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
  • A61B34/32—Surgical robots operating autonomously
• • 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
• • 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
  • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
• • 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
  • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• • 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
  • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• • 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
  • A61B2090/363—Use of fiducial points
• • 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
  • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
  • A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
  • A61B2090/3975—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active
  • A61B2090/3979—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active infrared
• • 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

Definitions

• Robotic surgical systems such as teleoperative systems are used to perform minimally invasive surgical procedures that offer many benefits over traditional open surgery techniques, including less pain, shorter hospital stays, quicker return to normal activities, minimal scarring, reduced recovery time, and less injury to tissue.
• Robotic surgical systems can have a number of robotic arms that move attached instruments or tools, such as an image capturing device, a stapler, an electrosurgical instrument, etc., in response to movement of input devices by a surgeon viewing images captured by the image capturing device of a surgical site.
• instruments or tools such as an image capturing device, a stapler, an electrosurgical instrument, etc.
• each of the tools may be inserted through an opening, e.g., a laparoscopic port, into the patient and positioned to manipulate tissue at a surgical site.
• the openings are placed about the patient's body so that the surgical instruments may be used to cooperatively perform the surgical procedure and the image capturing device may view the surgical site.
• the tools are manipulated in multiple degrees of freedom by a clinician.
• the clinician In order to manipulate the tool through the laparoscopic port, the clinician has to position the robotic arm correctly to facilitate insertion and/or removal of the tool.
• obtaining the correct position may be a relatively time consuming step.
• manual positioning of the robotic arm by the clinician adds further time and complexity to this step of the surgical procedure.
• the present disclosure relates generally to guiding of a robotic surgical system and, in particular, guiding a robotic arm of the robotic surgical system to automatically insert and/or remove tools through an opening or laparoscopic port.
• a robotic surgical system includes at least one robot arm, at least one instrument coupled to the robot arm, and a plurality of drive motors configured to drive the at least one robot arm and at least one instrument.
• the system also includes a laparoscopic port having a plurality of fiducials and a sensor configured to detect the plurality of fiducials.
• a controller that is configured to control the plurality of drive motors includes a processor configured to determine a current distance between each fiducial among the plurality of fiducials, determine a location of the laparoscopic port based on the distance between each fiducial, determine a position of the at least one robot arm and the at least one instrument relative to the location of the laparoscopic port, and control the plurality of drive motors to align the at least one robot arm or the at least one instrument with the laparoscopic port.
• the processor is also configured to obtain a predetermined distance between each fiducial among the plurality of fiducials and obtain a predetermined distance between each fiducial and the laparoscopic port.
• the processor may determine the location of the laparoscopic port based on the current distance between each fiducial among the plurality of fiducials, the predetermined distance between each fiducial among the plurality of fiducials, and the predetermined distance between each fiducial and the laparoscopic port.
• the processor is configured to obtains a length of the at least one instrument and a length of the at least one robot arm.
• Control of the plurality of drive motors may be based on the position of the at least one robot arm and the at least one instrument relative to the location of the laparoscopic port, the length of the at least one instrument, and the length of the at least one robot arm.
• the plurality of fiducials is active light emitting diodes.
• the robotic surgical system includes a light source configured to emit light directed at the plurality of fiducials.
• the plurality of fiducials may include a reflective material and the light emitted from the light source may be reflected by the plurality of fiducials and detected by the sensor.
• a method for guiding a robot arm and/or instrument toward a laparoscopic port includes determining a current distance between each fiducial among a plurality of fiducials disposed around the laparoscopic port and determining a location of the laparoscopic port based on the distance between each fiducial.
• the method also includes determining a position of the robot arm and the instrument relative to the location of the laparoscopic port and controlling a plurality of drive motors associated with the robot arm and the instrument to align the robot arm or the instrument with the laparoscopic port.
• the method includes obtaining a predetermined distance between each fiducial among the plurality of fiducials and obtaining a predetermined distance between each fiducial and the laparoscopic port.
• the method also includes determining the location of the laparoscopic port based on the current distance between each fiducial among the plurality of fiducials, the predetermined distance between each fiducial among the plurality of fiducials, and the predetermined distance between each fiducial and the laparoscopic port.
