[go: up one dir, main page]

WO2025207873A1 - Systèmes et procédés conçus pour fournir un indicateur de stérilité - Google Patents

Systèmes et procédés conçus pour fournir un indicateur de stérilité

Info

Publication number
WO2025207873A1
WO2025207873A1 PCT/US2025/021732 US2025021732W WO2025207873A1 WO 2025207873 A1 WO2025207873 A1 WO 2025207873A1 US 2025021732 W US2025021732 W US 2025021732W WO 2025207873 A1 WO2025207873 A1 WO 2025207873A1
Authority
WO
WIPO (PCT)
Prior art keywords
sterility
status
links
indication
computer
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/US2025/021732
Other languages
English (en)
Inventor
Arpit Mittal
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.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations 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 Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of WO2025207873A1 publication Critical patent/WO2025207873A1/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
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/02—Adjustable operating tables; Controls therefor
    • A61G13/06—Adjustable operating tables; Controls therefor raising or lowering of the whole table surface
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/02—Adjustable operating tables; Controls therefor
    • A61G13/08—Adjustable operating tables; Controls therefor the table being divided into different adjustable sections
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A61B2090/081—Indication means for contamination or dirt
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback

Definitions

  • Disclosed examples relate to guided robotic control manipulator systems.
  • the disclosed examples relate to systems and methods for determining the sterility of various parts of a manipulator system, and further providing indications of the sterility of the parts of the manipulator system.
  • manipulator systems may include one or more manipulators that can be operated with the assistance of an electronic controller (e.g., computer) to move and control functions of one or more instruments coupled to the manipulators.
  • a manipulator generally includes mechanical links connected by joints.
  • An instrument is removably (or permanently) coupled to one of the links, typically a distal link of the plural links.
  • robotic manipulator systems are draped with a sterile drape.
  • the systems are then positioned relative to a sterile field of operation, such as an operating table or bed.
  • a sterile field of operation such as an operating table or bed.
  • portions of the system may reside in non-sterile zones or regions of the OR such as regions close to the floor, regions below an operating table, etc.
  • portions or parts of the manipulator system may move into non-sterile regions, or come into contact with non-sterile objects (including individuals).
  • manipulators can include those as configured as part of the medical systems that are part of various da Vinci® Surgical Systems, such as the da Vinci X®, da Vinci Xi®, and da Vinci SP systems, commercialized by Intuitive Surgical, Inc., of Sunnyvale, California.
  • the rail assembly 120 is coupled to one of the platform sections 103. In other embodiments, the rail assembly 120 is coupled to the support column 102. Which structure the rail assembly 120 is coupled to can make a difference in embodiments in which the platform assembly 110 as a whole is movable relative to the support column 102, for example by tilting relative to the support column 102. In embodiments in which the rail assembly 120 is coupled to one of the platform sections 103 (e.g., a middle section 103_2), when the platform assembly 110 moves relative to the support column 102, the rail assembly 120 and hence the manipulators 140 coupled thereto move along with the platform assembly 110.
  • the platform sections 103 e.g., a middle section 103_2
  • the manipulators 140 can allow the manipulators 140 to automatically maintain a set pose and position relative to the platform assembly 110, and thus relative to a patient supported on the platform assembly, regardless of a configuration of the platform assembly 110 and without having to reposition the manipulators 140. Moreover, in some circumstances, collision between the platform assembly 110 and the rail assembly 120 due to motion of the platform assembly 1 10 can be avoided as they both move together.
  • the rail assembly 120 is coupled to the support column
  • the rail assembly 120 and hence the manipulators 140 coupled thereto remain with the support column 102 and do not move along with the platform assembly 110. This can allow greater motion of the rail assembly 120 and manipulators 140 relative to the platform assembly 110.
  • This also can increase the strength and/or relative stiffness of the structure between the manipulators 140 and the support column 102 by reducing the length of the structure between them and reducing the number of connections between them.
  • the motion of the manipulators 140 relative to the platform assembly 110 enabled by the rail assembly 120 allows the distal link assemblies of the manipulators 140 to be moved into a nested configuration near one end portion of the platform assembly 110 which can allow the intermediate and distal link assemblies of the manipulators 140 to be moved around an end of the platform assembly 110 to positions adjacent a laterally extending side 109a of the platform assembly 110.
