Performing cardiac surgery without cardioplegia
First Claim
1. A method of performing a surgical procedure on a beating heart of a patient, the method including:
- positioning an end effector in close proximity to a surgical site on the heart, at which site a surgical procedure is to be performed, the end effector being mounted on a robotically controlled arm;
bracing the beating heart to at least reduce motion of the surgical site monitoring motion of the surgical site;
computing end effector tracking command signals in response to monitored motion of the surgical site;
forwarding the tracking command signals to actuators operatively associated with the robotically controlled arm to cause the arm to move the end effector generally to track motion of the surgical site;
inputting an end effector movement command signal;
forwarding the end effector movement command signal to the actuators to cause the end effector to move relative to the surgical site so as to perform at least part of the surgical procedure at the surgical sites directing an image capture device at the surgical site to capture least one image of the surgical site; and
processing information related to the at least one image to create an image of the surgical site which appears as though the surgical site were generally stationary relative to the image capture device.
1 Assignment
0 Petitions
Accused Products
Abstract
A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.
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Citations
54 Claims
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1. A method of performing a surgical procedure on a beating heart of a patient, the method including:
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positioning an end effector in close proximity to a surgical site on the heart, at which site a surgical procedure is to be performed, the end effector being mounted on a robotically controlled arm;
bracing the beating heart to at least reduce motion of the surgical site monitoring motion of the surgical site;
computing end effector tracking command signals in response to monitored motion of the surgical site;
forwarding the tracking command signals to actuators operatively associated with the robotically controlled arm to cause the arm to move the end effector generally to track motion of the surgical site;
inputting an end effector movement command signal;
forwarding the end effector movement command signal to the actuators to cause the end effector to move relative to the surgical site so as to perform at least part of the surgical procedure at the surgical sites directing an image capture device at the surgical site to capture least one image of the surgical site; and
processing information related to the at least one image to create an image of the surgical site which appears as though the surgical site were generally stationary relative to the image capture device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method of performing a surgical procedure on a beating heart of a patient, the method including:
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positioning an end effector in close proximity to a surgical site o the heart at which site a surgical procedure is to be performed, the end effector being mounted on a robotically controlled arm;
monitoring motion of the surgical site;
using monitored motion history of the surgical site to compute predictive tracking command signals in response to monitored motion of the surgical site;
forwarding the predictive tracking command signals to actuators operatively associated with the robotically controlled arm to cause the end effector generally to track motion of the surgical site;
inputting an end effector movement command signal; and
forwarding the end effector movement command signal to the actuators to cause the end effector to move relative to the surgical site so as to perform at least part of the surgical procedure at the surgical site. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
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51. A robotically controlled surgical system for performing a surgical procedure on a beating heart of a patient, the system including:
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a robotically controlled arm;
an end effector mounted on the arm and arranged to perform the surgical procedure on a surgical site on the heart;
a plurality of actuators operatively associated with the arm so as to move the arm in response to the actuators receiving actuator command signals;
a brace member configured to brace the beating heart so as to at least reduce motion of the surgical site;
a motion tracking system for monitoring motion of the surgical site including an image capture device capable of capturing at least one image of the surgical site and an image processor capable of processing information related to the at least one image to create an image of the surgical site which appears as though the surgical site were generally stationary relative to the image capture device;
a master input device through which an operator can selectively input end effector movement commands; and
a control system in which the robotically controlled arm, the motion tracking system and the master input device are operatively connected, the control system being arranged to compute a first set of actuator command signals, in response to information received from the motion tracking system, arranged to cause the actuators to move the end effector generally to track surgical site motion, and a second set of actuator command signals, in response to input from the master input device, arranged to move the end effector relative to the surgical site so as to perform the surgical procedure. - View Dependent Claims (52, 53, 54)
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Specification