Teleoperation system with visual indicator and method of use during surgical procedures

• US 9,775,682 B2
• Filed: 04/18/2016
• Issued: 10/03/2017
• Est. Priority Date: 03/06/2002
• Status: Expired due to Term

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Quaid, Arthur E., Abovitz, Rony A.
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US15/131,683
• Publication Number:
  US 20160228204A1
• Time in Patent Office: 533 Days
• Field of Search: 700264, 700258, 700245, 700249, 600424, 128899, 606 1, 606130
• CPC Class Codes: A61B 17/1675 for the knee
• CPC Class Codes: A61B 17/1677 for the patella
• CPC Class Codes: A61B 17/1695 Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1739 specially adapted for particular parts of the body
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 17/1767 for the patella
• CPC Class Codes: A61B 2017/00115 with audible or visual output
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/207 : Divots for calibration
• CPC Class Codes: A61B 2034/252 : indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/254 : being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2034/305 : Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/08021 : of the patient or his organs
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3937 : Visible markers
• CPC Class Codes: A61B 2090/3983 : Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• 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 34/35 : for telesurgery
• 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 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/1127 : using markers
• CPC Class Codes: A61B 5/745 : using a holographic display
• CPC Class Codes: A61B 90/14 : Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61F 2/30942 : for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques
• CPC Class Codes: A61F 2/38 : for elbows or knees
• CPC Class Codes: A61F 2002/4632 : using computer-controlled surgery, e.g. robotic surgery
• CPC Class Codes: A61F 2002/4633 : for selection of endoprosthetic joints or for pre-operative planning
• CPC Class Codes: A61N 1/0534 : Electrodes for deep brain stimulation
• CPC Class Codes: A61N 1/3605 : Implantable neurostimulators for stimulating central or peripheral nerve system
• CPC Class Codes: A61N 1/372 : Arrangements in connection with the implantation of stimulators
• CPC Class Codes: G05B 2219/36432 : By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
• CPC Class Codes: G05B 2219/39196 : Use of passive joint, no actuator but brake, brake on or off
• CPC Class Codes: G05B 2219/40478 : Graphic display of work area of robot, forbidden, permitted zone
• CPC Class Codes: G05B 2219/45117 : Medical, radio surgery manipulator
• CPC Class Codes: G05B 2219/45171 : Surgery drill
• CPC Class Codes: G06F 3/016 : Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: G16Z 99/00 : Subject matter not provided for in other main groups of this subclass

Abstract

Teleoperation systems and methods for use during a surgical procedure. The teleoperation system comprises a surgical tool and a master input device for being moved by a user. A slave device is coupled to the surgical tool and responsive to movement of the master input device. The slave device is configured to be operated in a first mode or a second mode. In the first mode, the surgical tool is placed in a desired pose with respect to a target region in response to a manual force applied to the slave device. In the second mode, the surgical tool is manipulated during the surgical procedure in response to movement of the master input device by the user. A visual indicator is coupled to the surgical tool or the slave device to emit light in the second mode to provide visual information to the user in the second mode.

Claims

1. A teleoperation system for use during a surgical procedure, said teleoperation system comprising:

a surgical tool;

a master input device to be moved by a user;

a slave device coupled to said surgical tool and responsive to movement of said master input device, said slave device configured to be operated in a first mode to place said surgical tool in a desired pose with respect to a target region and a second mode to manipulate said surgical tool during the surgical procedure; and

a visual indicator coupled to and disposed on said slave device and configured to emit light in said second mode to provide visual information to the user in said second mode.

2. The teleoperation system of claim 1, wherein said visual indicator is configured to emit light in a plurality of different colors in said second mode to provide visual information to the user in said second mode.

3. The teleoperation system of claim 2, wherein said visual indicator comprises a multi-colored LED indicator.

4. The teleoperation system of claim 3, further comprising a display configured to display said surgical tool.

5. The teleoperation system of claim 1, further comprising a control system configured to lock said slave device in a desired pose.

6. The teleoperation system of claim 5, wherein said control system is configured to adjust said desired pose of said slave device in response to receiving a manual force on said slave device.

7. The teleoperation system of claim 5, wherein said control system is configured to lock only a portion of said slave device so that the user can adjust said slave device.

8. The teleoperation system of claim 1, further comprising a control system configured to constrain a trajectory of a tool guide passing through the target region.

9. The teleoperation system of claim 8, wherein said control system is configured to allow the user to pivot said tool guide about a pivot point while constraining said trajectory.

27. The teleoperation system of claim 1, wherein said slave device comprises a robotic arm with said visual indicator coupled to and disposed on said robotic arm.

10. A teleoperation system for use during a surgical procedure, said teleoperation system comprising:

a surgical tool;

a master input device to be moved by a user;

a slave device coupled to said surgical tool and responsive to movement of said master input device, said slave device configured to be operated in a first mode to place said surgical tool in a desired pose with respect to a target region and a second mode to manipulate said surgical tool during the surgical procedure; and

a visual indicator coupled to and disposed on said surgical tool and configured to emit light in said second mode to provide visual information to the user in said second mode.

11. The teleoperation system of claim 10, wherein said visual indicator is configured to emit light in a plurality of different colors in said second mode to provide visual information to the user in said second mode.

12. The teleoperation system of claim 11, wherein said visual indicator comprises a multi-colored LED indicator.

13. The teleoperation system of claim 12, further comprising a display configured to display said surgical tool.

14. The teleoperation system of claim 10, further comprising a control system configured to lock said slave device in a desired pose.

15. The teleoperation system of claim 14, wherein said control system is configured to adjust said desired pose of said slave device in response to receiving a manual force on said slave device.

16. The teleoperation system of claim 14, wherein said control system is configured to lock only a portion of said slave device so that the user can adjust said slave device.

17. The teleoperation system of claim 10, further comprising a control system configured to constrain a trajectory of a tool guide passing through the target region.

18. The teleoperation system of claim 17, wherein said control system is configured to allow the user to pivot said tool guide about a pivot point while constraining said trajectory.

19. A method for using a teleoperation system during a surgical procedure, the teleoperation system comprising a surgical tool, a master input device to be moved by a user, a slave device coupled to the surgical tool, and a visual indicator on the slave device, the slave device operable in a first mode to place the surgical tool in a desired pose with respect to a target region in response to a manual force applied to the slave device, said method comprising the steps of:

controlling the slave device in a second mode, different than the first mode, to manipulate the surgical tool during the surgical procedure in response to movement of the master input device by the user; and

in the second mode, visually indicating information to the user by emitting light with the visual indicator on the slave device.

20. The method of claim 19, further comprising emitting light in a plurality of different colors in the second mode to provide visual information to the user in the second mode.

21. The method of claim 20, wherein the visual indicator comprises a multi-colored LED indicator.

22. The method of claim 21, further comprising displaying the surgical tool on a display.

23. The method of claim 19, further comprising locking the slave device in a desired pose.

24. The method of claim 23, wherein locking the slave device in the desired pose is further defined as locking only a portion of the slave device so that the user can adjust the slave device.

25. The method of claim 19, further comprising constraining a trajectory of a tool guide passing through the target region.

26. The method of claim 25, further comprising enabling the tool guide to be pivoted about a pivot point while constraining the trajectory.