Guided setup for teleoperated medical device

• US 10,500,004 B2
• Filed: 03/17/2015
• Issued: 12/10/2019
• Est. Priority Date: 03/17/2014
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Hanuschik, Michael, Berry, Julie L., Arsanious, Joseph, Mohr, Paul W., Itkowitz, Brandon D., Griffiths, Paul G.
• Primary Examiner(s): Neal, Timothy J
• Assistant Examiner(s): Chou, William B
• Application Number:
  US15/125,030
• Publication Number:
  US 20170172674A1
• Time in Patent Office: 1,729 Days
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 2017/00292 mounted on or guided by flexible, e.g. catheter-like, means
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2050/105 Cabinets
• CPC Class Codes: A61B 2050/185 Drawers
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 50/10 Furniture specially adapted for surgical or diagnostic appliances or instruments
• CPC Class Codes: A61B 50/13 Trolleys, e.g. carts
• CPC Class Codes: A61B 90/13 guided by light, e.g. laser pointers
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/67 for remote operation

Abstract

A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.

Claims

1. A teleoperational medical system for performing a medical procedure, the teleoperational medical system comprising:

a sensor;

a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one arm configured to assist in the medical procedure; and

a user interface configured to communicate the step-by-step setup instructions to a user;

wherein the dynamic guided setup system is configured to automatically recognize a completion of a first setup step based on a detected physical arrangement of the at least one arm;

wherein the dynamic guided setup system is configured to automatically bypass the first setup step when the dynamic guided setup system recognizes the completion of the first setup step based on the detected physical arrangement of the at least one arm; and

wherein the dynamic guided setup system is configured to automatically display, when the step-by-step setup instructions include an instruction for a subsequent setup step, a prompt for the subsequent setup step after automatically recognizing the completion of the first setup step; and

wherein the sensor is configured to detect a presence of a drape, wherein the first setup step includes a draping setup step, and wherein the dynamic guided setup system is configured to automatically display the prompt for the subsequent setup step after the sensor detects the presence of the drape.

2. The teleoperational medical system of claim 1, wherein the detected physical arrangement is a positional arrangement of the at least one arm.

3. The teleoperational medical system of claim 1, wherein the detected physical arrangement comprises coupling of an invasive surgical component selectively associated with the at least one arm.

4. The teleoperational medical system of claim 3, wherein the invasive surgical component is one of:

a cannula and an endoscope.

5. The teleoperational medical system of claim 1, wherein the subsequent setup step comprises receiving an input relating to one of:

a region of the medical procedure and an approach direction of the teleoperational assembly to a patient.

6. The teleoperational medical system of claim 1, wherein the subsequent setup step comprises deploying the at least one arm to a position for docking a cannula.

7. The teleoperational medical system of claim 1, further comprising:

a sensor configured to detect a location of the at least one arm, wherein the first setup step includes positioning the at least one arm in a particular position, and wherein the dynamic guided setup system is configured to automatically display the prompt for the subsequent setup step after the sensor detects the at least one arm in the particular position.

8. The teleoperational medical system of claim 7, wherein the subsequent setup step comprises docking a cannula onto the at least one arm.

9. The teleoperational medical system of claim 7, wherein the subsequent setup step comprises coupling an endoscope to the at least one arm.

10. The teleoperational medical system of claim 7, wherein the subsequent setup step comprises driving the teleoperational assembly to a patient.

11. The teleoperational medical system of claim 1, further comprising:

a sensor configured to detect a presence of an instrument on the at least one arm, wherein the first setup step includes attaching the instrument to the at least one arm, and wherein the dynamic guided setup system is configured to automatically display the prompt for the subsequent setup step after the sensor detects the instrument attached to the at least one arm.

12. The teleoperational medical system of claim 11, wherein the instrument is an endoscope.

13. The teleoperational medical system of claim 1, further comprising:

a sensor configured to detect a presence of a cannula on the at least one arm, wherein the first setup step includes docking the cannula onto the at least one arm, and wherein the dynamic guided setup system is configured to automatically display the prompt for the subsequent setup step after the sensor detects the cannula attached to the at least one arm.

14. The teleoperational medical system of claim 13, wherein the subsequent setup step comprises inserting an instrument through the cannula.

15. The teleoperational medical system of claim 1, wherein the dynamic guided setup system comprises a universal override, and wherein the dynamic guided setup system is configured to automatically bypass the subsequent setup step when the dynamic guided setup system recognizes that a condition for implementing the universal override has been met.

