WO2025210508A1

WO2025210508A1 - Surgical robotic system with suture assist mode

Info

Publication number: WO2025210508A1
Application number: PCT/IB2025/053412
Authority: WO
Inventors: Banamali MISHRA
Original assignee: Covidien LP
Current assignee: Covidien LP
Priority date: 2024-04-02
Filing date: 2025-04-01
Publication date: 2025-10-09
Anticipated expiration: 2026-10-02

Abstract

A surgical robotic system includes a display screen for displaying a graphical user interface (GUI) for selecting a suture pattern from a plurality of suture patterns, a surgical robotic arm including a suturing instrument, and a controller for receiving the selected suture pattern and controlling the surgical robotic arm and the suturing instrument to form the selected suture pattern.

Description

SURGICAL ROBOTIC SYSTEM WITH SUTURE ASSIST MODE

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63/573,060, filed April 2, 2024, the entire content of which is incorporated herein by reference.

BACKGROUND

[0002] Surgical robotic systems are currently being used in a variety of medical procedures, including minimally invasive surgical procedures. Some surgical robotic systems include a surgeon console controlling a surgical robotic arm and a surgical instrument having an end effector (e.g., forceps or grasping instrument) coupled to and actuated by the robotic arm. In operation, the robotic arm is moved to a position over a patient and then guides the surgical instrument into a small incision via a surgical port or a natural orifice of a patient to position the end effector at a work site within the patient’s body. A variety of different types of instruments are used with surgical robotic systems that are designed to perform specific functions, such as suturing, during minimally invasive robotically assisted surgical procedures.

SUMMARY

[0003] According to one embodiment of the present disclosure, a surgical robotic system is disclosed. The surgical robotic system includes a display screen for displaying a graphical user interface (GUI) for selecting a suture pattern from a plurality of suture patterns, a surgical robotic arm including a suturing instrument, and a controller for receiving the selected suture pattern and controlling the surgical robotic arm and the suturing instrument to form the selected suture pattern.

[0004] Implementations of the above embodiment may include one or more of the following features. According to one aspect of the above embodiment, the GUI may include a menu listing the plurality of suture patterns. Each suture pattern of the plurality of suture patterns may include an icon and name. The GUI may enable selection of a manual suturing mode or an automatic suturing mode. The GUI may also receive user input for identifying a starting point and an ending point of the selected suture pattern. The controller may insert a plurality of middle points between the starting point and the ending point based on the selected suture pattern. The surgical robotic system may also include a laparoscopic camera for capturing a video feed of a surgical site and the suturing instrument, and an image processing device for processing the video feed and displaying the video feed on the display screen. The controller may further output the plurality of middle points as overlays on the video feed. The suturing instrument may be a suturing instrument, a needle driver instrument, or a grasper instrument.

[0005] According to another embodiment of the present disclosure, a method for robotically assisted suturing is disclosed. The method includes displaying on a display screen a graphical user interface (GUI) for selecting a suture pattern from a plurality of suture patterns and receiving the selected suture pattern as input at a controller. The method also includes controlling via the controller a surgical robotic arm including a suturing instrument to form the selected suture pattern.

[0006] Implementations of the above embodiment may include one or more of the following features. According to one aspect of the above embodiment, displaying the GUI further includes displaying a menu listing the plurality of suture patterns. Each suture pattern of the plurality of suture patterns listed in the menu may include an icon and name. The GUI enables selection of a manual suturing mode or an automatic suturing mode. The method may also include receiving user input for identifying a starting point and an ending point of the selected suture pattern. The method may further include inserting a plurality of middle points between the starting point and the ending point based on the selected suture pattern. The method may additionally include capturing a video feed of a surgical site and the suturing instrument using a laparoscopic camera; and processing the video feed at an image processing device for and displaying the video feed on the display screen. The method may further include outputting the plurality of middle points as overlays on the video feed. The suturing instrument may be one of a suturing instrument, a needle driver instrument, or a grasper instrument.

[0007] According to a further embodiment of the present disclosure, .a surgical robotic system is disclosed. The surgical robotic system includes a surgical robotic arm having a suturing instrument configured to form a suture pattern in tissue and a surgeon console configured to receive a user input to control the surgical robotic arm and the suturing instrument to form an initial portion of the suture pattern. The system also includes a laparoscopic camera configured to capture an image of an initial portion of the suture pattern; a controller configured to: analyze the image of the initial portion of the suture patern using an artificial intelligence or machine learning patern recognition software and recommend at least one continuation of the suture patern based on analysis of the initial portion of the suture patern. The controller is further configured to receive a user selection of the at least one continuation of the suture patern and automatically control the surgical robotic arm and the suturing instrument to form the at least one continuation suture patern in response to the user selection.

[0008] Implementations of the above embodiment may include one or more of the following features. According to one aspect of the above embodiment, the surgical robotic system may also include a display screen for displaying a graphical user interface (GUI) for selecting a suture patern from a plurality of suture paterns.

BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Various embodiments of the present disclosure are described herein with reference to the drawings, wherein:

[0010] FIG. 1 is a perspective view of a surgical robotic system including a control tower, a console, and one or more surgical robotic arms, each disposed on a movable cart according to an embodiment of the present disclosure;

[0011] FIG. 2 is a perspective view of a surgical robotic arm of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;

[0012] FIG. 3 is a perspective view of a movable cart having a setup arm with the surgical robotic arm of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;

[0013] FIG. 4 is a schematic diagram of a computer architecture of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;

[0014] FIG. 5 is a plan schematic view of movable carts of FIG. 1 positioned about a surgical table according to an aspect of the present disclosure;

[0015] FIG. 6 is a perspective view, with parts separated, of an instrument drive unit and a surgical instrument according to an embodiment of the present disclosure;

[0016] FIG. 7 is a perspective view of a suturing instrument according to one embodiment of the present disclosure;

[0017] FIG. 8 is a top view of a needle driver instrument and a grasper instrument according to one embodiment of the present disclosure; [0018] FIG. 9 is a flow chart of a method for a robotic suture assistance mode according to one embodiment of the present disclosure;

[0019] FIG. 10 is a first view graphical user interface (GUI) for the robotic suture assistance mode according to one embodiment of the present disclosure;

[0020] FIG. 11 is a second view of the GUI for the robotic suture assistance mode according to one embodiment of the present disclosure; and

[0021] FIG. 12 is a schematic diagram of a system for determining phases of a surgical procedure according to an embodiment of the present disclosure.

DETAIUED DESCRIPTION

[0022] Embodiments of the presently disclosed surgical robotic system are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views.

[0023] With reference to FIG. 1, a surgical robotic system 10 includes a control tower 20, which is communicatively coupled to all of the components of the surgical robotic system 10 including a surgeon console 30 and one or more movable carts 60. Each of the movable carts 60 includes a robotic arm 40 having a surgical instrument 50 coupled thereto. The robotic arms 40 also couple to the movable carts 60. The robotic system 10 may include any number of movable carts 60 and/or robotic arms 40.

[0024] The surgical instrument 50 is configured for use during minimally invasive surgical procedures. In embodiments, the surgical instrument 50 may be configured for open surgical procedures. One of the robotic arms 40 may include an endoscopic camera 51 configured to capture video of the surgical site. The endoscopic camera 51 may be a stereoscopic endoscope configured to capture two side-by-side (i.e., left and right) images of the surgical site to produce a video stream of the surgical scene. The endoscopic camera 51 is coupled to a video processing device 56, which may be disposed within the control tower 20. The video processing device 56 may be any computing device as described below configured to receive the video feed from the endoscopic camera 51 and output the processed video stream.

[0025] The surgeon console 30 includes a first display 32, which displays a video feed of the surgical site provided by a camera 51 disposed on the robotic arm 40, and a second display 34, which displays a user interface for controlling the surgical robotic system 10. The first display 32 and the second display 34 may be touchscreens allowing for displaying various graphical user inputs selectable or movable by the user.

[0026] The surgeon console 30 also includes a plurality of user interface devices, such as foot pedals 36 and a pair of handle controllers 38a and 38b, which are used by a user to remotely control the robotic arms 40. The surgeon console further includes an armrest 33 used to support clinician’s arms while the clinician is operating the handle controllers 38a and 38b.

[0027] The control tower 20 can also include a display screen 23, which may be a touchscreen, that may display the graphical user interfaces (GUIs). The control tower 20 also acts as an interface between the surgeon console 30 and one or more of the robotic arms 40. In particular, the control tower 20 is configured to control the robotic arms 40, such as to move the robotic arms 40 and the corresponding surgical instrument 50, based on a set of programmable instructions and/or input commands from the surgeon console 30. In response to the instructions and/or input, the robotic arms 40 and the surgical instrument 50 execute a desired movement sequence in response to input from the foot pedals 36 and the handle controllers 38a and 38b. The system 10 can be configured so that the foot pedals 36 may be used to affect one or more of a wide variety of system functions, such as to enable and lock the hand controllers 38a and 38b, reposition camera movement, and activate/deactivate an electrosurgical instrument. In particular, the foot pedals 36 may be used to perform a clutching action on the hand controllers 38a and 38b . Clutching is initiated by pressing one of the foot pedals 36, which disconnects (i.e., prevents movement inputs from) the hand controllers 38a and/or 38b such that the robotic arm 40 and corresponding instrument 50 or camera 51 are not actuated. This allows the user to reposition the hand controllers 38a and 38b without moving the robotic arm(s) 40 and the instrument 50 and/or camera 51. This is useful when reaching control boundaries of the surgical space, for instance.

[0028] Each of the control tower 20, the surgeon console 30, and the robotic arm 40 includes a respective computer 21, 31, 41. The computers 21 , 31 , 41 are interconnected to each other using any suitable communication network based on wired or wireless communication protocols. The term “network,” whether plural or singular, as used herein, denotes a data network, including, but not limited to, the Internet, Intranet, a wide area network, or a local area network. Suitable protocols include, but are not limited to, transmission control protocol/intemet protocol (TCP/IP), datagram protocol/intemet protocol (UDP/IP), and/or datagram congestion control protocol (DCCP). Wireless communication may be achieved via one or more wireless configurations, e.g., radio frequency (RF), optical, Wi-Fi, Bluetooth (an open wireless protocol for exchanging data over short distances, using shortlength radio waves, from fixed and mobile devices, creating personal area networks (PANs), ZigBee® (a specification for a suite of high-level communication protocols using small, low-power digital radios based on the IEEE 122.15.4-1203 standard for wireless personal area networks (WPANs)).

