Method of automatically monitoring the penetration behavior of a trocar held by a robotic arm and monitoring system

Patent metadata

Field	Value
Publication number	US-9936972-B2
Application number	US-201514927840-A
Country	US
Kind code	B2
Filing date	Oct 30, 2015
Priority date	Oct 31, 2014
Publication date	Apr 10, 2018
Grant date	Apr 10, 2018

Abstract

A method for automatically monitoring the penetration behavior of a trocar held by a robotic arm and monitoring system is provided. The method and system automatically monitors the penetration behavior of a trocar held by a robotic arm and/or an instrument guided through the trocar into a body cavity through an incision in the surface of the body of a patient during a surgical procedure. At least one measured value is recorded, by which a change in a force effect on the surface of the body of the patient may be determined, and automatic evaluation of the measured value with regard to a reference measured value is conducted. Comparison of the change in the measured value or the change in the force effect with a threshold value is made, and an indication in the event of the threshold value being exceeded is outputted.

First claim

We claim:

1. A method for automatically monitoring the penetration behavior of a trocar held by a robotic arm, an instrument guided through the trocar, or the trocar and the instrument into a body cavity through an incision in the surface of the body of a patient during a surgical procedure, the method comprising:
recording at least one measured value, a change in a force effect on the surface of the body of the patient determinable from the at least one measured value;
automatically evaluating the at least one measured value based on a reference measured value;
comparing a change in the measured value or the change in the force effect with a threshold value; and
outputting an indication in event of the threshold value being exceeded.

2. The method of claim 1 , wherein the measured value is evaluated with regard to the change in the force effect.

3. The method of claim 2 , wherein the measured value is formed by a measured value representing a penetration depth of the trocar, of the instrument, or of the trocar and of the instrument in the body cavity.

4. The method of claim 2 , wherein the measured value is formed by a pressure value representing the pressure in the body cavity of the patient.

5. The method of claim 2 , wherein the measured value is formed by at least one torque value of at least one shaft of the robotic arm.

6. The method of claim 1 , wherein the measured value is formed by a measured value representing a penetration depth of the trocar, of the instrument, or of the trocar and of the instrument in the body cavity.

7. The method of claim 6 , further comprising:
determining penetration depth by at least one visual marker provided on the trocar, on the instrument, or on the trocar and the instrument via a visual measuring system of a camera system;
recording the visual marker via the camera system; and
evaluating the recording of the visual marker with regard to the penetration depth.

8. The method of claim 1 , wherein the measured value is formed by a pressure value representing the pressure in the body cavity of the patient.

9. The method of claim 1 , wherein the measured value is formed by at least one torque value of at least one shaft of the robotic arm.

10. The method as claimed in claim 9 , further comprising:
determining the at least one torque value; and
determining the change in the force effect on the surface of the body based on the at least one torque value; and
determining a compensating movement of the robotic arm to minimize the force effect.

11. A monitoring system for automatically monitoring the penetration behavior of a trocar held on a robotic arm, an instrument guided through the trocar into a body cavity through an incision in the surface of the body of a patient, or the trocar and the instrument during a surgical procedure, the monitoring system comprising:
at least one measuring system, the measuring system configured to
record a measured value, a change in a force effect on the surface of the body of the patient determinable from the measured value;

an evaluation device for evaluating the measured value; and
an output device for outputting an indication.

12. A monitoring system of claim 11 , further comprising:
a trocar, an instrument, or a trocar and an instrument with at least one visual marker operable to:
display a penetration depth of the trocar or instrument in the body cavity, wherein the measuring system further comprises at least one visual detector configured to
detect a visual marker, and
record the visual marker,

wherein the evaluation device is configured to
determine the penetration depth from the recorded, measured value of the measuring system.

13. The monitoring system of claim 12 , wherein the visual marker is formed by a visual length scale arranged on the trocar, on the instrument, or on the trocar and on the instrument, and the visual measuring system has at least one camera.

14. The monitoring system of claim 13 , wherein the output device further comprises:
a monitor or a touchpad or a loudspeaker.

15. The monitoring system of claim 12 , wherein the output device further comprises:
a monitor or a touchpad or a loudspeaker.

16. The monitoring system of claim 11 , wherein the measuring system is further configured to
determine a measured value representing a pressure in the body cavity.

17. The monitoring system of claim 16 , wherein the output device further comprises:
a monitor or a touchpad or a loudspeaker.

18. The monitoring system of claim 11 , wherein the measuring system further comprises:
at least one torque sensor arranged on the robotic arm.

19. The monitoring system of claim 11 , wherein the output device further comprises:
a monitor or a touchpad or a loudspeaker.

20. An endoscopic robotic system comprising:
at least one robotic arm holding a trocar, an instrument, or a trocar and an instrument guided through the trocar; and
a monitoring system comprising:
at least one measuring system, the measuring system configured to
record a measured value, a change in a force effect on the surface of the body of the patient determinable from the measured value,

an evaluation device for evaluating the measured value, and
an output device for outputting an indication.

Assignees

• Blohm Lutz
• Martens Michael
• Mewes Philip
• Siemens Ag

Inventors

• Blohm Lutz
• Martens Michael
• Mewes Philip

Classifications

• A61B2090/066

  for measuring torque · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61B2017/00119

  alarm; indicating an abnormal situation · CPC title

• A61B17/3476

  Powered trocars, e.g. electrosurgical cutting, lasers, powered knives · CPC title

• A61B17/3403 Primary

  Needle locating or guiding means · CPC title