US20170316705A1 - System, Apparatus and Methods for Telesurgical Mentoring Platform - Google Patents
System, Apparatus and Methods for Telesurgical Mentoring Platform Download PDFInfo
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- US20170316705A1 US20170316705A1 US15/498,273 US201715498273A US2017316705A1 US 20170316705 A1 US20170316705 A1 US 20170316705A1 US 201715498273 A US201715498273 A US 201715498273A US 2017316705 A1 US2017316705 A1 US 2017316705A1
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- mentoring
- platform
- telesurgical
- articulated arm
- electronic display
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Definitions
- the invention relates to the field of telesurgical mentoring platforms for surgeons and/or medical device representatives.
- Telesurgical mentoring platforms have evolved as an important subset of telemedicine, yet has remained an underutilized technique in the operating room.
- Telesurgical mentoring typically allows a more experienced surgeon to assist or direct another less experienced surgeon while is operating at a remote location.
- the benefit is that the more experienced surgeon can assist in a morning surgery in Miami and an afternoon surgery in Los Angeles, while never leaving his practice in New York.
- Doctors can also benefit from the advice of device manufacturers representatives during surgery. For example, a doctor that is installing a new type of stent may need some installation guidance from the manufacturer. The manufacturer's representative can provide this guidance without having to travel to the medical room.
- One of the primary requirements for conferring telesurgical mentoring is the availability of a clear view of the site of incision on the patient's body for a remote surgeon.
- the camera should be easy to adjust and the platform on which it sits must be very mobile to remotely position the camera in various position via controlling the articulated arms.
- U.S. Pat No. 4,753,473 issued to Arnett describes about a telesurgical gripper for robotic apparatus used for various applications.
- U.S. Pat No. 5,872,892 issued to Brown et al. describes a process and apparatus for imparting linear motion to tooling. The tooling is attached to a manipulator device having two different length arms.
- U.S. Pat No. 6,343,601 issued to Kiske et al. describes a mobile medical supply device with an anesthesia apparatus, with a plurality of supply and drain lines.
- U.S. Pat No. 4,778,329 issued to Phillips describes a robot with an arm and the movement of the arm defined in XY plane.
- U.S. Pat No. 5,971,572 issued to Rouchan a device for the angular positioning of a mass with respect to a horizontal support axis which includes a support arm intended to carry the mass and mounted such that it can be angularly displaced about the support axis.
- the present invention describes an articulated arm connected to a telesurgical mentoring platform which includes a wheeled base, a lower rack mounted on the base, an upper rack extending vertically upwards from the lower rack, display screens attached to the upper rack and a articulated arm extending from the upper portion of the upper rack.
- the telesurgical mentoring platform with an articulated arm as disclosed provides a number of advantages, including perioperative medical device support in the operating room, improved viewing angles and better image quality for doctors and others who are viewing remotely via the electronic display.
- the articulated arm would help in fine controlling of the position of the end effectuator (for example the end effectuator could be a pan tilt zoom camera, special surgery lighting device or the like)
- the portable platform can be maneuvered around the operating table there is no need for the use of ceiling booms to suspend equipment or the ceiling booms can be reserved for larger equipment that is otherwise too heavy to be supported by a floor standing unit.
- Another advantage includes gesture-based control of the pan-tilt-zoom camera for both the users in the operating room and the remote users can manipulate through the use of the tablet device.
- the platform provides the ability for users in the operating room and remote user to manipulate the flow of video, audio and data by toggling of video sources, selection of audio output source and selection of data sources.
- the stand portion of the unit can be used to store electronic equipment and it provides a centralized-on board computer that can be readily accessed by the surgeon and medical staff.
- the floor standing console can also be configured to deliver power and electronic connectivity to equipment.
- FIG. 1 is a front side, isometric view of a telesurgical mentoring platform with an articulated arm, according to embodiments of the present invention.
- FIG. 2 is a top plan view of the unit shown in FIG. 1 , according to embodiments of the present invention.
