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Publication Number
US-12245808-B1
Publication Date
2025-03-11
Expiration Date
Abstract
A surgical system including: a surgical mechanical arm including a plurality of sequentially coupled independently bendable flexible portions and terminating in a laser tool; a waveguide supplying laser light to the laser tool, where the waveguide follows a contour of the surgical mechanical arm; circuitry configured to: receive data regarding curvature of one or both of: the waveguide; one or more of the plurality of sequentially coupled independently bendable flexible portions; and perform one or more action based on the received data.
Core Innovation
The document describes a laser surgical device and surgical system in which a laser tool is supported by a surgical mechanical arm comprising a plurality of sequentially coupled independently bendable flexible portions. A waveguide supplies laser light to the laser tool while following a contour of the surgical mechanical arm, and control circuitry monitors curvature by receiving data regarding curvature of one or both of the waveguide and one or more of the flexible portions.
The received curvature-related data is compared with at least one threshold comprising one or more of a damage threshold, a leakage threshold, and a performance threshold. Based on the received data and the comparison, circuitry performs at least one action configured to optimize performance of the laser tool during laser treatment.
The document further describes system architectures and monitoring approaches that enable curvature estimation and comparison to thresholds, including the use of sensors for curvature-related data. Representative control and treatment workflows are described in which lasing and/or mechanical arm movement can be enabled, disabled, or otherwise controlled in response to curvature and threshold comparisons, including user alerts and alternative arm postures.
Claims Coverage
The provided excerpts include three independent claims covering a surgical system architecture with curvature monitoring and threshold-based optimization during laser treatment, a method of laser tool control using curvature of axial portions of a laser cable for threshold-based optimization, and a method of laser treatment that directs a laser tool to a treatment site while monitoring curvature and optimizing performance during lasing. Across these independent claims, the inventive features focus on contour-following delivery, curvature monitoring of specific components, comparison to damage, leakage, and performance thresholds, and threshold-based control actions to optimize laser-tool performance.
Contour-following waveguide on independently bendable flexible arm
A surgical mechanical arm comprises a plurality of sequentially coupled independently bendable flexible portions and terminates in a laser tool, and a waveguide supplies laser light to the laser tool while following a contour of the surgical mechanical arm.
Curvature monitoring with threshold comparison
During laser treatment, circuitry monitors curvature by receiving data regarding curvature of one or both of the waveguide and one or more of the plurality of sequentially coupled independently bendable flexible portions, and compares the received data with at least one threshold comprising one or more of a damage threshold, a leakage threshold, and a performance threshold.
Threshold-based optimization actions for laser tool performance
Based on the received data and the comparison, circuitry performs at least one action configured to optimize performance of the laser tool during laser treatment.
Curvature-based laser tool control using axial portion data
During laser treatment, a method receives data regarding curvature of one or more axial portions of a laser cable supplying laser light to a laser tool, compares the received data with at least one threshold comprising one or more of a damage threshold, a leakage threshold, and a performance threshold, and performs at least one action configured to optimize performance of the laser tool based on the received data and the comparison.
Laser treatment with curvature monitoring during lasing
A method directs a laser tool to a region of a treatment site including at least one treatment area while monitoring curvature of one or more axial portions of a laser waveguide supplying laser light to the laser tool, orientates the laser tool so laser light is directed toward the at least one treatment area, and lases while, during operation, monitoring curvature by receiving data regarding curvature of one or more axial portions of the laser waveguide and comparing the received data with at least one threshold comprising one or more of a damage threshold, a leakage threshold, and a performance threshold.
Optimize laser-tool performance during lasing based on curvature comparison
During operation of the laser tool, performing an action to optimize performance of the laser tool based on received data from monitoring and on the comparison.
Across the independent claims, the core inventive concept is a laser treatment system and method that monitor curvature of a waveguide, arm, laser cable, or laser waveguide, compare the curvature-related data to damage, leakage, and performance thresholds, and perform threshold-based actions configured to optimize laser-tool performance while directing and operating the laser tool within a treatment space.
Stated Advantages
Optimize performance of the laser tool based on received curvature data and threshold comparison during laser treatment.
Documented Applications
Endometriosis/endometrium ablation.
Uterine fibroids.
Hysterectomy.
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