  • the nested configuration includes a configuration in which the proximal arms 141 of two adjacent manipulators 140 coupled to the same rail 121 are oriented at angles of 180 degrees or more relative to that rail 121.
  • the manipulators 140 are configured to be moved beyond the foot end of the platform assembly 110 in the nested configuration.
  • the manipulators 140 can be moved beyond the head end of the platform assembly 110, and in still other embodiments the manipulators 140 can be moved beyond both the head end and beyond the foot end.
  • the nested configuration can allow for the manipulators 140 to be stowed in a compact manner under the second end section 103_3.
  • an input device can be provided with the same degrees of freedom as the associated instrument that they control, and as the input device is actuated, the instrument, through drive inputs from the manipulator assembly, is controlled to follow or mimic the movement of the input device, which can provide the user a sense of directly controlling the instrument.
  • Telepresence input devices can provide the operator with telepresence, meaning the perception that the input devices are integral with the instrument.
  • the user input and feedhack system 1004 can also include feedback devices, such as a display device (not shown) to display images (e.g., images of the workspace as captured by one of the instruments 150), haptic feedback devices, audio feedback devices, other graphical user interface forms of feedback, etc.
  • the logic of the processing circuitry can include dedicated hardware to perform various operations, software (machine readable and/or processor executable instructions) to perform various operations, or any combination thereof.
  • the processing circuitry can include a processor to execute the software instructions and a memory device that stores the software.
  • the processor can include one or more processing devices capable of executing machine readable instructions, such as, for example, a processor, a processor core, a central processing unit (CPU), a controller, a microcontroller, a system-on-chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), etc.
  • the dedicated hardware can include any electronic device that is configured to perform specific operations, such as an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Complex Programmable Logic Device (CPLD), discrete logic circuits, a hardware accelerator, a hardware encoder, etc.
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • CPLD Complex Programmable Logic Device
  • the processing circuitry can also include any combination of dedicated hardware and processor plus software.
  • the system 200 includes a table assembly 201, two rail assemblies 220 coupled to the table assembly, and multiple manipulators 240 coupled to the rail assemblies 220.
  • Each manipulator 240 is configured to support one or more instruments (not illustrated), which can be removably or permanently mounted thereon.
  • the system 200 also can include a control system (not illustrated), a user input and feedback system (not illustrated), and/or an auxiliary system (not illustrated) similar to those described above in relation to the system 100.
  • the system 200 is configured as a computer-assisted, teleoperable medical system.
  • the system 200 is configured as a teleoperable and/or manually- operable system for use in non-medical contexts.
  • auxiliary devices can be coupled to the one or more of the platform sections 203, in addition to or in lieu of one or more of the platform sections 203; for example, leg stirrups can be coupled the middle section 203_3 in lieu of the second end section 203_4 in some embodiments.
  • FIG. 2B illustrates the platform assembly 210 in a neutral configuration in which all of the platform sections 203 are parallel to one another and to the ground or other supporting surface upon which the table assembly 201 rests
  • FIG. 2A illustrates the platform assembly 210 in articulated configurations in which some of the platform sections 203 are oriented at non-zero angles relative to adjacent platform sections 203 and/or relative to the ground or other supporting surface.
  • the middle platform sections 203_2 and 203_3 can share the same cushion portion 203a that extends across both platform sections 203 2 and 203_3.
  • the cushion portion 203a shared by the platform sections 203_2 and 203_3 can bend when the platform sections 203 2 and 203 3 are articulated relative to one another, as shown in FIG. 2A.
  • the platform assembly 210 also includes a number of accessory rails 204 attached to side surfaces of the support portions 203b of the platform sections 203.
  • the accessory rails 204 can be configured to receive accessory devices removably mounted thereon, such as such as leg stirrups, liver retractor, arm boards, and bed extenders.
  • the accessory rails 204 are be attached to longitudinally extending side faces of one or more of the platform sections 203.
  • the manipulators 240 are deployed and have a distal link assembly positioned in a sterile field (see, for example, Fig. 2A).