- FIG. 3 is a left side view of the unit shown in FIG. 1 , the right-side view being a mirror image thereof, according to embodiments of the present invention.
- FIG. 4 is a left side view of the unit shown in FIG. 1 and the articulated arm in a folded configuration.
- FIG. 5 is a system diagram of the unit shown in FIG. 1 .
- FIGS. 1 through 4 and described in the text below are adapted for telesurgical mentoring of operating room surgical procedures, including, but not limited to, orthopedic, spinal, interventional cardiology, peripheral vascular, Neuromodulation, orthopedic, urology and cardiac rhythm management procedures.
- the different components described in the invention may be made with tube metal or any other suitable material that can be used in a sterile environment such as an operating room.
- the term electronic display shall mean an electronic visual display, informally a screen, and a display device for presentation of images, text, or video transmitted electronically, without producing a permanent record.
- Electronic visual displays may include television sets, computer monitors, tablet computers, smartphones, and information appliances.
- on-board computer shall mean and represent practically any type of computer, computer system or other programmable electronic device having mobile computing capabilities, including a personal computer, a tablet computer, Personal Digital Assistant (PDA), Personal Information Manager (PIM), cellular telephone, smartphone, and the like.
- PDA Personal Digital Assistant
- PIM Personal Information Manager
- reference numeral label 100 designates a telesurgical mentoring platform with an articulated arm.
- Unit 100 has a wheeled base 110 with lockable swivel caster-wheels 112 , 114 , 116 , and 118 , a lower rack 120 , an upper rack 130 , electronic display 145 , electronic display with control capabilities 155 , articulated arm base 150 , articulated arm 160 , articulated head 170 , a first camera 175 , connector piece 180 , a handle 185 on the articulated arm and an end effectuator 190 .
- 200 and 300 represent the top plan view and side view respectively of the telesurgical platform.
- 400 represents a side view of the telesurgical platform with a compactly folded articulated arm.
- 500 represents a network diagram overview of the components of the telesurgical platform including various components.
- Imaging systems 510 A and 510 B are connected to a video mixer 520 .
- the two medical imaging inputs 510 A and 510 B allows for the ability to directly include the inputs from one or more medical imaging systems in the operating room (e.g., Fluoroscopy, Echocardiogram, Endoscope), encrypt their real-time view and transmit the view out to the remote user.
- the connection inputs can be DVI, HDMI or SDI.
- Cameras 530 A and 530 B also input their recordings into the video mixer 520 which is in turn is connected to a Video Frame Grabber 540 .
- the video mixer 520 allows the unit to toggle various video sources and provide multi-screen functionality (like full screen, split screen, tri-view, quad-view).
- a computer 550 takes input from video frame grabber 540 and the videos can be processed on a monitor 570 or a tablet 590 .
- the output of monitor 570 can be in the form of a HDMI monitor output, which allows for the monitor of the unit to be mirrored to existing monitors in the operating room.
- the computer 550 is also connected to a blue tooth headsets 560 A and 560 B.
- An ethernet connection 555 is linked to the computer, which allows for connecting to the internet. All the above components are powered by a power supply 580 connected to a main power supply 590 .
- the medical power supply 580 and 590 allows the unit to operate without being plugged in for a specified period of time without disruption.
- four rolling lockable caster wheels are used with the base 110 .
- Three wheels 112 , 114 , and 116 are shown in FIG. 1 , while the fourth wheel 118 can be visualized in FIG. 2 .
- the specific structural and material configurations of the base 110 and caster wheels 112 , 114 , 116 , and 118 are exemplary only. Other design configurations and any number of caster wheels may be used that generally fall within the spirit and scope of the present invention.
- base 110 is connected to lower rack 120 which is in turn connected to the upper rack 130 .
- an articulated arm 160 is attached to the upper rack of the telesurgical platform as shown in shown in FIGS. 1-4 .