• the method includes obtaining a length of the instrument and obtaining a length of the robot arm. Controlling the plurality of drive motors is based on the position of the robot arm and the instrument relative to the location of the laparoscopic port, the length of the instrument, and the length of the robot arm.
• FIG. 1 is a schematic illustration of a user interface and a robotic system of a robotic surgical system in accordance with the present disclosure
• FIG. 2A is a top view of a laparoscopic port in accordance with the present disclosure
• FIG. 2B is a perspective view of a portion of robotic arm of the robot system of Fig.
• FIG. 3 A is a perspective view of an exemplary outside-looking-in optical system in accordance with the present disclosure
• Fig. 3B is a perspective view of an exemplary inside-looking-out optical system in accordance with the present disclosure
• FIG. 3C is a perspective view of an exemplary optical system in accordance with the present disclosure including sensors disposed about an operating theater;
• Fig. 4 is a flowchart depicting operation of an automated guidance system of the present disclosure including an optical system of Fig. 3A, 3B, or 3C.
• the present disclosure is directed to systems and methods for guiding one or more robotic arms in a robotic surgical system utilizing images captured during a surgical procedure.
• Image data captured during a surgical procedure may be analyzed to guide a robotic arm having a device or tool coupled thereto to insert and/or remove the tool from a laparoscopic port.
• one or more laparoscopic ports have three (3) fiducials, e.g., active infrared light emitting diodes (LEDs), with known distances between the fiducials and known distances between the fiducials and a center of the laparoscopic port.
• fiducials e.g., active infrared light emitting diodes (LEDs)
• each fiducial may be analyzed using motion analyzing techniques to establish a plane defined by the fiducials and establish the steps necessary to move the robot arm in position.
• the position of the center of the laparoscopic port relative to the three (3) fiducials determines where to insert and/or remove the tool, and an orientation angle for the tool.
• aligning and orienting the robotic arm to insert and/or remove the tool through the laparoscopic port relies on one or more variables.
• the variable(s) may include, but is/are not limited to, distance(s) between three (3) or more fiducials, distance(s) between the fiducials and the center of the laparoscopic port, the port plane defined by the fiducials, and/or the length of the interchangeable tool and robotic arm.
• the systems described herein permit quicker installation of robotic instrumentation into laparoscopic ports, less intervention on the part of a clinician during a surgical procedure, and/or potentially lower incidents of impact with a laparoscopic port site.
• a robotic surgical system 100 may be employed with one or more consoles 102 that are next to the operating theater or located in a remote location.
• one team of clinicians or nurses may prep the patient for surgery and configure the robotic surgical system 100 with one or more tools 104 while another clinician (or group of clinicians) remotely controls the instruments via the robotic surgical system.
• a highly skilled clinician may perform multiple operations in multiple locations without leaving his/her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.
• the robotic arms 106 of the surgical system 100 are typically coupled to a pair of master handles 108 by a controller 110.
• Controller 110 may be integrated with the console 102 or provided as a standalone device within the operating theater.
• the handles 106 can be moved by the clinician to produce a corresponding movement of the working ends of any type of tools 104 (e.g., probes, mechanical or electrosurgical end effectors, graspers, knifes, scissors, etc.) attached to the robotic arms 106.
• tools 104 e.g., probes, mechanical or electrosurgical end effectors, graspers, knifes, scissors, etc.
• tool 104 may be a probe that includes an image capture device.
• the console 102 includes a display device 112 which is configured to display two- dimensional or three-dimensional images.
• the display device 112 displays the images of the surgical site which may include data captured by tool 104 positioned on the ends 114 of the arms 106 and/or include data captured by imaging devices that are positioned about the surgical theater (e.g., an imaging device positioned within the surgical site, an imaging device positioned adjacent the patient, imaging device positioned at a distal end of an imaging arm).
• the imaging devices may capture visual images, infra-red images, ultrasound images, X-ray images, thermal images, and/or any other known real-time images of the surgical site.
• the imaging devices transmit captured imaging data to the controller 110 which creates the images of the surgical site in realtime from the imaging data and transmits the images to the display device 112 for display.
