Surgical system

• US 8,998,797 B2
• Filed: 07/18/2008
• Issued: 04/07/2015
• Est. Priority Date: 01/29/2008
• Status: Active Grant

• Current Assignee: Karl Storz Se & Co. Kg
• Original Assignee: Karl Storz Se & Co. Kg
• Inventors: Omori, Shigeru
• Primary Examiner(s): Leubecker, John P
• Assistant Examiner(s): Torres Diaz, Arnaldo
• Application Number:
  US12/175,520
• Publication Number:
  US 20090192519A1
• Time in Patent Office: 2,454 Days
• Field of Search: 600/118, 600424-425, 606/130, 700/245
• US Class Current: 600/102
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• 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 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: Y10S 901/15 Jointed arm
• CPC Class Codes: Y10S 901/16 Cartesian, three degrees of freedom

Abstract

A surgical system performs a surgical procedure on a patient with manipulators and an endoscope. The surgical system has a display unit for simultaneously displaying a plurality of items of information including an endoscopic image captured by the endoscope, and a wireless image processor for transmitting information to the display unit and processing the plurality of items of information to be displayed by the display unit. The information about the endoscopic image is transmitted from the endoscope to the wireless image processor through a link including at least a portion based on wireless communications.

Claims

1. A surgical system for performing a surgical procedure on a patient, comprising:

a manipulator performing the surgical procedure on the patient;

internal image capturing means capturing an internal image of the patient;

display means simultaneously displaying a plurality of items of information including said internal image captured by said internal image capturing means;

information processing means transmitting said plurality of items of information to said display means and processing said plurality of items of information to be displayed by said display means;

a medical robot system including

a robot arm for moving said manipulator, said manipulator being mounted on said robot arm, said manipulator being operable by a driving source while being mounted on said robot arm,

operating means for operating said manipulator and said robot arm, and

operation control means controlling operation of said manipulator and said robot arm based on an input signal from said operating means; and

a data server storing an affected-region image of an affected region of the patient and coordinate information about said affected-region image recorded in advance prior to performing the surgical procedure,

wherein information about said internal image is transmitted from said internal image capturing means to said information processing means,

wherein said affected-region image and said coordinate information about said affected-region image are transmitted from said data server to said information processing means,

wherein said operation control means reads said coordinate information about said affected-region image stored in said data server, said coordinate information including positional coordinates of said affected region and positional coordinates of a plurality of markers in said affected-region image according to a diagnostic image coordinate system, and converting the positional coordinates of said affected region and of said markers into data according to a robot coordinate system of said robot arm to guide movement of said manipulator to said affected region based on said positional coordinates of said affected region and said positional coordinates of the markers,

wherein said information processing means or said operation control means processes positional information of said affected region based on said positional coordinates of the affected region and said positional coordinates of said markers in correlation to the information about said internal image, and

wherein said display means simultaneously displays said affected-region image, said internal image, and said positional information of said affected region in superposed relation to said internal image.

2. The surgical system according to claim 1, wherein operational information representing operating states of said manipulator and said robot arm is transmitted from said operation control means to said information processing means through a link including at least a portion based on wireless communications, and

wherein said display means displays said operational information simultaneously with said internal image.

3. The surgical system according to claim 1, further comprising ultrasonic diagnostic means for acquiring an ultrasonic image of said affected region of the patient,

wherein information about said ultrasonic image is transmitted from said ultrasonic diagnostic means to said information processing means through a link including at least a portion based on wireless communications, and

said display means displays said ultrasonic image simultaneously with said internal image.

4. The surgical system according to claim 1, further comprising an operation switch for selecting and switching between said plurality of items of information displayed by said display means,

wherein said operation switch is provided as a touch-panel switch on a display screen of said display means, or provided on said display means or on said information processing means.

5. The surgical system according to claim 1, wherein said information processing means includes a multi-window processor for setting and editing a plurality of windows on said display means for displaying said plurality of items of information simultaneously on said display means.

6. The surgical system according to claim 5, wherein said information processing means includes bypass display means for processing the information about the internal image and displaying the internal image on said display means by bypassing said multi-window processor.

7. The surgical system according to claim 1, wherein said display means displays system data including at least one of a type of the manipulator, a type of a distal-end working unit of the manipulator, and a usage history of the manipulator.

8. The surgical system according to claim 1, wherein said information processing means is connected to a recorder for recording endoscopic images or images displayed on the display means.

9. The surgical system according to claim 1, wherein the robot arm includes a slider attachment disposed on a distal end thereof, the slider attachment having at least one motor disposed therein to drive the manipulator.

10. The surgical system according to claim 9, wherein the slider attachment is slidable in a direction parallel to a longitudinal axis of the distal end of the robot arm via a slide mechanism.

11. The surgical system according to claim 9, wherein the manipulator includes a connecting block to removably mount to the slider attachment.