Surgical robotics systems and devices having a sterile restart, and methods thereof
Inventors
Friedrich, Michael • Miran Farkas, Romain Michel • Allemann, Philippe • Geffrotin, Didier Christian • Marcel Boch, Nicolas Paul • Lieberherr, Christopher Emmanuel • Uldry, Laurent Renaud • PIRKL, Werner
Assignees
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Publication Number
US-12082899-B2
Publication Date
2024-09-10
Expiration Date
Abstract
The present disclosure relates to surgical robotic systems having a master console and slave manipulators, with components and features for enabling a restart without comprising the sterility of the surgical robotic system. In some embodiments, an apparatus can include a restart of a surgical robotic system that is configured to be activated by a sterile user from within a sterile field without compromising the sterile field, and a controller operatively coupled to the restart that is configured to detect that the restart has been activated and, in response to detecting that the restart has been activated, restart the surgical robotic system.
Core Innovation
The invention relates to surgical robotic systems that can be restarted after an abnormal event without compromising sterility. A sterile user activates a restart actuator from within a sterile field, and the controller detects the physical activation of the actuator. In response to detecting the abnormal event, the controller deactivates teleoperation of a slave manipulator or an instrument coupled to the slave manipulator.
After detecting that the actuator has been physically activated, the controller restarts the surgical robotic system. In embodiments where an instrument is active or blocked in a patient, the system performs a limited-DOF instrument release and/or further engagement, and then restarts. The restarted sequence may include power cycling and optionally returning the slave manipulators to a home position.
The system architecture supports a restart control located so it can be activated by a sterile user without breaching sterility. The described architecture includes a master console, slave manipulators and links, instruments, sterile barriers and sterile zones, and sterile coupling interfaces between the sterile field and the master console side. The abnormal event that triggers safe-mode behavior is described as including unexpected movement, collisions with external objects, input anomalies, and sensor/actuator/controller failures, with the controller handling deactivation and restart as part of the abnormal-event recovery.
Claims Coverage
The document contains two independent claims (clm-00001 and clm-00013). Each claim specifies abnormal-event teleoperation deactivation, sterility-preserving restart activation by a sterile user via a detected actuator activation, and a subsequent restart of the surgical robotic system.
Sterile-user actuator-triggered restart without breaching sterile field
An actuator configured to be physically activated by a sterile user from within a sterile filed without compromising the sterile field, with the controller detecting that the actuator has been physically activated and restarting the surgical robotic system after abnormal-event deactivation of teleoperation.
Master-console restart behind sterile barrier with sterile-user activation
A restart disposed on a master console at a location behind a sterile barrier that isolates the master console from a sterile field, configured to be activated by a sterile user from within the sterile field without breaching the sterile barrier, with a controller that deactivates teleoperation in response to detecting an abnormal event and restarts after detecting physical activation of an actuator.
Both independent claims center on detecting an abnormal event to deactivate teleoperation, detecting physical activation of a restart actuator by a sterile user under sterile-field/sterile-barrier constraints, and then restarting the surgical robotic system.
Stated Advantages
Restarting the surgical robotic system after an abnormal event.
Restarts without compromising the sterile field.
Allows a sterile user to activate restart controls from within the sterile field.
Maintains sterility by using a restart disposed behind a sterile barrier isolating the master console from the sterile field.
Documented Applications
Surgical robotic system restart after abnormal events that trigger deactivation of teleoperation (safe-mode interruptions), including scenarios such as unexpected movement, collisions, input anomalies, and sensor/actuator/controller failures.
Recovery in cases where an instrument is active or blocked in a patient, including limited-DOF instrument release and/or further engagement followed by restarting.
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