- the lower rack 120 can be of hollow construction resembling a lockable cabinet to accommodate a medical power supply, a quad core computer or a video input converter.
- the lower rack 120 may also host accessories required for Bluetooth technology headsets ( 560 A and 560 B), keyboards, mouse and the like.
- a handle or hook can be attached to the lower rack 120 for holding on to single use sterile covers for the different electronic accessories.
- articulated arm 160 is exemplary only. Other design configurations and any number of arms may be used that generally fall within the spirit and scope of the present disclosure.
- the articulated arm 160 is capable of swinging in a horizontal plane extending from the articulated arm base 150 at the top portion of the upper rack.
- the articulated arm head 170 is connected to a connector piece 180 of varying length which has an end effectuator 190 connected at the distal end.
- the articulated arm head 170 is also equipped with the capability of swinging the articulated arm 160 and the connector piece 180 in a horizontal plane extending from the articulated head.
- the freedom for swinging the articulated arm and the connector piece in a horizontal plane makes way for the compact folding feature of the articulated arm as shown in FIG. 4 .
- the end effectuator can be a pan tilt zoom camera or a special surgery lighting device or the like. By controlling the position of the articulated arm and articulated head the position of the end effectuator can be maneuvered easily to infinitival incremental desired positions for focusing the end effectutor to the area of interest.
- the lower rack hosts the control unit, which includes an on-board computer, power supply and control lines junction, with the control lines further connecting the electronic display with control capabilities to the articulated arm and articulated head components. Venting interfaces are provided on specific areas to allow airflow, circulation and prevent overheating.
- the fixed camera 175 on the unit directly below 150 assists in a 360-degree visualization of the operating room and camera 190 on an articulating arm 180 allows for a direct view of the surgical site and/or procedural back-table of medical instruments.
- the telesurgical platform includes an electronic display 145 and electronic display with control capabilities 155 .
- the electronic display 145 and 155 is a tablet computer with a mobile application installed for connection to the Internet over Wi-Fi or 4G, allowing operating room personnel to communicate securely with personnel who are in a remote location.
- the electronic display 145 or 155 may have touch-screen control or joy stick or any other form of controlling technique which falls in the scope of the invention.
- the on-board computer also typically receives a number of inputs and outputs for communicating information externally.
- the on-board computer typically includes one or more user-input devices (e.g.; a keyboard (not shown), a mouse (not shown), a microphone, or a tablet and an output unit or display (e.g.; an LCD display panel).
- a setup for the telesurgical mentoring platform can be described as follows.
- the end effectuator camera 190 can be connected to the on-board computer for transmitting a video stream to the on-board computer.
- the on-board computer can be capable of converting the video stream to an encrypted stream that may consist of, for example, 128-bit advanced encryption standard.
- the video stream may be communicated from the on-board computer through the Internet to a remote user via the electronic display 145 or 155 .
Abstract
Description
- This application claims the benefit of U.S. Provisional Patent Application No. 62/328,366, filed Apr. 27, 2016, entitled as “System, Apparatus and Methods for Telesurgical Mentoring Platform”, which is incorporated herein by reference in its entirety.
- The invention relates to the field of telesurgical mentoring platforms for surgeons and/or medical device representatives.
- Telesurgical mentoring platforms have evolved as an important subset of telemedicine, yet has remained an underutilized technique in the operating room.
- Telesurgical mentoring typically allows a more experienced surgeon to assist or direct another less experienced surgeon while is operating at a remote location. The benefit is that the more experienced surgeon can assist in a morning surgery in Miami and an afternoon surgery in Los Angeles, while never leaving his practice in New York.
- Doctors can also benefit from the advice of device manufacturers representatives during surgery. For example, a doctor that is installing a new type of stent may need some installation guidance from the manufacturer. The manufacturer's representative can provide this guidance without having to travel to the medical room.