[0029] The computers 21, 31, 41 may include any suitable processor (not shown) connected operably to a memory (not shown), which may include one or more of volatile, non-volatile, magnetic, optical, or electrical media, such as read-only memory (ROM), random access memory (RAM), electrically erasable programmable ROM (EEPROM), non-volatile RAM (NVRAM), or flash memory. The processor may be any suitable processor (e.g., control circuit) adapted to perform the operations, calculations, and/or set of instructions described in the present disclosure, such as a hardware processor, a field programmable gate array (FPGA), a digital signal processor (DSP), a central processing unit (CPU), a microprocessor, and combinations thereof. Those skilled in the art will appreciate that the processor may be substituted by using any logic processor (e.g., control circuit) adapted to execute algorithms, calculations, and/or set of instructions described herein.

[0030] With reference to FIG. 2, each of the robotic arms 40 may include a plurality of links 42a, 42b, 42c, which are interconnected at joints 44b and 44c, respectively. Other configurations of links and joints may be utilized as known by those skilled in the art. The joint 44a is configured to secure the robotic arm 40 to the movable cart 60 and defines a first longitudinal axis. With reference to FIG. 3, the movable cart 60 includes a lift 67 and a setup arm 61, which provides a base for mounting of the robotic arm 40. The lift 67 allows for vertical movement of the setup arm 61 and, thereby, of the robotic arms 40 mounted on the setup arm 61. The movable cart 60 also includes a display 69 for displaying information pertaining to the robotic arm 40. In embodiments, the robotic arms 40 may include any type and/or number of joints.

[0031] With further reference to FIG. 3, the setup arm 61 includes a first link 62a, a second link 62b, and a third link 62c, which provide for lateral maneuverability of the robotic arms 40. The links 62a, 62b, 62c are interconnected at joints 63a and 63b, each of which may include an actuator (not shown) for rotating the links 62a and 62b relative to each other and the link 62c. In particular, the links 62a, 62b, 62c are movable in corresponding lateral planes, which are parallel to each other, thereby allowing for extension of the robotic arm 40 relative to the patient (e.g., surgical table). In embodiments, the robotic arm 40 may be coupled to the surgical table (not shown). The setup arm 61 includes controls 65 for adjusting movement of the links 62a, 62b, 62c as well as the lift 67. In embodiments, the setup arm 61 may include any type and/or number of joints.

[0032] The third link 62c may include a rotatable base 64 having two degrees of freedom. In particular, the rotatable base 64 includes a first actuator 64a and a second actuator 64b. The first actuator 64a is rotatable about a first stationary arm axis, which is perpendicular to a plane defined by the third link 62c. And the second actuator 64b is rotatable about a second stationary arm axis which is transverse to the first stationary arm axis. The first and second actuators 64a and 64b along with the lift 67 allow for full three-dimensional orientation of the robotic arm 40.

[0033] Returning to FIG. 2, the actuator 48b of the joint 44b is coupled to the joint 44c via the belt 45a, and the joint 44c is in turn coupled to the joint 46b via the belt 45b. Joint 44c may include a transfer case coupling the belts 45a and 45b, such that the actuator 48b is configured to rotate each of the links 42b, 42c and a holder 46 relative to each other. More specifically, links 42b, 42c, and the holder 46 are passively coupled to the actuator 48b which enforces rotation about a pivot point “P” which lies at an intersection of the first axis defined by the link 42a and the second axis defined by the holder 46. In other words, the pivot point “P” is a remote center of motion (RCM) for the robotic arm 40. Thus, the actuator 48b controls the angle 0 between the first and second axes allowing for orientation of the surgical instrument 50. Due to the interlinking of the links 42a, 42b, 42c, and the holder 46 via the belts 45a and 45b, the angles between the links 42a, 42b, 42c, and the holder 46 are also adjusted in order to achieve the desired angle 0. In embodiments, some or all of the joints 44a, 44b, 44c may include an actuator to obviate the need for mechanical linkages.

[0034] The joints 44a and 44b include respective actuators 48a and 48b configured to drive the joints 44a, 44b, 44c relative to each other through a series of belts 45a and 45b or other mechanical linkages such as a drive rod, a cable, or a lever and the like. In particular, the actuator 48a is configured to rotate the robotic arm 40 about a longitudinal axis defined by the link 42a.

[0035] With reference to FIG. 2, the holder 46 defines a second longitudinal axis and configured to receive an instrument drive unit (IDU) 52 (FIG. 1). The IDU 52 is configured to couple to an actuation mechanism of the surgical instrument 50 and the camera 51 and is configured to move (e.g., rotate) and actuate the instrument 50 and/or the camera 51. IDU 52 transfers actuation forces from its actuators to the surgical instrument 50 to actuate components of an end effector 49 of the surgical instrument 50. The holder 46 includes a sliding mechanism 46a, which is configured to move the IDU 52 along the second longitudinal axis defined by the holder 46. The holder 46 also includes a joint 46b, which rotates the holder 46 relative to the link 42c. During endoscopic procedures, the instrument 50 may be inserted through an endoscopic access port 55 (FIG. 3) held by the holder 46. The holder 46 also includes a port latch 46c for securing the access port 55 to the holder 46 (FIG. 2).

[0036] The IDU 52 is attached to the holder 46, followed by a sterile interface module (SIM) 43 being attached to a distal portion of the IDU 52. The SIM 43 is configured to secure a sterile drape (not shown) to the IDU 52. The instrument 50 is then attached to the SIM 43. The instrument 50 is then inserted through the access port 55 by moving the IDU 52 along the holder 46. The SIM 43 includes a plurality of drive shafts configured to transmit rotation of individual motors of the IDU 52 to the instrument 50 thereby actuating the instrument 50. In addition, the SIM 43 provides a sterile barrier between the instrument 50 and the other components of the robotic arm 40, including the IDU 52.

