Apparatus and method for using a remote control system in surgical procedures

Patent metadata

Field	Value
Publication number	US-9554866-B2
Application number	US-201113205889-A
Country	US
Kind code	B2
Filing date	Aug 9, 2011
Priority date	Aug 9, 2011
Publication date	Jan 31, 2017
Grant date	Jan 31, 2017

Abstract

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.

First claim

What is claimed is:

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; and
using 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; and
transferring 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; and
using 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; and
generating 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; and
generating 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; and
using 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 t

Assignees

• Cunningham James S
• Mueller Peter M
• Covidien Lp

Inventors

• Cunningham James S
• Mueller Peter M

Classifications

• A61B2017/00221

  with wireless transmission of data, e.g. by infrared radiation or radiowaves · CPC title

• A61B18/1445

  at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B34/76

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

• A61B2017/00207

  with hand gesture control or hand gesture recognition · CPC title