  • the sterile field is a region in which any exposed surfaces of objects in the region are maintained in a sterile condition (e.g., a condition substantially free from contaminants, such as biological pathogens, dusts, oils, etc.).
  • an object may include a non-sterile surface covered by a sterile barrier.
  • FIG. 2C further illustrates examples of sterility boundaries, and various regions of space that may be associated with varying sterility and status classifications and/or rankings.
  • the sterile field may be defined as a region above a certain height, such as above the rail 221, platform 210, or other chosen reference point.
  • the sterile field may be defined as an upper region 290 corresponding to the region of space above the top surface 211 of the platform 210, or any other boundary defined in a sterility protocol implemented by the control system 1006.
  • the upper region 290 is bounded by a plane at an upper axis 280 corresponding to the top surface 211 of the platform 210.
  • any portions of an object below that height may be considered to be outside of the sterile field, and therefore, not be sterile.
  • the upper region 290 may include an upper limit proximate to a ceiling or ventilation equipment within the OR, above which is outside of the sterile field.
  • additional sterility boundaries may be defined to allow for a gradient of status ranks or sterility ranks to be provided to a user, which will be described further herein.
  • the height defining the sterility field is statically defined throughout the operation.
  • the height defining the sterility field may change dynamically throughout the operation. For example, as described above, the platform 210 may translate in the vertical direction. Accordingly, as the platform 210 translates vertically, the height of the platform 210 and/or rail 221 changes. Thus, the sterility field boundary may also change in accordance with the translation of the platform 210.
  • the distal link assembly 263 is raised to a height sufficient for the distal link assembly 263 and any instrument supported thereon to remain within the sterile field while deployed.
  • the distal link assembly 263 is at or above a height of the proximal arm 241, the rail 221, the platform 210, and/or some other predetermined level.
  • the manipulators 240 can be deployed, but do not have a distal link assembly positioned fully in the sterile field.
  • the deployed state can include a variety of configurations and positions of the manipulators 240 including but not limited to those shown in FIGs. 2A, 2B, and 2C.
  • the sterility protocols implemented by the control system 1006 may define a plurality of sterility boundaries that bound a plurality of respective sterility regions.
  • the upper boundary 280 is defined by the upper surface 211 of the platform 210
  • an intermediate boundary 285 is defined by a lower surface 212 of the platform 210
  • a lower boundary 288 is defined relative to a floor 213.
  • the boundaries define various regions of space that the sterility protocol associates with different levels of risk of non-sterility.
  • a platform region 282 may be defined as the region of space defined by the upper boundary 280 and the intermediate boundary 285, a lower region 287 may be defined as the region of space between the intermediate boundary 285 and the lower boundary 288, and a floor region 289 may be defined as the region of space between the lower boundary 288 and the floor 213.
  • the boundaries that define the various regions and/or gradients may be customizable, for example, via a user interface presented via the user input system 1004.
  • different institutions have different standards for sterility for different settings, procedures, equipment, etc.
  • an operator of the user input system 1004 may input and/or upload a set of boundary preferences for use with the disclosed techniques.
  • Each of the regions of space 290, 282, 287, and 289 may be classified as having different sterility rankings, resulting in a potential gradient of sterility ratings across the regions of space 290, 282, 287, and 289.
  • the sterility protocols may assign the regions a rating on a scale from 1 to 4 with 1 being a high-confidence of sterility to 4 being a high confidence of non-sterile.
  • the floor region 289 may have a sterility ranking of 4
  • the lower region 287 may have a sterility ranking of 3
  • the platform region 282 may have a sterility rank of 2
  • the upper region 290 may have a ranking of 1.
  • FIG. 2C depicts one example set of boundaries defined by a sterility protocol, other sterility protocols may define the gradient of sterility risk and the corresponding boundary regions in any suitable manner.
  • a processor or control system may define a continuous, or quasi-continuous, gradient of sterility risk or sterility ratings across any of the regions of space 290, 282, 287, and 289 relative to the various sterility boundaries 280, 285, 288 and the floor 213.
  • boundaries may be generally static (e.g., a boundary defined by a floor, wall, or ceiling) while other boundaries may be dynamic such as a boundary defined by one or more portions of the platform 210 that may tilt, raise, lower, etc. during an operation or procedure. Accordingly, the control system 1006 may monitor kinematic data associated with the corresponding portions of the platform 210 to adjust the boundary regions based on the motion.
