EP4076259A4 - Robotic surgical systems with user engagement monitoring - Google Patents

Robotic surgical systems with user engagement monitoring Download PDF

Info

Publication number
EP4076259A4
EP4076259A4 EP19956887.4A EP19956887A EP4076259A4 EP 4076259 A4 EP4076259 A4 EP 4076259A4 EP 19956887 A EP19956887 A EP 19956887A EP 4076259 A4 EP4076259 A4 EP 4076259A4
Authority
EP
European Patent Office
Prior art keywords
robotic surgical
user engagement
surgical systems
engagement monitoring
monitoring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19956887.4A
Other languages
German (de)
French (fr)
Other versions
EP4076259A1 (en
Inventor
William Peine
Steven Levine
Albert Dvornik
Mantena RAJU
Chen Chen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Covidien LP
Original Assignee
Covidien LP
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Covidien LP filed Critical Covidien LP
Publication of EP4076259A1 publication Critical patent/EP4076259A1/en
Publication of EP4076259A4 publication Critical patent/EP4076259A4/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A61B2017/00123—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation and automatic shutdown
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/502—Headgear, e.g. helmet, spectacles
EP19956887.4A 2019-12-17 2019-12-17 Robotic surgical systems with user engagement monitoring Pending EP4076259A4 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2019/066735 WO2021126163A1 (en) 2019-12-17 2019-12-17 Robotic surgical systems with user engagement monitoring

Publications (2)

Publication Number Publication Date
EP4076259A1 EP4076259A1 (en) 2022-10-26
EP4076259A4 true EP4076259A4 (en) 2023-09-20

Family

ID=72255213

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19956887.4A Pending EP4076259A4 (en) 2019-12-17 2019-12-17 Robotic surgical systems with user engagement monitoring

Country Status (3)

Country Link
EP (1) EP4076259A4 (en)
CN (1) CN111616803B (en)
WO (1) WO2021126163A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115397343A (en) * 2020-04-21 2022-11-25 柯惠Lp公司 Hand detection for robotic surgical systems
US20220233253A1 (en) * 2021-01-22 2022-07-28 Ethicon Llc Situation adaptable surgical instrument control
US11682487B2 (en) 2021-01-22 2023-06-20 Cilag Gmbh International Active recognition and pairing sensing systems
US11694533B2 (en) 2021-01-22 2023-07-04 Cilag Gmbh International Predictive based system adjustments based on biomarker trending
CN115227390B (en) * 2022-06-30 2023-03-28 中国科学院自动化研究所 Robot main manipulator

Citations (4)

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WO2018179749A1 (en) * 2017-03-27 2018-10-04 Sony Corporation Surgical imaging system, image processing apparatus for surgery, and method for controlling an imaging procedure
WO2019099584A1 (en) * 2017-11-15 2019-05-23 Intuitive Surgical Operations, Inc. Master control device and methods therefor
WO2019152771A1 (en) * 2018-02-02 2019-08-08 Covidien Lp Robotic surgical systems with user engagement monitoring
JP2019526315A (en) * 2016-08-12 2019-09-19 インテュイティブ サージカル オペレーションズ， インコーポレイテッド System and method for on-screen menu in teleoperated medical system

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WO2009120992A2 (en) * 2008-03-27 2009-10-01 St. Jude Medical, Arrial Fibrillation Division Inc. Robotic castheter system input device
US8682489B2 (en) * 2009-11-13 2014-03-25 Intuitive Sugical Operations, Inc. Method and system for hand control of a teleoperated minimally invasive slave surgical instrument
US8935003B2 (en) * 2010-09-21 2015-01-13 Intuitive Surgical Operations Method and system for hand presence detection in a minimally invasive surgical system
CN102647955B (en) * 2009-11-13 2017-02-08 直观外科手术操作公司 Apparatus for hand gesture control in a minimally invasive surgical system
IT1401669B1 (en) * 2010-04-07 2013-08-02 Sofar Spa ROBOTIC SURGERY SYSTEM WITH PERFECT CONTROL.
JP6053933B2 (en) * 2012-11-29 2016-12-27 オリンパス株式会社 TREATMENT TOOL, MANIPULATOR SYSTEM, AND TREATMENT TOOL OPERATION METHOD
CN106232048B (en) * 2014-04-24 2019-05-03 柯惠Lp公司 Robot interface's positioning determining system and method
EP3245975A4 (en) * 2015-01-16 2018-08-01 Olympus Corporation Operation input device and medical manipulator system
US10908681B2 (en) * 2015-02-20 2021-02-02 Covidien Lp Operating room and surgical site awareness
CA2895868A1 (en) * 2015-06-30 2016-12-30 Unipi Canada Inc. Construction system for permanent scalable modular buildings capable of being disassembled
US11058504B2 (en) * 2016-06-03 2021-07-13 Covidien Lp Control arm assemblies for robotic surgical systems
CN106695736A (en) * 2016-07-04 2017-05-24 浙江理工大学 Gesture identification human-simulated mechanical arm system based on multi-sensor fusion and synchronizing method
WO2019050729A1 (en) * 2017-09-05 2019-03-14 Covidien Lp Robotic surgical systems and methods and computer-readable media for controlling them
US11612450B2 (en) * 2017-09-05 2023-03-28 Covidien Lp Camera control for surgical robotic systems
US10426561B1 (en) * 2018-10-30 2019-10-01 Titan Medical Inc. Hand controller apparatus for detecting input position in a robotic surgery system

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2019526315A (en) * 2016-08-12 2019-09-19 インテュイティブ サージカル オペレーションズ， インコーポレイテッド System and method for on-screen menu in teleoperated medical system
WO2018179749A1 (en) * 2017-03-27 2018-10-04 Sony Corporation Surgical imaging system, image processing apparatus for surgery, and method for controlling an imaging procedure
WO2019099584A1 (en) * 2017-11-15 2019-05-23 Intuitive Surgical Operations, Inc. Master control device and methods therefor
WO2019152771A1 (en) * 2018-02-02 2019-08-08 Covidien Lp Robotic surgical systems with user engagement monitoring

Also Published As

Publication number Publication date
EP4076259A1 (en) 2022-10-26
CN111616803A (en) 2020-09-04
CN111616803B (en) 2023-08-15
WO2021126163A1 (en) 2021-06-24

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