[0037] The robotic arm 40 also includes a plurality of manual override buttons 53 (FIG. 1) disposed on the IDU 52 and the setup arm 61, which may be used in a manual mode. The user may press one or more of the buttons 53 to move the component associated with one or more buttons 53.

[0038] With reference to FIG. 4, each of the computers 21, 31, 41 of the surgical robotic system 10 may include a plurality of controllers, which may be embodied in hardware and/or software. The computer 21 of the control tower 20 includes a controller 21a and safety observer 2 lb. The controller 21a receives data from the computer 31 of the surgeon console 30 about the current position and/or orientation of the handle controllers 38a and 38b and the state of the foot pedals 36 and other buttons. The controller 21a processes these input positions to determine desired drive commands for each joint of the robotic arm 40 and/or the IDU 52 and communicates these to the computer 41 of the robotic arm 40. The controller 2 la also receives the actual joint angles measured by encoders of the actuators 48a and 48b and uses this information to determine force feedback commands that are transmitted back to the computer 31 of the surgeon console 30 to provide haptic feedback through the handle controllers 38a and 38b. The safety observer 21b performs validity checks on the data going into and out of the controller 21a and notifies a system fault handler if errors in the data transmission are detected to place the computer 21 and/or the surgical robotic system 10 into a safe state.

[0039] The computer 41 includes a plurality of controllers, namely, a main cart controller 41a, a setup arm controller 41b, a robotic arm controller 41c, and an instrument drive unit (IDU) controller 4 Id. The main cart controller 41a receives and processes joint commands from the controller 21a of the computer 21 and communicates them to the setup arm controller 41b, the robotic arm controller 41c, and the IDU controller 41d. The main cart controller 41a also manages instrument exchanges and the overall state of the movable cart 60, the robotic arm 40, and the IDU 52. The main cart controller 41a also communicates actual joint angles back to the controller 21a.

[0040] Each of joints 63a and 63b and the rotatable base 64 of the setup arm 61 are passive joints (i.e., no actuators are present therein) allowing for manual adjustment thereof by a user. The joints 63a and 63b and the rotatable base 64 include brakes that are disengaged by the user to configure the setup arm 61. The setup arm controller 41b monitors slippage of each of joints 63a and 63b and the rotatable base 64 of the setup arm 61, when brakes are engaged or can be freely moved by the operator when brakes are disengaged, but do not impact controls of other joints. The robotic arm controller 41c controls each joint 44a and 44b of the robotic arm 40 and calculates desired motor torques required for gravity compensation, friction compensation, and closed loop position control of the robotic arm 40. The robotic arm controller 41c calculates a movement command based on the calculated torque. The calculated motor commands are then communicated to one or more of the actuators 48a and 48b in the robotic arm 40. The actual joint positions are then transmitted by the actuators 48a and 48b back to the robotic arm controller 41c.

[0041] The IDU controller 4 Id receives desired joint angles for the surgical instrument 50, such as wrist and jaw angles, and computes desired currents for the motors in the IDU 52. The IDU controller 4 Id calculates actual angles based on the motor positions and transmits the actual angles back to the main cart controller 41a.

[0042] The robotic arm 40 is controlled in response to a pose of the handle controller controlling the robotic arm 40, e.g., the handle controller 38a, which is transformed into a desired pose of the robotic arm 40 through a hand eye transform function executed by the controller 21a. The hand eye function, as well as other functions described herein, is/are embodied in software executable by the controller 21a or any other suitable controller described herein. The pose of one of the handle controllers 38a may be embodied as a coordinate position and roll-pitch-yaw (RPY) orientation relative to a coordinate reference frame, which is fixed to the surgeon console 30. The desired pose of the instrument 50 is relative to a fixed frame on the robotic arm 40. The pose of the handle controller 38a is then scaled by a scaling function executed by the controller 21a. In embodiments, the coordinate position may be scaled down and the orientation may be scaled up by the scaling function. In addition, the controller 21a may also execute a clutching function, which disengages the handle controller 38a from the robotic arm 40. In particular, the controller 21a stops transmitting movement commands from the handle controller 38a to the robotic arm 40 if certain movement limits or other thresholds are exceeded and in essence acts like a virtual clutch mechanism, e.g., limits mechanical input from effecting mechanical output.

[0043] The desired pose of the robotic arm 40 is based on the pose of the handle controller 38a and is then passed by an inverse kinematics function executed by the controller 21a. The inverse kinematics function calculates angles for the joints 44a, 44b, 44c of the robotic arm 40 that achieve the scaled and adjusted pose input by the handle controller 38a. The calculated angles are then passed to the robotic arm controller 41c, which includes a joint axis controller having a proportional-derivative (PD) controller, the friction estimator module, the gravity compensator module, and a two-sided saturation block, which is configured to limit the commanded torque of the motors of the joints 44a, 44b, 44c. In aspects, handle controller 38a may be substituted for and/or employed in conjunction with handle controller 38b.

[0044] With reference to FIG. 5, the surgical robotic system 10 is setup around a surgical table 90. The system 10 includes movable carts 60a-d, which may be numbered “1 ” through “4.” During setup, each of the carts 60a-d are positioned around the surgical table 90. Position and orientation of the carts 60a-d depends on a plurality of factors, such as placement of a plurality of access ports 55a-d, which in turn, depends on the surgery being performed. Once the port placements are determined, the access ports 55a-d are inserted into the patient, and carts 60a-d are positioned to insert instruments 50 and the endoscopic camera 51 into corresponding ports 55a-d.

