Teleoperation system with visual indicator and method of use during surgical procedures
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06F-019/00
A61B-034/30
A61F-002/30
G06F-003/01
A61B-017/16
A61B-034/37
A61B-034/35
A61N-001/05
A61N-001/36
A61N-001/372
A61F-002/46
A61B-005/11
A61B-017/17
A61B-017/00
A61F-002/38
A61B-005/00
A61B-090/00
A61B-034/10
A61B-034/20
A61B-034/00
A61B-090/14
출원번호
US-0131683
(2016-04-18)
등록번호
US-9775682
(2017-10-03)
발명자
/ 주소
Quaid, Arthur E.
Abovitz, Rony A.
출원인 / 주소
MAKO SURGICAL CORP.
대리인 / 주소
Howard & Howard Attorneys PLLC
인용정보
피인용 횟수 :
3인용 특허 :
187
초록▼
Teleoperation systems and methods for use during a surgical procedure. The teleoperation system comprises a surgical tool and a master input device for being moved by a user. A slave device is coupled to the surgical tool and responsive to movement of the master input device. The slave device is con
Teleoperation systems and methods for use during a surgical procedure. The teleoperation system comprises a surgical tool and a master input device for being moved by a user. A slave device is coupled to the surgical tool and responsive to movement of the master input device. The slave device is configured to be operated in a first mode or a second mode. In the first mode, the surgical tool is placed in a desired pose with respect to a target region in response to a manual force applied to the slave device. In the second mode, the surgical tool is manipulated during the surgical procedure in response to movement of the master input device by the user. A visual indicator is coupled to the surgical tool or the slave device to emit light in the second mode to provide visual information to the user in the second mode.
대표청구항▼
1. A teleoperation system for use during a surgical procedure, said teleoperation system comprising: a surgical tool;a master input device to be moved by a user;a slave device coupled to said surgical tool and responsive to movement of said master input device, said slave device configured to be ope
1. A teleoperation system for use during a surgical procedure, said teleoperation system comprising: a surgical tool;a master input device to be moved by a user;a slave device coupled to said surgical tool and responsive to movement of said master input device, said slave device configured to be operated in a first mode to place said surgical tool in a desired pose with respect to a target region and a second mode to manipulate said surgical tool during the surgical procedure; anda visual indicator coupled to and disposed on said slave device and configured to emit light in said second mode to provide visual information to the user in said second mode. 2. The teleoperation system of claim 1, wherein said visual indicator is configured to emit light in a plurality of different colors in said second mode to provide visual information to the user in said second mode. 3. The teleoperation system of claim 2, wherein said visual indicator comprises a multi-colored LED indicator. 4. The teleoperation system of claim 3, further comprising a display configured to display said surgical tool. 5. The teleoperation system of claim 1, further comprising a control system configured to lock said slave device in a desired pose. 6. The teleoperation system of claim 5, wherein said control system is configured to adjust said desired pose of said slave device in response to receiving a manual force on said slave device. 7. The teleoperation system of claim 5, wherein said control system is configured to lock only a portion of said slave device so that the user can adjust said slave device. 8. The teleoperation system of claim 1, further comprising a control system configured to constrain a trajectory of a tool guide passing through the target region. 9. The teleoperation system of claim 8, wherein said control system is configured to allow the user to pivot said tool guide about a pivot point while constraining said trajectory. 10. A teleoperation system for use during a surgical procedure, said teleoperation system comprising: a surgical tool;a master input device to be moved by a user;a slave device coupled to said surgical tool and responsive to movement of said master input device, said slave device configured to be operated in a first mode to place said surgical tool in a desired pose with respect to a target region and a second mode to manipulate said surgical tool during the surgical procedure; anda visual indicator coupled to and disposed on said surgical tool and configured to emit light in said second mode to provide visual information to the user in said second mode. 11. The teleoperation system of claim 10, wherein said visual indicator is configured to emit light in a plurality of different colors in said second mode to provide visual information to the user in said second mode. 12. The teleoperation system of claim 11, wherein said visual indicator comprises a multi-colored LED indicator. 13. The teleoperation system of claim 12, further comprising a display configured to display said surgical tool. 14. The teleoperation system of claim 10, further comprising a control system configured to lock said slave device in a desired pose. 15. The teleoperation system of claim 14, wherein said control system is configured to adjust said desired pose of said slave device in response to receiving a manual force on said slave device. 16. The teleoperation system of claim 14, wherein said control system is configured to lock only a portion of said slave device so that the user can adjust said slave device. 17. The teleoperation system of claim 10, further comprising a control system configured to constrain a trajectory of a tool guide passing through the target region. 18. The teleoperation system of claim 17, wherein said control system is configured to allow the user to pivot said tool guide about a pivot point while constraining said trajectory. 19. A method for using a teleoperation system during a surgical procedure, the teleoperation system comprising a surgical tool, a master input device to be moved by a user, a slave device coupled to the surgical tool, and a visual indicator on the slave device, the slave device operable in a first mode to place the surgical tool in a desired pose with respect to a target region in response to a manual force applied to the slave device, said method comprising the steps of: controlling the slave device in a second mode, different than the first mode, to manipulate the surgical tool during the surgical procedure in response to movement of the master input device by the user; andin the second mode, visually indicating information to the user by emitting light with the visual indicator on the slave device. 20. The method of claim 19, further comprising emitting light in a plurality of different colors in the second mode to provide visual information to the user in the second mode. 21. The method of claim 20, wherein the visual indicator comprises a multi-colored LED indicator. 22. The method of claim 21, further comprising displaying the surgical tool on a display. 23. The method of claim 19, further comprising locking the slave device in a desired pose. 24. The method of claim 23, wherein locking the slave device in the desired pose is further defined as locking only a portion of the slave device so that the user can adjust the slave device. 25. The method of claim 19, further comprising constraining a trajectory of a tool guide passing through the target region. 26. The method of claim 25, further comprising enabling the tool guide to be pivoted about a pivot point while constraining the trajectory. 27. The teleoperation system of claim 1, wherein said slave device comprises a robotic arm with said visual indicator coupled to and disposed on said robotic arm.
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