Robotized surgery system with improved control
Inventors
Ruiz Morales, Emilio • Brasset, Damien • Invernizzi, Paolo
Assignees
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Publication Number
US-11224489-B2
Publication Date
2022-01-18
Expiration Date
Abstract
A robotized surgery system comprises at least one robot arm which acts under the control of a control console intended for the surgeon. The console comprises an eye tracking system for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console comprises advantageously a screen with at least one zone for viewing the operating field and, among the commands which can be performed depending on the gaze directions.
Core Innovation
The invention describes a surgical system with robotic arms carrying surgical instruments and an endoscopic camera, a surgeon console, a display, hand manipulators, and an eye tracking system. The eye tracking system generates signals based on the estimated direction of the user's gaze. In a first mode, gaze directed toward the endoscopic image commands movement of the camera-carrying robotic arm.
The system also generates a user command based on gaze directed toward a computer-generated selection area, with auxiliary-input actuation required in certain claimed configurations; another claimed configuration assigns each manipulator to a corresponding robotic arm based on eye-tracking signals. The background section is not included in the provided content, so the problem being solved is not explicitly described in patent.
Claims Coverage
The provided claims identify five independent claims: two method claims and three surgical-system claims. They cover gaze-based camera-arm movement and command selection, with differences in auxiliary-input conditions, manipulator assignment, and the arrangement of robotic arms.
Gaze-controlled camera movement and command generation
Claim 1 covers movement of the third robotic arm based on eye-tracking signals corresponding to gaze toward the image, and generation of a user command based on gaze toward a selection area in response to actuation of an auxiliary input on at least one hand manipulator.
Gaze-controlled commands and manipulator assignment
Claim 5 covers movement of the third robotic arm based on gaze toward the image, generation of a user command based on gaze toward a selection area, and assignment of each manipulator to a corresponding first or second robotic arm based on the signals.
Surgical system with auxiliary-input command selection
Claim 8 covers a surgical system in which gaze toward the image commands movement of the third robotic arm, while a user command is generated in response to actuation of an auxiliary input and is based on gaze toward a selection area.
Surgical system with gaze-based manipulator assignment
Claim 12 covers a surgical system in which gaze toward the image commands movement of the third robotic arm, gaze toward a selection area generates a user command, and assignment of each manipulator to a corresponding first or second robotic arm is performed based on the signals.
Gaze-based selection with manipulator input
Claim 15 covers a surgical system in which a hand-operated manipulator generates movement command signals for a first robotic arm, and commands associated with a selection area are selected when the user's gaze falls within that area and the user actuates an input on the manipulator.
The independent claims cover gaze-directed movement of a camera-carrying robotic arm and gaze-based selection of displayed commands. Some claims additionally require auxiliary-input actuation or specify manipulator assignment, while claim 15 covers a system with one instrument-carrying arm and a separate camera-carrying arm.
Stated Advantages
Not explicitly described in patent.
Documented Applications
A surgical system for controlling robotic arms carrying surgical instruments and an endoscopic camera, with a surgeon console displaying the endoscopic image and a human machine interface.
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