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WO2025154091A1 - Système robotique chirurgical à bras multiples pour téléchirurgie - Google Patents

Système robotique chirurgical à bras multiples pour téléchirurgie

Info

Publication number
WO2025154091A1
WO2025154091A1 PCT/IN2024/052438 IN2024052438W WO2025154091A1 WO 2025154091 A1 WO2025154091 A1 WO 2025154091A1 IN 2024052438 W IN2024052438 W IN 2024052438W WO 2025154091 A1 WO2025154091 A1 WO 2025154091A1
Authority
WO
WIPO (PCT)
Prior art keywords
remote
local
surgeon
surgeon console
robotic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/IN2024/052438
Other languages
English (en)
Inventor
Sudhir Prem SRIVASTAVA
Vishwajyoti Pascual SRIVASTAVA
Rama Krishna Reddy Dyava
Suraj DWIVEDI
Shubhankar Sanjiv Kulkarni
Nitin Hemdan
Anson Paul
Munish BATRA
Anil Kumar PATIDAR
S Naveen Ajay KUMAR
Anuj SAINI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SSI IP Holdings Inc
Original Assignee
SSI IP Holdings Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SSI IP Holdings Inc filed Critical SSI IP Holdings Inc
Priority to AU2024287292A priority Critical patent/AU2024287292A1/en
Priority to IL318537A priority patent/IL318537A/en
Publication of WO2025154091A1 publication Critical patent/WO2025154091A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/372—Details of monitor hardware

