DEVICE AND METHODS OF IMPROVING LAPAROSCOPIC SURGERY

• US 20130123804A1
• Filed: 01/08/2013
• Published: 05/16/2013
• Est. Priority Date: 04/18/2005
• Status: Active Grant

• Current Assignee: M.S.T. Medical Surgery Technologies Ltd (Asensus Surgical, Inc.)
• Original Assignee: M.S.T. Medical Surgery Technologies Ltd (Asensus Surgical, Inc.)
• Inventors: SHOLEV, Mordehai, ATAROT, Gal, FRIMER, Motti
• Granted Patent: US 9,943,372 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00006 of control signals
• CPC Class Codes: A61B 1/00016 using wireless means
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/3612 with images taken automatically
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/53 connected to the surgeon's body, e.g. by a belt
• CPC Class Codes: G08C 17/02 : using a radio link
• CPC Class Codes: G08C 2201/30 : User interface
• CPC Class Codes: G08C 2201/92 : Universal remote control

Abstract

Methods and devices for improving the interface between a surgeon and an operating medical assistant or between the surgeon and an endoscope system for laparoscopic surgery. A device is useful for controlling an endoscope system for laparoscopic surgery and includes a wearable interface for enhancing the control of an endoscope system during laparoscopic surgery.

Claims

1. A device useful for the interface between a surgeon and an automated assistant, comprising:

a. at least one endoscope, mechanically interconnected to said automated assistant;

said automated assistant is adapted to maneuver said endoscope to a desired location;

b. at least one instrument;

c. at least one wearable operator comprising at least one wireless transmitter, adapted to transmit a signal once said at least one wearable operator is activated;

said at least one wearable operator is either wire or wirelessly in communication with said at least one of said instrument;

d. at least one wireless receiver;

adapted to receive said signal sent by said transmitter;

e. at least one laparoscopy computerized system, in communication with said wireless receiver, adapted to provide a visual onscreen depiction of said at least one instrument to be selected following the activation of said at least one wearable operator; and

,

f. at least one video screen;

wherein said device is adapted to control and to direct said endoscope via said laparoscopy computerized system and said automated assistant on said instrument to be selected following the activation of said at least one wearable operator.

2. The device according to claim 1, wherein said communication between said at least one of said wearable operators and said instrument is either wire or wirelessly coupling.

3. The device according to claim 1, wherein said device is adapted to control and to direct said endoscope via said laparoscopy computerized system and said automated assistant on said instrument to which said activated wearable operator is coupled.

4. The device according to claim 1, wherein said wearable operator is worn by said surgeon on a predetermined body part.

5. The device according to claim 4, wherein said predetermined body part is selected from a group consisting of:

the hand of said surgeon, at least one of the fingers of said surgeon, the thigh of said surgeon, the neck of said surgeon, at least one of the legs of said surgeon, the knee of said surgeon, the head of said surgeon and any combination thereof.

6. The device according to claim 5, wherein the shape of said wearable operator is selected from a group consisting of a ring, a bracelet and any combination thereof.

7. The device according to claim 1, wherein said wearable operator is coupled to a predetermined location on said instrument by means of an adaptor.

8. The device according to claim 7, wherein said wearable operator is adjustable so as to fit said predetermined location of said different instruments, each of which is characterized by a different size and shape.

9. The device according to claims 1, wherein said wearable operator comprises a body having at least two portions at least partially overlapping each other;

said two portions are adapted to grasp and hold either said instrument or said predetermined body part there-between, such that a tight-fit coupling between said two portions and said instrument or said predetermined body part is obtained.

10. The device according to claim 9, wherein one of said two portions is rotationally movable relative to the other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part.

11. The device according to claim 9, wherein said two portions are rotationally movable relative to each other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part.

12. The device according to claim 1, wherein said wearable operator comprises (a) at least one flexible and stretchable strip;

and (b) loop-closing means adapted to close a loop with said at least one flexible and stretchable strip;

said at least one flexible and stretchable strip and said loop-closing means are provided so as to fit said wearable operator to at least one selected from a group consisting of (a) said predetermined location of said different instruments;

(b) said predetermined body part of said surgeon, each of which is characterized by a different size and shape.