  • the control system 1006 monitors kinematic data associated with manipulators 240 to determine the pose of the positions thereof with respect to the boundaries defined by the sterility protocol. If the control system 1006 determines that a portion of the manipulators 240 crossed one of the sterility boundaries, the control system 1006 may assign that portion a sterility value and/or status associated with the region in which the portion entered. It should be appreciated that the control system 1006 may assign each portion of the manipulators 240 the sterility value and/or status associated with the least sterile region the portion has entered.
  • FTGs. 3 and 4 illustrate two embodiments of manipulators 240_l and 240_2, having status indicators 270 respectively.
  • the manipulators 240_l and 240_2 are generally similar to one another except that the manipulators 240_l and 240_2 employ status indicators 270 in two different configurations.
  • FIG. 3 includes status indicators 270 disposed generally in a strip arrangement along the lengths of the various links and joints of the manipulator 240_l, while the status indicators 270 of the manipulator 240_2 of FIG. 4 are disposed circumferentially around the links and joints at different positions along the lengths of the links and joints.
  • the circumferential configuration of FIG. 4 provides status indications about the various links and/or joints to allow a user or operator to see the status from a variety of perspectives of a given link or joint.
  • the strip configuration of FIG. 3 provides finer resolution as to the sterility status of the respective portions of the manipulator 240.
  • each manipulator 240 includes a proximal link assembly 261 including a proximal arm 241 coupled to the rail assembly 220 via one or more proximal joints 230 and a carriage 226, an intermediate link assembly 262 including an intermediate arm 242 coupled to a distal end portion of the proximal link assembly 261 via one or more intermediate joints 245, and a distal link assembly 263 including a distal arm 243 coupled to the intermediate link assembly 262 via one or more distal joints 246.
  • the distal link assembly 263 also includes an instrument holding portion 269 coupled to the distal arm 243 and configured to support an instrument, such as the instrument 150 illustrated in FIG. 1.
  • Each of the proximal link assembly 261, intermediate link assembly 262, and distal link assembly 263 include status indicators 270 disposed thereon.
  • FIG. 5 is a side view of a manipulator 240_3 according to a similar configuration of that of FIG. 3 with the status indicators 270 disposed in a strip arrangement along one or more sides of one or more links or joints of the manipulator 240_3.
  • the status indicators 270 in any of FIGs. 3-5 may be disposed on one or more links, two or more links, and further be disposed on one or more joints, or two or more joints of the manipulators 240.
  • Each of the manipulators 240 of FIGs. 3-5 includes two proximal joints 230 and associated joint housings 264 and 265. In some embodiments, the manipulators 240 may have a single proximal joint.
  • the manipulators 240 may have respective indication systems including status indicators 270 disposed on two or more links, two or more joints, a link and a joint, or any combination of links and joints as desired or required for a given application.
  • Each of the status indicators 270 may provide an indication of sterility status of a respective link or a joint (or portion thereof).
  • the indications of a sterility status may inform a user as to whether the link or joint is sterile such the user knows whether manual movement or positioning of the link or joint will breach sterility protocols.
  • the status indicators 270 may provide an indication of whether a link or joint (or portion thereof) has come into contact with an object or user, has entered a non-sterile region, has come close to a non-sterile region, is ready to be physically manipulated, and/or other conditions related to sterility.
  • the status indicators 270 may include one or more LEDs, haptic output devices (e.g., actuators, motors, gyroscopes, etc.), speakers, or other sensory output devices.
  • the status indicators 270 may provide various indications of sterility and other statuses via various means and types of signals.
  • the LEDs may provide status indications via a flashing pattern, being turned on or off, via a color (e.g., green representing sterile, red representing non-sterile, etc.), via a brightness level, or by a numerical display that utilizes LEDs.
  • a color e.g., green representing sterile, red representing non-sterile, etc.
  • each sterility value may correspond to a different LED intensity and/or color. For example, portions associated with a higher risk of non-sterility may be brighter and redder than regions associated with lower risk of non-sterility.
  • the status indicators 270 may include speakers and audio output devices configured to output beeps or sound patterns, as well as verbal messages.
