Vocally actuated surgical control system
Inventors
ATAROT, Gal • FRIMER, Motti • Nir, Tal • ALPERT, Lior
Assignees
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Publication Number
US-11886772-B2
Publication Date
2024-01-30
Expiration Date
Abstract
A method and system for controlling at least one robotically controlled surgical tool via vocal activation include detecting a vocal command generated by a surgeon, converting said at least one surgeon in said surgical setting via said voice sensor. The vocal command is converted to operative instructions associated with a robotically controlled surgical tool to generate instructions according to a predetermined set of rules including at least one of a no fly zone rule and collision prevention rule.
Core Innovation
A vocally activated control system controls at least one robotically controlled surgical tool by detecting at least one vocal command generated by at least one surgeon. The system includes at least one apparatus operable to spatially reposition a surgical tool, a voice sensor configured to detect the vocal command, a signal transmitter that converts the vocal command into at least one transmittable vocal signal, a processor that converts the transmittable vocal signal into at least one predetermined set of operative instructions, and at least one controller that causes the apparatus to operate accordingly.
The conversion of the transmittable vocal signal into the predetermined operative instructions is performed according to a set of rules including a collision prevention rule and a no fly zone rule. The collision prevention rule defines a predetermined distance between the surgical tool and an anatomical element within the surgical environment and distinguishes allowed movement versus restricted movement based on whether the movement is in a larger or smaller range than the predetermined distance.
The no fly zone rule comprises a communicable database comprising n 3D spatial positions that define a predetermined volume within the surgical environment. The no fly zone rule determines restricted movement if the movement results in the surgical tool being located substantially in at least one of the n 3D spatial positions, and determines allowed movement if the movement results in the surgical tool location being substantially different from the n 3D spatial positions.
Claims Coverage
Two independent claims are provided: a system claim and a method claim. Across these claims, the inventive features center on converting surgeon vocal commands into predetermined operative instructions and generating those instructions according to a ruleset comprising collision prevention and no-fly-zone constraints.
Vocal command to predetermined operative instructions for robotically controlled surgical tools
A vocally activated control system comprising a voice sensor detecting at least one vocal command, a signal transmitter converting the vocal command into at least one transmittable vocal signal, a processor converting the transmittable vocal signal into at least one predetermined set of operative instructions associated with the apparatus, and a controller receiving the predetermined set and causing the apparatus to operate accordingly.
Ruleset-based instruction generation with collision prevention rule and no fly zone rule
The conversion into the predetermined set of operative instructions is performed according to a set of rules comprising a collision prevention rule and a no fly zone rule, where collision prevention defines allowed movement versus restricted movement based on a predetermined distance between the surgical tool and an anatomical element, and the no fly zone rule determines restricted movement versus allowed movement based on whether the surgical tool is substantially located in at least one of n 3D spatial positions.
No-fly-zone definition using communicable database of n 3D spatial positions
The no fly zone rule comprises a communicable database comprising n 3D spatial positions, where n is an integer greater than or equal to 2; the n 3D spatial positions define a predetermined volume within the surgical environment; and the no fly zone rule determines restricted movement if the movement places the surgical tool substantially in at least one of the n 3D spatial positions and allowed movement if the location is substantially different from the n 3D spatial positions.
Method of controlling robotically controlled surgical tool by vocally activated conversion and ruleset execution
A method of controlling at least one robotically controlled surgical tool via vocal activation, including providing a vocally activated control system, detecting a vocal command via the voice sensor, converting the vocal command into a transmittable vocal signal and transmitting it, receiving the transmittable vocal signal through the processor, converting it to predetermined operative instructions, generating instructions according to a predetermined set of rules comprising no fly zone rule and collision prevention rule, receiving the predetermined set of instructions by the controller, and operating the robotically controlled surgical tool accordingly.
The independent claims cover a vocally activated surgical control system and method where surgeon vocal commands are converted into predetermined operative instructions and where the resulting instructions are generated using a ruleset that includes collision prevention and no-fly-zone constraints defined using predetermined distances and a communicable database of n 3D spatial positions.
Stated Advantages
Provides safety constraints by generating instructions using a collision prevention rule and a no fly zone rule that distinguish allowed movement from restricted movement.
Enables rule-based control of surgical tool movement relative to an anatomical element and relative to a predetermined volume defined by n 3D spatial positions.
Documented Applications
Controlling at least one robotically controlled surgical tool in a surgical setting using vocally generated commands from a surgeon.
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