13. The device according to claim 12, wherein said flexible and stretchable strip is made of material selected from a group consisting of silicone, rubber and any combination thereof.

14. The device according to either one of claim 12, wherein said loop-closing means is at least one unidirectional catch through which said flexible and stretchable strip is passed so as to provide a loop.

15. The device according to either one of claim 12, wherein said loop-closing means is at least one peg around which said flexible and stretchable strip is passed so as to provide a loop.

16. The device according to either one of claim 12, wherein said flexible and stretchable strip is characterized by at least one selected from a group consisting of (a) varied width along its length;

(b) different surface roughnesses along its length; and

any combination thereof.

17. The device according to claim 1, wherein said wireless transmitter is either (a) freestanding;

or, (b) fitted to each of said at least one instruments.

18. The device according to claim 1, wherein said wireless transmitter is adapted to locate the position of at least one of said instruments.

19. The device according to claim 1, wherein selection of said at least one instrument is obtained by activating said at least one wearable operator;

further wherein the activation of said at least one wearable operator is obtained by depression on a predetermined location in said wearable operator, voice activating the same, prolonged depression on the same, double clicking on the same and any combination thereof.

20. The device according to claim 1, wherein said laparoscopy computerized system directs said endoscope by using image information shown on said video screen without said help of assistants.

21. The device according to claim 1, wherein said conventional laparoscopy computerized system comprises at least one surgical instrument spatial location software, adapted to locate the 3D spatial position of said at least one instrument;

further wherein said conventional laparoscopy computerized system comprises at least one automated assistant maneuvering system;

said automated assistant maneuvering system is coupled to said endoscope and is adapted to direct said endoscope to said at least one instrument, said instrument selected following the activation of said at least one wearable operator.

22. The device according to claim 1, wherein each transmitted signal from said wearable operator and said wireless transmitter is matched to at least one of said instruments.

23. A surgical system comprising:

a. at least one laparoscopic instrument;

b. at least one wearable operator comprising at least one wireless transmitter capable of being activated to transmit a signal;

c. at least one computerized platform configured for tracking said at least one laparoscopic instrument and being capable of receiving said signal and identifying to a user a laparoscopic instrument selected by activation of said transmitter from said at least one laparoscopic instrument;

wherein said wearable operator is being worn by the surgeon.

24. The system of claim 23, wherein said wearable operator is activated manually or automatically.

25. The system of claim 23, wherein said computerized platform is adapted to perform at least one selected from a group consisting of (a) track said laparoscopic instrument selected upon activation of said transmitter;

(b) track said laparoscopic instrument using image information received from said endoscopic camera;

(c) control said automated assistant;

(d) visually identify said laparoscopic instrument to said user upon activation of said transmitter;

track and to identify said laparoscopic instrument to which said wearable operator is coupled; and

any combination thereof.

26. The system of claim 23, wherein said wireless transmitter is either (a) freestanding;

or, (b) attached to said at least one laparoscopic instrument.

27. The system of claim 23, wherein said identifying to said user of said laparoscopic instrument is effected via a visual depiction of said laparoscopic instrument on a display.

28. The system of claim 27, further comprising an automated assistant for controlling an endoscopic camera.

29. The system according to claim 23, wherein at least one of said wearable operators is either wire or wirelessly coupled to said at least one of said laparoscopic instruments.

30. The system according to claim 23, wherein said wearable operator is worn by said surgeon on a predetermined body part.

31. The system according to claim 30, wherein said predetermined body part is selected from a group consisting of:

the hand of said surgeon, at least one of the fingers of said surgeon, the thigh of said surgeon, the neck of said surgeon, at least one of the legs of said surgeon, the knee of said surgeon, the head of said surgeon and any combination thereof.

32. The system according to claim 23, wherein the shape of said wearable operator is selected from a group consisting of a ring, a bracelet and any combination thereof.

