Apparatus and method for using a remote control system in surgical procedures
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A61B-018/00
A61B-018/14
A61B-017/00
출원번호
US-0205889
(2011-08-09)
등록번호
US-9554866
(2017-01-31)
발명자
/ 주소
Cunningham, James S.
Mueller, Peter M.
출원인 / 주소
Covidien LP
인용정보
피인용 횟수 :
0인용 특허 :
14
초록▼
A system and method for using a remote control to control an electrosurgical instrument, where the remote control includes at least one momentum sensor. As the surgeon rotates their hand mimicking movements of a handheld electrosurgical instrument, the movements are translated and sent to the remote
A system and method for using a remote control to control an electrosurgical instrument, where the remote control includes at least one momentum sensor. As the surgeon rotates their hand mimicking movements of a handheld electrosurgical instrument, the movements are translated and sent to the remote controlled (RC) electrosurgical instrument. The surgeon uses an augmented reality (AR) vision system to assist the surgeon in viewing the surgical site. Additionally, the surgeon can teach other doctors how to perform the surgery by sending haptic feedback to slave controllers. Also, the surgeon can transfer control back and forth between the master and slave controller to allow a learning surgeon to perform the surgery, but still allow the surgeon to gain control of the surgery whenever needed. Also, the surgeon could be located at a remote location and perform the surgery with the assistance of the AR vision system.
대표청구항▼
1. A method for performing a surgical procedure, the method comprising: moving at least a portion of a remote controlled surgical instrument with respect to a patient, wherein the remote controlled surgical instrument is configured to communicate with a wireless remote;moving the wireless remote;mov
1. A method for performing a surgical procedure, the method comprising: moving at least a portion of a remote controlled surgical instrument with respect to a patient, wherein the remote controlled surgical instrument is configured to communicate with a wireless remote;moving the wireless remote;moving the remote controlled surgical instrument in a manner corresponding to movements of the wireless remote;physically connecting the wireless remote with the remote controlled surgical instrument such that the wireless remote directly contacts the remote controlled surgical instrument; andusing the remote controlled surgical instrument as a handheld instrument to perform a surgical task while the remote controlled surgical instrument is physically connected with the wireless remote. 2. The method according to claim 1, further comprising: selecting a second remote controlled surgical instrument using a user interface on the wireless remote. 3. The method according to claim 1, wherein the wireless remote is a master remote and wherein the method further comprises: transferring control of the remote controlled surgical instrument from the master remote to a slave remote; andtransferring control of the remote controlled surgical instrument from the slave remote to the master remote by the master remote. 4. The method according to claim 1, wherein the wireless remote is a master remote and wherein the method further comprises: sending feedback to a slave remote based on movements and or actions of the master remote to assist in training a user of the slave remote. 5. The method according to claim 1, wherein the wireless remote is shaped similar to a handheld surgical instrument to allow the user to see simulated movements sent to the remote controlled surgical instrument. 6. The method according to claim 1, wherein the wireless remote further comprises at least one momentum sensor used to track movement of the wireless remote. 7. The method according to claim 1, wherein the wireless remote further comprises at least one infrared sensor used to track movement of the wireless remote, and wherein the at least one infrared sensor is disposed at a distal-most position of the wireless remote and is configured to directly contact the remote controlled surgical instrument when the wireless remote is physically connected with the remote controlled surgical instrument, the at least one infrared sensor is configured to facilitate physically connecting the wireless remote with the remote controlled surgical instrument. 8. The method according to claim 7, further comprising at least one data port disposed at a distal position of the wireless remote configured to directly contact the remote controlled surgical instrument when the wireless remote is physically connected with the remote controlled surgical instrument, the at least one data port configured to facilitate physically connecting the wireless remote with the remote controlled surgical instrument. 9. The method according to claim 1, wherein the wireless remote further comprises at least three momentum sensors used to track movement of the wireless remote in the x-, y- and z-directions. 10. The method according to claim 1, further comprising using the wireless remote to perform a surgical task when the wireless remote is free from physical contact with the remote controlled surgical instrument. 11. The method according to claim 1, further comprising selecting a button on the wireless remote for activating a clamping function, activating radio frequency energy for coagulation or cutting, or activating a stapling function. 