System and method for drape volume control

Patent metadata

Field	Value
Publication number	US-12440299-B2
Application number	US-202117331491-A
Country	US
Kind code	B2
Filing date	May 26, 2021
Priority date	May 28, 2020
Publication date	Oct 14, 2025
Grant date	Oct 14, 2025

Abstract

A system for controlling a volume of a drape according to one embodiment of the present disclosure comprises a drape operable to substantially cover an articulated member and having a pressure source opening and at least one tool opening, the pressure source opening defining a path for a fluid to flow into or out of a volume substantially enclosed by the drape, the at least one tool opening enabling a tool to be supported by the articulated member outside of the volume substantially enclosed by the drape; at least one sensor operable to monitor a characteristic of the system; and a controller that causes the volume substantially enclosed by the drape to increase to a maximum volume, decrease to a minimum volume, or maintain an operating volume, and wherein the drape increasingly conforms to the articulated member as the volume substantially enclosed by the drape is decreased.

First claim

What is claimed is:

1. A system for controlling a volume of a drape comprising:
a drape configured to at least partially cover an articulated member;
at least one sensor operable to monitor a characteristic of the system, wherein the characteristic includes an operating pressure within a volume enclosed by the drape; and
a controller configured to cause a pressure source to change the volume enclosed by the drape by altering the operating pressure in connection with movement of the articulated member such that the volume enclosed by the drape increases to a first volume prior to a planned movement of the articulated member and the volume enclosed by the drape decreases from the first volume to a second volume after the planned movement of the articulated member,
wherein the drape increasingly conforms to the articulated member as the volume enclosed by the drape is decreased.

2. The system of claim 1 , wherein the controller is configured to generate a notification when a change in the operating pressure within the volume enclosed by the drape exceeds a threshold.

3. The system of claim 1 , wherein the controller is configured to cause the pressure source to remove fluid from the enclosed volume via a pressure source opening.

4. The system of claim 1 , wherein the operating pressure is greater than an ambient pressure.

5. The system of claim 1 , wherein the operating pressure is less than an ambient pressure.

6. The system of claim 1 , wherein the drape comprises at least one tool opening enabling a tool to be supported by the articulating member outside of the volume enclosed by the drape.

7. A system for controlling a volume substantially enclosed by a drape comprising:
a pressure source operable to selectively increase, maintain, or decrease a volume between a drape and an articulated member by selectively applying positive pressure or negative pressure to the volume;
at least one sensor operable to monitor a characteristic of the system, wherein the characteristic includes an operating pressure within the volume enclosed by the drape; and
a controller that controls the pressure source to change the volume enclosed by the drape by altering the operating pressure in connection with movement of the articulated member such that the volume enclosed by the drape increases to a first volume prior to a planned movement of the articulated member and the volume enclosed by the drape decreases from the first volume to a second volume after the planned movement of the articulated member,
wherein the drape increasingly conforms to the articulated member as the volume substantially enclosed by the drape is decreased.

8. The system of claim 7 , wherein the characteristic includes a fluid flow through an opening in the drape.

9. The system of claim 7 , wherein at least a portion of the articulated member is repositionable when the drape is conformed to the articulated member.

10. The system of claim 7 , wherein the controller causes the pressure source to form a vacuum between the drape and the articulated member by causing fluid to exit the volume enclosed by the drape via a pressure source opening.

11. The system of claim 10 , wherein the vacuum between the drape and the articulated member is continuously maintained to prevent one or more leaks in the drape.

12. The system of claim 7 , wherein the characteristic includes movement of the articulated member.

13. The system of claim 7 , wherein the characteristic includes one or more leaks in the drape.

14. The system of claim 7 , wherein the controller detects an impact to the drape based on data received from the at least one sensor.

15. A method for controlling a volume of a drape comprising:
receiving a surgical plan, the surgical plan including information about one or more planned movements of an articulated member at least partially enclosed by a drape;
determining, based on the surgical plan, a sequence of increasing and decreasing a volume enclosed by the drape and surrounding at least part of the articulated member, wherein the articulated member includes a first moveable segment and a second moveable segment, wherein the drape includes a first portion enclosing a first volume that at least partially encompasses the first moveable segment and a second portion enclosing a second volume that at least partially encompasses the second moveable segment, and wherein the surgical plan includes information about one or more planned movements of each of the first moveable segment and the second moveable segment;
monitoring, by at least one sensor, an operating pressure within the volume enclosed by the drape; and
generating instructions based on the sequence, the instructions configured to cause a controller to control a pressure source to change the volume enclosed by the drape according to the sequence and by altering the operating pressure to increase the first volume in connection with a planned movement of the first moveable segment of the articulated member while decreasing or maintaining the second volume in connection with a stationary status of the second moveable segment of the articulated member.

16. The method of claim 15 , wherein the volume substantially enclosed by the drape is increased prior to a planned movement of the articulated member.

17. The method of claim 15 , further comprising generating a notification when a change in the operating pressure within the volume enclosed by the drape exceeds a threshold.

Assignees

• Mazor Robotics Ltd

Inventors

• Ofer Nir
• Ben Zeev Ori

Classifications

• A61B2034/101

  Computer-aided simulation of surgical operations · CPC title

• A61B34/70 Primary

  Manipulators specially adapted for use in surgery · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• A61B34/10

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• A61B46/10 Primary

  specially adapted for instruments{, e.g. microscopes} · CPC title