System and method for augmentation of endoscopic surgery
First Claim
1. A surgical robotic system for use in minimally invasive surgery, the minimally invasive surgery performed at an internal surgical site of a patient body, the surgical robotic system comprising:
- a surgical instrument having a proximal end and a distal end, the instrument extendible distally through an incision to the internal surgical site;
a robot supporting the proximal end of the instrument, the robot moving the instrument in response to motor signals;
a voice recognition system for inputting spoken instructions; and
a computer coupling the voice recognition system to the robot, the computer generating the motor signals in response to the spoken instructions to move the distal end of the surgical instrument at the internal surgical site by pivoting the instrument about the incision.
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Abstract
The present method and apparatus use image processing to determine information about the position of a designated object. The invention is particularly useful in applications where the object is difficult to view or locate. In particular, the invention is used in endoscopic surgery to determine positional information about an anatomical feature within a patient'"'"'s body. The positional information is then used to position or reposition an instrument (surgical instrument) in relation to the designated object (anatomical feature).
The invention comprises an instrument which is placed in relation to the designated object and which is capable of sending information about the object to a computer. Image processing methods are used to generated images of the object and determine positional information about it. This information can be used as input to robotic devices or can be rendered, in various ways (video graphics, speech synthesis), to a human user. Various input apparatus are attached to the transmitting or other used instruments to provide control inputs to the computer.
606 Citations
50 Claims
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1. A surgical robotic system for use in minimally invasive surgery, the minimally invasive surgery performed at an internal surgical site of a patient body, the surgical robotic system comprising:
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a surgical instrument having a proximal end and a distal end, the instrument extendible distally through an incision to the internal surgical site;
a robot supporting the proximal end of the instrument, the robot moving the instrument in response to motor signals;
a voice recognition system for inputting spoken instructions; and
a computer coupling the voice recognition system to the robot, the computer generating the motor signals in response to the spoken instructions to move the distal end of the surgical instrument at the internal surgical site by pivoting the instrument about the incision. - View Dependent Claims (2, 3, 4, 5, 6)
a surgical tool;
a forceps;
a device positioned within the patient'"'"'s body for transmitting an image outside of the patient'"'"'s body;
a laparoscope; and
a medical telescope.
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7. A minimally invasive surgical robotic method comprising:
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inserting a distal end of a surgical instrument through an incision to an internal surgical site;
manipulating a proximal end of the instrument with a robot in response to motor signals;
inputting spoken instructions into a voice recognition system;
generating the motor signals in response to the spoken instructions with a computer; and
moving the distal end of the surgical instrument at the internal surgical site by pivoting the instrument about the incision with the robot in response to the motor signals. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A system for positioning a surgical instrument relative to a patient'"'"'s body, comprising:
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a robotic manipulator having at least one controlled degree of freedom;
a controller controlling the robotic manipulator;
an instrument holder attaching a first surgical instrument to the robotic manipulator so that the first surgical instrument can pivot about an aperture into the patient body; and
a voice recognition system coupled to the controller, the voice recognition system permitting a surgeon to verbally command motions of the robotic manipulator, the instrument pivoting about the aperture in response to the commands. - View Dependent Claims (14, 15, 16, 17)
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18. A surgical robotic system for use in minimally invasive surgery performed at an internal surgical site of a patient body, the system comprising:
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a surgical instrument having a proximal portion and a distal end, said instrument extendable distally through an aperture in a body wall to the internal surgical site;
a robotic arm supporting the proximal portion of the instrument, the robotic arm moving the instrument in response to motor signals;
a voice recognition system for inputting spoken instructions; and
a computer operatively coupling the voice recognition system to the robotic arm, the computer generating the motor signals in response to the spoken instructions to move the distal end of the surgical instrument at the internal surgical site while the surgical instrument pivots about the aperture. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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26. A minimally invasive surgical robotic method comprising:
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inserting a distal end of a surgical instrument through an aperture in a body wall of a patient to an internal surgical site;
manipulating a proximal portion of said instrument with a robotic arm in response to motor signals;
inputting spoken instructions into a voice recognition system;
generating, with a computer, said motor signals in response to said spoken instructions; and
moving the robotic arm in response to the motor signals so as to move the distal end of the surgical instrument at the internal surgical site. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33)
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34. A system for positioning an endoscopic surgical instrument relative to a surgical site within a patient'"'"'s body, comprising:
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a robotic manipulator having at least one controlled degree of freedom;
a controller that is adapted to be capable of controlling the robotic manipulator;
an instrument holder for coupling said surgical instrument to said robotic manipulator; and
a voice recognition command input system operatively coupled to the controller, the voice recognition system permitting a surgeon to specify desired motion of the surgical instrument to the controller, such that the robotic manipulator moves said instrument to a position relative to the patient'"'"'s body, as specified by the surgeon using the command input system, by pivoting the instrument about an aperture into the patient'"'"'s body.
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35. A surgical robotic system for use in minimally invasive surgery performed at an internal surgical site of a patient body, the system comprising:
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a surgical instrument having a proximal portion and a distal end, said instrument extendable distally through an aperture in a body wall to the internal surgical site;
a robotic arm supporting the proximal portion of the instrument, the robotic arm moving the instrument in response to motor signals;
a computer operatively coupling the robotic arm to a surgeon input device, the computer generating the motor signals in response to a surgeon'"'"'s input to move the distal end of the surgical instrument at the internal surgical site within the patient body; and
a voice synthesis system for providing audible information to a surgeon regarding operation of the system during the surgery. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42)
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43. An apparatus for moving a surgical instrument, comprising:
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a robotic arm assembly coupled to said surgical instrument;
an input device that receives an input voice command and communicates a corresponding signal to a computer, said input voice command indicating a desired movement of said instrument, said computer providing a movement command, corresponding to said signals to move said assembly so that said surgical instrument is moved according to said desired movement by pivoting the surgical instrument at an aperture. - View Dependent Claims (44, 45, 46, 47, 48, 49, 50)
a surgical tool;
a forceps;
a device positioned within the patient'"'"'s body for transmitting an image outside of the patient'"'"'s body;
a laparoscope; and
a medical telescope.
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49. The system of claim 43, wherein said computer, after receiving said signal, compares said signal with at least one predetermined command signal and verifies that said input voice command is acceptable.
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50. The system of claim 43, further comprising an audio device for providing a user with a message confirming receipt of the input voice command.
Specification