Definitions

  • the present disclosure generally relates to a multi-arm robotic surgical system for minimally invasive surgery, and more particularly, the disclosure relates to a system and method for performing tele-surgery in a multiarm robotic surgical system.
  • a multi-arm surgical robotic system for tele-surgery comprising a local system, a remote system, a private network, and a public network characterized in that: the local system comprises: a plurality of robotic arms arranged along an operating table, wherein a robotic arm out of the plurality of robotic arms is connected to an endoscopic camera, and the remaining robotic arms are each connected to one of a surgical robotic instruments; a local surgeon console comprising a left-hand controller, a right-hand controller, foot pedals, a two-dimensional (2D) touch screen monitor, a three-dimensional (3D) HD monitor, and a head tracking camera to track a movement of the head of a local surgeon wearing a pair of trackable glasses, each coupled to a master controller, the master controller provides a control
  • a partial control from the remote surgeon console can be shifted to the local surgeon console, enabling the remote surgeon to operate any three arms out of the five or more robotic arms and the remaining arms can be operated by the local surgeon acting as an assistant surgeon.
  • the left-hand controller, the right-hand controller, and the foot pedals are configured to capture the control input from the local surgeon.
  • the two- dimensional (2D) touch screen monitor coupled to the master controller is configured to serve as a graphical user interface to capture the control input from the local surgeon.
  • the realtime 3D video stream of the surgical site is displayed on the three-dimensional (3D) HD monitor of the local surgeon console.
  • the lefthand controller, the right-hand controller, and the foot pedals are configured to receive the control input from the remote surgeon.
  • each conferencing system comprises of a processor, a camera, a 2D monitor, a speaker, and a microphone.
  • the realtime two-way video data transmitted between the conferencing system of the remote surgeon console and the conferencing system of the local surgeon console can be displayed on separate 2D monitors at the remote location and the local operating room.
  • a method of tele-surgery using a multi-arm surgical robotic system comprising a local system, a remote system, a private network, and a public network
  • the method comprising: establishing, using the private network, a communication link between the local system and the remote system, wherein the local system includes a plurality of robotic arms and a local surgeon console, and the remote system includes a remote surgeon console; transmitting, using the private network, a control input from a remote surgeon to the local system, wherein the control input controls the movement and operation of the plurality of robotic arms; providing, using the private network, a real-time encrypted 3D video of the surgical site from the local system to the remote system for visualization on a 3D HD monitor of the remote surgeon console; enabling, using a conferencing system of the local surgeon console and a conferencing system of the remote surgeon console via a public network, the real-time two-way audio and video communication between the local surgeon console and the remote surgeon console to facilitate remote collaboration during the surgical procedure
  • a partial control from the remote surgeon console can be shifted to the local surgeon console, enabling the remote surgeon to operate any three arms out of the plurality of robotic arms and the remaining arms can be operated by the local surgeon acting as an assistant surgeon.
  • Figure 1 illustrates an example implementation of multi-arm surgical robotic system for tele-surgery using a remote surgeon console in accordance with an embodiment of the disclosure
  • Figure 3 illustrates an implementation of a local surgeon console connected to a remote surgeon console via a private network in accordance with an embodiment of the disclosure
  • Figure 5(a) illustrates a block diagram indicating a communication of a control input from a remote surgeon at a remote location to local operating room in accordance with an embodiment of the disclosure
  • Figure 5(b) illustrates a block diagram indicating a communication of a video signal having a 3D endoscopic view of the actual surgical site from the local surgeon console to the remote surgeon console in accordance with an embodiment of the disclosure
  • Figure 6 illustrates steps for sending data from the remote surgeon console to the local surgeon console in accordance with an embodiment of the disclosure.
  • Figure 1 illustrates an example implementation of multi-arm surgical robotic system (100) for tele-surgery in accordance with an embodiment of the disclosure.
  • the system (100) comprises of a local system (102), a remote system (104), a private network (Nl), and a public network (N2).
  • Figure 2 illustrates an example implementation of a multi-arm teleoperated robotic surgical system kept at the location of surgery with one or more features in accordance with an embodiment of the disclosure.
  • figure 2 illustrates a local system comprising of a plurality of robotic arms (106a), (106b), (106c), (106d), (106d), (106d), (106e), each mounted on a robotic arm cart around an operating table (108).
  • a setup having five-robotic arms (106a), (106b), (106c), (106d), (106d), (106e), is depicted in figure 1. This depiction is for illustration purposes and the number of robotic arms may vary depending upon the type of surgery.
