Method for tracking and reporting usage events to determine when preventive maintenance is due for a medical robotic system

• US 7,835,823 B2
• Filed: 11/06/2006
• Issued: 11/16/2010
• Est. Priority Date: 01/05/2006
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Sunstrom, Robert P., Nixon, Thomas, Toth, Gregory K., Sillman, Debra
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): Olsen; Lin B
• Application Number:
  US11/556,731
• Publication Number:
  US 20070156285A1
• Time in Patent Office: 1,471 Days
• Field of Search: 700/27, 700/254, 323/911, 318/568.21, 318/568.25
• US Class Current: 700/264
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2090/0803 Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0814 Preventing re-use
• CPC Class Codes: A61B 2090/504 with a counterweight
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: G16H 40/40 for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
• CPC Class Codes: Y10S 323/911 Medical electronics

Abstract

A medical robotic system comprises a number of components that may be monitored to determine their preventive maintenance needs by recording usage-related information for the monitored components into associated non-volatile memories. When usage of the component exceeds a specified usage threshold, the system displays a warning message on its display screen to have preventive maintenance performed for the component. If the usage continues without such maintenance and exceeds a higher usage threshold, the system displays an error message on its display screen and the system transitions into an error state during which medical procedures are not allowed to be performed. The usage-related information may also be communicated to a remote computer which gathers and processes usage-related information from a number of medical robotic systems to estimate resource requirements for timely performing preventive maintenance on the medical robotic systems, and anticipated service revenues from such maintenance.

Claims

1. In a medical robotic system including a patient-side unit having robotic arms adapted to hold and manipulate medical devices, and a surgeon console having a display screen and a processor configured to control movement of the robotic arms and manipulation of the medical devices, the patient-side unit and surgeon console each including a plurality of subassemblies which are not readily replaced during a medical procedure, wherein the improvement comprises:

individual of the plurality of subassemblies configured to store its usage-related information in a non-volatile memory included in the subassembly; and

the processor is further configured to determine whether one or more usage thresholds have been exceeded according to the usage-related information, and display one or more messages on the display screen identifying individual of the subassemblies requiring preventive maintenance according to such determination.

2. The medical robotic system according to claim 1, wherein the plurality of subassemblies are removable subassemblies.

3. The medical robotic system according to claim 1, wherein the individual of the plurality of subassemblies is configured to store its usage-related information in the non-volatile memory by:

determining whether a usage-related countable event has occurred for the subassembly; and

incrementing a count in a field dedicated to the usage related countable event in the non-volatile memory.

4. The medical robotic system according to claim 3, wherein the non-volatile memory is a flash electrically erasable and programmable read only memory, and the incrementing of the count is performed so as not to require erasure of any previously programmed bits in the flash electrically erasable and programmable read only memory.

5. The medical robotic system according to claim 3, wherein the usage-related information includes a time that power is on for the subassembly.

6. The medical robotic system according to claim 3, wherein the usage-related information includes a cycle count of a number of times the subassembly is powered up and down.

7. The medical robotic system according to claim 3, wherein the usage-related information includes a measure of time since installation of the subassembly.

8. The medical robotic system according to claim 7, wherein a calendar date of the installation is stored in the non-volatile memory.

9. The medical robotic system according to claim 7, wherein a calendar date of the installation is stored along with a serial number of the subassembly in a system configuration file of the medical robotic system.

10. The medical robotic system according to claim 3, wherein the usage-related information includes a measure of time since a last preventive maintenance of the subassembly.

11. The medical robotic system according to claim 10, wherein a calendar date of the last preventive maintenance is stored in the non-volatile memory.

12. The medical robotic system according to claim 10, wherein a calendar date of the last preventive maintenance is stored in a system configuration file of the medical robotic system.

13. The medical robotic system according to claim 3, wherein the usage-related information includes a count of a number of medical procedures performed using the subassembly.

14. The medical robotic system according to claim 3, wherein the usage-related information includes an accumulated period of time that the subassembly is electrically conducting.

15. The medical robotic system according to claim 3, wherein the plurality of subassemblies includes a subassembly for the patient-side unit having a spring extendable along a vertical direction to assist in setting up a corresponding one of the robotic arms, and the usage-related information includes a count of a number of times the spring changes direction in each of a plurality of zones defined along the vertical direction.

16. The medical robotic system according to claim 1, wherein the processor is further configured to:

update a system configuration file of the medical robotic system with the usage-related information stored in the non-volatile memories.

17. The medical robotic system according to claim 16, wherein the updating of the system configuration file is performed during a power up process of the medical robotic system.

18. The medical robotic system according to claim 16, wherein the updating of the system configuration file is performed during a power down process of the medical robotic system.

19. The medical robotic system according to claim 16, wherein the processor is configured to determine whether one or more usage thresholds for the subassembly are exceeded by:

reading an item from the system configuration file; and

determining whether the item has exceeded the one or more usage thresholds for the subassembly related to the item.

20. The medical robotic system according to claim 1, wherein the one or more messages are displayed during a power up process performed by the medical robotic system.

21. The medical robotic system according to claim 1, wherein the one or more messages are displayed by:

displaying an error message if a first usage threshold is exceeded; and

displaying a warning message if a second usage threshold that is lower than the first usage threshold is exceeded.

22. The medical robotic system according to claim 21, wherein the processor is further configured to transition into an error state wherein a medical procedure may not be performed if the error message is to be displayed as a result of the first usage threshold being exceeded.

23. The medical robotic system according to claim 1, wherein the processor is further configured to:

communicate the stored usage-related information to a remote location over a communication medium.

24. The medical robotic system according to claim 23, wherein the communication medium is the Internet.

25. The medical robotic system according to claim 23, wherein the communication medium is a telephone line.

26. In a medical robotic system including a patient-side unit having robotic arms adapted to hold and manipulate medical devices, and a surgeon console having a display screen and a processor configured to control movement of the robotic arms and manipulation of the medical devices, the patient-side unit including a subassembly having a spring extendable along a vertical direction to assist in setting up a corresponding one of the robotic arms, wherein the improvement comprises:

the subassembly configured to store usage-related information including a count of a number of direction changes in the vertical direction of the spring in a non-volatile memory included in the subassembly; and

the processor is further configured to determine whether one or more usage thresholds have been exceeded according to the usage-related information and display one or more messages on the display screen identifying the subassembly as requiring preventive maintenance according to such determination.

27. In a medical robotic system including a patient-side unit having robotic arms adapted to hold and manipulate medical devices, and a surgeon console having a display screen and a processor configured to control movement of the robotic arms and manipulation of the medical devices, the patient-side unit and surgeon console each including a plurality of subassemblies, wherein the improvement comprises:

individual of the plurality of subassemblies configured to store its usage-related information in a non-volatile memory included in the subassembly; and

the processor is further configured to determine whether one or more usage thresholds have been exceeded according to the usage-related information, display one or more messages on the display screen identifying individual of the subassemblies requiring preventive maintenance according to such determination, and copy a snapshot of the contents of the non-volatile memories to a removable memory board during a power down process performed by the medical robotic system.