USER CONSOLE FOR ROBOTIC SURGERY

专利摘要:
the present invention relates to a user console for controlling a remote robotic surgical instrument that may include an adjustable ergonomic seat assembly comprising a seat cushion, the seat assembly being configurable between a seated configuration and an elevated configuration , with the seat cushion having a higher reversed position in the high configuration than in the seated configuration. the user console can also include a screen configured to receive surgical information in real time, and one or more controls to remotely control the robotic instrument. the screen and / or the one or more controls can have multiple positions and can change positions automatically according to a seat profile associated with at least one user.
公开号:BR112019004136B1
申请号:R112019004136-2
申请日:2017-09-21
公开日:2020-12-15
发明作者:Joan Savall；Pablo E. Garcia Kilroy；Brent Nobles；David Moore
申请人:Verb Surgical Inc.；
IPC主号:

专利说明:

REFERENCE TO RELATED REQUESTS
[001] This application claims priority to US patent application serial number 62 / 397,823, filed on September 21, 2016, which is hereby incorporated in its entirety for reference. TECHNICAL FIELD
[002] The present invention relates in general to the field of robotic surgery and more specifically to a user console system. BACKGROUND
[003] Robotic and computer-controlled surgery systems allow healthcare professionals to achieve more precision, automation and / or less invasive approaches while performing a variety of diagnostic and / or therapeutic procedures. Such technologies are widely applicable to a variety of medical specialties, from ophthalmology and anesthesiology, to orthopedics and interventional radiology. Some computer-controlled systems provide image-oriented navigation to improve the accuracy of invasive procedures, while other systems incorporate sophisticated robotics and visualization technology to perform minimally invasive surgeries that can lead to reduced scarring and shorter recovery times. An example of minimally invasive surgery is a laparoscopic procedure, which typically involves the creation of several small incisions in the patient (for example, in the abdomen), and the introduction of one or more tools and at least one camera through the incisions in the patient. The surgical procedure is then performed using introduced tools, with the aid of the visualization provided by the camera. In robotic or robotic-controlled surgery, at least some of the instruments introduced can be attached to one or more robotic arms operated remotely (for example, in teleoperation) by a user (for example, a surgeon). Thus, it is desirable to have a user console system through which a user can control the tools and / or cameras introduced used in robotic surgery. SUMMARY
[004] In general, a user console for controlling a remote robotic surgical instrument may include an adjustable ergonomic seat set comprising a seat cushion, a screen configured to receive surgical information in real time, and one or more controls to control remotely the robotic instrument. The screen can include, for example, an open screen (for example, a monitor mounted on a stand) and / or an immersive screen. The screen or the one or more controls can have multiple positions, and can change positions automatically according to a seat profile associated with at least one user. For example, the screen or one or more controls can automatically position itself according to any one of a plurality of seat profiles associated with a plurality of users. In some variations, the screen and / or the one or more controls may, additionally or alternatively, change positions automatically according to a type of surgical procedure and / or their positions can be adjustable manually.
[005] In some variations, the user console can have several configurations, such as a seated configuration, an elevated configuration and a reclined configuration. Various aspects of the screen, the seat assembly (for example, the seat cushion, the seat back, the headrest attached to the seat back), and / or the one or more controls can be positioned differently for different settings. For example, the screen and / or the one or more controls may be in a higher position when the seat set is in the raised configuration than when the seat set is in the seated configuration. As another example, the seat cushion may have a higher reversed position in the raised configuration than in the seated configuration. The seat back may have multiple angular positions in relation to the seat cushion, and in some variations, a rear end of the seat cushion may be more rear than a lower end of the seat back when the seat assembly is in the elevated configuration than when the seat set is in the seated configuration.
[006] The one or more controls to remotely control the robotic instrument may include, for example, a portable user interface device. In some variations, the user console may include a docking station configured to reliably retain the portable user interface. As another example, the one or more controls for remotely controlling the robotic instrument may include a pedal operated control, such as a pedal set. In some variations, the pedal set can be configured to tilt snugly back.
[007] In some variations, the user console may include a base, where the pedal set and the seat set are mounted on the base and can be adjusted in relation to the base. For example, the pedal set and / or seat set can be configured to move along the base.
[008] The user console may, in some variations, include one or more armrests attached to the seat assembly. The armrest can have multiple positions and change positions automatically according to the seat profile associated with at least one user. For example, the armrest may have a higher position in relation to the seat cushion when the seat assembly is in the raised configuration than when the seat assembly is in the seated configuration.
[009] A control panel can be provided on or near one or more armrests, or at any suitable location on or near the user console. The control panel can receive information from the user. User information from the control panel or other suitable interface can, for example, be used to identify the user on the user console and obtain user console settings from a seat profile associated with the user. As another example, the user can enter user characteristics, such as anthropometric data, through the control panel (or another suitable interface, so that a seat profile for the user can be generated automatically based, at least in part, on the anthropometric data entered.
[0010] In some variations, the user's console may include a console controller configured to detect the presence or absence of a user on the user console. For example, the console controller can detect the presence or absence of a user based on an eye tracking algorithm, and / or based on at least one sensor (for example, pressure sensor) on the user console. Information related to the presence or absence of a user on the user console can, in some variations, be used for a security lock, so that one or more controls are disabled in response to the detection by the console controller of the absence of a user. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figures 1A and 1B represent examples of tidying up the operating room with a robotic surgical system, with and without an integrated seat.
[0012] Figures 2A, 2B and 2C are front, rear, and orthogonal views of an exemplary user console with immersive and open screens. Figure 2D is an orthogonal side view of another exemplary surgical console with an immersive screen. Figures 2E and 2F are orthogonal side views of the user console in Figures 2A to 2C, in a sitting position and an elevated configuration, respectively. Figure 2G is an orthogonal side view of the user console in Figures 2A to 2F in a flat or retracted configuration.
[0013] Figures 3A and 3B are seen in front and rear perspective of an exemplary user console.
[0014] Figure 4A is a schematic illustration of configurations or adjustable parameters of an exemplary user console. Figures 4B, 4C and 4D are schematic diagrams that illustrate the adjustment points for a seated configuration, a reclined configuration and an elevated configuration, respectively, for a seat set on an example user console.
[0015] Figures 5A, 5B and 5C are schematic side orthogonal views of a seated, reclined and elevated workstation configuration, respectively.
[0016] Figure 6 is a schematic side orthogonal representation of an elevated workstation configuration.
[0017] Figures 7A and 7B are lateral and top orthogonal schematic representations of a reclined workstation configuration, respectively.
[0018] Figures 8A and 8B are seen in orthogonal and upper anterior perspective of an example seat with armrests in an unfolded configuration.
[0019] Figures 9A to 9E are an anterior perspective view, a posterior perspective view, a posterior orthogonal view, a lateral orthogonal view, and an anterior view, respectively, of an exemplary user console in a seated configuration.
[0020] Figures 10A to 10E are an anterior perspective view, a posterior perspective view, a posterior orthogonal view, a lateral orthogonal view, and an anterior view, respectively, of an exemplary user console in a reclined configuration.
[0021] Figures 11A to 11E are an anterior perspective view, a posterior perspective view, a posterior orthogonal view, a lateral orthogonal view, and an anterior view, respectively, of an exemplary user console in an elevated configuration.
[0022] Figure 12A is a rear perspective view of a seat assembly with exemplary armrest assemblies in the unfolded configuration. Figures 12B and 12C are seen in perspective of an exemplary armrest assembly in a folded and an unfolded configuration, respectively. Figure 12C is a partial detailed view of an exemplary armrest assembly. Figure 12E is a detailed view of a joint in an exemplary armrest assembly.
[0023] Figure 13A is a top view of another armrest assembly including a joint with a sliding pin. Figures 13B, 13C and 13D are top views of various configurations of the armrest assembly of Figure 13A.
[0024] Figures 14A and 14B are seen in perspective of a folded configuration and an unfolded configuration, respectively, of an exemplary armrest on a user console. Figure 14C is a side perspective view of the folded configuration shown in Figure 14A. Figure 14D is a top view of the unfolded configuration shown in Figure 14B.
[0025] Figures 14E and 14F are seen in perspective of retracted and extended configurations for an exemplary user interface platform with controls for a surgical instrument. Figures 14G and 14H are detailed views of engaging controls with an exemplary user interface platform.
[0026] Figure 15A is a perspective view of an exemplary user console. Figure 15B is a detailed view of the user interface platform and controls on the example user console shown in Figure 15A.
[0027] Figure 16 is a detailed view of the pedal set on the example user console shown in Figure 15A.
[0028] Figures 17A to 17E represent posterior views of variations of the user console.
[0029] Figures 18A to 18E represent previous views of variations of the user console.
[0030] Figure 19A shows an example immersive screen on an example user console. Figures 19B and 19C illustrate an articulated support arm for the immersive screen shown in Figure 19A. Figures 19C to 19F illustrate another exemplary support arm for an immersive screen.