  • the robotic arms (106a), (106b), (106c), (106d), (106d), (106e), may be separately mounted on the five robotic arm carts or the robotic arms (106a), (106b), (106c), (106d), (106d), (106e), mechanically and/ or operationally connected with each other or the robotic arms (106a), (106b), (106c), (106d), (106d), (106e), connected to a central body (not shown) such that the robotic arms (106a), (106b), (106c), (106d), (106d), (106e), branch out of a central body (not shown).
  • One robotic arm out of the plurality of robotic arms is connected to an endoscopic camera (C), and the remaining robotic arms are each connected to one of a surgical robotic instruments (110, 112, 114, 116).
  • the local system comprises a local surgeon console (118), a vision cart (VC), a surgical instrument and accessory table (not shown), and a conferencing system (138).
  • the remote surgeon console (140) may utilize a portable chair to accommodate a remote surgeon (154) during a robotic tele-surgery.
  • the essential components for controlling surgical robots are integrated in both the local surgeon console (118) and the remote surgeon console (140) to ensure a compact and user-friendly design.
  • the remote surgeon console (140) may be utilized by an expert surgeon (154) sitting at a location which is far away from the local surgical operating room. In case of loss of telecommunication signal a local surgeon (132) sitting in the local operating room may take control.
  • the local surgeon console (118) serves as the interface for the remote surgeon console (140) within the local operating room.
  • Figure 4 illustrates a flow of communication of control input from the remote surgeon console (140) to the local surgeon console (118) located in the local operating room in accordance with an embodiment of the disclosure.
  • the remote surgeon (154) sitting at a remote location uses hand controllers (142) (144) to perform a surgical action. All control input data related to movement of hand controllers (142) (144) by the remote surgeon (154), a data from various foot pedals (146), and any other sensor-based data for robotic surgical instruments (110, 112, 114, 116) is collected and communicated through a serial port to the master controller (158) of the remote surgeon console (140). A start byte and stop byte are added to the received data.
  • the complete control input data thus received is stored in a frame in the master controller (158) of the remote surgeon console (140).
  • the remote surgeon console (140) will act as a client and will send the data frame over a transmission network, which is a private network (Nl) using TCP/IP communication protocol to the local surgeon console (118).
  • the TCP/IP Communication protocol is a connection-oriented protocol which ensures the data is sent seamlessly between the client (remote surgeon console (140)) and the server (local surgeon console (118)).
  • the local surgeon console (118) communicates with the patient side arms (106a, 106b, 106c, 106d, 106e).
  • the received data enables the movement of different robotic surgical instruments (110, 112, 114, 116) utilized for surgery at the surgical site.
  • a mixed reality headset holder consisting of an omnidirectional microphone (not shown) and a speaker (not shown) may be provided.
  • the remote surgeon (154) may get an augmented environment with a pass-through or see-through feature for easy vision of the local operating room.
  • the headset (not shown) may feature a virtual screen for viewing the endoscopic feed from the endoscope, a virtual control screen for manipulating chair ergonomics, a panel for patient details, a virtual screen for patient vitals monitoring, a virtual screen for remote proctoring access, and a virtual screen for robotic system controls.
  • the headset may include a provision for 3D notifications for important troubleshooting and surgery status data.
  • Figure 5(a) illustrates a block diagram indicating a communication of a control input from a remote surgeon at a remote location to local operating room in accordance with an embodiment of the disclosure.
  • the remote surgeon provides control input which is transmitted to the master controller (136) of the local surgeon console (118) in the local operating room via the private network (Nl).
  • Figure 5(b) illustrates a block diagram indicating a communication of a video signal having a 3D endoscopic view of the actual surgical site from the local surgeon console to the remote surgeon console in accordance with an embodiment of the disclosure.
  • Figure 5(c) illustrates a block diagram indicating a two-way transmission of audio and video data between conferencing systems at remote location and local operating room in accordance with an embodiment of the disclosure.
  • the local surgeon (132) and the remote surgeon (154) may interact via the public network (N2).
  • FIG. 6 illustrates steps for sending data from the remote surgeon console to the local surgeon console in accordance with an embodiment of the disclosure.
  • a control input data related to hand movements of the remote surgeon (154), hand control frame, data from various foot pedals, and any other sensor-based data is collected in step (602).
  • the collected control input data is stored in a frame in step (604).
  • a connection is established between the remote surgeon console (140) and the patient side arm carts via master controller (136) of the local surgeon console (118) using a private network (Nl) with TCP/IP communication protocol.