[0045] During use, each of the robotic arms 40a-d is attached to one of the access ports 55a- d that is inserted into the patient by attaching the latch 46c (FIG. 2) to the access port 55 (FIG. 3). The IDU 52 is attached to the holder 46, followed by the SIM 43 being attached to a distal portion of the IDU 52. Thereafter, the instrument 50 is attached to the SIM 43. The instrument 50 is then inserted through the access port 55 by moving the IDU 52 along the holder 46.

[0046] With reference to FIG. 6, the IDU 52 is shown in more detail and is configured to transfer power and actuation forces from its motors 152a-d to the instrument 50 to drive movement of components of the instrument 50, such as articulation, rotation, pitch, yaw, clamping, cutting, etc. The IDU 52 may also be configured for the activation or firing of an electrosurgical energy-based instrument or the like (e.g., cable drives, pulleys, friction wheels, rack and pinion arrangements, etc.).

[0047] The IDU 52 includes a motor pack 150 and a sterile barrier housing 130. Motor pack 150 includes motors 152a-d for controlling various operations of the instrument 50. The instrument 50 is removably couplable to IDU 52. As the motors 152a-d of the motor pack 150 are actuated, rotation of the drive transfer shafts 154a, 154b, 154c, 154d of the motors 152a-d, respectively, is transferred to drive assemblies of the instrument 50. The instrument 50 is configured to transfer rotational forces/movement supplied by the IDU 52 (e.g., via the motors 152a-d of the motor pack 150) into longitudinal movement or translation of the cables or drive shafts to effect various functions of an end effector (FIG. 7).

[0048] Each of the motors 152a-d includes a current sensor 153, a torque sensor 155, and a position sensor 157, which may be an angular motor position sensor. For conciseness only, operation of the motor 152a is described below, however, it will be understood that motors 152b-d may operate in a similar manner. The sensors 153, 155, 157 monitor performance of the motor 152a. The current sensor 153 is configured to measure current draw of the motor 152a and the torque sensor 155 is configured to measure motor torque. The torque sensor 155 may be any force or strain sensor including one or more strain gauges configured to convert mechanical forces and/or strain into a sensor signal indicative of the torque output by motor 152a. Position sensor 157 may be any device that provides a sensor signal indicative of the number of rotations of the motor 152a, such as a mechanical encoder or an optical encoder. Parameters which are measured and/or determined by position sensor 157 may include speed, distance, revolutions per minute, position, and the like. Sensor signals from sensors 153, 155, 157 are transmitted to the IDU controller 41d (FIG. 4), which then controls the motors 152a-d based on the sensor signals, via an actuator controller 159. In particular, the actuator controller 159 controls torque outputted and angular velocity of the motors 152a-d. In embodiments, additional position sensors may also be used, which include, but are not limited to, potentiometers coupled to movable components and configured to detect travel distances, Hall Effect sensors, accelerometers, and gyroscopes. In embodiments, a single controller can perform the functionality of the IDU controller 4 Id and the actuator controller 159.

[0049] With continued reference to FIG. 6, instrument 50 includes an adapter 160 having a housing 162 at a proximal end portion thereof and an elongated shaft 164 that extends distally from housing 162. The housing 162 is configured to selectively couple to IDU 52, to enable the motors 152a-d of IDU 52 to operate the end effector of the instrument 50 (FIG. 7). The housing 162 supports a drive assembly (not shown) that mechanically and/or electrically cooperates with the motors 152a-d of the IDU 52. The drive assembly of instrument 50 may include any suitable electrical and/or mechanical component to effectuate driving force/movement.

[0050] The instrument 50 also includes the end effector as shown in FIGS. 7 and 8. The end effector may include any number of degrees of freedom allowing the end effector to articulate, pivot, etc., relative to the elongated shaft 164. The end effector may be any suitable surgical end effector configured to treat tissue, such as a dissector, grasper, sealer, stapler, needle driver, needle grasper, etc.

[0051] FIG. 7 shows a grasper instrument 50, which includes an end effector 200 having a pair of jaw members 202 and 204, which may be fenestrated jaws or any other suitable jaw type. A needle grasper instrument 50’ also includes an end effector 200’ with jaw members 202’ and 204’, which have a relatively small surface area suitable for grasping a needle 201 and/or suture 203. Each of the instruments 50 and 50’ are controlled by the robotic system 10 to pass the needle 201 and/or the suture 203 while suturing tissue. Examples of end effectors used in robotic suturing procedures are described in U.S. Patent Application Publication No. 2022/0047259, the entire disclosure of which is incorporated by reference herein.

[0052] FIG. 8 shows a needle driver instrument 50” which also includes an end effector 200’ ’ with jaw members 202” and 204” as well as a needle 201 which is passable between the jaw members 202” and 204” along with a suture 203’. An example of a needle driver used in robotic suturing procedures is described in U.S. Patent Application Publication No. 2023/0015516, the entire disclosure of which is incorporated by reference herein.

[0053] The present disclosure provides for artificial intelligence/machine learning (AI/MU) based software feature that provides suturing assistance to the surgeon during robotic surgery procedures. The feature provides for a multi-level selection of the level of assistance (e.g., ranging from none to fully automated) and based on the type of suture pattern selected the feature will provide the assistance accordingly. This feature will lower procedure time, perform precise suturing, decrease recovery time, and lower surgeon fatigue during long procedures by automating multiple movements of the needle and robotic arms guiding it that are normally manually controlled by the surgeon.

