INTEGRATED SURGERY SYSTEM

• US 20130218137A1
• Filed: 12/27/2012
• Published: 08/22/2013
• Est. Priority Date: 12/30/2011
• Status: Abandoned Application

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Abovitz, Rony, Kang, Hyosig
• Application Number:
  US13/728,786
• Publication Number:
  US 20130218137A1
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 2505/05 Surgical care
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/90 Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders

Abstract

A system for conducting a medical procedure in an operating room includes a first camera-based 3-D motion sensor mounted in a known position and orientation relative to a global coordinate system of the operating room and configured to generate signals related to the 3-D position of a procedure object in the operating room based upon an outer shape of the procedure object relative to the first camera-based 3-D motion sensor; and a controller operatively coupled to the first camera-based 3-D motion sensor and configured to automatically monitor progress of the medical procedure based at least in part upon one or more positions of the procedure object relative to time as compared with a predetermined operational plan for moving the procedure object over time, the one or more positions based at least in part upon the signals.

Claims

1. A system for conducting a medical procedure in an operating room, comprising:

a. a first camera-based 3-D motion sensor mounted in a known position and orientation relative to a global coordinate system of the operating room and configured to generate signals related to the 3-D position of a procedure object in the operating room based upon an outer shape of the procedure object relative to the first camera-based 3-D motion sensor; and

b. a controller operatively coupled to the first camera-based 3-D motion sensor and configured to automatically monitor progress of the medical procedure based at least in part upon one or more positions of the procedure object relative to time as compared with a predetermined operational plan for moving the procedure object over time, the one or more positions based at least in part upon the signals.

2. The system of claim 1, wherein the first camera-based 3-D motion sensor comprises a visual spectrum camera.

3. The system of claim 1, wherein the first camera-based 3-D motion sensor comprises an infrared spectrum camera.

4. The system of claim 1, wherein the position and orientation of the first camera-based 3-D motion sensor relative to the global coordinate system of the operating room is known based upon signals generated from a second sensor configured to generate the signals based upon repositioning or reorientation of the first camera-based 3-D motion sensor relative to an established registration position and orientation of the first camera-based 3-D motion sensor relative to the global coordinate system of the operating room.

5. The system of claim 4, wherein the second sensor comprises an accelerometer.

6. The system of claim 4, wherein the second sensor comprises a joint motion encoder.

7. The system of claim 1, wherein the controller is resident in a computing system local to the operating room.

8. The system of claim 1, wherein the controller is resident in a computing system remote to the operating room.

9. The system of claim 1, wherein the controller is configured to adapt automatically to a change detected in the progress of the medical procedure by comparing the monitored progress with a version of the predetermined operational plan that is modified in accordance with the detected change.

10. The system of claim 9, wherein the version of the predetermined operational plan that is modified in accordance with the detected change is based at least in part upon a predetermined workflow logic schema.

11. The system of claim 10, wherein the predetermined workflow logic schema is based at least in part upon previous surgical experience.

12. The system of claim 10, wherein the predetermined workflow logic schema is based at least in part upon input from an expert.

13. The system of claim 12, wherein the expert is located remote to the operating room.

14. The system of claim 13, further comprising a video conferencing interface for allowing the expert to visualize and communicate with persons located in the operating room.

15. The system of claim 14, wherein one or more images from the first camera-based 3-D motion sensor are transmitted to the remote expert over the video conferencing interface using a network connection.

16. The system of claim 1, further comprising one or more instrument identifying sensors coupled to one or more instruments within the operating room and operatively coupled to the controller, the controller configured to identify the one or more instruments based at least in part upon the one or more instrument identifying sensors.

17. The system of claim 16, wherein the one or more instrument identifying sensors comprise RFID tags.

18. The system of claim 1, further comprising one or more personnel identifying sensors coupled to one or more personnel within the operating room and operatively coupled to the controller, the controller configured to identify the one or more personnel based at least in part upon the one or more personnel identifying sensors.

19. The system of claim 18, wherein the one or more personnel identifying sensors comprise RFID tags.

20. The system of claim 1, further comprising one or more patient identifying sensors coupled to a patient within the operating room and operatively coupled to the controller, the controller configured to identify the patient based at least in part upon the one or more patient identifying sensors.

21. The system of claim 20, wherein the one or more patient identifying sensors comprise RFID tags.

22. The system of claim 1, further comprising an instrument tracker configured to monitor a position of a procedure object in the operating room based upon detection of reflected radiation from one or more markers coupled to the procedure object, the radiation emitted from the instrument tracker.

23. The system of claim 22, wherein the one or more markers comprise reflective spheres or discs.

24. The system of claim 1, wherein the procedure object is selected from the group consisting of:

a surgical instrument, an imaging system component, an instrument table, and an operating table.

25. The system of claim 24, wherein the procedure object is a surgical instrument selected from the group consisting of:

a manual surgical hand tool, an electromechanical surgical hand tool, and a pneumatic surgical hand tool.

26. The system of claim 24, wherein the procedure object is an imaging system component selected from the group consisting of:

an X-ray source;

an X-ray detector; and

X-ray source-detector coupling member;

an ultrasound transducer;

a light source;

a light detector;

a magnetic field source; and

a magnetic field detector.

27. The system of claim 1, further comprising an instrument table comprising a touch and object recognition surface operatively coupled to the controller and configured to facilitate identification of objects placed upon the surface.

28. The system of claim 27, wherein the touch and object recognition surface is further configured to visually highlight one or more objects that have been placed upon the surface.