• the movement of the master handles 108 may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the clinician.
• the scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s) 104.
• the master handles 108 are operated by a clinician to produce a corresponding movement of the robotic arms 106 and/or surgical instruments 104.
• the master handles 108 provide a signal to the controller 110 which then provides a corresponding signal to one or more drive motors 114.
• the one or more drive motors 114 are coupled to the robotic arms 106 in order to move the robotic arms 106 and/or surgical instruments 104.
• the master handles 108 may include various haptics 116 to provide feedback to the clinician relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such haptics 116 provide the clinician with enhanced tactile feedback simulating actual operating conditions.
• the haptics 116 may include vibratory motors, electroactive polymers, piezoelectric devices, electrostatic devices, subsonic audio wave surface actuation devices, reverse-electrovibration, or any other device capable of providing a tactile feedback to a user.
• the master handles 108 may also include a variety of different actuators (not shown) for delicate tissue manipulation or treatment further enhancing the clinician's ability to mimic actual operating conditions.
• the controller 110 includes a transceiver 118 and a processor 120.
• Transceiver 118 receives a signal from infrared sensors 122 which will be described in more detail below. The signal from infrared sensors may be transmitted to transceiver 118 via any conventional wired or wireless methods.
• Transceiver 118 provides the signal to a motion analysis unit 124 in processor 120 which performs a motion analysis on the signal in order to control the one or more drive motors 114 to move the robotic arms 106 and/or surgical instruments 104 into the correct position and/or orientation.
• a memory 126 may store an algorithm used to perform the motion analysis. In some embodiments, memory 126 may store a look up table (LUT) that includes information pertaining to instruments 104, robot arms 106, and laparoscopic ports discussed below.
• LUT look up table
• infrared sensors receive light from infrared light sources.
• the infrared sensors may be disposed on the robotic arm 106, the surgical instrument 104, the laparoscopic port 130, or may be disposed anywhere in the surgical environment.
• the infrared light sources may be incorporated in the robotic arm 106, the surgical instrument 104, the laparoscopic port 130, or may be disposed anywhere in the surgical environment.
• the laparoscopic port 130 has at least three (3) port fiducials 132a-c positioned in a port plane about a port opening 131 of the laparoscopic port 130.
• the port plane may be defined by an outer surface 133 (Fig. 3A) of the laparoscopic port 130.
• the port fiducials 132a-c are positioned about the port opening 131 with distances D1-3 between the port fiducials 132a-c and distances P1-3 between the port fiducials 132a-c and a center "X" of the port opening 131 being known.
• the robotic arm 106 has at least three (3) arm fiducials 107a- c positioned in an arm plane orthogonal to a longitudinal axis of the robotic arm 106.
• the arm plane may be defined by a distal surface 103 of the robotic arm 106. Similar to the port fiducials 132a-c, distances between the arm fiducials 107a-c and distances between each of the arm fiducials 107a-c and the longitudinal axis of the robotic arm 106 are known.
• Fig. 3 A an outside-looking-in optical system is shown according to an embodiment of the present disclosure including the robotic arm 106 and the laparoscopic port 130.
• the port fiducials 132a-c of laparoscopic port 130 are infrared light sources (e.g., active infrared light emitting diodes (LEDs)) which each emit infrared light IL1-3 having a distinctive characteristic (e.g., wavelength, phase) and the arm fiducials 107a-c are infrared sensors (e.g., infrared cameras) in communication with the transceiver 118 (FIG. 1).
• LEDs active infrared light emitting diodes
• the arm fiducials 107a-c determine the time it takes for infrared light (e.g., IL1-3) from the port fiducials 132a-c to reach the respective arm fiducial 107a-c and provides a signal indicative of the time to motion analysis unit 124.
• infrared light e.g., IL1-3
• an inside-looking-out optical system is shown according to an embodiment of the present disclosure including the robotic arm 106 and the laparoscopic port 130.
• the at least three (3) arm fiducials 107a-c are infrared light sources (e.g., active infrared light emitting diodes (LEDs)) which each emit infrared light EL1-3 having a distinctive characteristic (e.g., wavelength, phase) and the at least three (3) of laparoscopic port 130 are infrared sensors (e.g., infrared cameras) in communication with the transceiver 118 (FIG. 1).
