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;
an elongate sphincter contraction sensor including;
an elongate device body configured to be inserted within a sphincter of the subject; and
a force sensor in mechanical communication with the elongate device body and configured to provide a mechanomyography output signal in response to a contact force applied against the elongate device body by the sphincter;
a processor configured to;
receive the mechanomyography output signal;
determine if the received mechanomyography output signal is indicative of an induced sphincter response that is attributable to the elongated surgical instrument; and
provide a control signal to the robotic controller if an induced sphincter response is detected.
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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 an elongate sphincter contraction sensor configured to monitor a physical response of a sphincter of the subject and to provide a mechanomyography signal corresponding to the monitored response. Additionally, the feedback system includes a processor configured to receive the mechanomyography signal, to determine if the received signal is indicative of an induced sphincter response, and to provide a control signal to the robotic controller if an induced sphincter response is detected.
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Citations
20 Claims
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1. A robotic surgical system for performing a surgical procedure within the body of a subject, the robotic surgical system comprising:
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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; an elongate sphincter contraction sensor including; an elongate device body configured to be inserted within a sphincter of the subject; and a force sensor in mechanical communication with the elongate device body and configured to provide a mechanomyography output signal in response to a contact force applied against the elongate device body by the sphincter; a processor configured to; receive the mechanomyography output signal; determine if the received mechanomyography output signal is indicative of an induced sphincter response that is attributable to the elongated surgical instrument; and provide a control signal to the robotic controller if an induced sphincter response is detected. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of nerve avoidance during robotically assisted surgery comprising:
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controlling the motion of a distal end portion of an elongate surgical instrument using a robotic controller the elongated surgical instrument being configured to provide a stimulus from the distal end portion; receiving a mechanomyography output signal from at least one elongate sphincter contraction sensor; determining if the received mechanomyography output signal is indicative of an induced sphincter response that is attributable to the stimulus provided by the elongated surgical instrument; and providing a control signal to the robotic controller if an induced sphincter response is detected. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification