Remote surgery support system and method thereof

• US 5,855,553 A
• Filed: 02/16/1996
• Issued: 01/05/1999
• Est. Priority Date: 02/16/1995
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi America Limited (Hitachi, Ltd.)
• Inventors: Wada, Toshihiko, Nakajima, Isao, Tajima, Fujio, Takeuchi, Hiroshi, Fujie, Masakatsu
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US08/601,356
• Time in Patent Office: 1,054 Days
• Field of Search: 128/653.1, 128/653.2, 601/2-4, 606/1, 606/14, 606/2, 606/13, 606/130, 606/15, 606/16, 607/1, 607/88, 607/96, 395/80-84, 395/99, 600/407, 600/410, 600/425, 600/411, 600/427, 600/429
• US Class Current: 600/407
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling

Abstract

A remote surgery supporting system and a method thereof produces a presentation of realism control data generated by realism control data generating means 101 from image data obtained from work environment data detecting means 104 and measurement data processing means 118 and from force and proximity data. While viewing this presentation, the surgical operator inputs actions through action command inputting means 114 and thereafter, diseased tissue manipulating means 102 executes a procedure on diseased part 125. The manipulation force of each surgical operator received from manipulation command generating means 103 and force reflection from the diseased part 125 are combined and presented to the action command inputting means 114. Thereby, a plurality of surgical operators can perform a surgerical operation while viewing the realism control data and sensing the manipulation force of other surgical operators and the force reflection from the diseased part. Thus, a master/slave type remote surgery supporting system which allows a plurality of surgical operators to perform a surgical operation which requires many degrees of freedom can be provided.

Claims

1. A remote surgery supporting system for supporting surgical operations of one or more surgical operators remote-controlling at least one of a surgical tool and a therapeutic instrument, comprising:

diseased tissue manipulating means carrying at least one of a surgical tool and therapeutic instrument;

in vivo data measuring means for measuring in vivo data by periodically applying one or more of fluctuating magnetic field, electromagnetic wave and ultrasonic wave to a diseased part of a patient and the surrounding part thereof before and during an operation and by measuring a penetrated or resonated signal;

measurement data processing means for generating a 3-D measured data image from the in vivo data measured by said in vivo data measuring means and providing an output indicative thereof;

work environment data detecting means for receiving information regarding the diseased part and for detecting an approaching state and a contact force which said diseased tissue manipulating means has applied to the diseased part and providing an output indicative thereof;

realism control data generating means for combining and processing the output of said working environment data detecting means and the output of said measurement data processing means to present to each surgical operator as realism control data;

action command inputting means for inputting actions taken by each surgical operator based on realism control data presented to each surgical operator by said realism control data generating means and providing an action command output; and

manipulation command generating means for translating the action command output received from said action command inputting means to manipulation command data, for transmitting manipulation command data to said diseased tissue manipulating means and for transmitting a contact force detected by said working environment data detecting means to said diseased tissue manipulating means.

2. The remote surgery supporting system according to claim 1, wherein said diseased tissue manipulation means includes a mechanism for positioning said at least one of the surgical tool and therapeutic tool, said mechanism being made of a material and constructed so as to be less sensitive to a fluctuating magnetic field.

3. The remote surgery supporting system according to claim 1, wherein realism control data generated by said realism control data generating means contains at least one of:

a virtual image to be presented to a surgical operator by synthesizing the information received by said working environment data detecting means and a measured data image generated by said measurement data processing means;

a virtual sound field to be presented to the surgical operator as sound data; and

virtual force reflection data to be presented to the surgical operator in combination with a contact force transmitted by said manipulation command generating means.

4. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual image, and said virtual image is an image which represents stress at the diseased part and at the surrounding part thereof when the surgical tool or therapeutic instrument is in contact with the diseased part by using at least one of type, lightness and saturation of color.

5. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual image, and said virtual image is an image which represents a distance between the surgical tool or therapeutic instrument and the diseased part when the surgical tool or therapeutic instrument is not in contact with the diseased part by using at least one of type, lightness and saturation of color.

6. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual image, and said virtual image is an image which represents a positional deviation from a target, velocity and acceleration of the tip of a surgical tool or therapeutic instrument by using at least one of type, lightness and saturation of color.

7. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual image, and said virtual image is a vector diagram indicating the moving direction of a tip of a surgical tool or therapeutic instrument.

8. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual image, and said virtual image is an image produced by wavelength-converting an image in the neighborhood of the diseased part in an infrared range into that of a wavelength in a visible range.

9. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual sound field, and said virtual sound field represents stress at a diseased part and at the surrounding part thereof when the surgical tool or therapeutic instrument is in contact with the diseased part using at least one of sound volume, timbre, musical interval and tone color.

10. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual sound field, and said virtual sound filed represents the distance between a surgical tool or therapeutic instrument and a diseased part when the surgical tool or therapeutic instrument is not in contact with the diseased part using at least one of sound volume, timbre, musical interval and tone color.

11. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual sound field, and said virtual sound field represents a positional deviation from a target, velocity and acceleration of a tip of the surgical tool or therapeutic instrument using at least one of sound volume, timbre, musical interval and tone color.

12. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual sound field, and said virtual sound field represents a magnitude and direction of a vector, which indicates a moving direction of the surgical tool or therapeutic instrument, using at least one of sound volume, timbre, musical interval and tone color of wind-cutting sound.

13. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual sound field, and said virtual sound field represents a temperature, in the neighborhood of a diseased part obtained from an infrared image, using at least one of sound volume, timbre, musical interval and tone color.

14. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual force reflection, and said virtual force reflection is calculated from at least one-order of differential values relating to a distance between a position of a tip of a surgical tool or therapeutic instrument and the diseased part and a timing thereof.

15. The remote surgery supporting system according to claim 3, wherein said realism control data contains said virtual force reflection, and said virtual force reflection represents a distribution of intensity of an infrared image in the neighborhood of a diseased part by force exerted in the opposite direction from the depth of the diseased part.

16. The remote surgery supporting system according to claim 1, wherein said working environment data detecting means detects force sensor data, said realism control data generating means generates a virtual force reflection to each surgical operator via said action command inputting means, said manipulation command generating means transmits a synthesized force reflection obtained by combining said force sensor data detected by said working environment data detecting means and said virtual force reflection generated by said realism control data generating means.

17. The remote surgery supporting system according to claim 16, wherein said manipulation command generating means includes manipulation force computing means for calculating a force applied to said diseased tissue manipulating means in response to other surgical operators inputting action commands via said action command inputting means and means for outputting a weighted result representing a sum of a force caused by a manipulation of each surgical operator calculated by said manipulation force computing means and said synthesized force reflection.

18. The remote surgery supporting system according to claim 1, wherein said diseased tissue manipulating means positions said at least one of the surgical tool and therapeutic instrument against the diseased part as it receives a manipulation command as an input and said at least one of the surgical tool and therapeutic instrument causes deformation, destruction or degeneration of diseased tissues by providing at least one of kinetic energy, light energy, electrical energy and thermal energy.

19. The remote surgery supporting system according to claim 18, further comprising a source of said kinetic energy being a manipulator having a plurality of degrees of freedom and a source of said light energy and thermal energy being a laser beam generator which transmits the laser beam through optical fibers.

20. The remote surgery supporting system according to claim 19, wherein a driving mechanism is provided for said manipulators, said driving mechanism being an actuator utilizing electrostatic force acting between a plurality of electrodes.

21. The remote surgery supporting system according to claim 20, wherein said actuator includes a non-magnetic organic material.

22. The remote surgery supporting system according to claim 19, wherein said manipulator includes a non-magnetic material.

23. The remote surgery supporting system according to claim 1, wherein said at least one of the surgical tool and therapeutic instrument includes a Peltier effect element.

24. The remote surgery supporting system according to claim 1, further comprising storage means for storing at least one of the realism control data generated by said realism control data generating means and the measured data image generated by said measurement data processing means.

25. The remote surgery supporting system according to claim 24, further comprising models for generating at least one of said realism control data and said measured data image being stored in said storage means.

26. The remote surgery supporting system according to claim 1, wherein the information regarding the diseased part received by the work environment data detecting means includes at least the output from the measurement data processing means.

27. A remote surgery supporting system for supporting at least one surgical operation of at least one surgical operator remote-controlling at least one of a surgical tool and a therapeutic instrument, comprising:

means for carrying at least one of a surgical tool and therapeutic instrument, said at least one of the surgical tool and the therapeutic instrument including an end effector for causing at least one of deformation, destruction and degeneration of diseased tissues of a diseased part of a patient by at least one of generating and transmitting at least one of kinetic energy, light energy, electric energy and thermal energy thereto;

a driving mechanism for enabling movement of said at least one of the surgical tool and the therapeutic instrument;

means for calculating at least one virtual force reflection in accordance with a location and movement of said at least one of the surgical tool and the therapeutic instrument with respect to the diseased part and providing an output indicative thereof;

a master manipulator for outputting an action command in response to an input from each surgical operator;

manipulation command generating means for translating at least one of an action command output from said master manipulator and the output from the means for calculating into a manipulation command output; and

a slave manipulator for positioning said at leas tone of the surgical tool and the therapeutic instrument against the diseased part using said driving mechanism by interpreting the manipulation command output from said manipulation command generating means.

28. The remote surgery supporting system according to claim 27, wherein said means for calculating calculates the at least one virtual force reflection from at least one differential value related to a distance between a position of a tip of said at least one of the surgical tool and the therapeutic instrument and the diseased part with respect to time.

29. The remote surgery supporting system according to claim 27 or 28, further comprising:

in vivo data measuring means for measuring in vivo data by applying at least one of a fluctuating magnetic field, an electromagnetic wave and ultrasonic wave to the diseased part and the surrounding part thereof before and during an operation and by measuring a penetrated or resonated signal;

measurement data processing means for generating a 3-D measured data image from the in vivo data measured by said in vivo data measuring means and providing an output indicative thereof;

work environment data detecting means for receiving information regarding the diseased part and for detecting an approaching state and a contact force which said carrying means has applied to the diseased part and providing an output indicative thereof; and

control data generating means including said calculating means for combining and processing the output of said working environment data detecting means and the output of said measurement data processing means to present the generated control data to each surgical operator.