  • the received Data frame having the control input is transmitted from the remote surgeon console (140) to the master controller (136) of the local surgeon console (118) in step (608).
  • the transmitted control input data is received by the master controller (136) of the local surgeon console (118) in step (610).
  • the received control input data is converted into the required format in step (612).
  • the control input data in the required format is sent to the Patient side arm carts in step (614).
  • the movement of the robotic arms is done as per the control input with data frames in required format to match the movement of the hands of the remote surgeon (154) in step (616).
  • a real-time encrypted 3D video of the surgical site from the local system (102) is provided to the remote system (104) for visualization on a 3D HD monitor (150) of the remote surgeon console (140).
  • a two-way audio and video communication is established between the local surgeon console (118) and the remote surgeon console (140) in step (708). This two-way audio and video communication facilitates remote collaboration during the surgical procedure.
  • DICOM images (DI) of a patient from a hospital server for display on a 2D touch screen monitor (148) of the remote surgeon console (140) and on the 2D touch screen monitor (126) of the local surgeon console (118), in the step (710).
  • the information (SORA) related to the status of the robotic arms (106a, 106b, 106c, 106d, 106e) and surgical robotic instruments (110, 112, 114, 116) is obtained from a hospital server via the private network (Nl), and displayed using the three-dimensional (3D) HD monitor (128) of the local surgeon console (118) and the three-dimensional (3D) HD monitor (150) of the remote surgeon console (140).
  • step (714) the control of the operation of the robotic arms (106a, 106b, 106c, 106d, 106e) is allowed using the control input from the master controller (158) of the remote surgeon console (140).
  • step (716) the control from the remote surgeon console (140) may be shifted to the local surgeon console (118), which enables the local surgeon (132) to assume direct control over the control of the operation of the robotic arms (106a, 106b, 106c, 106d, 106e) during the surgical procedure in case of failure of the private network (Nl).
  • the system (100) for tele-surgery can be utilized to serve as a dual console system, in which a partial control from the remote surgeon console (140) can be shifted to the local surgeon console (118). Then, the expert surgeon/remote surgeon (154) may operate any three arms out of the five robotic arms (106a, 106b, 106c, 106d, 106e) and the remaining arms can be operated by the local surgeon (132) acting as an assistant surgeon.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système robotique chirurgical à bras multiples (100) pour téléchirurgie comprenant un système local (102), un système à distance (104), un réseau privé (N1), et un réseau public (N2). Le système local (102) comprenant une pluralité de bras robotiques (106a, 106b, 106c, 106d, 106e) connectés à une caméra endoscopique (C), et les bras robotiques restants étant chacun connectés à l'un d'un instrument robotique chirurgical (110, 112, 114, 116), une console de chirurgien locale (118) couplée à un dispositif de commande maître (136) pour fournir une entrée de commande à la pluralité de bras robotiques (106a, 106b, 106c, 106d, 106e), et un système de conférence (138). Le système à distance (104) comprend une console de chirurgien à distance (140) couplée à un dispositif de commande maître (158) et un système de conférence (160), qui est connecté de manière fonctionnelle au système de conférence (138) via le réseau public (N2). La communication entre la console de chirurgien locale (118) et la console de chirurgien à distance (140) via le réseau privé (N1), permet au chirurgien à distance (154) de commander et de surveiller les bras robotiques (106a, 106b, 106c, 106d, 106e), permettant au chirurgien à distance (154) d'effectuer une intervention chirurgicale robotique à distance. En cas de défaillance du réseau privé (N1), la commande peut être décalée de la console de chirurgien à distance (140) à la console de chirurgien locale (118), permettant la commande de l'intervention chirurgicale robotique.
PCT/IN2024/052438 2024-01-18 2024-12-27 Système robotique chirurgical à bras multiples pour téléchirurgie Pending WO2025154091A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2024287292A AU2024287292A1 (en) 2024-01-18 2024-12-27 A multi-arm surgical robotic system for tele-surgery
IL318537A IL318537A (en) 2024-01-18 2024-12-27 A multi-arm surgical robotic system for tele-surgery

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IN202411003576 2024-01-18
IN202411003576 2024-01-18

Publications (1)

Publication Number Publication Date
WO2025154091A1 true WO2025154091A1 (fr) 2025-07-24

Family

ID=96470945

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IN2024/052438 Pending WO2025154091A1 (fr) 2024-01-18 2024-12-27 Système robotique chirurgical à bras multiples pour téléchirurgie

Country Status (1)

Country Link
WO (1) WO2025154091A1 (fr)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011116332A2 (fr) * 2010-03-18 2011-09-22 SPI Surgical, Inc. Cabine chirurgicale comprenant des interfaces multimodales et multicapteurs pour chirurgie robotisée, et procédés apparentés

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011116332A2 (fr) * 2010-03-18 2011-09-22 SPI Surgical, Inc. Cabine chirurgicale comprenant des interfaces multimodales et multicapteurs pour chirurgie robotisée, et procédés apparentés

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