Apparatus and method for using a remote control system in surgical procedures

Inventors

Cunningham, James S. • Mueller, Peter M.

Assignees

Covidien LP

Abstract

A system and method for using a remote control to control an electrosurgical instrument, where the remote control includes at least one momentum sensor. As the surgeon rotates their hand mimicking movements of a handheld electrosurgical instrument, the movements are translated and sent to the remote controlled (RC) electrosurgical instrument. The surgeon uses an augmented reality (AR) vision system to assist the surgeon in viewing the surgical site. Additionally, the surgeon can teach other doctors how to perform the surgery by sending haptic feedback to slave controllers. Also, the surgeon can transfer control back and forth between the master and slave controller to allow a learning surgeon to perform the surgery, but still allow the surgeon to gain control of the surgery whenever needed. Also, the surgeon could be located at a remote location and perform the surgery with the assistance of the AR vision system.

Core Innovation

The invention analyzes a pre-operative image to generate data about an anatomical section to assist a user during surgery. The analyzing includes computing a safety zone around the anatomical section, determining whether a remote controlled surgical instrument is within the safety zone, and generating a notification when the remote controlled surgical instrument is within the safety zone.

During live surgery, the invention receives a real time video signal of a surgical site within the patient and displays the generated data from the pre-operative images together with the video signal on a user interface. It detects a user-initiated movement of a user input device in at least three dimensions, where the movement mimics a movement of a handheld surgical instrument, and translates the detected movement into a movement signal for the remote controlled surgical instrument located at the surgical site.

The invention compares the real time video signal against the safety zone computed from the pre-operative images to control actuation based on whether the instrument is in the safety zone. It automatically moves the remote controlled surgical instrument as mimicked based on the translated movement signal, and in additional configurations control is transferred between a wireless master remote and a slave remote, with an infrared sensor disposed at a distal-most position of the wireless master remote used to track movement.

In further configurations, the master remote directly contacts the remote controlled surgical instrument, and the remote controlled surgical instrument is used as a handheld instrument to perform a surgical task while physically connected to the master remote. The remote controlled surgical instrument is also used as a robotic instrument.

Claims Coverage

The document includes three independent claims covering surgical procedure assistance using pre-operative image safety zones, live video display, user input motion translation to a remote controlled surgical instrument, and safety-zone-based user notification with instrument-actuation control. Across the independent claims, the inventive features are the safety zone computation and determination, real-time video comparison with the safety zone, motion detection and translation that mimics handheld instrument motion, and safety-zone-dependent notification and actuation, with claim-specific enhancements including robotic instrumentation, master/slave control transfer, and infrared sensing on the master remote.

Across the independent claims, the method centers on computing a safety zone from pre-operative images, tracking whether a remote controlled surgical instrument is within that zone, and using live video display combined with user input movement detection in at least three dimensions that mimics handheld surgical instrument motion. The translated motion drives automatic mimicked movement of the remote controlled surgical instrument, while comparison of the surgical-site video against the safety zone permits actuation when outside the zone and generates a user notification when within the zone. Additional independent-claim coverage includes transferring control between master and slave remotes, using an infrared sensor at the distal-most position of the wireless master remote for tracking or connection facilitation, and implementing the remote controlled surgical instrument as a robotic instrument.

Stated Advantages

Documented Applications