Surgical mechanism control system

• US 9,639,953 B2
• Filed: 10/29/2015
• Issued: 05/02/2017
• 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): Holwerda, Stephen
• Application Number:
  US14/927,322
• Publication Number:
  US 20160045274A1
• Time in Patent Office: 551 Days
• 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 including an acceleration or orientation detection unit to output a control signal in response to detecting an acceleration or orientation of the unit, the unit being attachable to a surgeon. The unit includes an acceleration sensor and the acceleration sensor has an associated threshold acceleration, such that an acceleration below the associated threshold acceleration does not cause actuation of an associated switch unit and an acceleration above the associated threshold acceleration does cause the associated switch unit to actuate. A control signal is output on actuation of the switch unit and foot pedal, and the control signal is used to control a surgical mechanism.

Claims

1. A surgical mechanism control system comprising:

an acceleration or orientation detection unit configured to output one or more control signals in response to detecting one of acceleration and orientation of the unit, the unit being adapted to be attached to and carried by a surgeon, wherein the unit includes one or more acceleration sensors and wherein the or each acceleration sensor has an associated threshold acceleration, such that an acceleration below the associated threshold acceleration does not cause actuation of an associated switch unit of the acceleration or orientation detection unit and an acceleration above the associated threshold acceleration does cause the associated switch unit to actuate such that the one or more control signals are output; and

a control unit configured to receive the one or more control signals output by the acceleration or orientation detection unit and control a surgical mechanism in accordance with the one or more control signals, and

a foot pedal;

wherein the control unit is configured to transmit an output to the surgical mechanism in accordance with the one or more control signals when an input is detected at the control unit from the foot pedal.

2. The surgical mechanism control system according to claim 1, wherein the or each acceleration sensor is configured to detect acceleration in a particular direction.

3. The surgical mechanism control system according to claim 1, wherein the or each acceleration sensor is a Piezoelectric sensor.

4. The surgical mechanism control system according to claim 1, wherein a first of the one or more acceleration sensors is configured to detect acceleration in a pair of opposing directions.

5. The surgical mechanism control system according to claim 1, wherein there are four acceleration sensors, and wherein one of the acceleration sensors is configured for detecting an upwards acceleration, one of the acceleration sensors is configured for detecting a downwards acceleration, one of the acceleration sensors is configured for detecting an acceleration to the right and one of the acceleration sensors is configured for detecting an acceleration to the left.

6. The surgical mechanism control system according to claim 1, wherein the foot pedal is actuatable to switch between modes of operation, such that

in a first mode of operation the one or more control signals control a first output from the control unit which controls movement of the surgical mechanism in a first degree of freedom, and

in a second mode of operation the one or more control signal control a second output from the control unit which controls movement of the surgical mechanism in a second degree of freedom.

7. The surgical mechanism control system according to claim 1, wherein the associated threshold acceleration is a fixed threshold.

8. A surgical mechanism control system comprising:

an acceleration or orientation detection unit configured to output one or more control signals in response to detecting one of acceleration and orientation of the unit, the unit being adapted to be attached to a surgeon, wherein the unit includes one or more acceleration sensors and wherein the or each acceleration sensor has an associated threshold acceleration, such that an acceleration below the associated threshold acceleration does not cause actuation of an associated switch unit and an acceleration above the associated threshold acceleration does cause the associated switch unit to actuate such that the one or more control signals are output; and

a control unit configured to receive the one or more control signals output by the acceleration or orientation detection unit and control a surgical mechanism in accordance with the one or more control signals, and

a foot pedal;

wherein the foot pedal is actuatable to switch between modes of operation, such that

in a first mode of operation the one or more control signals control a first output from the control unit which controls movement of the surgical mechanism in a first degree of freedom, and

in a second mode of operation the one or more control signal control a second output from the control unit which controls movement of the surgical mechanism in a second degree of freedom.

9. The surgical mechanism control system according to claim 8, wherein the control unit is configured to transmit an output to the surgical mechanism in accordance with the one or more control signals when an input is detected at the control unit from the foot pedal.

10. The surgical mechanism control system according to claim 8, wherein the or each acceleration sensor is configured to detect acceleration in a particular direction.

11. The surgical mechanism control system according to claim 8, wherein the or each acceleration sensor is a Piezoelectric sensor.

12. The surgical mechanism control system according to claim 8, wherein a first of the one or more acceleration sensors is configured to detect acceleration in a pair of opposing directions.

13. The surgical mechanism control system according to claim 8, wherein there are four acceleration sensors, and wherein one of the acceleration sensors is configured for detecting an upwards acceleration, one of the acceleration sensors is configured for detecting a downwards acceleration, one of the acceleration sensors is configured for detecting an acceleration to the right and one of the acceleration sensors is configured for detecting an acceleration to the left.