- One of the primary requirements for conferring telesurgical mentoring is the availability of a clear view of the site of incision on the patient's body for a remote surgeon. When the local surgeon is working, the camera should be easy to adjust and the platform on which it sits must be very mobile to remotely position the camera in various position via controlling the articulated arms.
- The art in this field demonstrates a need for the continuous improvement on systems that can provide telesurgical mentoring. For example, U.S. Pat No. 4,753,473 issued to Arnett describes about a telesurgical gripper for robotic apparatus used for various applications. Also, U.S. Pat No. 5,872,892 issued to Brown et al. describes a process and apparatus for imparting linear motion to tooling. The tooling is attached to a manipulator device having two different length arms. U.S. Pat No. 6,343,601 issued to Kiske et al. describes a mobile medical supply device with an anesthesia apparatus, with a plurality of supply and drain lines. U.S. Pat No. 4,778,329 issued to Phillips describes a robot with an arm and the movement of the arm defined in XY plane.
- U.S. Pat No. 5,971,572 issued to Rouchan a device for the angular positioning of a mass with respect to a horizontal support axis which includes a support arm intended to carry the mass and mounted such that it can be angularly displaced about the support axis.
- Most of the articulated arms described in the prior art may be able to do the job of positioning the camera at various positions. But none of the above described articulated arms can move the camera dexterously by infinitely incremental positions. Even if they do so, they would require repeated manual adjustment which would become a labor-intensive task and would be cumbersome.
- Accordingly, there exists a need for an articulated arm for a medical mobile cart which can be easily maneuvered to infinitival location displacements and controlled efficiently from a remote location.
- The present invention describes an articulated arm connected to a telesurgical mentoring platform which includes a wheeled base, a lower rack mounted on the base, an upper rack extending vertically upwards from the lower rack, display screens attached to the upper rack and a articulated arm extending from the upper portion of the upper rack.
- The telesurgical mentoring platform with an articulated arm as disclosed provides a number of advantages, including perioperative medical device support in the operating room, improved viewing angles and better image quality for doctors and others who are viewing remotely via the electronic display.
- In addition, the articulated arm would help in fine controlling of the position of the end effectuator (for example the end effectuator could be a pan tilt zoom camera, special surgery lighting device or the like)
- Since the portable platform can be maneuvered around the operating table there is no need for the use of ceiling booms to suspend equipment or the ceiling booms can be reserved for larger equipment that is otherwise too heavy to be supported by a floor standing unit.
- Another advantage includes gesture-based control of the pan-tilt-zoom camera for both the users in the operating room and the remote users can manipulate through the use of the tablet device. In addition, the platform provides the ability for users in the operating room and remote user to manipulate the flow of video, audio and data by toggling of video sources, selection of audio output source and selection of data sources.
- Further, the stand portion of the unit can be used to store electronic equipment and it provides a centralized-on board computer that can be readily accessed by the surgeon and medical staff. The floor standing console can also be configured to deliver power and electronic connectivity to equipment.
- It should be understood that the summary above is provided to introduce in simplified form a selection of examples that are further described in the detailed description. It is not meant to identify key or essential features of any claimed subject matter that may later claim priority to the present description. Furthermore, the scope of any such claimed subject matter would not be limited to implementations that solve any disadvantages noted above or contained herein.
- These and other embodiments are described in more detail in the following detailed descriptions and the figures. The foregoing is not intended to be an exhaustive list of embodiments and features of the present invention. Persons skilled in the art are capable of appreciating other embodiments and features from the following detailed description in conjunction with the drawings.
- Many aspects of the present invention can be better understood with reference to the following drawings. The components in the drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the present invention. Moreover, in the drawings like reference numerals designate corresponding parts throughout several views.