[0031] Figures 20A and 20B are seen in anterior and posterior perspective of an exemplary user console with a base that has an anterior wall.
[0032] Figures 21A and 21B are seen in anterior and posterior perspective of an exemplary user console with a base that has a coated side wall.
[0033] Figures 22A and 22B are seen in an anterior and posterior perspective of an exemplary user console with a base that has a rear and a top wall.
[0034] Figures 23A and 23B are seen in anterior and posterior perspective of an exemplary user console with a base that has an anterior wall and side flaps.
[0035] Figures 24A and 24B are seen in front perspective of an exemplary user console with wheels on a screen holder and a seat set.
[0036] Figures 25A and 25B are orthogonal side views of an exemplary user console with wheels on a seat assembly.
[0037] Figure 26A is a top view of an exemplary user console with a side entrance and a pivoting seat assembly. Figure 26B is a top view of the example user console shown in Figure 26A, with a user placed in the user console of Figure 26A. Figure 26C is a top view of the example user console shown in Figure 26A, with an immersive screen oriented and engaged with a user.
[0038] Figure 27A is a front perspective view of an exemplary user console that has a curved base with wheels. Figure 27B is a detailed view of the wheels on the curved base shown in Figure 27A. Figure 27C is a schematic illustration of the relative movements of a screen and a seat assembly relative to the curved base shown in Figure 27A.
[0039] Figures 28A and 28B represent an exemplary variation of a user console base in an extended configuration, where Figure 28B is a detailed view of the wheels on the base.
[0040] Figures 29A and 29B represent an exemplary variation of a user console base in a retracted or flattened configuration, where Figure 29B is a detailed view of the wheels on the base. DETAILED DESCRIPTION
[0041] Non-limiting examples of various aspects and variations of the invention are described and illustrated here in the attached drawings. Overview of the robotic-controlled surgical system
[0042] In general, as shown in Figure 1A, a user console 100 can be part of a robotic-controlled surgical system to interface with a robotic system 112. The robotic system 112 can include one or more robotic arms 114 located in a surgical platform (e.g., table, bed, etc.), where end actuators or surgical tools are attached to the distal ends of the robotic arms 114 to perform a surgical procedure. A user (such as a surgeon or other operator) can use user console 100 to remotely manipulate robotic arms 114 and / or end actuators (e.g., teleoperation). User console 100 can be located in the same procedure room as robotic system 112, as shown in Figure 1A. In other embodiments, user console 100 can be located in an adjacent or nearby room, or it can be teleoperated from a remote location in another building, city or country. Communication between user console 100 and robotic system 112 can be wired and / or wireless, and can be patented and / or performed using any of a variety of data communication protocols.
[0043] In one example, user console 100 comprises an adjustable ergonomic seat 102, pedal assembly 104, one or more user interface devices 106, and a user screen 108 configured to display a view of the surgical site within of a patient. A user located in seat 102 and viewing user screen 108 can manipulate pedal assembly 104 and / or user interface devices 106 to remotely control robotic arms 114 and / or end actuators. At least one armrest 116 can be provided and supported by the support of the screen 118, as shown in Figure 1A, and / or coupled to the seat 102, as shown in other variations of the present invention. One or more secondary screens 120, which can, for example, display content similar to user screen 108, can also be provided so that an anesthetist 122 and / or other staff members 124, 126 can monitor the surgical procedure, provide assistance or respond to any problems, etc. A monitor 128 that can display vital signs can be switchable to the same view provided on the secondary screen 120 and / or include an image within the image of the video feed stream.
[0044] Pedal assembly 104 and / or user interface devices 106 can also be used to control other aspects of user console 100 or robotic system 112, including adjusting or configuring seat 102, pedal assembly 104, user interface device 106 and / or user screen 108, for example. One or more other input or output devices 130, such as a video sensor, speaker, keyboard and / or microphone, can be provided to facilitate speech recognition and / or manipulation of user console 100 or robotic system 112, a communication with other employees, eye tracking and / or to provide access control or data security. In some other examples, user console 100 does not include an integrated user screen 108, but does provide a video output that can be connected to one or more generic screens, including screens in the procedure room and / or remote screens accessible via the internet or other network.
[0045] As described in more detail below with reference to additional examples, the seat assembly may comprise one or more adjustable features, including but not limited to seat rotation, seat height, seat tilt, seat back tilt , height of the headrest, inclination of the headrest. The armrest can be configured with adjustable armrest height, anterior / posterior position, and / or medial / lateral rotation, and when left / right armrests are provided, each armrest can be configurable independently. The armrest in Figure 1A is attached to the screen support 118, but in other examples, it can be attached to the seat assembly. The adjustable seat features can be manually adjusted by the user and / or motorized, can be controlled by computer, with the configuration or profile configured to be stored and retrieved via a seat controller, or some combination of both. Access to the seat controller can be done via user screen 108.
[0046] During an exemplary procedure or surgery, the patient is prepared and covered with dressings in a sterile manner, and anesthesia is given. Initial access to the surgical site can be performed manually with the robotic system 112 in a suspended or withdrawn configuration to facilitate access to the surgical site. Once access is completed, initial positioning and / or preparation of the robotic system can be performed. During the surgical procedure, a surgeon or other user on user console 100 can use pedal assembly 104 and / or user interface devices 106 to manipulate various tools and / or imaging systems to perform the procedure. Manual assistance can also be provided on the procedure table by employees wearing sterile clothing 124, who can perform tasks including, but not limited to, organ retraction or manual repositioning or tool change involving one or more robotic arms 114. The non-sterile personnel 126 may also be present to assist the surgeon 110 on user console 100. When the procedure or surgery is completed, robotic system 112 and / or user console 100 can be configured or adjusted in a state to facilitate one or more post-operative procedures, including, but not limited to, cleaning and / or sterilizing the robotic system 112, and / or entering or printing health care data, whether electronic or in hard copy, for example, through user console 100.
[0047] In Figure 1A, the robotic arms 114 are shown with a system mounted on the table, but in other modalities, the robotic arms can be mounted on a cart, on the ceiling or on a side wall. The communication between the robotic system 112, the user console 100 and the other screens 120 and 128 can be made through a wired and / or wireless connection. Any wired connections can optionally be built on the floor and / or on the walls or ceiling. In still other variations, user console 100 does not include an integrated screen 108, but does provide a video output that can be connected to one or more generic screens, including remote screens accessible via the internet or another network. The video output or feed can also be encrypted to ensure privacy, and all or parts of the video output can be recorded on a server or electronic health record system.
[0048] In the example shown in Figure 1A, user console 100 uses a chair or seat assembly 102, which has a separate base 132 from pedal assembly 104 or screen support 118. In other examples, such as the console user 150 shown in Figure 1B, a seat assembly 152 may be integrated into a common base 154 with a pedal assembly 156 and the screen assembly 158, armrest 160 and screen 162, or may otherwise be in communication with these components. Communication can be wired and / or wireless. Other variations of a 100 user console are described in more detail below.
[0049] In other examples, additional user consoles 100 can be provided to control additional surgical tools and / or to control one or more tools on the primary user console. This will allow, for example, a surgeon to assume or illustrate a technique during a surgical procedure with medical students and residents, or to assist during complex surgeries that require multiple surgeons to act simultaneously or in a coordinated manner. User Console
[0050] As described here, a user console for controlling a remote robotic surgical instrument can provide a highly ergonomic and adjustable system from which a user can comfortably control a remote robotic surgical instrument. For example, the user console can be adjustable (for example, automatically and / or manually) according to a seat profile associated with the user, with the type of surgical procedure and / or other parameters or settings. In addition, the user console can facilitate quick entry and / or exit by the user at the user console. For example, upon an indicated entry / exit wish on the user console, the user console can automatically adjust to a setting (for example, for a high setting, as described below) from which a user can easily enter or exit. In addition, the user console may be suitable for sterile use (for example, use in the operating room).
[0051] In general, as shown in Figures 3A and 3B, a user console 300 for controlling a remote robotic surgical instrument includes an adjustable ergonomic seat set 310, a screen 350 configured to receive surgical information in real time, and one or plus 340 controls to remotely control the robotic instrument. As further described below, seat set 310 can be selectively configurable in a plurality of user console configurations (e.g., seated, reclined, elevated). In some variations, other user console components (for example, screen, controls, etc.) may similarly have multiple positions or settings corresponding to the user console settings, where the other components automatically adjust their positions or settings in response to a selected seat set configuration. In addition, one or more of the user console components can automatically adjust their relative positions and / or orientations according to a seat profile associated with at least one user, as further described below.
