Speech interface for an automated endoscope system

• US 20050033580A1
• Filed: 09/16/2004
• Published: 02/10/2005
• Est. Priority Date: 09/22/1994
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Computer Motion Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Wang, Yulun, Uecker, Darrin
• Granted Patent: US 7,395,249 B2
• Time in Patent Office: Days
• US Class Current: 704/275
• CPC Class Codes: A61B 1/0004 for electronic operation
• CPC Class Codes: A61B 1/00042 for mechanical operation
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: G10L 15/26 Speech to text systems G10L15/08 takes precedence
• CPC Class Codes: G16H 40/63 for local operation

Abstract

A robotic system which controls the movement of a surgical instrument in response to voice commands from the user. The robotic system has a computer controlled arm that holds the surgical instrument. The user provides voice commands to the computer through a microphone. The computer contains a phrase recognizer that matches the user'"'"' speech with words stored in the computer. Matched words are then processed to determine whether the user has spoken a robot command. If the user has spoken a recognized robot command the computer will move the robotic arm in accordance with the command.

Claims

1. A voice recognition system for use with a surgical instrument in surgery on a patient, the system comprising:

a microphone for inputting a plurality of spoken surgical instructions and a spoken stop command, each of the spoken instructions including a spoken qualifier and a spoken command, the plurality of instructions including a first instruction having a first spoken qualifier and a first spoken command;

a memory for storing a first plurality of allowable alternative commands;

a processor coupled to the microphone and the memory, the processor having a first state and a second state, the processor in the first state configured to change to the second state in response to the first spoken qualifier, the processor in the second state configured to compare the first spoken command to the first plurality of commands, the processor having an output for transmitting a first command signal to the surgical instrument in response to the first spoken instruction having the first spoken qualifier and the first spoken command matching one of the first plurality of commands;

the processor configured to transmit a stop command signal to the instrument in response to the spoken stop command without an associated spoken qualifier.

2. The voice recognition system of claim 1, the surgical instrument including an endoscope coupled to a monitor, the output of the processor being coupleable to the endoscope so as to alter a displayed image from the endoscope as shown on the monitor.

3. The voice recognition system of claim 2, the surgical instrument including a robotic arm supporting the endoscope, the distal end of the endoscope comprises a tip defining a viewing coordinate frame, wherein the processor is configured to calculate transformations between the viewing coordinate frame and a coordinate frame of the robot, so that the command signal comprises motor signals derived from the transformations so that the camera tip moves in an internal surgical site to effect an instructed change in the image shown in the display.

4. The voice recognition system of claim 1, wherein the output is configured to be coupled to the surgical instrument when the surgical instrument comprises a member selected from the group consisting of:

a surgical tool;

a forceps;

a device positioned within the patient'"'"'s body for transmitting an image outside of the patient'"'"'s body;

a laparoscope; and

a medical telescope.

5. The voice recognition system of claim 4, wherein the stop command signal from the processor is configured to inhibit potential injury to the patient that might otherwise be inflicted by the surgical instrument.

6. The voice recognition system of claim 1, wherein the plurality of instructions include a second spoken instruction having a second spoken qualifier and a second spoken command, the memory storing a second plurality of allowable alternative commands, the processor changing to a third state in response to the second spoken qualifier, the processor in the third state configured to compare the second spoken command to the second plurality of commands, the processor generating a second command signal in response to the second spoken instruction having the second spoken qualifier and the second spoken command matching one of the second plurality of commands

7. The voice recognition system of claim 6, wherein the processor has a fourth state, the processor changing to the fourth state in response to the second command signal, the voice recognition system in the fourth state accepting a third plurality of allowable commands stored in the memory and associated with the fourth state.

8. The voice recognition system of claim 1, further comprising a speaker coupled to the processor for generating audible messages to a surgeon regarding operation of the system.

9. The voice recognition system of claim 8, wherein said audible messages comprise audible feedback indicating successful receipt of said spoken instructions.

10. The voice recognition system of claim 9, wherein said audible messages comprise synthesized voice messages.