Co-manipulation surgical system for use with surgical instruments having a virtual map display to facilitate setup
Inventors
ALVAREZ, Jeffery Byron • Linard, Nicolas • Basafa, Ehsan • Ummalaneni, Ritwik • FAYAD, Jad • Noonan, David Paul • Wu, Victoria Cheng-Tan • MAGO, Jesus
Assignees
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Publication Number
US-11980431-B2
Publication Date
2024-05-14
Expiration Date
Abstract
Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.
Core Innovation
The invention relates to a co-manipulation surgical system including a robot arm supported by a platform configured to permit mobility using a plurality of wheels, with a distal end configured to be removably coupled to a surgical instrument. An optical sensor mounted on the platform collects depth data, and a controller operatively coupled to the optical sensor receives the depth data and generates a map of an area surrounding the platform.
The map includes graphical representations of the platform relative to a surgical bed and a graphical illustration of a proximity between the platform and the surgical bed in real-time. The controller causes a display to display the map during movement of the platform to facilitate positioning of the platform a predetermined distance relative to the surgical bed.
In some embodiments, the subject matter also includes controlling aspects of platform mobility in conjunction with the mapping, including a brake mechanism for mobility management. Dependent claims refine optical sensor modalities, the timing of map display, and proximity-triggered alerting when the platform is within a predetermined distance of an object or person.
Claims Coverage
The provided content includes two independent claims, a system claim and a method claim. Across these claims, the inventive coverage centers on platform-mounted optical depth sensing, real-time mapping of platform proximity to a surgical bed, and display of the map during platform movement to facilitate positioning at a predetermined distance, in the context of a wheeled platform supporting a removably coupled robot arm and surgical instrument.
Wheeled platform with removably coupled robot arm
A robot arm having a proximal end, a distal end configured to be removably coupled to a surgical instrument, a plurality of links, and a plurality of joints, supported by a platform comprising a plurality of wheels configured to permit mobility of the platform.
Optical depth sensing mounted on the platform
An optical sensor mounted on the platform and configured to collect depth data, with a controller operatively coupled to the optical sensor to receive the depth data.
Real-time map of platform-to-surgical-bed proximity from depth data
A controller that generates a map of an area surrounding the platform based on the depth data, where the map comprises graphical representations of the platform relative to a surgical bed and a graphical illustration of a proximity between the platform and the surgical bed in real-time.
Display-guided positioning at a predetermined distance relative to the surgical bed
The controller causes a display to display the map during movement of the platform to facilitate positioning of the platform a predetermined distance relative to the surgical bed.
The independent claims cover a co-manipulation surgical system and method that combine a wheeled platform robot arm removably coupled to a surgical instrument with platform-mounted optical depth sensing to generate a real-time proximity map to a surgical bed. The controller-driven display of that map during platform movement is used to facilitate positioning the platform at a predetermined distance relative to the surgical bed.
Stated Advantages
Facilitates positioning of the platform a predetermined distance relative to the surgical bed.
Provides a real-time graphical illustration of proximity between the platform and the surgical bed during movement.
Documented Applications
Co-manipulation surgical operation where the platform position relative to a surgical bed is guided using a real-time depth-data map displayed during platform movement.
Assisting with surgery by using a co-manipulation surgical system having platform-mounted optical depth sensing to generate a real-time map and display it during movement for positioning relative to a surgical bed.
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