USER INTERFACES FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGICAL SYSTEMS

• US 20100228249A1
• Filed: 03/09/2009
• Published: 09/09/2010
• Est. Priority Date: 03/09/2009
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Brogna, Salvatore J., Mohr, Paul W., Robinson, David, Nixon, Thomas R., Hanuschik, Michael, Goldberg, Randal P.
• Granted Patent: US 8,418,073 B2
• Time in Patent Office: Days
• US Class Current: 606/41
• CPC Class Codes: A61B 1/000096 using artificial intelligence
• CPC Class Codes: A61B 18/12 by passing a current through the tissue to be heated, e.g. high-frequency current
• CPC Class Codes: A61B 18/1206 Generators therefor
• CPC Class Codes: A61B 18/1233 with circuits for assuring patient safety
• CPC Class Codes: A61B 18/1482 having a long rigid shaft for accessing the inner body transcutaneously in minimal invasive surgery, e.g. laparoscopy
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00973 pedal-operated
• CPC Class Codes: A61B 2017/320069 for ablating tissue
• CPC Class Codes: A61B 2017/32007 with suction or vacuum means
• CPC Class Codes: A61B 2017/320071 with articulating means for working tip
• 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

Abstract

A method for a minimally invasive surgical system is disclosed including capturing camera images of a surgical site; generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side; and overlaying the GUI onto the captured camera images of the surgical site for display on a display device of a surgeon console. The GUI provides information to a user regarding the first electrosurgical tool and the second tool in the surgical site that is concurrently displayed by the captured camera images. The first colored border portion in the GUI indicates that the first electrosurgical tool is controlled by a first master grip of the surgeon console and the second colored border portion indicates the tool type of the second tool controlled by a second master grip of the surgeon console.

Claims

1. A method for a minimally invasive surgical system, the method comprising:

capturing one or more camera images of a surgical site;

generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side, the first colored border portion indicating a first electrosurgical tool controlled by a first master grip of a surgeon console and the second colored border portion indicating a tool type of a second tool controlled by a second master grip of the surgeon console; and

overlaying the GUI onto the one or more captured camera images of the surgical site for display on at least one display device of the surgeon console, the GUI to provide information to a user regarding the first electrosurgical tool and the second tool in the surgical site while the surgical site is concurrently displayed by the one or more captured camera images.

2. The method of claim 1, wherein

the generating of the GUI further includes

generating an activated energy indicator in response to a user interface input device, the activated energy indicator to indicate energy is ready to be supplied to the first electrosurgical tool.

3. The method of claim 2, wherein

the activated energy indicator is an activated energy strip bar covering over a portion of the first colored border portion in response to a user interface input device, the activated energy strip bar having a different color than the first colored border portion.

4. The method of claim 1, wherein

the generating of the GUI further includes

generating an energy handedness assignment icon in the first colored border portion or the second colored border portion to indicate handedness and active or inactive energy control of the first electrosurgical tool or the second tool, respectively.

5. The method of claim 1, wherein

the generating of the GUI further includes

generating an iconic pedal map near a lower center portion between the first colored border portion and the second colored border portion to indicate pedal control functions of one or more pedals of the surgeon console.

6. The method of claim 5, wherein

the generating of the GUI further includes

generating an iconic master grip map near the iconic pedal map between the first colored border portion and the second colored border portion to indicate handedness and active or inactive master grip control.

7. The method of claim 1, wherein

the generating of the GUI further includes

generating a first text tab icon in the first colored border portion to indicate tool type of the first tool, a second text tab icon in the second colored border portion to indicate tool type of the second tool, and a third text tab icon in the first colored border portion to indicate tool type of a third tool.

8. The method of claim 7, wherein

the generating of the GUI further includes

generating a first tool number icon in the first colored border portion to indicate a first number associated with the first tool, a second tool number icon in the second colored border portion to indicate a second number associated with the second tool, and a third tool number icon in the first colored border portion to indicate a first number associated with the third tool.

9. The method of claim 1, wherein

the second tool is a not an electrosurgical tool, and

a first color of the first colored border portion differs from a second color of the second colored border portion to distinguish between electrosurgical tools and non-electrosurgical tools controlled by the first and second master grips of the surgeon console.

10. The method of claim 1, wherein

the second tool is an electrosurgical tool, and

a first color of the first colored border portion and a second color of the second colored border portion are similar to indicate that electrosurgical tools are controlled by the first and second master grips of the surgeon console.