• LEDs active infrared light emitting diodes
• the port fiducials 132a-c determine the time it takes for the infrared light (e.g., EL1-3) from the arm fiducials 107a-c to reach the respective port fiducial 132a-c and provides a signal indicative of the motion analysis unit 124.
• the infrared light e.g., EL1-3
• a fixed optical system is shown according to an embodiment of the present disclosure including the robotic arm 106 and the laparoscopic port 130.
• at least three (3) infrared sensors 192a-c are positioned about the operating theater and are in communication with the transceiver 118 (FIG. 1).
• the port fiducials 132a-c of laparoscopic port 130 are infrared light sources (e.g., active infrared light emitting diodes (LEDs)) which each emit infrared light IL1-3 having a distinctive characteristic (e.g., wavelength, phase) and the arm fiducials 107a-c and the arm fiducials 107a-c are infrared light sources (e.g., active infrared light emitting diodes (LEDs)) which each emit infrared light EL1-3 having a distinctive characteristic (e.g., wavelength, phase).
• LEDs active infrared light emitting diodes
• the positions of the infrared sensors 192a-c within the operating theater are known such that the position of the arm and port fiducials 107a-c, 132a-c relative to the infrared sensors 192a-c can be determined as detailed below.
• the infrared sensors 192a-c determine the time it takes for infrared light (e.g., IL1-3 or ELi- 3) from the arm fiducials 107a-c and the port fiducials 132a-c to reach the respective infrared sensor 192a-c and provides a signal indicative of the time to motion analysis unit 124.
• infrared light e.g., IL1-3 or ELi- 3
• the motion analysis unit 124 determines the position of the robotic arm 106 relative to the laparoscopic port 130 based on signals from the fiducials 107a-c, 132a-c.
• Fig. 4 will be described while making references to Figs. 1-3 A.
• a user enters a laparoscopic port identification number in step s202.
• the motion analysis unit queries the memory 126 in step s204 to obtain the distances between port fiducials 132a-c (Di, D 2 , and D 3 as shown in Fig.
• an instrument identification number is obtained.
• the instrument identification number of an instrument 104 coupled to the robotic arm 106 may be obtained via a user input or it may be obtained from an integrated circuit (IC) included in the instrument 104.
• the length of the instrument 104 is obtained based on the instrument identification number, either from the memory 124 or the IC included in the instrument 104.
• a robot arm identification number is obtained.
• the robot arm identification number may be obtained via a user input or it may be obtained from an IC included in the robot arm 106.
• the geometry of the robot arm 106 is obtained based on the robot arm identification number, either from memory 124 or the IC included in the robot arm 106.
• step s214 the motion analysis unit 124 receives signals from the arm fiducials
• the motion analysis unit 124 uses three-dimensional spherical trilateration to determine the distance between each of the port fiducials 132a-c and each of the arm fiducials 107a-c in step s216.
• step s218 the distances between each of the port fiducials 132a-c relative to each of the arm fiducials 107a-c, the port plane defined by the port fiducials 132a-c is determined relative to the arm fiducials 107a-c.
• the at least three port fiducials are required to define the port plane relative to the arm fiducials 107a-c which can be determined as follows:
• the arm fiducials 107a-c are sensors and the port fiducials 132a- c are light sources.
• the arm fiducials 107a-c can be light sources and the port fiducials 132a-c can be sensors in communication with the motion analysis unit 124.
• the arm and port fiducials 107a-c, 132a-c can be light sources and the sensors 192a-c can be sensors in communication with the motion analysis unit 124.
• the motion analysis unit 124 determines the port center "X" on the port plane from the position of the three arm fiducials 107a-c. To determine the port center "X”, the motion analysis unit 124 solves the following system of equations:
• step s220 from the position of the port fiducials 132a-c and the port center "X", a vector "V" normal to the port plane defined by the port fiducials 132a-c and passing through the port center "X" provides the orientation of the port opening 131 relative to the arm fiducials 107a- c.
