherein the step of determining the device of the surgical system comprises:
detecting a potential device of the surgical system; and
evaluating whether the potential device of the surgical system is within the boundary of the operating room or outside the boundary of the operating room.
17. The non-transitory computer readable medium of claim 15, wherein the computer readable instructions, when executed, further cause a machine to determine the boundary of the operating room after the surgical hub is activated.
18. The non-transitory computer readable medium of claim 15, wherein the computer readable instructions, when executed, further cause a machine to re-determine the boundary of the operating room after determining that the surgical hub has been moved.
19. The non-transitory computer readable medium of claim 15, wherein the computer readable instructions, when executed, further cause a machine to re-determine the boundary of the operating room after detecting a potential device of the surgical system.
20. The non-transitory computer readable medium of claim 15, wherein the computer readable instructions, when executed, further cause a machine to periodically determine the boundary of the operating room.
Applications Claiming Priority (11)
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| US201762611340P | 2017-12-28 | 2017-12-28 | |
| US201762611341P | 2017-12-28 | 2017-12-28 | |
| US201762611339P | 2017-12-28 | 2017-12-28 | |
| US62/611,340 | 2017-12-28 | ||
| US62/611,339 | 2017-12-28 | ||
| US62/611,341 | 2017-12-28 | ||
| US201862649302P | 2018-03-28 | 2018-03-28 | |
| US62/649,302 | 2018-03-28 | ||
| US15/940,666 | 2018-03-29 | ||
| US15/940,666 US11678881B2 (en) | 2017-12-28 | 2018-03-29 | Spatial awareness of surgical hubs in operating rooms |
| PCT/US2018/044179 WO2019133059A1 (en) | 2017-12-28 | 2018-07-27 | Spatial awareness of surgical hubs in operating rooms |
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| CN111512386A true CN111512386A (en) | 2020-08-07 |
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| US20130201356A1 (en) * | 2012-02-07 | 2013-08-08 | Arthrex Inc. | Tablet controlled camera system |
| EP3799780B1 (en) * | 2013-10-11 | 2023-03-08 | Masimo Corporation | System and method for displaying medical monitoring data |
| US10159044B2 (en) * | 2013-12-09 | 2018-12-18 | GM Global Technology Operations LLC | Method and apparatus for controlling operating states of bluetooth interfaces of a bluetooth module |
| ES2878455T3 (en) * | 2015-02-13 | 2021-11-18 | Zoller & Froehlich Gmbh | Scan layout and procedure for scanning an object |
| US10383518B2 (en) * | 2015-03-31 | 2019-08-20 | Midmark Corporation | Electronic ecosystem for medical examination room |
| WO2017189317A1 (en) * | 2016-04-26 | 2017-11-02 | KindHeart, Inc. | Telerobotic surgery system for remote surgeon training using robotic surgery station and remote surgeon station and an animating device |
| DE102016209576A1 (en) * | 2016-06-01 | 2017-12-07 | Siemens Healthcare Gmbh | Motion control for a mobile medical device |
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- 2018-07-27 BR BR112020012801-5A patent/BR112020012801A2/en unknown
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| JP2021509501A (en) | 2021-03-25 |
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