-
FIG. 1 is a front side, isometric view of a telesurgical mentoring platform with an articulated arm, according to embodiments of the present invention. -
FIG. 2 is a top plan view of the unit shown inFIG. 1 , according to embodiments of the present invention. -
FIG. 3 is a left side view of the unit shown inFIG. 1 , the right-side view being a mirror image thereof, according to embodiments of the present invention. -
FIG. 4 is a left side view of the unit shown inFIG. 1 and the articulated arm in a folded configuration. -
FIG. 5 is a system diagram of the unit shown inFIG. 1 . -
- 100 Illustrates a perspective view of the telesurgical mentoring platform.
- 110 Wheeled Base
- 112, 114, 116, 118 Lockable swivel caster wheels
- 120 Lower rack
- 130 Upper rack
- 145 Electronic display
- 150 Articulated arm base
- 155 Electronic display with control capabilities
- 160 Articulated arm
- 170 Articulated head
- 175 Stationary Camera
- 180 Connecting piece
- 185 Control handle
- 190 End effectuator
- 200 Illustrates a top view of the telesurgical mentoring platform.
- 300 Illustrates a side view of the telesurgical mentoring platform.
- 400 Illustrates a side view of the telesurgical mentoring platform with a compactly folded articulated arm.
- 500 Illustrates a system diagram for the telesurgical mentoring platform.
- 510A and B Imaging Systems
- 520 Video Mixer
- 530A and B Cameras
- 540 Video Frame Grabber
- 550 Computer
- 560A and B Blue Tooth headsets
- 570 Monitor
- 580 Power Supply
- 590 Power mains
- The embodiments in this disclosure, as illustrated in
FIGS. 1 through 4 and described in the text below, are adapted for telesurgical mentoring of operating room surgical procedures, including, but not limited to, orthopedic, spinal, interventional cardiology, peripheral vascular, Neuromodulation, orthopedic, urology and cardiac rhythm management procedures. The different components described in the invention may be made with tube metal or any other suitable material that can be used in a sterile environment such as an operating room. - The term electronic display shall mean an electronic visual display, informally a screen, and a display device for presentation of images, text, or video transmitted electronically, without producing a permanent record. Electronic visual displays may include television sets, computer monitors, tablet computers, smartphones, and information appliances.
- The term on-board computer shall mean and represent practically any type of computer, computer system or other programmable electronic device having mobile computing capabilities, including a personal computer, a tablet computer, Personal Digital Assistant (PDA), Personal Information Manager (PIM), cellular telephone, smartphone, and the like.
- In a preferred embodiment, referring to
FIG. 1 ,reference numeral label 100 designates a telesurgical mentoring platform with an articulated arm.Unit 100 has awheeled base 110 with lockable swivel caster-wheels lower rack 120, anupper rack 130,electronic display 145, electronic display withcontrol capabilities 155, articulatedarm base 150, articulatedarm 160, articulatedhead 170, afirst camera 175,connector piece 180, ahandle 185 on the articulated arm and anend effectuator 190. - Referring to
FIG. 2 andFIGS. 3, 200 and 300 represent the top plan view and side view respectively of the telesurgical platform. Referring toFIG. 4, 400 represents a side view of the telesurgical platform with a compactly folded articulated arm. Referring toFIG. 5, 500 represents a network diagram overview of the components of the telesurgical platform including various components.Imaging systems video mixer 520. The twomedical imaging inputs Cameras video mixer 520 which is in turn is connected to aVideo Frame Grabber 540. Thevideo mixer 520 allows the unit to toggle various video sources and provide multi-screen functionality (like full screen, split screen, tri-view, quad-view). - A
computer 550 takes input fromvideo frame grabber 540 and the videos can be processed on amonitor 570 or atablet 590. The output ofmonitor 570 can be in the form of a HDMI monitor output, which allows for the monitor of the unit to be mirrored to existing monitors in the operating room. - The
computer 550 is also connected to ablue tooth headsets ethernet connection 555 is linked to the computer, which allows for connecting to the internet. All the above components are powered by apower supply 580 connected to amain power supply 590. Themedical power supply - In a non-limiting embodiment, four rolling lockable caster wheels are used with the
base 110. Threewheels FIG. 1 , while thefourth wheel 118 can be visualized inFIG. 2 . It should be appreciated by those of ordinary skill that the specific structural and material configurations of thebase 110 andcaster wheels - With continuing reference to
