Invented by Clinton W. Denlinger, Gregory W. Johnson, Charles J. Scheib, Jeffrey S. Swayze, Cilag GmbH International
The Cilag GmbH International invention works as follows
The surgical system disclosed includes a surgical instrument, a motor operably connected to the surgical device, and a controller coupled to the motor. The control circuit can receive an instrument movement control signal indicative a user’s input, move the motor in response to that instrument motion signal, receive a signal indicative a distance between a surgical tool and tissue and scale the motion of the surgical instrument to the user’s input according to the input signal.Background for Robotic surgical system with mechanisms for scaling surgical instrument motion according to tissue distance
Surgical systems are often equipped with an imaging system that allows clinicians to view the surgical area and/or portions of it on a display such as a computer monitor. Displays can be located in a surgical theatre or remotely. A scope equipped with a camera can be used to view the surgical site, and then transmit the image to a display viewable by the clinician. The information that imaging systems are able recognize and/or transmit to clinicians can limit their capabilities. Certain imaging systems may not be able to recognize certain hidden structures, physical contours and/or dimensions in a three-dimensional environment. Moreover, some imaging systems are incapable of communicating or conveying information intraoperatively to clinicians.
One or more clinicians can remotely control or actuate robotic systems from a console. The input motions made at the consoles can be matched to actuations on a robot arm or a robotic tool attached thereto. In some cases, the robotic system or the clinicians can use the views and/or data provided by the imaging system to determine desired robotic actuations. In some cases, the inability of an imaging system to provide certain visual data or information can limit the ability of a clinician to make decisions and/or control the robotic system.
The surgical system disclosed in various embodiments includes a surgical instrument, a motor operably connected to the surgical device, and a controller coupled to the motor. The control circuit can receive an instrument movement control signal indicative a user’s input, move the motor in response to that instrument motion signal, and receive an input signal indicative a distance between a surgical tool and tissue.
The surgical system disclosed in various embodiments includes a surgical instrument, a motor operably connected to the surgical instrument, and a controller coupled to motor. The control circuit is configured for receiving an instrument motion signal indicative of a users input, causing the motor to move a surgical tool in response.
The surgical system disclosed in various embodiments includes a surgical instrument, a motor that is operably coupled with the surgical tool and a controller coupled to the motor. The control circuit can receive an instrument movement control signal that indicates a user’s input, move the motor in response to this instrument motion signal, receive an input signal that indicates a distance between surgical tool tissue and surgical tool, and select between gross motion and fine motion modes of the surgical device based on the distance.
FIGURES
The appended claims describe the novel features of each aspect in detail. “The described aspects as well as the methods of operation can be understood best by referring to the following description taken together with the accompanying illustrations in which:
FIG. “FIG. 1 is a view in plan of a robot surgical system that has been used to perform surgery according to one aspect of this disclosure.
FIG. “FIG. According to at least one aspect, the present disclosure.
FIG. “FIG.
FIG. According to one aspect of this disclosure, FIG. 4 shows a perspective of a surgeons’ control console for a robotic surgery system.
FIG. According to one aspect of this disclosure, FIG. 5 shows a perspective of an input device on a surgeon’s console.
FIG. “FIG. 6 is a perspective of a control input device for a robot surgical system according to one aspect of this disclosure.
FIG. “FIG. According to at least one aspect, the present disclosure.
FIG. “FIG.
FIG. “FIG.
FIG. “FIG. 9A is a diagram of a control for a surgical visualisation system, according at least to one aspect of the disclosure.
FIG. “FIG. 10A illustrates, in accordance with at least one aspect the present disclosure, a control system configured to control various aspects of a surgical visualisation system.
FIG. “FIG. 10B illustrates, in accordance with at least one aspect the present disclosure, a combinational circuit that is configured to control various aspects of a surgical visualisation system.
FIG. According to one aspect of this disclosure, FIG. 10C shows a sequential logic system configured to control various aspects of a surgical visualisation system.
FIG. “FIG. According to one aspect of this disclosure, 8 is used to determine the depth dA below the surface of the tissue of the critical structure.
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