[0052] In another embodiment, as shown in Figures 2A to 2G, a user console 200 for controlling a remote robotic surgical instrument may include a base 202, a seat assembly 204 coupled to a rear region of the base 202, and a screen 208 coupled to an anterior region of the base 202. These and other components and their variations are further described below. In one variation, the base 202 can be omitted, so that the user console 200 includes a seat assembly 204 separate and modular in relation to the screen 208. In another variation, the screen 208, as described in the present invention, can be optional, since seat set 204 can be combined with a generic screen or can be supplied separately.
[0053] As robotic instruments and equipment are typically sensitive to magnetic fields that can interfere with functionality, at least part of the user console can be made of plastic, foam and other non-conductive materials. The user console can also include extra sensors to detect disturbances in the magnetic field in the room, so that personnel can take corrective measures to reduce interference. Base
[0054] The base on the user console can work to provide support for the adjustable relative positioning of the seat and / or screen assembly, and / or other components. The base can be adjustable in at least one dimension (for example, length and / or width). For example, as shown in Figures 28A and 29B, base 2802 can be expandable / extensible and retractable / flattened along a posteroanterior direction. For example, in an expanded / extended configuration (for example, while the user console is busy or otherwise being used by a user) as shown in Figure 28A, base 2802 can include an anterior portion of base 2809 that extends out of a rear portion of base 2807. In a retractable / flattenable configuration (for example, for storage and / or transportation) as shown in Figure 29A, the front portion of base 2809 can retract or flatten into the portion rear of the 2807 base (or vice versa), which places the screen set 2808 closer to the seat set 2804 and reduces the overall projection area of the user console. For example, the front portion of the base 2809 may slide into an internal cavity or recess in the rear portion of the base 2807 by means of a rail or other suitable rail system. The extension and / or retractability of the base 2802 can be manually activated (for example, a user pulling the two base portions in opposite directions, or pushing the two base portions together) and / or actuated through a mounting screw or other suitable actuator assembly. In some variations, the overall length of the base in its stowed configuration (for example, Figure 29A) can be between about 50% and about 100%, or between about 65% and about 85% of the total base length in its extended configuration (for example, Figure 28A).
[0055] In some variations, base 2802 may include one or more transport wheels 2847 to contact a surface of the ground. Wheels can, for example, help improve the overall mobility of the cart. In some variations, at least some of the wheels can be selectively opened from the 2802 base. For example, as shown in Figures 28A and 28B, when the user console is in use and the base is in an extended configuration, the 2847 wheels they can be retracted or otherwise arranged within the base 2802 and not in contact with a soil surface. In this configuration, the static feet 2822 (for example, dowels, etc.) coupled to and extending from the bottom side of the base 2802 can be in contact with the ground surface to support the user console (alternatively, the static feet 2822 can be omitted so that the bottom side of base 2802 can come into contact with the soil surface). Additional front wheels 2848 coupled to the front portion of the base 2809 can also come into contact with the ground to facilitate adjustment of the length of the base in an anteroposterior direction.
[0056] When the user console has to be transported or moved, wheels 2847 can be opened to raise the base 2802 above the ground surface. For example, as shown in Figures 29A and 29B, the wheels can be opened (and the base can be raised) so that the wheels 2847 extend beyond the static feet 2822 and / or front wheels 2848, and the entire user console be supported by wheels 2846 and 2847. With the user console supported by wheels, the 2802 base can be more easily moved for storage and / or transportation, etc. In this configuration shown in Figure 29A, wheels 2848 and the front portion of the base 2809 are lifted off the ground, so that the front portion of the base can more easily navigate over obstacles, thus allowing the user console to more easily overcome obstacles on the ground (for example, cables, debris, steps, etc.).
[0057] To restore the user console to an expanded "use" configuration, the 2847 wheels can return to a stowed position within the base. Locks and / or brakes can be engaged to help keep the user console in the configuration and / or location of the desired base on the ground. In some variations, the wheels can be opened and / or retracted using a hydraulic actuator system, or any suitable actuator system (for example, gear train, crank or pedal system, etc.).
[0058] Additionally, when the base is adjusted to its retracted configuration, the seat set and / or the screen can still be adjusted so that the general user console occupies a smaller volume. For example, the seat assembly and the screen can be moved to lower positions. In general, retractability can be useful for situations such as, for example, transportation between different locations (for example, to and from the operating room, within a operating room, between hospitals, etc.) and for compact storage.
[0059] In another exemplary variation shown in Figures 2C to 2G, the base 202 may include a rear portion 206 and an anterior portion 210. The base may be relatively flat or level along its length, at least on a lower surface to interface with the ground. Like the base 2802 described above, the base 202 can be adjustable in at least one dimension (for example, length and / or width), as with extensibility and retractability between an anterior portion of the base 209 and a posterior portion of the base 207. A Figure 2G illustrates a retracted configuration, with the front portion of the base 209 retracted into the rear portion of the base 207. In addition, other portions of the user console can retract or fold to occupy less volume, to reduce the likelihood of damage during storage or transportation, etc. For example, the support arm for the immersive screen and / or an armrest (represented by volumes 221 and 222, respectively) can fold in more compact configurations, when the base is retracted as shown in Figure 2G or when it is not in use. When being prepared for use during a surgical procedure, the base may expand into an extended configuration, similar to that shown in Figures 2C to F. Similar to that described above, the base may include wheels 246 and / or 247 and may include locks or brakes that can be engaged to help keep the user console in a stationary location.
[0060] However, in some variations, the base can be omitted (for example, the seat cushion, seat back and / or other components of the seat set described below can be coupled to each other directly). Seat set
[0061] The seat set on the user console is preferably ergonomic and adjustable. In one embodiment, as shown in Figures 2A to 2G, a seat assembly 204 may comprise a seat support 214 attached to the base 202, with a seat frame 216 that is movably coupled to the seat support 214. A seat cushion seat 218 (or seat bottom) and a seat back 220 (or back) are attached to the seat frame 216, but in other examples, the seat cushion or back can be attached to each other and / or to the seat support 214 without using a seat housing.
[0062] The seat support 214 shown in Figures 2A to 2G comprises a single pillar, but in other examples, the seat support can comprise two or more pillars. The seat support 214 has a longitudinal axis 242, shown in Figure 2C, which is tilted backwards, but in other variations, it can be tilted upwards vertically or tilted previously. In some variations, the pillar angle, as measured between the pillar and the base plane anterior to the pillar, is in the range of about 80 degrees to about 160 degrees (for example, about 150 degrees so that the angle between the pillar and the base plane after the pillar is about 30 degrees), but in other examples it can be in the range of about 90 degrees to about 135 degrees, or about 95 degrees to about 120 degrees. In the example shown in Figures 2A to 2F, the seat support 214 has a fixed orientation in relation to the base 202, but in other variations, the seat support can be configured to change its angle in relation to the base, and / or to translate into the anteroposterior and / or lateral directions. In some other variations, the seat support 214 can be configured to extend or otherwise extend or retract longitudinally or generally vertically. In some instances, an angled or tilted back seat support can be beneficial to accommodate taller people not only by providing vertical separation of the seat cushion or backrest from the base, but also providing posterior separation of the cushion or backrest of the seat in relation to the pedal assembly or screen assembly. In some variations, the position of the seat assembly 204 along the seat support 214 can be controlled by an actuator assembly (for example, drive screw coupled to one or more actuators, pulley assembly, another suitable gear assembly, mechanism manual crank etc.), and / or can be moved manually along the seat support 214 (for example, user lifts or pushes seat assembly 204). The position of the seat assembly 204 along the seat support 214 can be selectively locked with a brake mechanism, lock (for example, pin), etc.
[0063] In some variations, a pivoting seat position (for example, rotational position around a vertical plane) can be adjusted by rotating the position of the seat support 214 relative to the base 202 of the user console. For example, a swiveling seat position can be locked with a suitable locking mechanism, such as a brake, lock (for example, pin) or other suitable device. A lever, button or other clutch mechanism can disengage the locking mechanism to allow a user to adjust the swivel position of the seat assembly 204 (for example, manually or by changing its weight while sitting on the seat). The base and / or the seat support 214 may include one or more detectors that allow the positioning of the seat assembly 204 to be maintained in one of a plurality of distinct rotating positions (for example, left, center, right). Additionally or alternatively, the interaction of the base and / or the seat support 214 may include a mechanism to enable a continuous range of rotating positions, such as a friction damping joint that requires application of at least a limit amount of force to rotate the seat set.
[0064] In another exemplary variation, as shown in Figures 9 to 11, a user console 900 is similar to the user console 200 of Figures 2A to 2F, except as described below. For example, as shown in Figure 9B, the seat back 920 defines a longitudinal cavity or slot 915 that receives the seat support 914, which extends through the seat frame 916 from the base 902. The longitudinal cavity can provide a space for seat support 914, as the seat assembly adjusts to different heights and angles. For example, as shown in Figures 9A to 9E, when the seat assembly is in a seated configuration, the seat frame 916 can be at a moderate height, so that a moderate length (for example, about half) of the cavity longitudinal 915 is engaged with the seat support 914. When the seat assembly is generally lowered (for example, in a reclined configuration), the seat frame 916 can be lower in height and more of the longitudinal cavity 915 can be engaged with the seat support 914, as shown in Figures 10A to 10E. In contrast, as the seat assembly is generally elevated (for example, in a high configuration), the seat frame 916 can be at a higher height and less than the longitudinal cavity 915 can be engaged with the seat support 914 as shown in Figures 11A to 11E.
[0065] In some variations, the seat set may include at least one armrest. For example, as shown in Figure 2C, seat assembly 204 may additionally include an armrest 222 that is coupled to seat frame 216, seat cushion 218 or seat back 220. As previously described, the at least an armrest can also be attached to the screen support, or another suitable location in the assembly. As another example, as shown in Figure 12A, the seat assembly may include two or more armrest assemblies 1222, including a left armrest assembly and a right armrest assembly. The armrest assemblies 1222 can be coupled to the respective left and right sides of the seat backrest 1220 in an adjustable manner (for example, hinge joint to provide vertical pivot, bolted joint, cylindrical joint, etc.). For example, armrest assemblies 1222 can be vertically translatable into a prismatic joint to allow adjustment of armrest height in relation to seat backrest 1220 when moving along slits 1223. In other variations, the proximal end of the armrest assembly can be mounted on a seat cushion, seat backrest and / or other suitable portion of the seat assembly. The armrest can additionally include straps, bars, or other support structures that pass over the user's arm, which can help to hold the user's arms in place.
[0066] The armrest can be retractable (for example, on or against the sides of the seat assembly) and extendable (for example, along the front of the seat assembly) to allow user access to the seat assembly and to attach the user to the seat assembly, respectively. For example, armrest 222 can flatten against the side of a seat frame 216, as shown in Figure 2G, and extend anteriorly through the seat assembly, as shown in Figures 2C to 2F. In addition, one or more armrests can swing outwards laterally, with or without retractability, to allow user access to the seat assembly. The armrest can be curved (for example, with a concave facing inwards towards the seat) or another shape to facilitate lateral outward movement, which can allow a user to force the armrest to swing outwards laterally pushing with the forearm, stomach, etc. (for example, to maintain the sterility of the user's hands).
[0067] The armrest can include a plurality of links connected by joints. The armrest joints may comprise any of a variety of joints, including pin joints, fork joints, and flat or sliding slotted pin joints, socket joints, and the like. One or more joints can be controlled by one or more engines, brakes, and / or clutches, so that the desired armrest configuration can be saved and / or adjusted automatically. Force sensors can be provided to detect and reduce collision by a motor-driven joint to the user. Each joint can also include position sensors or encoders to determine the position of one or more armrest joints. Joint information can be used to determine or confirm the armrest, and / or to set or change the configuration or state of the user console or robotic system, for example, in paused state, user entry state , user exit status, etc.
[0068] For example, as shown in Figures 12B and 12C, each armrest assembly 1222 can include a set of multiple articulated links (for example, 1222a, 1222b, 1222c, etc.) that are connected in series and in a manner articulated and configured to allow a folded and an unfolded configuration or to vary an effective extended length. Each armrest assembly 1222 can be mounted or attached to a left or right side of the seat assembly or other suitable location. For example, the armrest assembly 1222 can be attached to one side of the seat assembly via the proximal support 1224 which is swiveled to a link such as 1222a, or fixedly attached to one side of the seat assembly through mounting plate with latches. In the folded configuration (Figure 12B), the armrest links 1222a, 1222b, 1222c are retracted and stacked on top of each other in a compact pose on their respective sides of the seat assembly. The relative lengths of the links can be designed to facilitate efficient bending. For example, the second link 1222b may be shorter than the first link 1222a, to allow the second link 1222b to rotate completely over the first link 1222a without encountering mechanical interference with the proximal support 1224. When both left and right arm are in the folded configuration, the seat set is open and more easily accessible by a user to sit on the seat set. From the folded configuration, the armrest links can unfold at least partially in a pivoting manner, as shown in Figure 12C, for example, for the unfolded configuration. In the fully deployed configuration, as shown in Figure 12A, the distal ends of the armrest assemblies 1222 can point towards each other, in order to surround a user who is sitting in the seat assembly. Different amounts of armrest extension may be suitable as deployed configurations for different user console configurations, different users (for example, depending on circumference or weight), etc., although Figures 12B and 12C represent a support set armrest 1222 with three arm links, in other variations, the armrest assembly may include three, four, or any suitable number of articulated links to allow for various desired armrest configurations.
[0069] The movement between the folded and unfolded configurations can be controlled manually and / or with one or more actuators (for example, stepper motors or servomotors) and can be controlled automatically. For example, as shown in Figures 12D and 12E, a pivot joint between two arm links 1222a and 1222b can include an actuator 1230 with a drive shaft 1232. The two arm links 1222a and 1222b can be coupled to a pin joint or other swivel joint. For example, the distal end of the first link 1222a can include a circular central part configured to pivot a circular recess in the proximal end of the second link 1222b (for example, with a bearing, tongue and groove fitting or other key, etc). In addition, the circular central part at the distal end of the first link 1222a can accommodate the body of the actuator 1230 and the proximal end of the link 1222b can be coupled to the drive shaft 1232 (e.g., snap fit, pins, epoxy, etc.) directly or indirectly, as with gears, chains, cables, or other drive coupling mechanisms. When actuator 1230 receives appropriate commands to perform folding or unfolding, actuator 1230 can cause link 1222b to rotate in relation to link 1222a by a prescribed angle and / or rate. The armrest assembly 1222 may include an actuator for some or all of its articulated joints (for example, link 1222c may be similarly actuated to rotate with respect to link 1222b). The actuators can periodically or intermittently command the armrest assembly to move a prescribed amount (for example, slightly with micro movements) to reduce fatigue on the user's arms over an extended period of time during a surgical procedure.
[0070] Armrest assemblies can be locked or secured in the unfolded configuration (or a partially unfolded configuration) to help keep a user sitting in the seat assembly (for example, the armrest assemblies can withstand at least up to a certain amount of force, such as a user pushing the armrest assemblies out before retracting). For example, actuator 1230 on an articulated joint between two arm links 1222a and 1222b can be commanded in a "locked" position, such as feedback when detecting force by the user in a specific direction, and / or brakes (not shown) can be engaged to keep the armrest assemblies in the unfolded configuration. As another example, the distal ends of the left and right armrest assemblies can touch and / or mechanically lock each other, and, on the other hand, can be related (for example, with a button, a locking mechanism) of to secure the armrest assemblies in the unfolded configuration or to release the armrest assemblies from the unfolded configuration. The joints can be moved and maintained or locked in a desired position, for example, with the use of a mechanism such as friction fitting joints, holders, or a joint with a removable friction fitting or mechanical interlock. However, the "locking" position or locking mechanism, if present, can be overcome by a force exerted by the user exceeding a certain threshold value, so that a user can quickly leave the seat assembly in the event of an emergency or if necessary in another way. In addition or alternatively, the user console can include an emergency mode (latchable, clutch, voice command, etc.) that automatically disables all "locking" positions or locking mechanisms.
[0071] In other variations, the seat assembly may include only an armrest assembly that is mounted on one side (for example, left or right) of the seat assembly and is extendable to a length that occupies at least the largest part of the width of the seat assembly, or the seat assembly may include one or more armrests that are configured to extend or otherwise move in a suspended approach (for example, over the back of the seat back) . Other variations of the retractable and extendable arms are also contemplated. For example, at least one arm link can move, additionally or alternatively, in relation to another link to facilitate retractability and extensibility, as with telescopic links and / or sliding pin joints. As shown in Figures 13A to 13D, for example, an armrest assembly 1322 may include a first link 1322a, a second link 1322b, and a third link 1333c, which rotate with respect to each other in a similar manner to the set of armrest 1222 described above. However, in addition, the second link 1322b or another link can shift relative to the first link 1322a (for example, through the sliding pin joint) to provide an additional degree of freedom for more configuration flexibility in the armrest assembly. For example, Figure 13B shows the second link 1322b in a slightly intermediate and extended longitudinally inclined position and with the third link 1322c in a medial transverse orientation. Figure 13C shows the second link 1322b in an extended position longitudinally aligned with respect to the first link 1322a, and the third link 1322c also in an extended position and longitudinally aligned in a forward orientation. Figure 13D illustrates the second link 1322b in a longitudinally aligned position and at least partially retracted with respect to the first link 1322a, so that a portion of the third link 1322c is over the first link 1322a. Like the armrest assembly 1222, one or more of the joints between the arm links in the armrest assembly 1322 can be actuated with a respective actuator and can be configured for automatic control. Other variations of the armrest assemblies may incorporate different amounts of links, as well as other combinations of sliding pin joints and / or non-sliding pin joints.
[0072] In an exemplary variation shown in Figures 14A and 14B, a connection of the arm support 1400 may be attached or may be in a position adjacent to a seat assembly. The arm support connection 1400 can be movable between a folded configuration (Figure 14A) and at least one unfolded configuration (for example, Figure 14B). For example, the folded configuration may be suitable to allow the user to enter and exit the user console, or for storage and / or transportation purposes, etc.
[0073] One or more several deployed configurations may correspond to a desired position of the arm support for a user, depending on the user's characteristics (for example, user size such as height, weight, or circumference) and / or a task characteristic surgical (for example, type of surgical procedure that the user is performing with the robotic surgical system). In general, the unfolded arm support can be configured with adjustable arm support height, anterior / posterior position, and / or medial / lateral rotation, and when separate left / right arm supports are provided, each arm support can be independently configurable. The adjustable features of the armrest can be adjusted manually by the user and / or motorized, or they can be automatically configured and controlled by computer. Adjusted arm support settings and adjustments can be stored in memory as part of a profile associated with a specific user and / or type of user, with the configuration (s) or profile configured (s) to be ( em) stored (s) and retrieved (s) via a seat controller. Access to the seat controller can be achieved, for example, through a user screen or touch screen.
[0074] One or more of the deployed configurations can also help to provide a housing in front of the user when the user is positioned in the seat set, thus securing the user to the seat set. Although Figures 14A and 14B represent only one arm support connection 1400 adjacent to the seat assembly, it should be understood that, in some variations, at least two arm support connections may be adjacent to the seat assembly. For example, the user system may include a first and a second arm support connection coupled or otherwise adjacent to opposite sides of the seat assembly. The first and second arm support connections can be mirrored versions of each other (for example, a left side arm support connection and a mirrored right side arm support connection that generally unfold towards the center line of the assembly seat).
[0075] The connection of the arm support 1400 on a user console can include a connection set that includes a proximal segment 1410, an intermediate segment 1420 and a distal segment 1430. The proximal segment 1410 can be attached to the seat assembly ( for example, on the side of the seat, with a winding accessory on the underside of the seat, etc.), directly or through an intervening base structure, such as one or more additional proximal segments that attach to the seat in a similar manner. In other examples, the connection of the arm support 1400 may be attached to the floor (for example, attached to a base that rests on the floor), or to another portion of the user console. In some variations, the connection set may include fewer or more segments. The segments can be connected by rotating joints. For example, as shown in Figures 14C and 14D, proximal segment 1410 and intermediate segment 1420 can be coupled to joint 1412 so that the proximal and intermediate segments can move relative to each other at joint 1412. Similarly, the intermediate segment 1420 and the distal segment 1430 can be coupled to the joint 1422 so that the intermediate and distal segments move relative to each other at the joint 1422. Consequently, the joint of the joints 1412 and 1422 can allow the arm connection support to move between folded and unfolded configurations as desired.
[0076] In some variations, the arm support connection may include a SCARA (Selective Compliance Assembly Robot Arm) connection that is articulated along parallel geometric axes, such as parallel geometric axes that pass through joints 1412 and 1422 (for example , so that the connection of the arm support is generally malleable in an XY direction around the parallel geometric axes, but substantially rigid in a Z direction). For example, intermediate segment 1220 can rotate with respect to proximal segment 1410 through joint 1412 in an X-Y direction, and distal segment 1430 can rotate with respect to intermediate segment 1420 through joint 1222 in an X-Y direction. However, joints 1412 and 1422 are shown as pin joints that collectively provide 2 degrees of freedom, so that joints 1412 and 1422 substantially prevent movement of the intermediate segment 1420 and the distal segment 1430 in a Z direction. other variations, the connection of the arm support can include any suitable type of connection (for example, providing three or more degrees of freedom, including telescopic connection segments, etc.).
[0077] In some variations, all segments of the arm support connection can generally rotate within the same plane. In other variations, at least one segment of the arm support connection can generally rotate in a respective separate plane (for example, which is offset in relation to other segments with spacers, etc.). For example, as shown in Figure 14C, the proximal segment 1410 and the intermediate segment 1420 can generally be rotatable in the same plane, while the distal segment 1430 can generally be rotated in a different plane than the proximal segment 1410 and the intermediate segment 1420 In other words, the intermediate segment 1420 can rotate within a foreground through the pin joint 1412, and the distal segment 1430 is rotatable in a second plane through the pin joint 1422, where the second plane is parallel and displaced in relation to the foreground. In other variations, the connection of the arm support may include any suitable connection (for example, a connection that is articulated in at least two orthogonal planes).
[0078] The seat set may also include a headrest. For example, as shown in Figures 2A to 2F, seat assembly 204 may include a headrest 224 attached to an upper portion of the seatback 220. Alternatively, the headrest may be coupled to the seatback with a gasket articulated, one or more longitudinal members, extensible bellows or accordion arrangement, an extendable telescopic arrangement, etc. In some variations, a portion of the headrest of the seat assembly 310 may be attached to a seat backrest by means of an articulated joint or other suitable joint to facilitate adjustment in the angle of the portion of the headrest in relation to the backrest. seat. The headrest padding can be movably attached (for example, along at least one strip or rail) to the headrest portion to adjust the height of a user's headrest. Consequently, as illustrated in the diagram in Figure 4A, such height adjustment and angle adjustment for the headrest can be decoupled from each other, allowing for more combinations of height and angles of the headrest. As with other aspects of the user console, the height of the headrest can be adjusted manually or automatically, based on the user's settings, profiles and / or preferences.
[0079] In some variations, the headrest (or a portion of the seat assembly next to the headrest) may include audio equipment. For example, the headrest may include a built-in microphone and / or speaker attached to the headrest, for example, to allow communication with personnel (for example, assistants outside the room or otherwise located in a remote location) to instruct commands, receive instructions, provide noise canceling functionality, etc. The audio equipment can still or alternatively be coupled with or wirelessly (Bluetooth protocol) to auxiliary devices, such as a telephone or the screen set, for example, to participate in telephone conversations, listening to music, etc. In another example, a headset with a microphone and / or speaker can be provided that can be used by the user and attached to the headrest via wired or wireless communication.
[0080] The surfaces of the seat cushion, seat backrest, headrest and armrests, if any, may comprise a rigid surface and / or a soft surface, including a cushion, cover or foam structure or gel. The surface can be porous or closed, and the padding or frame can be configured to be removably attached to the rest of the seat cushion, seat back, headrest and / or armrests. Fixation can be performed using hook and loop fasteners, buttons, snap fasteners, zippers, ribbons, tongue and groove interlocking, and the like. Depending on the type of fastening, the user can select from a variety of types, shapes and styles of padding that can be used with the seat set, and may also be able to manually adjust the positioning of the padding, for example, with hook and loop. In other examples, one or more of these quilts may be circular, oval or polygonal in shape. Figures 8A and 8B represent an example of a seat assembly 800 with a lower seat frame 802. Coupled to the seat frame 802 is a seat cushion 804 with a lower pad 806, a backrest 808 with a back pad 810 and a headrest pad 812. The bottom pad 806 and the head pad pad 812 can comprise a rectangular shape, and the back pad 810 can be tapered from the bottom up. In this variation, each of the pads 806, 810, 812 comprises rounded corners and rounded edges, but in other examples they may have square corners and / or edges. In some other examples, the back padding and the headrest padding can be integrated, as well as the bottom padding and the back padding, for example. Armrest pads 814 can also be supplied. These armrest pads 814 can be located in the distal regions of a multi-link armrest 816, with a proximal support 818 mobilely coupled to an intermediate support 820 and a distal support 822. The armrest pads 814 they may have an arched or angled configuration, but in other examples, they may comprise a straight shape or another shape, such as an oval or a blade shape.
[0081] Figures 17A to 17E represent exemplary variations of seat sets. In these variations, the seat assemblies are similar, with each having a seat support 1714 that pivots along a rear recess of a seat frame 1716, and the seat cushion and seat back 1704 are coupled to the seat. seat frame 1716, as well as a pair of armrests 1722. Additionally, seat assemblies include a 1730 headrest. However, the relative shapes and sizes of the various components of the seat assembly may vary. For example, as shown in Figure 17A, seat back 1704 may have a wider lower portion that generally narrows linearly to a narrower upper portion, and headrest portion 1730 may include a side-extending padding wider than either side of an upper portion of the seat back 1704. As shown in Figure 17B, the seat back 1704 may be approximately the same width along its length, so that a lower portion of the seat back seat 1704 has approximately the same as an upper portion of the seat back 1704. As shown in Figure 17C, the seat back 1704 may include a generally wider square or rectangular lower portion, a linearly tapered intermediate portion, and a larger upper portion. narrow by the headrest 1730. As shown in Figure 17C, the seat support 1714 and the seat back 1704 can have general profiles curvilinear rather than linear angular profiles. As shown in Figure 17E, the seat back 1704 can be similar to the seat back of Figure 17B except that Figure 17E represents a slightly narrower seat back 1704 with padding for the headrest 1730 and seat back 1704 extending laterally beyond either side of the seat back 1704. In other variations, sizes and / or shapes other than the components of the seat assembly can be combined in any suitable manner.
[0082] Various components of the seat set can be adjustable to provide mechanical and other mechanical customizations for a specific user or type of user. In addition to the longitudinal or vertical movement of the seat assembly with respect to the seat support, other seat adjustment movements, including but not limited to the rotation of the seat frame around its own vertical axis or around the seat support , forward / backward tilt of the seat frame relative to the seat support, forward / backward tilt of the seat cushion, forward and backward tilt of the seat back, vertical translation of the seat back, forward tilt / back of the seatback, forward / backward translation of the seatback, vertical translation of the headrest, forward / backward tilt of the headrest, forward / backward translation of the headrest, proximal lateral rotation of the headrest arm, distal lateral rotation of the armrest, vertical translation of the armrest and / or other seat assembly adjustments can be provided. These and other movements are described in more detail below.
[0083] With reference to the exemplary modalities of Figures 2A to 2F, adjustments to the seat set 204 can be performed manually by the user, and / or can be performed automatically by a controller through one or more actuators or drive motors. Controls can be provided by one or more physical buttons, sliders or keys on seat set 204, pedal set 212, screen set 208, and / or an auxiliary screen or panel 234. Controls can also be manipulated via devices user interface.
[0084] The actuators or drive motors, if present, for the adjustment mechanisms in the seat assembly may be located in the seat frame, in the pillar (s), in the base, in the seat cushion, in the backrest. seat or elsewhere on the seat assembly or user console. The adjustment mechanisms can be directly driven by a motor, or they can be mechanically connected by one or more gears, belts, belts, or links. The actuators can be any one of a variety of suitable motors, including brushless or brushless DC motors, and / or synchronous or induction alternating current motors, solenoid actuators, and the actuators can be retroactive or non-retroactive, for example. example. In some instances, an engine can be configured for use with multiple tuning mechanisms, using a clutch or transmission system. For example, a single motor provided on seat support 214 can be used for longitudinal adjustment of seat assembly 204, but can also be used for adjustments to pedal assembly 212 and / or screen assembly 208, by means of tracks, chains or other mechanical connections. In other examples, however, the pedal assembly 212 and / or the screen assembly 208 may comprise additional motors for making the adjustments.
[0085] The seat set may include sensors (for example, position sensors, joint encoders) to monitor and / or confirm the mechanical adjustments being made. These sensors can also be used in a calibration and / or security check procedure. For example, one or more of the adjustments can be made through its adjustment range or a test movement range to confirm or test the proper function. In systems where one or more motors are coupled to a cable, chain, gear, or other drive mechanism to transfer power to a location away from the motor shaft, one or more sensors can be located in a variety of locations through the mechanism drive, in order to identify any elasticity, looseness, slip, creep, etc. on the drive mechanism. Upon detecting such characteristics in the drive mechanism, the system can provide compensatory forces to achieve the desired mechanical adjustment, and can provide an error or warning message if the expected mechanical adjustment is not detected. In some variations, the seat assembly may include one or more sensors (for example, pressure sensors, position sensors that detect chair rotation) that indicate the presence or absence of a user in the seat assembly. Other mechanisms in the seat assembly, such as vibration motors, can be provided to provide tactile feedback to the user by indicating the status of various components of the user console, robotic instrument, etc. For example, the seat assembly may vibrate on the seat cushion, seat backrest, headrest, armrest, etc. to indicate alerts, for example, when a user interface device (described below) is overtaking your trackable workspace.
[0086] One or more of the adjustment mechanisms for seat assembly 204 may include a locking mechanism to maintain the configuration of the adjustment mechanism when it is defined by the user. In some instances, a non-retractable motor may be provided, and a locking mechanism may or may not be provided. The locking mechanism can be a friction brake or a removable mechanical lock, such as a locking pin mechanism. A counterweight or counterbalance mechanism can also be provided to reduce the load on the engine or the user when adjusting the seat.
[0087] Controls
[0088] The user console may include one or more controls or user interface devices to remotely control a robotic instrument and / or to control other aspects of the system. Controls can, for example, be manipulated by a user to operate a robotic arm, operate an end actuator attached to one end of a robotic arm, operate the user console for adjustments, operate or navigate a graphical user interface, etc. .
[0089] In a variation, as depicted in Figure 1A, user console 100 includes at least one control device or user interface operated manually, such as one or more user interface devices (for example, a pair including a controller left and right controller), which are tracked in three-dimensional space over time. Other manually operated controls may include, for example, joysticks, tweezers, pliers, etc. User interface devices 106 can be wired or wireless, can include one or more accelerometers on one or more axes, and can be tracked through any of a variety of mechanisms, including but not limited to electromagnetic tracking or optical tracking using active and / or passive emitters. The transmitters for the manually operated control may be located, for example, at the base of the user console, on the armrest or headrest or other portion of the seat assembly, and / or on any other suitable portion of the user console. . Controllers 106 may include haptic feedback mechanisms, as well as mechanical or touch actuators to facilitate additional manipulation of the robotic system 112, or various control and adjustment settings on the user console 100. For example, in some variations, controllers 106 can be used to test or confirm the spatial registration of surgical tools (robotic tools, hand tools, etc.) by providing short vibrational pulses, etc. as tactile feedback to the user. In addition, controllers 106 can be used to provide a form of user identification (for example, gesture identification or biometric identification via fingerprints).
[0090] In some variations, the one or more user interface devices may be permanently or removably mounted to a docking station (for example, on an armrest in front of the seated user, a secondary platform), the other suitable user interface device holder or receptacle (for example, hooks, containers) and / or can be independently held by the user. For example, the armrest on the user console may include a mounting portion for attaching at least one user interface device. For example, a user interface device can be placed in the assembly portion when the user (eg, surgeon) wants to pause the teleoperation of the robotic surgical system with the user interface device (eg, to rest or switch) between different operating techniques) and / or for storage or transportation purposes. For example, as shown in Figures 14C and 14D, an arm support connection 1400 may include a mounting portion 1624 coupled to the intermediate segment 1620. The mounting portion 1624 may include a cradle, tray, recess, hook or another receptacle for receiving a user interface device 1428. The mounting portion 1624 can be integrally formed (for example, through injection molding) with the intermediate segment 1620, or it can be formed separately and coupled to the intermediate segment 1620 via fasteners, threads, pressure fitting, other fitting by suitable interference, or in any suitable manner. In other variations, the mounting portion may be integrally formed or coupled to any other suitable portion of the arm support connection or the user console. In some variations, the mounting portion (or other portion near the mounting portion) may include one or more sensors to detect whether a user interface device is attached to the mounting portion. For example, proximity sensors, electromagnetic sensors that interact with the user interface device, or any suitable sensor can be used to determine whether a user interface device is attached. In variations in which the user console includes mounting locations for more than one user interface device (for example, more than one docking location on a single arm support link, or more than one single arm support link , each with a respective coupling location), the one or more sensors can be used to detect which of the multiple user interface devices are coupled and / or whether all of the multiple user interface devices are coupled. The one or more sensors can further or alternatively determine whether a user interface device is properly coupled (for example, securely, or with a left side of the user interface device coupled to a left side of the arm connection). support and a right side of the user interface device coupled to the right side of the arm support connection).
[0091] The mounting portion may be hidden (for example, relatively inaccessible to the user) when the arm support connection is in the folded and exposed configuration (for example, relatively accessible to the user) when the arm support connection is in the deployed configuration. Since it may be necessary for the user to unfold the arm support link to expose the user interface device and allow the user to retrieve the attached user interface device, such a selectively hidden mounting portion can, for example, motivate or remind the user to use the arm support link in its deployed configuration when using the user interface device to control a robotic surgical system, thereby improving ergonomics, reducing user fatigue, etc.
[0092] As another example, as shown in Figures 14E and 14F, a docking station 1442 can be attached to an armrest 1440. The docking station 1442 can be inserted into a recess in the armrest 1440 or, on the other hand mode, it can be retracted when the user interface devices are not in use (Figure 14E), and then slide out of the recess in the armrest 1440 or otherwise extend when the user interface devices are used during a procedure (Figure 14F). Additionally or alternatively, the user interface devices can be removable from the docking station. For example, as shown in Figure 14G, a user interface device 1450 can be lifted from a resting place (for example, in a recess 1446 in the docking station 1442) to be held independently by the user. Any wires connected to the 1450 user interface device can pass through channel 1444 to completely remove the 1450 user interface device from the 1442 docking station. When the user interface device is not in use (for example, after the procedure complete or during a pause in the procedure), the 1450 user interface device can be returned to its resting place. The 1442 docking station or other device support can include sensors (for example, pressure sensor, conductive sensor) to detect when the user has deposited one or more controls, where the user console can use the reading of these sensors to change the operational state of the robotic system or user console. The docking station or other device holder may also include electrodes, an induction coil, or other power charging device to charge the user interface devices when placed on the holder, if necessary. In other variations, the docking station or other support can be used additionally or alternatively to attach other devices, such as the user's cell phone or portable music player.
