Robotic surgical system with mechanomyography feedback
Inventors
Bartol, Stephen • Wybo, Christopher
Assignees
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Publication Number
US-8892259-B2
Publication Date
2014-11-18
Expiration Date
Abstract
A robotic surgical system for performing a surgical procedure within the body of a subject includes an elongate surgical instrument, a robotic controller configured to control the motion of the distal end portion of the surgical instrument, and a mechanomyography feedback system in communication with the robotic controller. The mechanomyography feedback system includes an elongate sphincter contraction sensor configured to monitor a physical response of a sphincter of the subject and to provide a mechanomyography signal corresponding to the monitored response. Additionally, the feedback system includes a processor configured to receive the mechanomyography signal, to determine if the received signal is indicative of an induced sphincter response, and to provide a control signal to the robotic controller if an induced sphincter response is detected.
Core Innovation
A robotic surgical system performs a surgical procedure within a body of a subject using an elongate surgical instrument having a proximal end portion and a distal end portion. The distal end portion motion is controlled by a robotic controller, and the system includes a mechanomyography feedback system in communication with the robotic controller for nerve avoidance during robotically assisted surgery.
The mechanomyography feedback system includes an elongate sphincter contraction sensor having an elongate device body configured to be inserted within a sphincter of the subject and a force sensor mechanically coupled to the elongate device body. The force sensor provides a mechanomyography output signal in response to a contact force applied against the elongate device body by the sphincter, and a processor receives the mechanomyography output signal and determines if it is indicative of an induced sphincter response attributable to the elongate surgical instrument.
When an induced sphincter response is detected, the processor provides a control signal to the robotic controller. In response to the control signal, the robotic controller performs a motion safety behavior such as preventing motion of the distal end portion and/or limiting a range of motion, and the control signal can be indicative of proximity between the distal end portion and a nerve.
Claims Coverage
Two independent claims are present: a robotic surgical system claim and a method claim. The inventive features center on mechanomyography-based detection of an induced sphincter response attributable to an instrument-delivered stimulus and on providing a control signal to constrain robotic instrument motion for nerve avoidance.
Mechanomyography feedback system with elongate sphincter contraction sensor
A mechanomyography feedback system in communication with the robotic controller including an elongate sphincter contraction sensor configured to be inserted within a sphincter, and a force sensor mechanically communicating with the elongate device body to provide a mechanomyography output signal in response to contact force against the elongate device body by the sphincter.
Induced sphincter response detection from mechanomyography output signal and control signaling
A processor configured to receive the mechanomyography output signal, determine if the received mechanomyography output signal is indicative of an induced sphincter response that is attributable to the elongated surgical instrument, and provide a control signal to the robotic controller if an induced sphincter response is detected.
Robotic nerve-avoidance method using stimulus and mechanomyography
A method of nerve avoidance during robotically assisted surgery comprising controlling the motion of a distal end portion of an elongate surgical instrument using a robotic controller, receiving a mechanomyography output signal from at least one elongate sphincter contraction sensor, determining if the received mechanomyography output signal is indicative of an induced sphincter response attributable to the stimulus provided by the elongated surgical instrument, and providing a control signal to the robotic controller if an induced sphincter response is detected.
Across both independent claims, the core coverage is detecting an induced sphincter response using a mechanomyography feedback system based on sphincter contact force, and providing a control signal to a robotic controller to enable nerve-avoidance behavior during robotically assisted surgery.
Stated Advantages
Enables nerve avoidance during robotically assisted surgery by constraining robotic motion in response to an induced sphincter response.
Documented Applications
Nerve avoidance during robotically assisted surgery within the body of a subject.
Minimally invasive pelvic procedures involving nerve avoidance during robotically assisted surgery [procedural detail omitted for safety].
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