[0054] Based on the selected level of assistance, the feature may enable suture guidance by providing a display overlay pattern in real time video. During manual procedure, if suture guidance feature is selected, considering type of tissue, types of suturing instruments in use and from previous suturing history by the system and/or the surgeon, the feature will provide suture guidance using display overlay pattern in real time video.

[0055] Another level of assistance may include an AI/MU mode that recognizes the suture pattern initiated by the surgeon and then replicates the same to finish the suture pattern. The robotic system detects the suture pattern performed by the surgeon for two or more iterations and then uses AI/MU techniques to provide a list of suggestions of suture patterns, which may be displayed on the surgeon console. The selected patterns are based on type of tissue, types of suturing instruments in use and previous suture history. Surgeon can select a suture pattern from the suggestions, set some other configurations (e.g., stopping points, puncture site, suture intervals etc.) and initiate the automated suturing to compete the suture pattern. Initial detection of the suture pattern may be based on kinematics of the robotic arms, user inputs to the handle controllers to move the robotic arms, and/or image processing of the video feed of the manually formed suture patterns. [0056] An additional level of assistance may include an automated suturing feature with predefined suture patterns. Depending on the type of tissue and the type of wound, the suturing instruments in use, the robotic system may provide a list of suitable suture pattems/techniques. This feature provides the surgeon with more flexibility by listing a plurality of suitable patterns and allowing the surgeon to select the pattern based on their personal preference using a graphical user interface (GUI) displayed on a surgeon console. The suture pattern is then completed in the same automated manner as the other AI/ML feature, where one or more robotic arms use the suturing instruments to form the pattern.

[0057] With reference to FIG. 9, a method 300 for a robotic suture assistance mode for use with the robotic system 10 is implemented as software instructions executable by any suitable processor of the robotic system 10, such as the IDU controller 4 Id, the main controller 21a, etc. The method may be executed in response to a user command which may be provided by a user (e.g., via a GUI 400) or automatically based on a phase of the surgical procedure as determined by a phase detection system of FIG. 12.

[0058] At step 301, a suture type is selected for a specific task and the suture type is provided to the system 10, e.g., entered with the GUI. Suitable sutures may be absorbable, non-absorbable, synthetic, natural, monofilament, multifilament, and may be of any size (e.g., 0-10). Thereafter the user or the system 10 selects either manual suturing at step 302 or automatic or assisted suturing at step 303, which enables the robotic suture assistance mode. The selection may be based on the complexity of the suturing procedure. During manual suturing, a suture guidance feature may also be selected, which is described below with respect to FIG. 11. During suture guidance augmented reality projections or overlays are shown on the laparoscopic video feed instructing the user where to place the needle 201. The guidance may be based on type of tissue, types of suturing instruments in use as well as prior suturing procedures performed by the user.

[0059] Once the suture assistance mode is selected, at step 304 the system 10 verifies whether one or more instruments (see FIGS. 7 and 8) are available for operation by the system 10. If not, then at step 305 the system 10 notifies the user(s) via one of the screens 23, 32, 34 that appropriate instrument s) are missing and need to be setup before proceeding with the suture assistance mode. If the instrument(s) are present, then at step 306 the user selects the type of assistance. [0060] At step 307, AI/ML assistance is provided. In this mode, the system 10 analyzes a video feed as well as user inputs and/or robot kinematics for moving the instruments to form the suture pattern. The system 10 detects one or more initial portions of the suture pattern, e.g., first two or more suturing loops, being formed. The system 10 then uses AI/ML pattern recognition software to analyze the initial portion of the suture pattern and to provide one or more suggestions based on the initial pattern that are displayed on the surgeon console 30. In generating recommendations, in addition to the initial portion of the suture pattern, the AI/ML algorithm reviews the type of tissue, types of suturing instruments in use, and previous suture operations performed by the user. The surgeon can select from the suggestions, set configurations (e.g., suture stopping point, puncture site, suture intervals, etc.) and switch to automated AI/ML suturing. The recommendations may be displayed on the GUI 400 as described below.

[0061] At step 308, selected assistance is provided by the system 10 based on user selection. With reference to FIG. 10, the suture pattern selection process may further include initially identifying an incision, a wound, or any other tissue segment that needs to be sutured at step 309. The identification may be performed manually by the user or automatically by an image processing algorithm trained on a dataset of various incisions, wounds, etc. The user or the system 10 may automatically select start and ending points for the suture pattern and the system 10 fits the suture pattern at step 311. The start and ending points may be displayed as overlays on the laparoscopic video feed.

[0062] Suture pattern selection may be done via a GUI 400 shown in FIG. 11 at step 312. The GUI 400 may be displayed on any of the screens 32 or 34 of the surgeon console 30. The GUI 400 includes a prompt window 402 where instructions are provided to the user. The GUI 400 also includes a selection menu 404 for choosing a pattern. The menu 404 may be a checkbox, an accordion menu, a popup menu, drop down menu, etc. that includes a list of a plurality of suture patterns. In embodiments, the list may include names as well as graphical representations or icons of the suture patterns. The GUI 400 may also include a confirmation window 408 displaying the currently selected suture pattern and a confirmation button 410 to approve the selection and cause the system 10 to execute the selected suture pattern. The menu 404 may be adjusted to only display suture patterns that are usable for the specific procedure, tissue, organ, or any other parameter. The selection, e.g., filtering, may be performed automatically by the ML processing system 310 of FIG. 12.

