Surgical robotic system configuration
Inventors
Barral, Joëlle • Shuma, James • Levin, Michal
Assignees
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Publication Number
US-12367972-B1
Publication Date
2025-07-22
Expiration Date
Abstract
Systems and methods for configuring and instructing movement of a surgical device using configuration data from previous surgeries are described herein. Robotic surgical systems described herein include robotic arms with interchangeable surgical tools. The kinematics of the robotic arms are compared against configuration data from previous procedures and differences between the kinematics and the configuration data are identified. The configuration data also includes simulations of robotic surgical systems throughout a procedure. Potential collisions or complications from present and future configurations are identified. The differences and instructions for resolving the differences and potential collisions are presented to a user for correction.
Core Innovation
The disclosed invention relates to configuring a robotic surgical system having a plurality of robotic arms by using configuration and kinematic data tied to surgical procedures. A computing device receives data corresponding to a surgical procedure and determines an initial configuration for each robotic arm by accessing a dataset of configurations corresponding to a plurality of surgical procedures. The initial configuration defines an initial position and orientation, and an initial tool selection for each robotic arm is selected before beginning the surgical procedure based on a type of the surgical procedure.
During the surgical procedure, the computing device receives kinematic data corresponding to a state of each robotic arm and determines a plurality of configurations by comparing a current configuration to historical configuration data. The historical configuration data comprises statistical patterns and surgical outcomes, and the individual robotic arm configurations define one or more of joint positions, joint orientations, or tool selections for the plurality of robotic arms during the surgical procedure.
The computing device further determines that a configuration differs from at least one expected robotic arm configuration of a dataset comprising expected robotic arm configurations. Responsive to the configuration differing from at least one expected configuration, the system generates a configuration notification relating to the configuration differing from the expected robotic arm configuration.
Claims Coverage
The independent claims cover three implementation forms: a computer-implemented method, a robotic surgical system, and a non-transitory computer-readable medium. Across these independent claims, the core inventive features include selecting initial configurations and initial tool selections from a configuration dataset, receiving kinematic data and comparing current configurations to historical configuration data tied to surgical outcomes, and determining differences from expected configurations and generating a configuration notification.
Selecting an initial configuration from a configuration dataset
Determining an initial configuration for each robotic arm by accessing a dataset of configurations corresponding to a plurality of surgical procedures and selecting the initial configuration based on the surgical procedure, where the initial configuration defines an initial position and orientation.
Selecting an initial tool selection based on a type of the surgical procedure
Selecting an initial tool selection for each robotic arm before beginning the surgical procedure based on a type of the surgical procedure.
Comparing current configuration to historical configuration data comprising statistical patterns and surgical outcomes
Receiving kinematic data corresponding to a state of each robotic arm and determining a plurality of configurations during the surgical procedure by comparing a current configuration to historical configuration data, where the historical configuration data comprises statistical patterns and surgical outcomes.
Defining configurations by joint positions, joint orientations, and/or tool selections
Generating the plurality of configurations so that individual robotic arm configurations define one or more of positions of each joint, orientations of each joint, or tool selections for the plurality of robotic arms during the surgical procedure.
Determining a configuration differs from an expected robotic arm configuration
Determining, during the surgical procedure, that a configuration of the robotic surgical system differs from at least one expected robotic arm configuration of a dataset comprising a plurality of expected robotic arm configurations.
Generating a configuration notification relating to the differing configuration
Generating a configuration notification relating to the configuration differing from the at least one expected robotic arm configuration, for presentation at a user interface in the system form.
Across the independent claims, the invention centers on selecting initial arm configurations and initial tool selections from a dataset, using received kinematic data to compare current configurations to historical configuration data that includes statistical patterns and surgical outcomes, determining when the configuration differs from expected configurations, and generating a configuration notification.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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