Surgical assistant system

• US 9,218,053 B2
• Filed: 01/30/2014
• Issued: 12/22/2015
• Est. Priority Date: 08/04/2011
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: Komuro, Takahiro, Iida, Masatoshi
• Primary Examiner(s): Leubecker, John P
• Assistant Examiner(s): Colque, Ronald D
• Application Number:
  US14/168,551
• Publication Number:
  US 20140148818A1
• Time in Patent Office: 691 Days
• Field of Search: 600/102
• US Class Current: 1/1
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• CPC Class Codes: A61B 18/1402 Probes for open surgery
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• 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 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 46/23 with means to retain or hold surgical implements
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: G06F 3/01 Input arrangements or combined input and output arrangements for interaction between user and computer G06F3/16 takes precedence
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: Y10S 901/08 : Robot
• CPC Class Codes: Y10S 901/09 : Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/30 : End effector
• CPC Class Codes: Y10T 29/49826 : Assembling or joining
• CPC Class Codes: Y10T 74/18056 : Rotary to or from reciprocating or oscillating

Abstract

A surgical assistant system includes: an operation unit configured to give an input; an arm unit on which a treatment tool is mounted; an operation imaging unit configured to acquire an operation image that is an image including the operation unit; an endoscope configured to acquire an internal-body image; a mode control unit having a plurality of operation modes and configured to enable one of the plurality of operation modes to be set as a setting operation mode; a driving unit configured to enable the arm unit to be operated based on the input given by the operation unit and the setting operation mode; a synthetic image creation unit configured to synthesize images using at least the operation image to create a synthetic image based on the setting operation mode; and a display unit configured to display the synthetic image.

Claims

1. A surgical assistant system comprising:

an operation unit configured to give an input;

an arm unit on which a treatment tool is mounted;

an operation imaging unit configured to acquire an operation image that is an image including the operation unit;

an endoscope configured to acquire an internal-body image including an image of an interior of a body of a patient;

a mode control unit having a plurality of operation modes and configured to enable one of the plurality of operation modes to be set as a setting operation mode;

a driving unit configured to enable the arm unit to be operated based on the input given by the operation unit and the setting operation mode;

a synthetic image creation unit configured to synthesize images using at least the operation image to create a synthetic image based on the setting operation mode; and

a display unit configured to display the synthetic image.

2. The surgical assistant system according to claim 1, further comprising:

a mode switching unit configured to switch the operation modes,

wherein the operation modes include;

a ready mode in which the arm unit is in a state before being operatable by the operation unit and the synthetic image creation unit creates the synthetic image including the operation image; and

a driving mode in which the driving unit is capable of operating the arm unit based on the input given by the operation unit and the synthetic image creation unit creates the synthetic image including the operation image and the internal-body image, and

the mode switching unit switches the operation mode set as the setting operation mode between the ready mode and the driving mode by transmitting a signal to the mode control unit.

3. The surgical assistant system according to claim 2, further comprising:

an arm imaging unit configured to acquire an arm image that is an image including the arm unit,

wherein the synthetic image creation unit creates the synthetic image by synthesizing images using the arm image.

4. The surgical assistant system according to claim 3, further comprising:

a positioning switching unit configured to switch the operation modes,

wherein the ready mode includes;

a standby mode in which the arm unit is in a standby state in which the arm unit waits in a state before being operatable by the operation unit and the synthetic image creation unit creates the synthetic image including the operation image; and

a positioning mode in which a position of the arm unit is capable of being adjusted and the synthetic image creation unit creates the synthetic image including the operation image and the arm image, and

the positioning switching unit switches the operation mode set as the setting operation mode between the standby mode and the positioning mode by transmitting a signal to the mode control unit.

5. The surgical assistant system according to claim 3, further comprising:

a standby exchange switching unit configured to switch the operation modes,

wherein the arm unit enables the treatment tool to be detachable,

the ready mode includes;

a standby mode in which the arm unit is in a standby state in which the arm unit waits in a state before being operatable by the operation unit and the synthetic image creation unit creates the synthetic image including the operation image; and

a standby surgical device exchange mode in which the arm unit is in a state before being capable of being operated by the operation unit and the synthetic image creation unit creates the synthetic image including the operation image, the internal-body image, and the arm image in a state in which the treatment tool is exchangeable, and

the standby exchange switching unit switches the operation mode set as the setting operation mode between the standby mode and the standby surgical device exchange mode by transmitting a signal to the mode control unit.

6. The surgical assistant system according to claim 5, wherein the synthetic image creation unit creates the synthetic image in which the operation image and the internal-body image are disposed at an edge of the arm image in the standby surgical device exchange mode.

7. The surgical assistant system according to claim 3, further comprising:

an emergency stop switching unit configured to switch the operation modes,

wherein the ready mode includes;

a standby mode in which the arm unit is in a standby state in which the arm unit waits in a state before being operatable by the operation unit and the synthetic image creation unit creates the synthetic image including the operation image; and

an emergency stop mode in which an operation of the arm unit is forcibly stopped and the synthetic image creation unit creates the synthetic image including the operation image, the internal-body image, and the arm image, and

the emergency stop switching unit switches the operation mode set as the setting operation mode between the standby mode and the emergency stop mode by transmitting a signal to the mode control unit.

8. The surgical assistant system according to claim 3, further comprising:

a driving exchange switching unit configured to switch the operation modes,

wherein the arm unit enables the treatment tool to be detachable,

the driving mode includes;

a driving normal surgical device mode in which the synthetic image creation unit creates the synthetic image using the operation image and the internal-body image in a state in which the arm unit is operated by the operation unit; and

a driving surgical device exchange mode in which the treatment tool is exchangeable and the synthetic image creation unit creates the synthetic image including the operation image, the internal-body image, and the arm image in the state in which the arm unit is operated by the operation unit, and

the driving exchange switching unit switches the operation mode set as the setting operation mode between the driving normal surgical device mode and the driving surgical device exchange mode by transmitting a signal to the mode control unit.

9. The surgical assistant system according to claim 8,

wherein the synthetic image creation unit creates the synthetic image in which the operation image and the arm image are disposed at an edge of the internal-body image in the driving surgical device exchange mode.

10. The surgical assistant system according to claim 3, further comprising:

an electric energy switching imaging unit configured to be a part of the operation imaging unit; and

a driving electric mode switching unit configured to switch the operation modes,

wherein the treatment tool is divided into a nonelectric type surgical device that does not use electric energy and an electric type surgical device that uses electric energy,

the operation unit has an electric energy switching unit switching whether or not electric energy is supplied to the electric type surgical device as a part of the operation unit,

the electric energy switching imaging unit acquires an electric energy switching image that is an image including the electric energy switching unit,

the operation image includes the electric energy switching image,

the driving mode includes;

a driving normal surgical device mode in which the synthetic image creation unit creates the synthetic image using the operation image and the internal-body image in a state in which the arm unit is operated by the operation unit; and

a driving electricity treatment tool mode in which the synthetic image creation unit creates the synthetic image including the internal-body image and the electric energy switching image, and

the driving electric mode switching unit switches the operation mode set as the setting operation mode between the driving normal surgical device mode and the driving electricity treatment tool mode by transmitting a signal to the mode control unit.

11. The surgical assistant system according to claim 1, further comprising:

an arm imaging unit configured to acquire an arm image that is an image including the arm unit,

wherein the synthetic image creation unit creates the synthetic image by synthesizing images using the arm image.