System for advising a surgeon

• US 5,445,166 A
• Filed: 04/06/1994
• Issued: 08/29/1995
• Est. Priority Date: 06/13/1991
• Status: Expired due to Term

• Current Assignee: International Business Machines Corporation
• Original Assignee: International Business Machines Corporation
• Inventors: Taylor, Russell H.
• Primary Examiner(s): Kamm, William E.
• Application Number:
  US08/223,862
• Time in Patent Office: 510 Days
• Field of Search: 128/897, 434/262, 434/263, 606/001
• US Class Current: 128/897
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/0813 Accessories designed for easy sterilising, i.e. re-usable
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3916 Bone tissue
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/5025 with a counter-balancing mechanism
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 17/0275 Universal joints, e.g. Hooke, Cardan, ball joints
• CPC Class Codes: B25J 9/04 by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
• CPC Class Codes: G05B 2219/37074 : Projection device, monitor, track tool, workpiece form, process on display
• CPC Class Codes: G05B 2219/40418 : Presurgical planning, on screen indicate regions to be operated on
• CPC Class Codes: G05B 2219/40609 : Camera to monitor end effector as well as object to be handled
• CPC Class Codes: G05B 2219/45123 : Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
• CPC Class Codes: G05B 2219/45166 : Tomography

Abstract

The system is for assisting a surgeon in positioning an article relative to a target position. The system includes a computer for determining a surgical plan, sensors for sensing execution of the surgical plan by the surgeon, an advisor for advising the surgeon based upon comparison of the surgical plan and its execution and, selecting of different types of advise to give the surgeon. The system can also have an input for changing the surgical plan in the computer during surgery.

Claims

1. A system for assisting a surgeon in positioning an article relative to a target position, the system comprising:

means for determining a surgical plan based upon input patient information;

means for sensing surgical execution of the surgical plan by the surgeon;

means for advising the surgeon based upon comparison of the surgical plan and the sensed surgical execution; and

means for automatically selecting different types of advice to give the surgeon based upon the surgical plan and the sensed surgical execution.

2. A system as in claim 1 wherein the means for sensing includes means for sensing in different modes.

3. A system as in claim 2 further comprising means for automatically selecting different sensing modes based upon sensed surgical execution of the surgical plan.

4. A system as in claim 3 wherein the means for sensing includes a first optical position sensor system and a redundant second sensor system.

5. A system as in claim 3 wherein the means for advising includes a visual advisor and an audio advisor.

6. A system as in claim 3 wherein the means for automatically selecting includes a computer.

7. A system for assisting a surgeon during surgery, the system comprising:

means for determining a surgical plan based upon input patient information;

means for sensing surgical execution of the surgical plan by the surgeon;

means for advising the surgeon of the surgical plan and the sensed surgical execution during the surgery, the means for advising comprising a computer; and

means for inputting a change in the surgical plan into the computer during surgery and determining a new surgical plan based, at least partially, upon previously sensed surgical execution of the surgical plan.

8. A system as in claim 7 wherein the means for inputting includes, upon the surgeon moving a surgical instrument to a new position, the means for sensing being adapted to sense the new position and communicate the new position to the means for determining.

9. A system as in claim 7 wherein the means for inputting includes a voice responsive input system.

10. A system as in claim 7 wherein the means for advising includes means for physically advising the surgeon by automatic motion influence of a surgical instrument connected to the computer.

11. A system as in claim 10 wherein the means for physically advising the surgeon includes means for automatically providing a resistance force to motion of the surgical instrument in at least one degree-of-freedom.

12. A system as in claim 10 wherein the means for physically advising the surgeon includes means for automatically moving the surgical instrument.

13. A system for assisting a surgeon during surgery, the system comprising:

means for determining a patient specific surgical plan based upon input patient information;

means for sensing execution of the surgical plan by the surgeon;

means for advising the surgeon of the surgical plan and the sensed execution during the surgery, the means for advising comprising a computer and means for physically advising the surgeon by automatic motion influence of a surgical instrument connected to the computer; and

means for inputting a change of the surgical plan into the computer during surgery and determining a new surgical plan based, at least partially, upon previously sensed execution of the surgical plan.