33. The system according to claim 23, wherein said wearable operator is coupled to a predetermined location on said instrument by means of an adaptor.

34. The system according to claim 33, wherein said wearable operator is adjustable so as to fit said predetermined location of said different instruments, each of which is characterized by a different size and shape.

35. The system according to claim 23, wherein said wearable operator comprises a body having at least two portions at least partially overlapping each other;

said two portions are adapted to grasp and hold either said instrument or said predetermined body part there-between, such that a tight-fit coupling between said two portions and said instrument or said predetermined body part is obtained.

36. The system according to claim 35, wherein at least one of the following is being held true (a) one of said two portions is rotationally movable relative to the other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part;

(b) said two portions are rotationally movable relative to each other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part; and

any combination thereof.

39. The system according to claim 23, wherein said wireless transmitter is adapted to locate the position of at least one of said laparoscopic instruments.

40. The system according to claim 39, wherein selection of said at least one laparoscopic instrument is confirmed by activating said at least one wearable operator.

41. The system according to claim 40, wherein the activation of said at least one wearable operator is obtained by depression on the same, voice activating the same, prolonged depression on the same, double clicking on the same and any combination thereof.

42. A method useful for the interface between a surgeon and an automated assistant;

said method comprising the steps of;

a. obtaining a device comprising;

i. at least one desired laparoscopic instrument;

ii. at least one endoscope, mechanically interconnected to said automated assistant;

iii. at least one wearable operator comprising at least one wireless transmitter;

iv. at least one wireless receiver;

v. at least one laparoscopy computerized system comprising (i) surgical instrument spatial location software;

(ii) automated assistant maneuvering software; and

(iii) software that enables a visual onscreen depiction of response to the activation of said at least one wearable operator; and

,

vi. at least one video screen;

b. activating said wearable operator;

thereby selecting a desired laparoscopic instrument and emitting a signal;

c. receiving said signal by said receiver;

d. maneuvering said endoscope so as to focus said endoscope on said desired laparoscopic instrument of said surgeon; and

,

e. displaying said desired instrument on a screen

wherein said device is adapted to control and to direct said endoscope on said instrument via said laparoscopy computerized system and said automated assistant, said instrument to be selected following the activation of said at least one wearable operator.

37. The system according to claim 51, wherein said wearable operator comprises (a) at least one flexible and stretchable strip;

and, (b) loop-closing means adapted to close a loop with said at least one flexible and stretchable strip;

said at least one flexible and stretchable strip and said loop-closing means are provided so as to fit said wearable operator to at least one selected from a group consisting of (a) said predetermined location of said different instruments;

(b) said predetermined body part of said surgeon, each of which is characterized by a different size and shape.

38. The system according to claim 37, wherein at least one of the following is being held true (a) said flexible and stretchable strip is made of material selected from a group consisting of silicone, rubber and any combination thereof;

(b) said loop-closing means is at least one unidirectional catch through which said flexible and stretchable strip is passed so as to provide a loop;

(c) said loop-closing means is at least one peg around which said flexible and stretchable strip is passed so as to provide a loop;

(d) said flexible and stretchable strip is characterized by a varied width along its length;

(e) said flexible and stretchable strip is characterized by different surface roughnesses along its length; and

any combination thereof.

43. The method according to claim 42, additionally comprising the step of manually or automatically activating said wearable operator.

44. The method according to claim 42, wherein said wireless transmitter is either (a) freestanding;

or, (b) attached to said at least one desired laparoscopic instrument.

45. The method according to claim 42, additionally comprising the step of identifying to said user of said desired laparoscopic instrument;

further wherein said step is effected via a visual depiction of said laparoscopic instrument on a display.

46. The method according to claim 42, wherein said laparoscopy computerized system is adapted to (a) track said laparoscopic instrument using image information received from said endoscopic camera;

(b) control said automated assistant;

(c) visually identify said laparoscopic instrument to said user upon activation of said transmitter;

(c) control and direct said endoscope via said laparoscopy computerized system and said automated assistant on said desired laparoscopic instrument to which said activated wearable operator is coupled; and

any combination thereof.

