ROBOTIC SURGICAL SYSTEM WITH MECHANOMYOGRAPHY FEEDBACK
First Claim
1. A robotic surgical system for performing a surgical procedure within the body of a subject, the robotic surgical system comprising:
- an elongate surgical instrument having a proximal end portion and a distal end portion;
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 including;
a mechanical sensor configured to;
monitor a physical motion of a muscle; and
provide a mechanomyography signal corresponding to the monitored physical motion; and
a processor configured to;
receive the mechanomyography signal;
determine if the received mechanomyography signal is indicative of an induced muscle response; and
provide a control signal to the robotic controller if an induced muscle response is detected.
1 Assignment
0 Petitions
Accused Products
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 a mechanical sensor configured to monitor a physical motion of a muscle and to provide a mechanomyography signal corresponding to the monitored physical motion. Additionally, the feedback system includes a processor configured to receive the mechanomyography signal, to determine if the received signal is indicative of an induced muscle response, and to provide a control signal to the robotic controller if an induced muscle response is detected.
-
Citations
20 Claims
-
1. A robotic surgical system for performing a surgical procedure within the body of a subject, the robotic surgical system comprising:
-
an elongate surgical instrument having a proximal end portion and a distal end portion; 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 including; a mechanical sensor configured to; monitor a physical motion of a muscle; and provide a mechanomyography signal corresponding to the monitored physical motion; and a processor configured to; receive the mechanomyography signal; determine if the received mechanomyography signal is indicative of an induced muscle response; and provide a control signal to the robotic controller if an induced muscle response is detected. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17, 18, 19, 20)
-
-
12. 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 signal from at least one mechanical sensor; determining if the received mechanomyography signal is indicative of an induced muscle response; and providing a control signal to the robotic controller if an induced muscle response is detected.
-
Specification