Surgical mechanism control system

• US 9,176,580 B2
• Filed: 09/23/2009
• Issued: 11/03/2015
• Est. Priority Date: 09/25/2008
• Status: Active Grant

• Current Assignee: Freehand 2010 Limited (Or Productivity Ltd.)
• Original Assignee: Freehand 2010 Limited (Or Productivity Ltd.)
• Inventors: Moraviec, Paul
• Primary Examiner(s): Tyson, Melanie
• Assistant Examiner(s): Kapoor, Sidharth
• Application Number:
  US12/565,690
• Publication Number:
  US 20100168765A1
• Time in Patent Office: 2,232 Days
• Field of Search: 3561521-1523, 3561411-1413, 356153-154, 356614-624, 250/216, 2502033-2035, 378/115, 378/205, 350/342, 600/102, 600/146
• US Class Current: 1/1
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• 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 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: G06F 3/012 Head tracking input arrangements
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments

Abstract

A surgical mechanism control system comprising: a beam emitter unit configured to emit only a single beam and adapted to be attached to a surgeon; a first pair of discrete beam detectors each adapted to detect an incident beam emitted by the beam emitter unit and output a corresponding control signal when in incident beam is detected; and a control unit configured to receive one or more control signals output by the beam detectors and control a surgical mechanism in accordance with the one or more control signals.

Claims

1. A surgical mechanism control system for controlling the movement of an endoscope, the surgical mechanism control system comprising:

a monitor for displaying an image from the endoscope;

a beam emitter unit configured to emit only a single beam and adapted to be attached to a surgeon;

a first pair of discrete beam detectors comprising a first and a second discrete beam detector, the first discrete beam detector being adapted to detect the single beam emitted by the beam emitter unit and output a first control signal when the single beam is detected, the second discrete beam detector being adapted to detect the single beam emitted by the beam emitter unit and output a second control signal when the single beam is detected, and the first pair of discrete beam detectors being positioned around the monitor;

a control unit configured to receive the first and second control signals output by the beam detectors and control a surgical mechanism in accordance with the first and second control signals; and

a surgeon actuatable switch, wherein actuation of the switch by the surgeon selectively switches between a first control signal handling mode of operation and a second control signal handling mode of operation of the control unit, wherein;

in the first control signal handling mode of operation, the first and second control signals output by the beam detectors result in the use of a motor or power circuit to move the endoscope in a first degree of freedom of movement, and

in the second control signal handling mode of operation, the first and second control signals output by the beam detectors result in the use of a different motor or power circuit of the surgical mechanism to move the endoscope in a second degree of freedom of movement, such that the first pair of discrete beam detectors is useable to move the endoscope in two degrees of freedom of movement.

2. A system according to claim 1, further comprising a second pair of discrete beam detectors each adapted to detect an incident beam emitted by the beam emitter unit and output a corresponding control signal when the single beam is detected.

3. The system according to claim 1, wherein the switch is a foot pedal.

4. The system according to claim 1, wherein each of the detectors is actuatable between an off-mode and an on-mode by detection of the single beam.

5. The system according to claim 1, further including the surgical mechanism, wherein the surgical mechanism is configured to support the endoscope and wherein the surgical mechanism is configured to move the endoscope in three degrees of freedom of movement including a pan movement, a tilt movement, and a zoom movement.

6. The system according to claim 1, wherein:

in the first control signal handling mode of operation, the first control signal results in the use of the motor or power circuit to move the endoscope in a first direction in the first degree of freedom of movement,

in the first control signal handling mode of operation, the second control signal results in the use of the motor or power circuit to move the endoscope in a second direction in the first degree of freedom of movement,

in the second control signal handling mode of operation, the first control signal results in the use of the different motor or power circuit to move the endoscope in a third direction in the second degree of freedom of movement, and

in the second control signal handling mode of operation, the second control signal results in the use of the different motor or power circuit to move the endoscope in a fourth direction in the second degree of freedom of movement.