Apparatus, system, and method for computer modulated surgical laser intensity

Patent metadata

Field	Value
Publication number	US-12295684-B2
Application number	US-202217960340-A
Country	US
Kind code	B2
Filing date	Oct 5, 2022
Priority date	Jan 18, 2022
Publication date	May 13, 2025
Grant date	May 13, 2025

Abstract

A system for performing robotic laser surgery is disclosed. The system comprises at least one surgery equipment, a surgeon terminal, and a communication module. Further, the system includes a surgical computer communicatively coupled to the at least one surgery equipment via the communication module. The surgical computer is configured to transfer data between the surgeon terminal and the at least one surgery equipment. The surgeon terminal is configured to modulate the tunable laser to conduct the surgical procedure in fully autonomous mode or semi-autonomous mode using robot controls. Further, a plurality of sensors is used to real-time data while performing surgical procedure and transmit the real-time data to the surgeon terminal.

First claim

What is claimed is:

1. A system for performing autonomous and semi-autonomous surgical procedures with a surgical laser, the system comprising:
a surgical robot configured to perform a surgical procedure on a patient, the surgical robot including:
a robotic arm;
a laser that is attached to the robotic arm and configured to emit a surgical laser beam based on one or more laser settings generated as part of a pre-operative plan for the surgical procedure;
at least one imaging device that is configured to continuously capture image data of a surgical area of the patient during the surgical procedure; and
at least one sensor that is configured to continuously capture sensor data of at least one of the surgical robot or the patient during the surgical procedure; and

a surgical computing system in communication with the surgical robot, wherein the surgical computing system is configured to:
continuously receive, from the at least one imaging device and the at least one sensor, the image data and the sensor data;
generate, based on at least a subset of the continuously received image data and sensor data, at least one adjustment to the laser settings for execution during the surgical procedure, the at least one adjustment to the laser settings representing a modification to the pre-operative plan for the surgical procedure; and
transmit, to the surgical robot, instructions for executing the at least one adjustment to the laser settings during the surgical procedure, wherein when executed, the instructions cause the laser to automatically adjust the laser settings based on the at least one adjustment during the surgical procedure.

2. The system of claim 1 , wherein the surgical computing system is configured to receive a request to generate instructions for causing the laser to automatically adjust the laser settings to initial laser settings before the surgical procedure.

3. The system of claim 2 , wherein the surgical computing system is configured to receive at least one additional request to generate instructions that cause the laser to automatically adjust the laser settings during the surgical procedure and based on at least one of the image data or the sensor data.

4. The system of claim 1 , wherein, before the surgical procedure, the surgical computing system is configured to:
retrieve, from a data store, at least one of historic patient data or historic surgical procedure data;
generate, based on the retrieved data, initial laser settings for the laser; and
transmit, to the surgical robot, instructions for executing the initial laser settings, wherein executing the instructions for the initial laser settings causes the laser to automatically adjust the laser settings to the initial laser settings.

5. The system of claim 1 , wherein the surgical computing system is further configured to transmit to a user device, for presentation in a graphical user interface (GUI) display, at least one of the image data, the sensor data, or the at least one adjustment to the laser settings.

6. The system of claim 5 , wherein the surgical computing system is further configured to:
receive, from the user device, user input indicating approval of the at least one adjustment to the laser settings; and
responsive to receiving the user input, transmit instructions to the laser that, when executed by the laser, causes the laser to automatically adjust the laser settings based on the at least one adjustment.

7. The system of claim 1 , wherein the surgical computing system is configured to generate, during the surgical procedure, at least one adjustment to the laser settings based on:
identifying a treatment area in the image data based on mapping the surgical area that is captured in the image data;
determining a quantity of treated tissue in the identified treatment area; and
determining, based on the quantity of treated tissue, the at least one adjustment to the laser settings.

8. The system of claim 7 , wherein the surgical computing system is configured to generate the at least one adjustment to the laser settings based on a determination that the laser is within a threshold distance from a boundary of the identified treatment area, wherein the at least one adjustment includes rotating the laser to orient the laser away from the boundary of the identified treatment area.

9. The system of claim 1 , wherein the laser is configured to receive the instructions for executing the at least one adjustment, from the surgical computing system during the surgical procedure, based on a determination, by the surgical computing system, that the laser is within a threshold distance from a boundary of a surgical area of a patient during the surgical procedure, wherein the at least one adjustment includes rotating the surgical laser a predetermined amount of degrees to orient the laser away from the boundary of the surgical area.

10. The system of claim 9 , wherein the laser is further configured to:
temporarily stop performing the surgical procedure as the laser automatically adjusts the laser settings; and
resume performing the surgical procedure once the laser completes automatically adjusting the laser settings.

11. The system of claim 1 , wherein the laser settings include at least one of a laser beam intensity, a size of a beam emitted by the laser, an amount of energy expelled by the laser, a position of the laser relative to the surgical area, or an orientation of the laser relative to the surgical area.

12. The system of claim 1 , wherein the laser settings include a laser intensity.

13. The system of claim 1 , wherein the laser settings include a size of a beam emitted by the laser.

14. The system of claim 1 , wherein the laser settings include an amount of energy expelled by the laser.

15. The system of claim 1 , wherein the laser settings include a position of the laser relative to at least one of the surgical area or a boundary of the surgical area.

16. The system of claim 1 , wherein the laser settings include an orientation of the laser relative to at least one of the surgical area or a boundary of the surgical area.

17. The system of claim 1 , wherein the at least one adjustment to the laser settings is further based on a determination that a speed of the robotic arm of the surgical robot exceeds a threshold speed during the surgical procedure.

18. The system of claim 1 , wherein the surgical robot is further configured to continue performing the surgical procedure on the patient in response to adjusting the laser settings.

19. The system of claim 1 , wherein the surgical computing system is further configured to continuously receive, from the at least one imaging device and the at least one sensor, the image data and the sensor data while the laser automatically adjusts the laser settings during the surgical procedure.

20. The system of claim 1 , wherein the surgical computing system is further configured to generate the at least one adjustment to the laser settings based at least in part on user input received at a user device, wherein the user input indicates one or more manual adjustments to the laser settings during the surgical procedure.

21. A surgical laser of a surgical robot that is used for performing autonomous and semi-autonomous surgical procedures, the surgical laser being configured to:
receive, from a surgical computing system in communication with the surgical robot and before a surgical procedure, initial laser settings for the laser, wherein the initial laser settings were genera

Assignees

• Ix Innovation Llc

Inventors

• Roh Jeffrey
• Esterberg Justin
• Cronin John
• Cronin Seth
• Baker Michael John

Classifications

• G16H40/20

  for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms · CPC title

• A61B2018/00577

  Ablation · CPC title

• A61B2034/101

  Computer-aided simulation of surgical operations · CPC title

• A61B2034/256

  having a database of accessory information, e.g. including context sensitive help or scientific articles · CPC title

• A61B2034/258

  providing specific settings for specific users · CPC title