30. The remote surgery supporting system according to claim 29, wherein the generated control data generated by said control data generating means contains at least one of:

a virtual image to be presented to a surgical operator by synthesizing image data taken in by said working environment data detecting means and a measured data image generated by said measurement data processing means;

a virtual sound field to be presented to the surgical operator as sound data; and

virtual force reflection data to be presented to the surgical operator in combination with a contact force transmitted by said manipulation command generating means.

31. The remote surgery supporting system according to claim 27, further comprising means for providing the output of said means for calculating to a respective surgical operator.

32. A remote surgery supporting method for supporting at least one of a plurality of surgical operators performing surgical procedures on a diseased part of a patient by driving a slave manipulator equipped with at least one of a surgical tool and therapeutic instrument by a respective one of the at least one of the plurality of surgical operators manipulating a respective master manipulator, comprising a step of driving one slave manipulator using a combined command, said combined command being obtained by the substeps of multiplying action commands output from the master manipulator of the respective one of the at least one of the plurality of surgical operators with a weighting factor to produce weighted action commands and adding the weighted action commands.

33. The remote surgery supporting method according to claim 32, comprising steps of:

measuring in vivo data of the diseased part to produce measured data and generating measured image data from said measured data;

taking an image of the diseased part or said at least one of the surgical tool and the therapeutic instrument to generate diseased part image data; and

combining the measured image data and diseased part image data to present an image to the respective one of the at least one of the plurality of surgical operators.

34. The remote surgery supporting method according to claim 32, comprising a step of detecting a distance or contact force between said at least one of the surgical tool and therapeutic instrument and the diseased part to generate data to present to the respective ones of the at least one of the plurality of surgical operators.

35. The remote surgery supporting method according to claim 32, comprising a step of measuring a distribution of temperature of the diseased part to generate data to present to the at least one of the plurality of the surgical operators.

36. The remote surgery supporting method according to claim 32, comprising a step of determining a moving velocity, an acceleration and a deviation from a target position of a tip of said at least one of the surgical tool and therapeutic instrument to generate data to present to the respective ones of the at least one of the surgical operators.

37. The remote surgery supporting method according to claim 32, comprising a step of combining a force reflection of said at least one of the surgical tool and therapeutic instrument and a manipulation force produced by the respective ones of the at least one of the plurality of surgical operators to transmit to said master manipulator corresponding to a respective one of the at least one of the plurality of surgical operators.

38. A remote surgery supporting method for supporting surgical operations of at least one surgical operator remote-controlling diseased tissue manipulating means including at least one of a surgical tool and a therapeutic instrument, comprising the steps of:

manipulating diseased tissue by diseased tissue manipulating means carrying the at least one of the surgical tool and the therapeutic instrument;

measuring in vivo data by periodically applying at least one of a fluctuating magnetic field, electromagnetic wave and ultrasonic wave to a diseased part of a patient and a surrounding part thereof before and during an operation and by measuring at least one of a penetrated and resonated signal;

processing the measured in vivo data for generating a 3-D measured data image;

detecting work environment data including taking an image data of the diseased part and detecting an approaching state and a contact force of the diseased tissue manipulating means with the diseased part;

generating realism control data by combining and processing the detected working environment data and the processed measured in vivo data to present realism control data to a respective surgical operator;

inputting actions taken by a respective surgical operator based on the realism control data presented to a respective surgical operator and outputting action commands; and

generating manipulation commands by translating an outputted action command to manipulation command data, and transmitting the manipulation command data and the detected contact force to the diseased tissue manipulating means.

39. A remote surgery supporting method for supporting at least one surgical operation of at least one surgical operator remote-controlling at least one of a surgical tool and a therapeutic instrument, comprising the steps of:

carrying the at least one of the surgical tool and the therapeutic instrument, the at least one of the surgical tool and the therapeutic instrument including an end effector for causing at least one of deformation, destruction and degeneration of diseased tissues of a diseased part of a patient by at least one of generating and transmitting at least one of kinetic energy, light energy, electric energy and thermal energy thereto;

moving the at least one of the surgical tool and the therapeutic instrument by a driving mechanism;

calculating at least one virtual force reflection in accordance with a location and movement of said at least one of the surgical tool and the therapeutic instrument with respect to the diseased part and providing an output indicative thereof;

outputting an action command by a master in response to an input from each surgical operator;

generating a manipulation command by translating at least one of an action command output from the master manipulator and the virtual force into a manipulation command output; and

positioning the at least one of the surgical tool and the therapeutic instrument against the diseased part by a slave manipulator using the driving mechanism by interpreting the manipulation command output from the manipulation command generating means.

40. The remote surgery supporting method according to claim 39, further comprising the step of presenting the calculated at least one virtual force reflection to a respective surgical operator.