[0063] At step 313, the system 10 controls the robotic arms 40 to form the suture according to the selected suture pattern. Initially, the system 10 identifies a plurality of middle points between the start and ending points identified at step 311. Middle points are selected in such a way that tension distributions are uniform across the incision/wound. The points may be displayed as overlays on the laparoscopic video feed for the user to confirm the placement and location of the suture points. Once confirmed, the system 10 then automatically controls the robotic arms 40a-d holding the suturing instruments 50 to move the needle 201 from the start point, through the middle points, to the start point until the suture pattern is complete.

[0064] With reference to FIG. 12, the surgical robotic system 10 may include an AI/ML processing system 310 that processes the surgical data using one or more ML models to identify one or more features, such as surgical phase, instrument, anatomical structure, etc., in the surgical data. The ML processing system 310 includes a ML training system 325, which may be a separate device (e.g., server) that stores its output as one or more trained ML models 330. The ML models 330 are accessible by a ML execution system 340. The ML execution system 340 may be separate from the ML training system 325, namely, devices that “train” the models are separate from devices that “infer,” i.e., perform real-time processing of surgical data using the trained ML models 330.

[0065] System 10 includes a data reception system 305 that collects surgical data, including the video data and surgical instrumentation data. The data reception system 305 can include one or more devices (e.g., one or more user devices and/or servers) located within and/or associated with a surgical operating room and/or control center. The data reception system 305 can receive surgical data in real-time, i.e., as the surgical procedure is being performed. [0066] The ML processing system 310, in some examples, may further include a data generator 315 to generate simulated surgical data, such as a set of virtual or masked images, or record the video data from the image processing device 56, to train the ML models 330 as well as other sources of data, e.g., user input, arm movement, etc. Data generator 315 can access (read/write) a data store 320 to record data, including multiple images and/or multiple videos. [0067] The ML processing system 310 also includes a phase detector 350 that uses the ML models to identify a phase within the surgical procedure. Phase detector 350 uses a particular procedural tracking data structure 355 from a list of procedural tracking data structures. Phase detector 350 selects the procedural tracking data structure 355 based on the type of surgical procedure that is being performed. In one or more examples, the type of surgical procedure is predetermined or input by user. The procedural tracking data structure 355 identifies a set of potential phases that may correspond to a part of the specific type of surgical procedure.

[0068] In some examples, the procedural tracking data structure 355 may be a graph that includes a set of nodes and a set of edges, with each node corresponding to a potential phase. The edges may provide directional connections between nodes that indicate (via the direction) an expected order during which the phases will be encountered throughout an iteration of the surgical procedure. The procedural tracking data structure 355 may include one or more branching nodes that feed to multiple next nodes and/or may include one or more points of divergence and/or convergence between the nodes. In some instances, a phase indicates a procedural action (e.g., surgical action) that is being performed or has been performed and/or indicates a combination of actions that have been performed. In some instances, a phase relates to a biological state of a patient undergoing a surgical procedure. For example, the biological state may indicate a complication (e.g., blood clots, clogged arteries/veins, etc.), pre-condition (e.g., lesions, polyps, etc.). In some examples, the ML models 330 are trained to detect an “abnormal condition,” such as hemorrhaging, arrhythmias, blood vessel abnormality, etc.

[0069] The phase detector 350 outputs the phase prediction associated with a portion of the video data that is analyzed by the ML processing system 310. The phase prediction is associated with the portion of the video data by identifying a start time and an end time of the portion of the video that is analyzed by the ML execution system 340. The phase prediction that is output may include an identity of a surgical phase as detected by the phase detector 350 based on the output of the ML execution system 340. Further, the phase prediction, in one or more examples, may include identities of the structures (e.g., instrument, anatomy, etc.) that are identified by the ML execution system 340 in the portion of the video that is analyzed. The phase prediction may also include a confidence score of the prediction. Other examples may include various other types of information in the phase prediction that is output. The predicted phase may be used by the controller 21 a to determine when to enable robotic suturing assistance mode as well as other automatic determinations described above.

[0070] It will be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limiting, but merely as exemplifications of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended thereto.

[0071] The following examples are illustrative of the techniques described herein.

[0072] Example 1. A surgical robotic system comprising: a display screen for displaying a graphical user interface (GUI) for selecting a suture pattern from a plurality of suture patterns; a surgical robotic arm including a suturing instrument; and a controller configured to receive the selected suture pattern and to automatically control the surgical robotic arm and the suturing instrument to form the selected suture pattern.

[0073] Example 2. The surgical robotic system according to Example 1, wherein the GUI includes a menu listing the plurality of suture patterns.

[0074] Example 3. The surgical robotic system according to Example 2, wherein each suture pattern of the plurality of suture patterns listed in the menu includes an icon and name.

[0075] Example 4. The surgical robotic system according to Example 1, wherein the GUI enables selection of a manual suturing mode or an automatic suturing mode.

[0076] Example 5. The surgical robotic system according to Example 1, wherein the GUI receives user input for identifying a starting point and an ending point of the selected suture pattern.

[0077] Example 6. The surgical robotic system according to Example 5, wherein the controller is configured to insert a plurality of middle points between the starting point and the ending point based on the selected suture pattern.

[0078] Example 7. The surgical robotic system according to Example 6, further comprising: a laparoscopic camera for capturing a video feed of a surgical site and the suturing instrument; and an image processing device for processing the video feed and displaying the video feed on the display screen.