  • a display unit or user interface such as a display unit or user interface (e.g., monitor, computer, tablet, touch screen, etc.) of the user input and feedback system 1004 of FIG. 1, may be configured to provide the sterility status of a portion or part of a manipulator 240.
  • a control system such as the control system 1006 of FIG. 1, may be in communication with the indication systems of the manipulators 240 to cause the status indicators 270 to provide indications of the various statuses described herein.
  • the control system may be configured to control the indication systems to cause status indicators 270 to provide an indication of sterility status of a portion of each respective link on a manipulator 240, with each respective link corresponding to one or more LEDs of a plurality of LEDs as status indicators 270.
  • the control system may be configured to control the output of one or more status indicators 270 including haptic devices and audio output devices to provide sterility status indications via a haptic output or audio output.
  • the control system may further be configured to cause status indicators 270 disposed on, or associate with various joints of a manipulator, to provide a sterility status of one or more joints. Further, the control system 1006 may be in communication with one or more display units or user interfaces of the user input and feedback system 1004 to provide status indications via the one or more display units.
  • the indicator system may include instrument holding portion status indicators 300 disposed along the instrument holding portion 269, distal status indicators 302 disposed along the distal arm 243, intermediate status indicators 305 disposed along the intermediate arm 242, and proximal status indicators 308 disposed along the proximal arm 241.
  • the manipulators 240 may include status indicators 270 at the various joints 245, 246, and 247 as well.
  • the status indicators 270 may provide indications of an entire link such as the distal status indicators 302 may provide an indication of sterility status of the entire distal arm 243, or the status indicators 270 may provide status indications of a portion of a link.
  • the intermediate status indicators 305 may provide a first indication of sterility status at a first portion 305a, an indication of a second sterility status in a second portion 205b, and a third indication of a sterility status in a third portion 205c of the intermediate link 242.
  • the status indicators may indicate that the first and third portions 205a and 205c are sterile, while the second portion 205b is not sterile.
  • the status indicators may provide an indication that the first portion 205a is sterile, the second portion 205b has entered a region near a non-sterile region and is deemed potentially non-sterile, and that the third portion is non-sterile 305c.
  • control system 1006 may determine that the readiness status of a portion of the manipulator 240 as “ready” if the sterility status for the corresponding portion of the manipulator 240 is determined to be sterile. On the other hand, the control system 1006 may determine that the readiness status of a portion of the manipulator 240 as “not ready” if the sterility status for the corresponding portion of the manipulator 240 is determined to be not sterile.
  • the control system 1006 may change the sterility value of the contacted portion, thereby causing the indication system corresponding to the contact portion to update to the indication mode associated with the new sterility status. For example, if the object has a known sterility value and/or status, the control system 1006 may assign the portion the same sterility value and/or status as the object. If the object has an unknown sterility status, the control system 1006 may assign the portion a sterility status indicative of the uncertainty. If the object is known to be sterile (or have a lower risk of non-sterility than the contacted portion), the control system 1006 may not change the sterility value and/or status of the portion. It should be appreciated that the contact may cause a more distal portion of the manipulator 240 to have a higher risk of non-sterility than a more proximal portion of the manipulator 240.
  • the manipulators draw power from a battery or other energy storage device to avoid wired connections in the OR that may interfere with performance of a procedure.
  • the control system 1006 may implement one or more power saving techniques to reduce energy usage associated with the indication system and maximize the amount of time the manipulators 240 can be in use during the procedure.
  • the control system 1006 may disable the indication systems when the manipulators 240 are not to be manually-operated. Thus, less energy is expended on sterility indication when operators do not need to know the sterility status of the manipulators 240 (and/or portions thereof).
  • control system 1006 may disable only the most distal and most proximal portions when the manipulator 240 is not to be manually-operated to ensure the sterility status of the intermediate portions is still indicated to the operators.
  • An example system for performing the method 600 may include a repositionable structure such as the manipulators 240, having two or more links, such as the proximal link assembly 261, intermediate link assembly 262, and/or distal link assembly 263, coupled via one or more joints, such as by the proximal joints 230, intermediate joints 245, and/or distal joints 246.