47. The method according to claim 42, wherein said step of selecting said desired laparoscopic instrument additionally comprises the steps of (a) activating said wearable operator;

(b) transmitting a generic code to said receiver;

(c) communicating said signal to a computer, thereby operating said automated assistant;

(d) confirming the selection of said desired instrument.

48. The method according to claim 47, wherein said step of selecting said desired laparoscopic instrument additionally comprises the step of confirming the selection of said laparoscopic desired instrument by a prolonged depression on said wearable operator.

49. The method according to claim 42, additionally comprising the step of matching each transmitted code from said wearable operator and said wireless transmitter to at least one of said laparoscopic instruments.

50. The method according to claim 42, additionally comprising the step of wearing said wearable operator by said surgeon on a predetermined body part.

51. The method according to claim 50, additionally comprising the step of selecting said predetermined body part from a group consisting of:

the hand of said surgeon, at least one of the fingers of said surgeon, the thigh of said surgeon, the neck of said surgeon, at least one of the legs of said surgeon, the knee of said surgeon, the head of said surgeon and any combination thereof.

52. The method according to claim 51, additionally comprising the step of selecting the shape of said wearable operator from a group consisting of a ring, a bracelet and any combination thereof.

53. The method according to claim 42, wherein said wireless transmitter is adapted to locate the position of at least one of said instruments.

54. The method according to claim 42, additionally comprising at least one step selected from a group consisting of (a) selecting said at least one instrument by clicking on said at least one wearable operator;

(b) activating said at least one wearable operator by depression on the same, voice activating the same, prolonged depression on the same, double clicking on the same and any combination thereof.

55. The method according to claim 42, additionally comprising the step of instructing said automated assistant to focus said endoscope on said desired instrument.

56. The method according to claim 42, wherein said step of activating said wearable operator additionally comprising the steps of (a) depressing of at least one key on said wearable operator;

(b) transmitting a generic code to said receiver;

(c) communicating said signal to the computer.

57. The method according to claim 42, wherein said step of selecting said desired instrument additionally comprising the step confirming the selection of said desired instrument by clicking on at least one key on said wearable operator.

58. The method according to claim 42, wherein said step of selecting said desired instrument additionally comprising the step confirming the selection of said desired instrument by a prolonged depression on at least one key on said wearable operator.

59. A wearable operator comprising:

a. at least two portions at least partially overlapping each other;

said two portion are adapted to rotate and tilt relative to each other;

b. at least one wireless transmitter, adapted to transmit a signal once said at least one wearable operator is activated.

60. The wearable operator according to claim 59, wherein said wearable operator is worn by a user on a predetermined body part, such that activation of said wearable operator results in activation of an external instrument.

61. The wearable operator according to claim 60, wherein said predetermined body part is selected from a group consisting of:

the hand of said surgeon, at least one of the fingers of said user, the thigh of said user, the neck of said user, at least one of the legs of said user, the knee of said user, the head of said user and any combination thereof.

62. The wearable operator according to claim 59, wherein said wearable operator is coupled to a predetermined location on an instrument by means of an adaptor, such that activation of said wearable operator results in activation of said instrument.

63. The wearable operator according to claim 62, wherein said coupling between said at least one of said wearable operators and said instrument is either wire or wirelessly coupling.

64. The device according to claim 59, wherein said wearable operator comprises (a) at least one flexible and stretchable strip;

and, (b) loop-closing means adapted to close a loop with said at least one flexible and stretchable strip;

said at least one flexible and stretchable strip and said loop-closing means are provided so as to fit said wearable operator to at least one selected from a group consisting of (a) said predetermined location of said different instruments;

(b) said predetermined body part of said user, each of which is characterized by a different size and shape.

65. The wearable operator according to claim 59, wherein the shape of said wearable operator is selected from a group consisting of a ring, a bracelet and any combination thereof.