[0093] As another example, as shown in Figure 15A and 15B, a docking station 1512 can be coupled to a screen support 1516 (such as those described further below). The docking station 1512 may, for example, include a tray that extends towards the seat assembly. Like the docking station 1442, the docking station 1512 can include resting places for the user interface devices 1450. The docking station 1512 can be adjustable, for example, by being able to extend towards the seat assembly , rotate around the screen holder 1516, tilt left and right sideways, tilt back and forth, etc. Additionally, the docking station 1512 can fold, either for storage purposes or to increase the workspace of a user who manipulates user interface devices in space.
[0094] In other variations, the controls may include one or more pedal controls to control the robotic surgical instrument and / or to control the user console. For example, a foot control can be used to control an end actuator (for example, clamping, gripping, cutting, etc.) at the end of a robotic arm. As another example, a foot control can be used to control part of the user console, such as adjusting the position and / or orientation of the seat set (for example, transition between a seated configuration, a reclined configuration, an elevated configuration and / or other seat configurations), armrests, headrests, screen set, immersive screen set, etc.
[0095] A variation of foot-operated controls includes a set of pedals. The pedal set can generally be located in front of the seat set so that foot-operated controls are accessible from the user's feet when the user is sitting in the seat set. The pedal set can have a variety of configurations, with any suitable foot-operated controls.
[0096] As shown in Figure 16, a pedal set can include a 1610 pedal tray and one or more 1620 pedals coupled to the 1610 pedal tray. The number, style and / or arrangement of the 1620 pedals can be based on the functional type (for example, to control an end actuator, to control or adjust the user console, etc.). In other examples, the pedal set may additionally or alternatively include other foot-operated controls such as pedal-operated switches, touch sensitive blocks, power plates, joysticks and / or other control mechanisms. Some of the foot-operated controls may include force feedback as a form of tactile feedback. Some of the foot-operated controls can be disabled for certain types of surgical procedures, depending on the need for certain types of controls. The pedal tray 1610 can be configured to be adjusted manually and / or automatically by the engine in the anterior / posterior direction and / or vertically, and / or also to have an adjustable angle. For example, a pedal tray 1610 may include a pedal plate 1612 that is configured to move angularly with respect to the bottom of the pedal tray.
[0097] In other examples, the pedal set may comprise two or more separate adjustable pedal trays, one for each foot, or for each foot control mechanism. Alternatively, each foot control mechanism can be adjustable in relation to your pedal tray. In addition to adjusting the pedal location in the anterior / posterior direction and the angle of inclination of the pedal, other settings that can be configured include pedal resistance (s) globally across an entire range of motion or sub-range of motion, and orientation the pedal tray or the foot control mechanism. Adjusting the radial orientation can reduce the user's foot or leg fatigue by accommodating any internal or external rotation of the user's leg, as well as any supination or pronation deviation in the foot. In addition, as shown in Figure 2G, pedal set 252 can bend (or recede into a recess in the base, etc.) to facilitate storage or transportation of the user console in a compact configuration.
[0098] The pedal set can be mounted or otherwise coupled to other components of the user console, or it can be separated and independent or otherwise modular from other components of the user console. For example, as shown in Figures 2A to 2F, the pedal assembly 212 can be mounted on an anterior portion of the base 202.
[0099] In other variations, the user console can still or alternatively include other controls to remotely control a robotic system or instrument and / or a user interface, such as one or more keyboards, mice, "trackballs", voice control, head tracking, gesture tracking, eye tracking (for example, with sensors located on or near a display monitor such as an open screen and / or an immersive screen, as described below, which are configured to track head movements , hands, eyes, etc.) and the like. Other mechanisms, such as actuated springs, vibration motors, etc. can additionally or alternatively be provided to provide tactile feedback to the user. Screens
[00100] The user console can also include one or more screens to provide and / or receive information from a user. For example, at least one screen can be configured to receive surgical information in real time or in near real time. For example, the screen can receive and show a video feed stream from a camera instrument inserted into a patient's body cavity, and the camera instrument can provide a field of view of the surgical site, such as during a surgical procedure that uses end actuators controlled via the user console. Additionally, the screen can make it possible (for example, through eye tracking, head tracking, gesture tracking, etc.) to control the robotic instrument and / or to control other aspects of the system, for example, to operate a robotic arm, operate an end actuator attached to one end of a robotic arm, operate the user console for adjustments, operate or navigate a graphical user interface, etc. In addition, the screen can be connected to other auxiliary devices, such as a user's mobile phone or portable music player, so that the user can interact with the auxiliary device through the screen.
[00101] In some variations, one or more screens in the user console can be configured to display medical information and / or other surgical information (eg, patient's vital signs, medical records, real-time information such as endoscopic images, etc. ), enable communication through other medical personnel in the room or remote outsourced, among others. Open screen
[00102] In some variations, the screen includes an open screen (for example, monitor or screen). For example, as shown in Figures 2A to 2F, a screen assembly 208 includes a pillar or screen support 226, a screen support 228, and one or more open display panels 230 that can be attached directly to the screen support 228 or through a 232 screen frame or housing. Display panels 230 can have any of a variety of resolutions (for example, WXGA, SXGA, SXGA +, WXGA +, WUXGA, QWXGA, QXGA, QHD, QSXGA, QXGA +, 4K UHD, DCI 4K, HXGA, WHXGA, HSXGA, WHSXGA) and refresh rates (for example, 24 Hz, 30 Hz, 50 Hz, 60 Hz, 120 Hz, 240 Hz), and can have a horizontal or vertical orientation. In the specific arrangement shown in Figure 2A, the screen assembly 208 comprises a central horizontal display panel, and a vertical display panel on each side of the central display panel, which are mounted on the screen housing 232. In some variations, a or more of panels 230 can be configured for 3D viewing. The 3D view can be configured for viewing using active shutter glasses or passive polarizing lenses (for example, to provide passive 3D views without the need for specialized glasses). In other variations, one or more panels may comprise a self-stereoscopic lenticular technology that does not require the use of glasses. An open monitor screen can be double-sided, where the front side can face a user in the seat set, while the back side can face the rest of the room to allow other medical professionals to observe a flow of video feed simultaneously with the user's feed stream on the front side of the screen. In some examples comprising a pedal tray, such as the one shown in Figures 9 to 11, the display support may be a double pillar design with sufficient space between the pillars to accommodate the pedal tray being adjusted in translation, which may provide a greater range of motion for the pedal tray in the previous direction and / or allow the user's legs to extend between the pillars (for example, for a tall user, or when the seat set is in the reclined configuration, as described in more detail below).
[00103] Figures 17A to 17E represent variations of a 1708 screen, and Figures 18A to 18E represent variations of an 1826 screen support. These variations are similar in that the 1708 screen can be a three-panel screen (or more panels) ) including a main central panel and two side panels, where the screen is supported by an 1826 screen support with pillars or double members. The main panel can have a horizontal orientation and the two side panels can have a vertical orientation, but in other examples, each panel can be configured as a horizontal or vertical screen, and / or each panel can be rotated as needed. Screen 1708 can additionally or alternatively be configured to rotate or revolve with all three panels together (for example, for glare reduction). However, screen 1708 may alternatively include any suitable number of panels (one, two, four, etc.). The shape of the screen holder 1826, for example, in relation to the pillars supporting the screen, may vary. For example, as shown in Figure 18A, the screen holder 1826 may include a generally trapezoidal opening formed by a wider base, linearly tapering pillars, and a narrower upper portion. As shown in Figure 18B, the screen support 1826 may include a generally square or rectangular opening formed, at least in part, by a base and two vertical support pillars. As shown in Figure 18C, the screen support 1826 may include another generally polygonal opening formed at least in part by supporting pillars having a vertical portion and a linear tapered portion. As shown in Figure 18D, the screen support 1826 may be similar to that shown in Figure 18A in that both define generally trapezoidal openings between the display pillar supports, except that Figure 18D represents an opening between supporting pillars that have a convex upper and rounded convex perimeter. Figure 18E represents a support for the screen 1826 similar to that shown in Figure 18B, except that in Figure 18E the upper portion on which the screen 1708 rests is narrower than in Figure 18B.
[00104] In still other variations, the screen can be independent of the user console. For example, the screen can be mounted on the wall or placed on a table top, surgical cart, etc.