  • Each link of the two or more links may include a respective indication system with one or more status indicators 270.
  • the system further includes a controller, such as the control system 1006 of Fig.
  • repositionable structure operatively coupled to the repositionable structure to control the various links, joints, and status indication systems to control positions and movement of the parts of the repositionable structure, as well as control the indication systems to provide indications of status (e.g., sterility status, non-sterility status, moveable status, etc.) via the status indicators.
  • status e.g., sterility status, non-sterility status, moveable status, etc.
  • the method 600 includes obtaining kinematic data indicative of a position of the two or more links relative to a sterility boundary.
  • the kinematics data may include data indicative of a current position, past position, or planned future position of the two or more links. Additionally, the kinematics data may include data indicative of the positioning or movement of the two or more links into a non-sterile region, or in a sterile region of space. The kinematics data may also be indicative of whether the two or more links or any joints, have contacted an object or a person.
  • a processor, or the controller may obtain the kinematics data from one or more sensors, or from a feedback system, such as the user input & feedback system 1004 of Fig.
  • the kinematics data may include two-dimensional or three-dimensional spatial data to identify the positions and movements of the various links and joints of the repositionable structure, and specifically, in reference to one or more sterility boundaries, such as the sterility boundaries 280, 285, and 288.
  • a sterility boundary may define a region as non-sterile if the region is too close to a vent or ceiling, outside of a sterile three-dimensional space around the platform assembly, near a floor, near other devices, around an individual, etc.
  • a sterility boundary may be defined relative to a bed, wall, ceiling, individual, object, or any other structure.
  • the controller determines a sterility status associated with the two or more links and/or joints of the repositionable structure, from the kinematics data.
  • the controller or another processor, may determine the sterility status for each link and/or join of the repositionable structure. For example, the controller may determine that a distal link has passed through a non- sterile region, while a proximal link of a same repositionable structure, has not passed through or been positioned in a non-sterile region. As, such, the controller determines the status of the distal link as non-sterile, and the status of the proximal link as sterile. Additionally, the controller may determine the sterility status of any links and/or joints based on if the link or joint has come into contact with a non-sterile user, or an object.
  • multiple sterility boundaries may define a plurality of sterile, and non-sterile regions of space.
  • Each non-sterile region of space may independently have a respective sterility rating. For example, some regions may be determined as sterile, and non-sterile regions may have a non-sterile, or risk, rating.
  • a single sterility boundary may define a continuous gradient that associates the non-sterile region with respective sterility ratings based on a distance from the sterility boundary.
  • the risk rating may include a numerical rating from 1 to 5 with 5 being the most at risk or most non-sterile, and 1 being a least at risk or least considered non-sterile.
  • a non-sterile region may be defined as the region of space below the bed of a platform assembly, with a lower risk rating closer to the bed, and a higher risk non-sterility rating closer to the floor of an operating area.
  • the controller may determine the sterility status of one or more links or joints, or portions thereof, based on the sterility rating of each link and/or joint, or portion thereof.
  • the controller may then control the indication systems of independent links and/or joints, or portions thereof, to provide an indication of each respective sterility rating.
  • the controller controls the status indicators to provide a status indication of the two or more links and/or joints, or portions thereof, of the repositionable structure.
  • the controller may cause the indication systems to provide indications of a sterility status or of other types of status such as whether a link and/or joint, or a portion thereof, has come into contact with a user or object, or a positioning readiness status if a link or joint is ready to be manually positioned or repositioned.
  • the controller may control LEDs, haptic devices, or audio output devices to provide status indications via a visual flashing pattern, an LED brightness, a color, a numeral or character display, an audible pattern, a vibratory output, etc.
  • the controller may control a single status indicator, or a plurality of status indicators, to provide an indication of a link, joint, portion of a link, or portion of a joint.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