• step s222 the motion analysis unit 124 determines the current position of the robot arm 106 and the instrument 104 relative to the laparoscopic port 130. To determine the current position of the instrument 104, the motion analysis unit 124 can use inverse kinematics based on the known geometry of links of the robot arm 106, the instrument 104, and measured angles between the links of the robot arm 106.
• step s224 the length of the instalment 104 obtained in step s208, the geometry of the robot arm 106 obtained in steps s212, the location of the laparoscopic port 130 determined in step s220, and the current position of the robot arm 106 (e.g., angles between links) and the instrument 104 determined in step s222 are used to determine how to control the drive motors 114 in order to align the instrument 104 with the vector "V" so that the robot arm 106 and/or instrument 104 may be inserted and/or removed from the laparoscopic port 130.
• step s226 the drive motors 114 are controlled to perform insertion and/or removal of the instrument 104.
• a phrase in the form "A or B” means “(A), (B), or (A and B)".
• a phrase in the form "at least one of A, B, or C” means “(A), (B), (C), (A and B), (A and C), (B and C), or (A, B and C)”.
• a clinician may refer to a surgeon or any medical professional, such as a doctor, nurse, technician, medical assistant, or the like performing a medical procedure.
• the systems described herein may also utilize one or more controllers to receive various information and transform the received information to generate an output.
• the controller may include any type of computing device, computational circuit, or any type of processor or processing circuit capable of executing a series of instructions that are stored in a memory.
• the controller may include multiple processors and/or multicore central processing units (CPUs) and may include any type of processor, such as a microprocessor, digital signal processor, microcontroller, or the like.
• the controller may also include a memory to store data and/or algorithms to perform a series of instructions.
• the systems described herein utilize optical or visual motion tracking technology; however, it is envisioned that other motion tracking technologies can be used in place of or in conjunction with the optical motion tracking technologies detailed above including, but not limited to, accelerometer, gyroscopic, ultrasound, magnetic, radio frequency, or other light based (e.g., laser) motion tracking technologies.
• a "Programming Language” and “Computer Program” includes any language used to specify instructions to a computer, and includes (but is not limited to) these languages and their derivatives: Assembler, Basic, Batch files, BCPL, C, C+, C++, Delphi, Fortran, Java, JavaScript, Machine code, operating system command languages, Pascal, Perl, PL1, scripting languages, Visual Basic, metalanguages which themselves specify programs, and all first, second, third, fourth, and fifth generation computer languages. Also included are database and other data schemas, and any other metalanguages.
• any of the herein described methods, programs, algorithms or codes may be contained on one or more machine-readable media or memory.
• the term "memory" may include a mechanism that provides (e.g., stores and/or transmits) information in a form readable by a machine such a processor, computer, or a digital processing device.
• a memory may include a read only memory (ROM), random access memory (RAM), magnetic disk storage media, optical storage media, flash memory devices, or any other volatile or non-volatile memory storage device.
• Code or instructions contained thereon can be represented by carrier wave signals, infrared signals, digital signals, and by other like signals.

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• Health & Medical Sciences (AREA)
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• Life Sciences & Earth Sciences (AREA)
• Engineering & Computer Science (AREA)
• Medical Informatics (AREA)
• Biomedical Technology (AREA)
• Heart & Thoracic Surgery (AREA)
• Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
• Molecular Biology (AREA)
• Animal Behavior & Ethology (AREA)
• General Health & Medical Sciences (AREA)
• Public Health (AREA)
• Veterinary Medicine (AREA)
• Robotics (AREA)
• Oral & Maxillofacial Surgery (AREA)
• Pathology (AREA)
• Manipulator (AREA)

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• 2018
  • 2018-05-07 CN CN201880034162.3A patent/CN110662507A/zh active Pending
  • 2018-05-07 US US16/615,226 patent/US11839441B2/en active Active
  • 2018-05-07 JP JP2019564842A patent/JP2020520745A/ja active Pending
  • 2018-05-07 EP EP18806526.2A patent/EP3629980A4/en not_active Withdrawn
  • 2018-05-07 WO PCT/US2018/031302 patent/WO2018217431A1/en not_active Ceased

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