Co-manipulation surgical systems having optical sensors for generating graphical displays
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-12349995-B2
Publication Date
2025-07-08
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 in which a robot arm is supported by a platform having a plurality of wheels that permit mobility in an operating room. An optical sensor mounted on the platform collects depth data, and a display mounted on the platform presents real-time graphical representations of an area surrounding the platform to guide movement of the platform by a user. The system generates the graphical representations in real time based on the received depth data and conveys the area surrounding the platform for user guidance.
The depth data is used to form graphical representations based on a real-time bird’s-eye map of the operating room area around the wheeled platform, including graphical representations of the platform/robot arms, objects, and persons. The system supports proximity-based alerts when the platform is within a predetermined distance from objects and/or persons in the area surrounding the platform, and can further support safety behaviors using the depth data, including collision avoidance and brake actuation.
Broader system description includes multi-mode robot arm control and guidance behaviors linked to sensed depth information. Depth data from the optical scanner supports tracking-related functions such as instrument identity/pose tracking, trocar localization, and gesture detection, and it enables virtual boundary and haptic barrier guidance.
Claims Coverage
The document includes two independent claims. Across these independent claims, the core inventive features are the combination of a mobile wheeled platform with a robot arm, a platform-mounted optical sensor that collects depth data, real-time generation of graphical representations of an area surrounding the platform, and real-time display of those representations to guide user movement in an operating room.
Mobile co-manipulation surgical platform with wheeled mobility and removably coupled instrument
A robot arm comprising a proximal end, a distal end configured to be removably coupled to a surgical instrument, a plurality of links, and a plurality of joints; and a platform configured to support the robot arm, the platform comprising a plurality of wheels configured to permit mobility of the platform.
Platform-mounted optical sensor collecting depth data
An optical sensor mounted on the platform and configured to collect depth data.
Real-time graphical representations of area surrounding the platform based on depth data
Receive the depth data collected by the optical sensor; and generate graphical representations of an area surrounding the platform based on the depth data, the graphical representations comprising the area surrounding the platform in real-time.
Real-time display mounted on the platform to guide user movement in the operating room
Cause the display to display the graphical representations of the area surrounding the platform in real-time to guide movement of the platform by a user within an operating room.
Controller-implemented method with real-time depth-data-driven guidance display
Collecting, by a controller operatively coupled to the robot arm, depth data from an optical sensor mounted on the platform; generating, by the controller, graphical representations of an area surrounding the platform based on the depth data, the graphical representations comprising the area surrounding the platform in real-time; and causing, by the controller, a display mounted on the platform to display the graphical representations of the area surrounding the platform in real-time to guide movement of the platform by a user within an operating room.
Both independent claims define a mobile, wheeled platform co-manipulation surgical system where a platform-mounted optical sensor collects depth data, a controller generates real-time graphical representations of the area surrounding the platform based on the depth data, and a platform display presents those representations in real time to guide user movement in an operating room.
Stated Advantages
Guides movement of the platform by a user within an operating room using real-time graphical representations generated from depth data.
Supports proximity-based alerts based on depth data indicating when the platform is within a predetermined distance from one or more objects and/or one or more persons.
Facilitates avoidance of collision during platform movement using graphical representations based on relative positioning of the platform and robot arm to objects and/or persons.
Restricts when graphical guidance is shown based on a brake mechanism state.
Provides depth-data-based real-time visualization of an area surrounding the platform for user guidance.
Documented Applications
Assisting with surgery by guiding movement of a wheeled platform within an operating room using real-time, depth-data-based graphical representations.
Collision avoidance and proximity-alert guidance for movement of the platform in an operating room based on depth data indicating relative positions of objects and persons.
Assisting with surgery by guiding movement of a mobile platform in an operating room based on real-time graphical representations generated from optical depth data.
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