101 results about "Remote surgery" patented technology

Robotic, telerobotic, and / or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master / slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.

A medical tool comprising an electromechanical driver and a surgical instrument attachment for use in invasive surgery, including a handle coupled to a flexible sheath which is in turn coupled to a surgical attachment. The handle of the driver includes the electromechanical driver and at least one processor element which controls the actions of the electromechanical driver, and therefore the application elements of the surgical attachment, based on information relayed between the processor element and remotely activatable sensor assemblies in the surgical instrument attachment.

A telerobotic surgery system for remote surgeon training includes a robotic surgery station at a first location in a first structure at a first geographic point. Harvested animal tissue is at the robotic surgery station. A remote surgeon station at a second location in a second structure is at a second geographic point remote from the first geographic point. A remote party conferencing station at a third location in a third structure is at a third geographic point remote from the first and second geographic points. A communications network couples the robotic surgery station, the remote surgeon station, and the remote party conferencing station so that a surgeon at the remote surgeon station is able to remotely train using the harvested animal tissue at the robotic surgery station and while conferencing with a party at the remote party conferencing station.

Telerobotic, telesurgical, and / or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

Disclosed are a hybrid surgical robot system and a method for controlling a surgical robot. The hybrid surgical robot system comprises: a robot arm; an instrument mounted on the robot arm such that the instrument operates by the driving force delivered by the robot arm; and a handle which applies a driving force to the instrument by user manipulation, wherein said instrument performs surgical tasks by the driving force delivered by the robot arm and / or by the driving force delivered by the handle. The hybrid surgical robot system of the present invention has said manual handle mounted on the surgical robot having the instrument, thus efficiently conducting surgery through the cooperation between a surgeon and the robot, and the surgeon near the patient can directly and manually manipulate the handle to conduct surgery upon the occurrence of emergency during the performance of a remote surgical procedure using the surgical robot.

Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and / or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.

Medical and / or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and / or members of a telesurgical team.

Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

A method of performing a surgical procedure on a patient is provided. The method typically comprises positioning a surgical work station of a robotically controlled surgical system and a patient on which a surgical procedure is to be performed in close proximity relative to each other, directing a field of view of an image capture device of the surgical work station at a surgical site on the patient, at which site the surgical procedure is to be performed, and introducing at least one robotically controlled surgical instrument on the surgical work station to the surgical site so that an end effector of the surgical instrument is within the field of view of the image capture device. The method typically further comprises displaying an image of the surgical site and the end effector on a display area of an image display at an operator control station of the surgical system. The image display is typically operatively connected to the image capture device so as to display, on the display area, the image of the surgical site and the end effector captured by the image capture device. The method can further include permitting an operator of the surgical system to manipulate a master control at the operator control station whilst viewing the image of the surgical site on the image display, the master control being operatively associated with the surgical instrument thereby to cause the end effector to move in response to manipulation of the master control so as to perform at least part of the surgical procedure on the patient at the surgical site. The method yet further typically comprises operatively linking the image display to a source of selectively accessible auxiliary information related to the surgical procedure to be performed, enabling the operator selectively to access the source of auxiliary information from the operator control station so as to forward the auxiliary information to the image display, causing the auxiliary information to be displayed across the display area of the image display in response to the operator selectively accessing the source of auxiliary information at the operator control station and enabling the operator selectively to move the auxiliary information when displayed on the image display relative to the image of the surgical site displayed on the image display. The master control is typically operatively linked with the source of auxiliary information, enabling the operator selectively to access the source of auxiliary information then including permitting the operator selectively to disassociate the master control from the surgical instrument and to use the master control to access the source of auxiliary information so as to enable the auxiliary information to be displayed on the display area of the image display.

Robotic devices, systems, and methods for use in telesurgical therapies through minimally invasive apertures make use of joint-based data throughout much of the robotic kinematic chain, but selectively rely on information from an image capture device to determine location and orientation along the linkage adjacent a pivotal center at which a shaft of the robotic surgical tool enters the patient. A bias offset may be applied to a pose (including both an orientation and a location) at the pivotal center to enhance accuracy. The bias offset may be applied as a simple rigid transformation from the image-based pivotal center pose to a joint-based pivotal center pose.

A first signal transmission apparatus installed in an operating room and a second signal transmission apparatus installed in a remote control room in a remote place are linked by a public line. Assuming that surgery is performed on a patient using a surgical instrument in the operating room while endoscopic images are viewed, the surgical instrument can be controlled using a first controller. The control and patient data are displayed on a display device via a second controller connected to the second signal transmission apparatus. The state of the surgical instrument and the patient data can always be checked in the remote control room. Surgical instructions or any other surgical support can be given easily.

Local surgical cockpits comprising local surgical consoles that can communicate with any desired remote surgical module (surgical robot), for example via a shared Transmission Control Protocol / Internet Protocol (TCP / IP) or other unified open source communication protocol or other suitable communication system. The systems and methods, etc., herein can also comprise a modular approach wherein multiple surgical consoles can network supporting collaborative surgery regardless of the physical location of the surgeons relative to each other and / or relative to the surgical site. Thus, for example, an operator operating a local surgical cockpit can teleoperate using a remote surgical module on a patient in the same room as the surgeon, or surgeons located in multiple safe locations can telemanipulate remote multiple surgical robots on a patient in or close to a war zone.

Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and / or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.

A multisensory interface for a tele-robotic surgical control system. The invention allows the surgeon to use natural gestures and motions to control the actions of end effectors in the robotic surgical apparatus. Multiple feedback mechanisms are provided to allow the physician a more intuitive understanding of what is being controlled, along with a greater situational awareness. Prior art robotic end effectors are inserted into the patient through a small incision—as is already known in the art. The invention presents an improved method of controlling these effectors.

Robotic, telerobotic, and / or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master / slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.

Tool force information is provided to a user of a telesurgical system using an alternative modality other than force reflection on a master manipulator, such as providing the information on user-visible, user-audible, or haptic “buzz” or “viscosity” indicators, so as to allow expanded processing, including amplification, of the information, while not significantly affecting the stability of the telesurgical system or any closed-loop control systems in the telesurgical system.

Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.

Minimally invasive neurosurgical intracranial robot system is introduced to the operative site by a neurosurgeon through a narrow surgical corridor. The robot is passed through a cannula and is attached to the cannula by a latching mechanism. The robot has several links interconnected via revolute joints which are tendon-driven by tendons routed through channels formed in the walls of the links. The robot is teleoperatively guided by the neurosurgeon based on real-time images of the intracranial operative site and tracking information of the robot position. The robot body is equipped with a tracking system, tissue liquefacting end-effector, at as well as irrigation and suction tubes. Actuators for the tendon-driven mechanism are positioned at a distance from the imaging system to minimize distortion to the images. The tendon-actuated navigation of the robot permits an independent control of the revolute joints in the robot body.

A medical tool comprising an electromechanical driver and a surgical instrument attachment for use in invasive surgery, including a handle coupled to a flexible sheath which is in turn coupled to a surgical attachment. The handle of the driver includes the electromechanical driver and at least one processor element which controls the actions of the electromechanical driver, and therefore the application elements of the surgical attachment, based on information relayed between the processor element and remotely activateable sensor assemblies in the surgical instrument attachment.

Robotic devices, systems, and methods for use in telesurgical therapies through minimally invasive apertures make use of joint-based data throughout much of the robotic kinematic chain, but selectively rely on information from an image capture device to determine location and orientation along the linkage adjacent a pivotal center at which a shaft of the robotic surgical tool enters the patient. A bias offset may be applied to a pose (including both an orientation and a location) at the pivotal center to enhance accuracy. The bias offset may be applied as a simple rigid transformation from the image-based pivotal center pose to a joint-based pivotal center pose.

A first signal transmission apparatus installed in an operating room and a second signal transmission apparatus installed in a remote control room in a remote place are linked by a public line. Assuming that surgery is performed on a patient using a surgical instrument in the operating room while endoscopic images are viewed, the surgical instrument can be controlled using a first controller. The contents of control and patient data are displayed on a display device via a second controller connected to the second signal transmission apparatus. The state of the surgical instrument and the patient data can always be checked in the remote control room. Surgical instructions or any other surgical support can be given easily.

The invention provides a remote surgical planning and navigating system. The remote surgical planning and navigating system comprises a medical image post-processing subsystem, a multi-mode image fusion subsystem, a medical image management subsystem, a surgical planning subsystem, a surgical navigation subsystem and a remote consultation subsystem, wherein the medical image post-processing subsystem is used for post-processing medical images; the multi-mode image fusion subsystem is used for fusing multi-mode images of a patient and carrying out three-dimensional reconstruction and visualization processing; the medical image management subsystem is used for storing and managing the medical images of the patient and establishing a personal file for the patient; the surgical planning subsystem is used for providing preoperative surgical simulations and plans; the surgical navigation subsystem is used for navigating a surgery; the remote consultation subsystem enables a surgical doctor and an imaging doctor to remotely cooperate and consult. According to the remote surgical planning and navigating system, data can be shared among different departments effectively, doctors in different departments can remotely communicate and cooperate, the problem of requirements for re-acquisition of scanned images which do not meet diagnosis requirements of the doctors is further effectively solved, and the efficiency and the success rate of the surgery are effectively improved.

A multisensory interface for a tele-robotic surgical control system. The invention allows the surgeon to use natural gestures and motions to control the actions of end effectors in the robotic surgical apparatus. Multiple feedback mechanisms are provided to allow the physician a more intuitive understanding of what is being controlled, along with a greater situational awareness. Prior art robotic end effectors are inserted into the patient through a small incision—as is already known in the art. The invention presents an improved method of controlling these effectors.

An augmented reality and extended reality surgical system. The system may comprise a wearable device, such as a head mounted display or glasses, that provides the user with virtual reality, augmented reality, and / or mixed reality for surgery visualization. This may allow the user to access 2D or 3D imaging, magnification, virtual visualization, six-degrees of freedom (6DoF) image management, and / or other images while still viewing real reality and thus maintaining a presence in the operating room.