Method and system for hand presence detection in a minimally invasive surgical system

Patent metadata

Field	Value
Publication number	US-8935003-B2
Application number	US-88716010-A
Country	US
Kind code	B2
Filing date	Sep 21, 2010
Priority date	Sep 21, 2010
Publication date	Jan 13, 2015
Grant date	Jan 13, 2015

Abstract

In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

First claim

We claim:

1. A method comprising:
receiving a position of a sensor element, the receiving being at a controller, the sensor element being mounted on a unique part of a human hand;
determining whether a position of the human hand is within a threshold distance from a position of a master tool grip of a console of a surgical system, the determining being by the controller and based on the positions of the human hand and the master tool grip, the position of the human hand being determined by the controller using the position of the sensor element; and
controlling a system mode of operation of the surgical system, the surgical system including the surgical system console, the controlling being by the controller and based on a result of the determining.

2. The method of claim 1 , wherein the system mode of operation comprises teleoperation of a slave surgical instrument, and wherein the controlling the system mode of operation of the surgical system further comprises:
permitting the teleoperation of the slave surgical instrument coupled to the master tool grip if the position of the human hand is within the threshold distance from the position of the master tool grip, the permitting being by the controller; and
inhibiting the teleoperation of the slave surgical instrument if the position of the human hand is not within the threshold distance from the position of the master tool grip, the inhibiting being by the controller.

3. The method of claim 1 , wherein the system mode of operation comprises display of a user interface, and wherein the controlling the system mode of operation of the surgical system further comprises:
turning off the user interface on a display of the surgical system if the position of the human hand is within the threshold distance from the position of the master tool grip, the turning off being by the controller; and
turning on the user interface on the display of the surgical system if the position of the human hand is not within the threshold distance from the position of the master tool grip, the turning on being by the controller.

4. The method of claim 1 , wherein the position of the human hand comprises a control point position.

5. The method of claim 1 , wherein the position of the human hand comprises an index finger position.

6. The method of claim 1 , wherein the determining further comprises:
mapping the position of the sensor element to a first position in a common coordinate frame, wherein the first position is the position of the human hand; and
mapping the position of the master tool grip to a second position in the common coordinate frame.

7. The method of claim 6 , wherein the determining further comprises:
generating a distance in the common coordinate frame between the first position and the second position, wherein the distance in the common coordinate frame represents a distance between the position of the human hand and the position of the master tool grip; and
comparing the distance in the common coordinate frame with the threshold distance.

8. The method of claim 1 , wherein the sensor element comprises a plurality of fiducial markers.

9. The method of claim 1 , wherein the sensor element comprises a passive electromagnetic sensor.

10. A surgical system, comprising:
a master tool grip movably coupled to a console in the surgical system, the surgical system being configured to move a surgical instrument in response to motion of the master tool grip;
a hand tracking system that tracks a position of a sensor element mounted on a unique part of a human hand; and
a first controller coupled to receive a position of the master tool grip and the position of the sensor element;
wherein the first controller determines if the master tool grip is within a threshold distance of the human hand by determining a distance between the position of the master tool grip and a position of the human hand, the position of the human hand being determined by the first controller using the position of the sensor element; and
wherein the first controller injects a system event into the surgical system, the system event being based on whether the master tool grip is within the threshold distance of the human hand.

11. The system of claim 10 , wherein the system event is a hand not present event if the master tool grip is not within the threshold distance of the human hand.

12. The system of claim 10 , wherein the system event is a hand present event if the master tool grip is within the threshold distance of the human hand.

13. The system of claim 10 , wherein the position of the human hand comprises an index finger position.

14. The system of claim 10 , wherein the position of the human hand comprises a control point position.

15. The system of claim 10 , wherein the sensor element comprises a plurality of fiducial markers.

16. The system of claim 10 , wherein the sensor element comprises a passive electromagnetic sensor.

17. The system of claim 10 , further comprising:
a processing unit;
a second controller configured to receive the system event;
a user interface generated by a module executing on the processing unit; and
a display device configured to output a display of a user interface, wherein the display of the user interface is different from a display of an image of a surgical site;
wherein if the system event is a hand not present event, the second controller turns on the display of the user interface; and
wherein if the system event is a hand present event, the second controller turns off the display of the user interface.

18. The system of claim 10 , further comprising:
a surgical instrument teloperatively coupled to the master tool grip; and
a second controller configured to receive the system event;
wherein if the system event is a hand present event, the second controller allows teleoperation of the surgical instrument; and
wherein if the system event is a hand not present event, the second controller does not allow teleoperation of the surgical instrument.

Assignees

• Itkowitz Brandon D
• Dimaio Simon P
• Lilagan Paul E
• Zhao Tao
• Intuitive Surgical Operations

Inventors

• Itkowitz Brandon D
• Dimaio Simon P
• Lilagan Paul E
• Zhao Tao

Classifications

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title

• B25J13/086

  Proximity sensors · CPC title

• A61B2034/741

  Glove like input devices, e.g. "data gloves" · CPC title

• A61B2017/00207

  with hand gesture control or hand gesture recognition · CPC title

• A61B2090/397

  electromagnetic other than visible, e.g. microwave · CPC title