16. The teleoperational medical system of claim 1, wherein the user interface is configured to provide at least one of:

visual feedback, auditory feedback, and voice feedback.

17. The teleoperational medical system of claim 1, wherein the dynamic guided setup system comprises a laser targeting system configured to present a laser reference as a part of the first setup step, the laser reference visually indicating where to arrange the at least one arm.

18. A method of setting up a teleoperational medical system for performing a medical procedure, the method comprising:

sensing completion of a first setup step of a plurality of setup steps for setting up a teleoperational assembly by sensing a physical arrangement of at least one arm configured to assist in the medical procedure and by detecting a presence of a drape, wherein the first setup step includes a draping setup step;

automatically bypassing the first setup step when completion of the first setup step is detected by sensing the physical arrangement of the at least one arm and by detecting the presence of the drape; and

automatically displaying, when the plurality of setup steps includes a subsequent setup step, a prompt on a user interface for the subsequent setup step after sensing the completion of the first setup step.

19. The method of claim 18, wherein sensing the completion of the first setup step comprises sensing a positional arrangement of the at least one arm.

20. The method of claim 18, wherein sensing the completion of the first setup step comprises sensing a presence of an instrument associated with the at least one arm.

21. The method of claim 18, wherein sensing the completion of the first setup step comprises detecting a location of the at least one arm, and wherein the first setup step includes positioning the at least one arm in a particular position.

22. The method of claim 18, wherein sensing the completion of the first setup step comprises detecting a presence of an instrument on the at least one arm, and wherein the first setup step is attaching the instrument onto the at least one arm.

23. The method of claim 18, wherein sensing the completion of the first setup step comprises detecting a presence of a cannula on the at least one arm, and wherein the first setup step is docking the cannula onto the at least one arm.

24. A method for operating a teleoperational medical system comprising a teleoperational assembly, the method comprising:

sensing a physical arrangement of at least one arm of the teleoperational assembly configured to assist in a procedure;

receiving an input at a user interface relating to a parameter of the procedure;

bypassing a first setup step of a plurality of setup steps when a completion of the first setup step is detected based on both the sensed physical arrangement of the at least one arm and the input, and wherein sensing the physical arrangement of the at least one arm includes sensing a presence of a drape on the at least one arm;

identifying, when the plurality of setup steps includes a subsequent setup step, the subsequent setup step in response to both the detected physical arrangement of the at least one arm and the input; and

displaying a setup instruction for the subsequent setup step.

25. The method of claim 24, further comprising bypassing at least one setup step of the plurality of setup steps in response to the sensed physical arrangement of the at least one arm of the teleoperational assembly.

26. The method of claim 24, wherein sensing the physical arrangement includes sensing a presence of a cannula on the at least one arm.

27. The method of claim 24, wherein sensing the physical arrangement includes sensing a physical position of the at least one arm.

28. The method of claim 24, wherein receiving the input relating to the parameter of the procedure comprises receiving an input designating an approach direction of the teleoperational assembly to a patient.

29. The method of claim 24, wherein receiving the input relating to the parameter of the procedure comprises receiving a patient anatomical region to be surgically treated by the at least one arm.

30. A teleoperational medical system for performing a medical procedure, the teleoperational medical system comprising:

a teleoperational assembly having at least one arm configured to assist in the medical procedure, the teleoperational assembly being configured to sense a physical arrangement of the at least one arm and to detect a presence of a drape;

a user interface configured to receive an input relating to a parameter of the medical procedure; and

a processing system having a plurality of instructions stored therein for setting up the teleoperational assembly, the processing system being in communication with the teleoperational assembly to receive information indicative of the physical arrangement of the at least one arm, the processing system being in communication with the user interface to receive information relating to the parameter, the processing system being configured to identify at least one setup step of a plurality of setup steps in response to the physical arrangement, the presence of the drape, and the parameter, the processing system being configured to bypass a first setup step of the plurality of setup steps when the processing system detects a completion of the first setup step based on the physical arrangement, the presence of the drape, and the parameter, the processing system being configured to display, when the plurality of setup steps includes a subsequent setup step, an instruction for the subsequent setup step.

31. The teleoperational medical system of claim 30, wherein the physical arrangement includes a presence of a cannula on the at least one arm.

32. The teleoperational medical system of claim 30, wherein the physical arrangement includes a physical position of the at least one arm.

33. The teleoperational medical system of claim 30, wherein the parameter of the medical procedure comprises an approach direction of the teleoperational assembly to a patient.

34. The teleoperational medical system of claim 30, wherein the parameter of the medical procedure comprises a patient anatomical region of the medical procedure.