11. The method of claim 1, wherein

the generating of the GUI further includes

generating a camera orientation icon near upper center between the first and second colored border, the camera orientation icon to indicate orientation of an endoscopic camera with respect to a reference.

12. A method for a minimally invasive surgical system if a control swap pedal is selected, the method comprising:

swapping control handedness from a first side having a first robotic surgical tool mounted to a first robotic arm controlled by a first master grip of a surgeon console to a second side having a second robotic surgical tool mounted to a second robotic arm controlled by a second master grip of the surgeon console;

swapping a control handedness icon from a first side of a graphical user interface (GUI) to a second side of the GUI; and

if the second robotic surgical tool is a supply controllable tool and an appropriate remote controlled supply equipment is under control of a user input device to supply the second robotic surgical tool, then displaying an active control border and an active control handedness icon in the second side of the GUI and an inactive control border in the first side of the GUI to provide information to a user.

13. The method of claim 12, further comprising:

if the second robotic surgical tool is not a supply controllable tool, then displaying an inactive control border and an inactive control handedness icon in the second side of the GUI and an inactive control border in the first side of the GUI to provide information to a user.

14. The method of claim 12, further comprising:

if an inappropriate remote controlled supply equipment is under control of the user input device, then displaying an inactive control border and an inactive control handedness icon in the second side of the GUI and an inactive control border in the first side of the GUI to provide information to a user.

15. The method of claim 12, wherein

the user input device is a control pedal.

16. The method of claim 12, wherein

the second robotic surgical tool is an electrosurgical tool,

the remote controlled supply equipment is an electrosurgical energy generator under control of the user input device to supply energy to the second tool,

the active control border is an active energy border and the active control handedness icon is an active energy handedness icon and the inactive control border is an inactive energy border;

energy control handedness is swapped from the first side to the second side; and

the control handedness icon is an energy handedness icon.

17. The method of claim 16, further comprising:

if an inappropriate electrosurgical energy generator is under control of the user input device, then displaying an inactive energy border and an inactive energy handedness icon in the second side of the GUI and an inactive energy border in the first side of the GUI to provide information to a user.

18. The method of claim 12, further comprising:

if the second tool is not an electrosurgical tool, then displaying an inactive energy border and an inactive energy handedness icon in the second side of the GUI and an inactive energy border in the first side of the GUI to provide information to a user.

19. A method for a minimally invasive electro-surgical system, the method comprising:

determining if a user input device is selected at a control console;

if the user input device is selected then,

providing feedback to a user of the selection of the user input device,

delaying a first predetermined period of time for the user to receive the feedback,

determining if the user input device is deselected, and

if the user input device not deselected, then activating an electrosurgical device to couple electrosurgical energy to tissue.

20. The method of claim 19, further comprising:

if the user input device is deselected, then skipping activation of the electrosurgical device.

21. The method of claim 20, wherein if the user input device is deselected, further comprising:

swapping energy control from a first electrosurgical tool to a second electrosurgical tool; and

repeating the determining if the user input device is selected at the control console.

22. The method of claim 19, wherein

the feedback provided to the user is visual feedback provided by a graphical user interface displayed by a video display device.

23. The method of claim 22, wherein

the feedback provided to the user is visual feedback provided by an activate energy strip border displayed by a graphical user interface on a video display device.

24. The method of claim 19, wherein

the feedback provided to the user is an audible feedback generated by a speaker of the surgeon console.

25. The method of claim 23, wherein

the feedback provided to the user is an audible feedback generated by a speaker of the surgeon console.

26. The method of claim 19, wherein

the feedback provided to the user is a tactile feedback generated by a vibration device of the control console.

27. The method of claim 19, further comprising:

while the electrosurgical device is active, determining if the user input device is deselected, and

if the user input device is deselected, then

deactivating the electrosurgical device,

determining if the user input device is reselected;

if the user input device is not reselected, then waiting and determining if a second predetermined period of time has lapsed prior to reselection of the input device and if not, then repeating the determining if the user input device is reselected.

28. The method of claim 27, further comprising:

if the user input device is reselected before the second predetermined period of time lapses, then providing feedback to the user and repeating the activating of the electrosurgical device to couple electrosurgical energy to tissue without a lapse of the second predetermined period of time.

29. The method of claim 27, further comprising:

if the second predetermined period of time lapses without reselection of the input user device, then repeating the determining if the user input device is selected at the control console.

30-38. -38. (canceled)