FIG. 1-4 ,base 110 is connected tolower rack 120 which is in turn connected to theupper rack 130. In a non-limiting embodiment, an articulatedarm 160 is attached to the upper rack of the telesurgical platform as shown in shown inFIGS. 1-4 . Thelower rack 120 can be of hollow construction resembling a lockable cabinet to accommodate a medical power supply, a quad core computer or a video input converter. Optionally thelower rack 120 may also host accessories required for Bluetooth technology headsets (560A and 560B), keyboards, mouse and the like. A handle or hook can be attached to thelower rack 120 for holding on to single use sterile covers for the different electronic accessories. - It should be appreciated by those of ordinary skill that the specific structural and material configurations of articulated
arm 160 is exemplary only. Other design configurations and any number of arms may be used that generally fall within the spirit and scope of the present disclosure. - The articulated
arm 160 is capable of swinging in a horizontal plane extending from the articulatedarm base 150 at the top portion of the upper rack. The articulatedarm head 170 is connected to aconnector piece 180 of varying length which has anend effectuator 190 connected at the distal end. The articulatedarm head 170 is also equipped with the capability of swinging the articulatedarm 160 and theconnector piece 180 in a horizontal plane extending from the articulated head. The freedom for swinging the articulated arm and the connector piece in a horizontal plane makes way for the compact folding feature of the articulated arm as shown inFIG. 4 . The end effectuator can be a pan tilt zoom camera or a special surgery lighting device or the like. By controlling the position of the articulated arm and articulated head the position of the end effectuator can be maneuvered easily to infinitival incremental desired positions for focusing the end effectutor to the area of interest. - In a non-limiting embodiment, the lower rack hosts the control unit, which includes an on-board computer, power supply and control lines junction, with the control lines further connecting the electronic display with control capabilities to the articulated arm and articulated head components. Venting interfaces are provided on specific areas to allow airflow, circulation and prevent overheating. The fixed
camera 175 on the unit directly below 150 assists in a 360-degree visualization of the operating room andcamera 190 on an articulatingarm 180 allows for a direct view of the surgical site and/or procedural back-table of medical instruments. - In another embodiment, the telesurgical platform includes an
electronic display 145 and electronic display withcontrol capabilities 155. In one exemplary embodiment, theelectronic display - In another preferred embodiment, referring to
FIGS. 1 and 3 , theelectronic display - The on-board computer also typically receives a number of inputs and outputs for communicating information externally. For interface with a user or operator, including doctors and medical staff, the on-board computer typically includes one or more user-input devices (e.g.; a keyboard (not shown), a mouse (not shown), a microphone, or a tablet and an output unit or display (e.g.; an LCD display panel).
- In a preferred embodiment, with respect to
FIGS. 1 through 3 , a setup for the telesurgical mentoring platform can be described as follows. Theend effectuator camera 190 can be connected to the on-board computer for transmitting a video stream to the on-board computer. In addition, the on-board computer can be capable of converting the video stream to an encrypted stream that may consist of, for example, 128-bit advanced encryption standard. The video stream may be communicated from the on-board computer through the Internet to a remote user via theelectronic display - The many aspects and benefits of the invention are apparent from the detailed description, and thus, it is intended for the following claims to cover all such aspects and benefits of the invention which fall within the scope and spirit of the invention. In addition, because numerous modifications and variations will be obvious and readily occur to those skilled in the art, the claims should not be construed to limit the invention to the exact construction and operation illustrated and described herein. Accordingly, all suitable modifications and equivalents should be understood to fall within the scope of the invention as claimed herein.
Claims (17)
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CN115643365A (en) * | 2022-12-26 | 2023-01-24 | 北京天智航医疗技术服务有限公司 | Remote operation control method and device and electronic equipment |
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