L'invention concerne des systèmes et des procédés conçus pour indiquer un état de stérilité s'agissant d'un système robotique de guidage assisté par ordinateur. Le procédé peut consister à : (i) obtenir des données cinématiques indiquant une position des deux liaisons ou plus relatives à une limite de stérilité ; (ii) déterminer, sur la base des données cinématiques, un état de stérilité associé aux deux liaisons ou plus ; et (iii) configurer les systèmes d'indication respectifs des deux liaisons ou plus afin de fournir une indication de l'état de stérilité des deux liaisons ou plus.
PCT/US2025/021732 2024-03-28 2025-03-27 Systèmes et procédés conçus pour fournir un indicateur de stérilité Pending WO2025207873A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202463571090P 2024-03-28 2024-03-28
US63/571,090 2024-03-28

Publications (1)

Publication Number Publication Date
WO2025207873A1 true WO2025207873A1 (fr) 2025-10-02

Family

ID=95446636

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2025/021732 Pending WO2025207873A1 (fr) 2024-03-28 2025-03-27 Systèmes et procédés conçus pour fournir un indicateur de stérilité

Country Status (1)

Country Link
WO (1) WO2025207873A1 (fr)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8852208B2 (en) 2010-05-14 2014-10-07 Intuitive Surgical Operations, Inc. Surgical system instrument mounting
US9295524B2 (en) 2012-06-01 2016-03-29 Intuitive Surgical Operations, Inc. Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
US9358074B2 (en) 2012-06-01 2016-06-07 Intuitive Surgical Operations, Inc. Multi-port surgical robotic system architecture
US20190216550A1 (en) * 2018-01-17 2019-07-18 Auris Health, Inc. Surgical robotics systems with improved robotic arms
US20200253678A1 (en) * 2017-07-27 2020-08-13 Intuitive Surgical Operations, Inc. Medical device handle
US20200405415A1 (en) * 2019-06-27 2020-12-31 Ethicon Llc Heat exchange systems for robotic surgical systems
US20220160448A1 (en) * 2019-03-22 2022-05-26 Intuitive Surgical Operations, Inc. Systems and methods for maintaining sterility of a component using a movable, sterile volume
US20230053839A1 (en) * 2020-01-29 2023-02-23 Remed-Ia Technologies System for controlling a sterile volume
WO2023212344A1 (fr) 2022-04-29 2023-11-02 Intuitive Surgical Operations, Inc. Système de manipulateur monté sur table, et dispositifs, systèmes et procédés associés

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8852208B2 (en) 2010-05-14 2014-10-07 Intuitive Surgical Operations, Inc. Surgical system instrument mounting
US9295524B2 (en) 2012-06-01 2016-03-29 Intuitive Surgical Operations, Inc. Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
US9358074B2 (en) 2012-06-01 2016-06-07 Intuitive Surgical Operations, Inc. Multi-port surgical robotic system architecture
US20200253678A1 (en) * 2017-07-27 2020-08-13 Intuitive Surgical Operations, Inc. Medical device handle
US20190216550A1 (en) * 2018-01-17 2019-07-18 Auris Health, Inc. Surgical robotics systems with improved robotic arms
US20220160448A1 (en) * 2019-03-22 2022-05-26 Intuitive Surgical Operations, Inc. Systems and methods for maintaining sterility of a component using a movable, sterile volume
US20200405415A1 (en) * 2019-06-27 2020-12-31 Ethicon Llc Heat exchange systems for robotic surgical systems
US20230053839A1 (en) * 2020-01-29 2023-02-23 Remed-Ia Technologies System for controlling a sterile volume
WO2023212344A1 (fr) 2022-04-29 2023-11-02 Intuitive Surgical Operations, Inc. Système de manipulateur monté sur table, et dispositifs, systèmes et procédés associés

Similar Documents

Publication Publication Date Title
US9199372B2 (en) Patient positioner system
KR102702139B1 (ko) 원격으로 제어가능한 아암을 위한 위치결정 표시장치 시스템 및 관련 방법
CN109310473B (zh) 用于可控臂的基部定位系统以及相关方法
JP6682512B2 (ja) 一体化された手術台のシステム及び方法
US12144575B2 (en) Surgeon disengagement detection during termination of teleoperation
EP3968890B1 (fr) Mécanismes de couplage pour interrompre et enclencher un mode de téléopération
JP2017513550A (ja) 遠隔手術台位置合わせのための方法及び装置
KR20250003652A (ko) 테이블 장착형 조작기 시스템 및 관련 디바이스, 시스템 및 방법
WO2025207873A1 (fr) Systèmes et procédés conçus pour fournir un indicateur de stérilité
WO2024226849A1 (fr) Positionnement assisté d'une structure repositionnable
US20250282055A1 (en) Rail assembly for table-mounted manipulator system, and related devices, systems and methods
US20250345135A1 (en) Nesting proximal links for table mounted manipulator system, and related devices, systems and methods
US20250366942A1 (en) Table-mounted manipulator system, and related devices, systems and methods
WO2024145000A1 (fr) Embrayage de manipulateurs et dispositifs et systèmes associés

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 25719546

Country of ref document: EP

Kind code of ref document: A1