[0079] Example 8. The surgical robotic system according to Example 7, wherein the controller outputs the plurality of middle points as overlays on the video feed. [0080] Example 9. The surgical robotic system according to Example 1, wherein the suturing instrument is selected from the group consisting of a suturing instrument, a needle driver instrument, and a grasper instrument.

[0081] Example 10. A method for robotically assisted suturing, the method comprising: displaying on a display screen a graphical user interface (GUI) for selecting a suture pattern from a plurality of suture patterns; receiving the selected suture pattern as input at a controller; and controlling via the controller a surgical robotic arm including a suturing instrument to form the selected suture pattern.

[0082] Example 11. The method according to Example 10, wherein displaying the GUI further includes displaying a menu listing the plurality of suture patterns.

[0083] Example 12. The method according to Example 11, wherein each suture pattern of the plurality of suture patterns listed in the menu includes an icon and name.

[0084] Example 13. The method according to Example 10, wherein the GUI enables selection of a manual suturing mode or an automatic suturing mode.

[0085] Example 14. The method according to Example 10, further comprising: receiving user input for identifying a starting point and an ending point of the selected suture pattern. [0086] Example 15. The method according to Example 14, further comprising: inserting a plurality of middle points between the starting point and the ending point based on the selected suture pattern.

[0087] Example 16. The method according to Example 15, further comprising: capturing a video feed of a surgical site and the suturing instrument using a laparoscopic camera; and processing the video feed at an image processing device for and displaying the video feed on the display screen.

[0088] Example 17. The method according to Example 16, further comprising: outputting the plurality of middle points as overlays on the video feed.

[0089] Example 18. The method according to Example 10, wherein the suturing instrument is selected from the group consisting of a suturing instrument, a needle driver instrument, and a grasper instrument.

[0090] Example 19. A surgical robotic system comprising: a surgical robotic arm including a suturing instrument configured to form a suture pattern in tissue; a surgeon console configured to receive a user input to control the surgical robotic arm and the suturing instrument to form an initial portion of the suture pattern; a laparoscopic camera configured to capture an image of an initial portion of the suture pattern; a controller configured to: analyze the image of the initial portion of the suture pattern using an artificial intelligence or machine learning pattern recognition software; recommend at least one continuation of the suture pattern based on analysis of the initial portion of the suture pattern; receive a user selection of the at least one continuation of the suture pattern; and automatically control the surgical robotic arm and the suturing instrument to form the at least one continuation suture pattern in response to the user selection.

[0091] Example 20. The surgical robotic system according to Example 19, further comprising: a display screen for displaying a graphical user interface (GUI) for selecting a suture pattern from a plurality of suture patterns.

Claims

WHAT IS CLAIMED IS:

1. A surgical robotic system (10) comprising: a display screen (32, 34) for displaying a graphical user interface (GUI) for selecting a suture pattern from a plurality of suture patterns; a surgical robotic arm (40) including a suturing instrument (50); and a controller (21a) configured to receive the selected suture pattern and to automatically control the surgical robotic arm and the suturing instrument to form the selected suture pattern.

2. The surgical robotic system according to claim 1, wherein the GUI includes a menu (404) listing the plurality of suture patterns.

3. The surgical robotic system according to claim 2, wherein each suture pattern of the plurality of suture patterns listed in the menu includes an icon and name.

4. The surgical robotic system according to any preceding claim, wherein the GUI enables selection of a manual suturing mode or an automatic suturing mode.

5. The surgical robotic system according to any preceding claim, wherein the GUI receives user input for identifying a starting point and an ending point of the selected suture pattern.

6. The surgical robotic system according to claim 5, wherein the controller is configured to insert a plurality of middle points between the starting point and the ending point based on the selected suture pattern.

7. The surgical robotic system according to claim 6, further comprising: a laparoscopic camera (51) for capturing a video feed of a surgical site and the suturing instrument; and an image processing device (56) for processing the video feed and displaying the video feed on the display screen.

8. The surgical robotic system according to claim 7, wherein the controller outputs the plurality of middle points as overlays on the video feed.

9. The surgical robotic system according to any preceding claim, wherein the suturing instrument is selected from the group consisting of a suturing instrument, a needle driver instrument (50”), and a grasper instrument (50’).

10. A method for robotically assisted suturing, the method comprising: displaying on a display screen (32, 34) a graphical user interface (GUI) (400) for selecting a suture pattern from a plurality of suture patterns; receiving the selected suture pattern as input at a controller (21a); and controlling via the controller a surgical robotic arm (40) including a suturing instrument (50) to form the selected suture pattern.

11 . The method according to claim 10, wherein displaying the GUI further includes displaying a menu listing the plurality of suture patterns.

12. The method according to claim 11, wherein each suture pattern of the plurality of suture patterns listed in the menu includes an icon and name.

13. The method according to any preceding claim, wherein the GUI enables selection of a manual suturing mode or an automatic suturing mode.

14. The method according to any preceding claim, further comprising: receiving user input for identifying a starting point and an ending point of the selected suture pattern; and inserting a plurality of middle points between the starting point and the ending point based on the selected suture pattern.

15. The method according to claim 14, further comprising: capturing a video feed of a surgical site and the suturing instrument using a laparoscopic camera (51); processing the video feed at an image processing device for and displaying the video feed on the display screen; and outputting the plurality of middle points as overlays on the video feed.