12. A method for performing a surgical procedure, the method comprising: moving at least a portion of a remote controlled surgical instrument with respect to a patient, wherein the remote controlled surgical instrument is configured with at least one sensor and a base;moving a master remote in a manner substantially similar to movement of a handheld surgical instrument, wherein the master remote is wireless and is configured with at least one momentum sensor or a haptic feedback mechanism;physically connecting the master remote with the remote controlled surgical instrument such that the master remote directly contacts the remote controlled surgical instrument; andusing the remote controlled surgical instrument as a handheld instrument to perform a surgical task while the remote controlled surgical instrument is physically connected with the master remote;transferring control of the remote controlled surgical instrument from the master remote to a slave remote;transferring control of the remote controlled surgical instrument from the slave remote to the master remote by the master remote;sending feedback to the slave remote based on movements and or actions of the master remote to assist in training a user of the slave remote;computing a safety zone around an anatomical section;determining if the remote controlled surgical instrument is within the safety zone, wherein one or more sensors are configured to send information to a microcontroller to assist in determining location; andgenerating a notification to the user if the remote controlled surgical instrument is within the safety zone, wherein the notification is at least one of an audible notification or haptic feedback. 13. The method according to claim 12, wherein the master remote is shaped similar to a handheld surgical instrument to allow the user to see simulated movements sent to the remote controlled surgical instrument. 14. The method according to claim 12, wherein the master remote further comprises at least three momentum sensors used to track movement of the master remote in the x-, y- and z-directions. 15. A method for performing a surgical procedure, the method comprising: analyzing a pre-operative image to generate data about an anatomical section of the patient to assist a user during surgery, wherein analyzing the pre-operative image includes: computing a safety zone around the anatomical section;determining if the remote controlled surgical instrument is within the safety zone, wherein one or more sensors are configured to send information to a microcontroller to assist in determining location; andgenerating a notification to the user if the remote controlled surgical instrument is within the safety zone, wherein the notification is at least one of an audible notification or haptic feedback;receiving a real time video signal of a surgical site within the patient;displaying on a user interface the analyzed data with the video signal;detecting a user-initiated movement of a wireless remote in at least three dimensions during surgery mimicking a handheld surgical instrument movement;translating the detected movement into a movement signal for a remote controlled surgical instrument located at the surgical site;automatically moving the remote controlled surgical instrument as mimicked based on the translated movement signal;physically connecting the wireless remote with the remote controlled surgical instrument such that the master remote directly contacts the remote controlled surgical instrument; andusing the remote controlled surgical instrument as a handheld instrument to perform a surgical task while the remote controlled surgical instrument is physically connected with the master remote. 16. The method according to claim 15, wherein the wireless remote is a master remote and wherein the method further comprises: transferring control of the remote controlled surgical instrument from the master remote to a slave remote; andtransferring control of the remote controlled surgical instrument from the slave remote to the master remote by the master remote. 17. The method according to claim 15, wherein the one or more sensors includes at least one infrared sensor used to track movement of the remote, and wherein the at least one infrared sensor is disposed at a distal-most position of the wireless remote and is configured to directly contact the remote controlled surgical instrument when the wireless remote is physically connected with the remote controlled surgical instrument, the at least one infrared sensor is configured to facilitate physically connecting the wireless remote with the remote controlled surgical instrument. 18. The method according to claim 15, wherein the wireless remote is shaped similar to a handheld surgical instrument to allow the user to see simulated movements sent to the remote controlled surgical instrument. 19. The method according to claim 15, wherein the one or more sensors includes at least one momentum sensor used to track movement of the remote. 20. The method according to claim 17, further comprising at least one data port disposed at a distal position of the wireless remote configured to directly contact the remote controlled surgical instrument when the wireless remote is physically connected with the remote controlled surgical instrument, the at least one data port configured to facilitate physically connecting the wireless remote with the remote controlled surgical instrument. 21. The method according to claim 15, wherein the one or more sensors includes at least three momentum sensors used to track movement of the remote in the x-, y- and z-directions.
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