[00105] Screen set 208 can be configured for one or more adjustments. For example, the screen holder 228 can be configured to be adjustable in the anterior / posterior direction, so that the user can define the desired viewing distance from the seat set 204. To facilitate this movement, the screen set 208 can have one or more wheels, sliding bars or low-friction cylinders 246 on its bottom surface. The screen assembly 208 can also be configured to adjust the vertical position along the longitudinal geometric axis of the screen support 228, at the interface between the screen support 226 and the screen support 228 or the screen housing 232. display 230 or screen housing 232 can also be configured to rotate sideways and / or tilt up or down. Like seat set 204, screen set 208 can be adjusted manually and / or by motorized control via dedicated control devices or via open screen 230, secondary screen 234 and / or immersive screen 236 (described below) ). In some variations, the longitudinal movement path may not be a linear route. For example, as shown in Figure 2C, the lower portion 248 of the screen holder 226 can be tilted towards the user, while the upper portion 250 is more vertical. This setting tilts the screen towards the user at lower display heights, while providing a neutral vertical viewing angle at higher screen heights. This non-linear motion route can be provided in lieu of, or in addition to, any independent tilt mechanism provided between screen support 228 and screen support 226. Screen set adjustments can be independent and / or correlated with seat set adjustments (for example, the screen set can automatically tilt to accommodate or track a seat set tilt). Immersive screen
[00106] In some variations, the user console may additionally or alternatively include an immersive screen, such as a periscope or other device mounted on the head placed in contact with the user's face or head. As shown in Figures 3A and 3B, for example, an immersive screen 360 can be attached to the seat assembly 310 by means of an immersive screen support arm 362 that positions the immersive screen 360 in front of a user's face located in the assembly seat 310, so that the user can view the content directly on the immersive screen 360 in an immersive way (for example, comfortable and ergonomically immerses the user in the screen environment with less distractions caused by the user's peripheral field of view). The immersive screen can display various information associated with the surgical procedure (for example, a view of the endoscopic camera of the surgical site, static images, graphical interfaces, etc.) and / or the robotic surgical system (for example, status, system settings) and / or other appropriate information in the form of 2D and 3D video, images, text, graphical interfaces, alerts, controls, indicator lights, etc. Unlike other immersive and virtual reality head-mounted devices, which rely entirely on the movement of the head-mounted screen to alter the view from within the screen and thus restrict the ability of head movements to control other instruments, the immersive screen can allow the user to interact with the displayed content with the use of head gestures and other head / eye movements to control the immersive screen and the operation of other instruments such as those of the robotic surgical system.
[00107] The immersive screen can be a virtual reality screen or an augmented reality screen (for example, to show the operating room to the surgeon without requiring removal or disengagement of the immersive screen, to show the surgeon traced icons where the surgical instruments are surgical site), or capable of any configuration. The immersive screen can be added in addition to a monitor, or the immersive screen or monitor can be omitted from the user console. In variations in which both the open screen / monitor and the immersive screen are included in the user console, the immersive screen may include a transparent opening or window that allows selectively viewing "through" the open screen (for example, with a shutter that toggles between viewing the immersive screen and viewing the open screen). Alternatively, the system can output any image or video signal to a generic screen.
[00108] In general, in some variations, as shown in Figure 19A, an immersive screen 1900 can include a housing 1910 mounted on a support arm 1912 and configured to engage with a user's face, at least a pair of glasses (for example , at least two sets of 1930 glasses arranged in the housing and configured to provide a three-dimensional display), and at least one sensor (for example, represented by the 1924 sensor in a 1922 facial structure configured to engage or be adjacent to the user's face). The sensor can, in some variations, enable the operation of the robotic surgical system by detecting a certain parameter (for example, the presence or absence of a user engaged with the 1900 immersive screen, sufficient alignment of the user in relation to the sets of 1930 glasses, user identification as an authorized user of the robotic surgical system, etc.), etc. The 1912 support arm can be configured to bring the housing to a position adjacent to the user's face or head, and can be actuable, such as to position, orient, or otherwise move the 1910 housing for ergonomic purposes. Additionally or alternatively, strips or similar fixing devices can be coupled to the immersive screen to secure and / or align the 1910 housing to the user's face and / or head.
[00109] The one or more glasses may, for example, include a binocular view that can facilitate stereoscopic or three-dimensional displays, etc., although in other examples, the glasses may include a monocular view. The immersive screen can include lenses to provide integrated vision correction for users who are myopic, hyperopic, astigmatic, etc. Sensors on the immersive screen can provide eye tracking for instrument controls, user identification, etc.
[00110] In some variations, the support arm of the immersive screen can be mounted on one side of the backrest of the seat assembly and configured to bring the user closer to the side of the user console to facilitate user access to the immersive screen. For example, as shown in Figures 2C and 2D, a proximal end of the immersive screen support arm 240 can be attached to a right side of the seat back, although alternatively, the proximal end of the screen support arm 240 can be attached on a left side of the seat back (for example, about the height of the headrest 224, although not necessarily). The proximal end of the support arm of the immersive screen 240 can be configured to adjust vertically and / or rotationally, etc. In addition, as shown in Figure 2G, the arm of the immersive screen 240 can be configured to fold or retract against the side of the seat assembly (or other mounting location of the arm 240) to allow user access to the seat and / or facilitate storage or transportation of the user console in a compact configuration.
[00111] In other variations, a proximal end of the immersive screen support arm can be fixedly attached to a midline (or close to the center) of the seat back and can be configured to bring the user closer to the console side. user to facilitate user access to the immersive screen. For example, as shown in Figures 9 to 11, a proximal end of the immersive screen support arm can be mounted (for example, through fasteners, welded joints, mechanical locks, etc.) on a rear surface of the seat back. As another example, a proximal end of the immersive screen support arm can be fitted in an adjustable way to a rear surface of the seat back, such as with a prismatic joint or another joint that allows the immersive screen support arm to adjust vertically. , laterally and / or rotationally in relation to the seat back. For example, Figures 17A, 17B and 17E represent a vertical sliding interface or prismatic joint between a 1750 recess in the seat back and a sliding element 1742 or another element at the proximal end of the 1740 immersive screen support arm. This sliding interface helps allowing the immersive screen support arm to adjust vertically. Figures 17C and 17D represent a similar vertical sliding interface, except that the recess 1750 is narrower in Figures 17C and 17D than in Figures 17A, 17B and 17E.
[00112] In still other variations, as shown in Figures 19B to 19C, the immersive screen can be attached to the seat back with a suspended assembly that includes one or more support arms in a 1930 support structure. The 1930 support structure can be configured to approach the user over the user's head, as shown in Figure 19D. As shown in Figure 19E, the support structure 1930 can swing up behind the headrest or other portion of the seat back, and can bend against the seat back (for example, Figure 19F) or flatten or retract inward of a cavity in the seat back, for example, for storage purposes.
[00113] The support arm of the immersive screen can be articulated in order to be able to move with multiple degrees of freedom. For example, in a variation shown in Figure 19B, an articulated immersive screen support arm can include at least six degrees of freedom. In this paragraph, the term "horizontal" is intended to be generally orthogonal to the seat back, while "vertical" is intended to be generally parallel to the seat back. The support arm can include a proximal support (for example, similar to the sliding element 1742 shown in Figure 17A) coupled by a first rotational joint J1, such as a joint pin or fork, to a first link L1, where the first rotational joint J1 is rotatable about a vertical joint axis to provide movement in a horizontal plane. The first link L1 is coupled by a second rotational joint J2 to a second link L2, and the second link L2 is coupled by a third rotational joint J3 to a third link J3. The first, second and third rotational joints J1, J2, and J3 are oriented along the respective vertical axes of rotation, and can allow adjustment of the immersive screen without significant restriction in a desired location usually in a horizontal plane around the headrest region.
[00114] Additionally, configuration flexibility can be provided by coupling the third link L3 by a fourth rotational joint J4 to a fourth link L4, where the fourth rotational joint J4 can be rotated around a horizontal geometric axis to provide movement in a vertical plane. The fourth link L4 can be further coupled by a fifth rotational joint J5 to a fifth link L5, where the fifth rotational joint J5 can be rotated about a horizontal geometry axis to provide movement in a vertical plane. In addition, the fifth link L5 can be coupled by a sixth rotational joint J6 to a sixth link or support element L6, where the sixth rotational joint J6 can be rotated about a vertical axis to provide movement in a horizontal plane. The fourth, fifth and sixth rotational joints J4, J5 and J7 can generally make it possible to adjust the vertical height of the immersive screen so that in combination with the first, second and third rotational joints J1, J2 and J3, all six rotational joints can help enable adjustments in various combinations of changes in angular position in three-dimensional space (eg, translation in XYZ directions, yaw rotation, cylinder, pitch). The immersive screen arm 1920 can, as a result of multiple articulated joints with an appropriate number of degrees of freedom, it can, for example, allow arm rotation, arm extension / retraction, arm forward / backward tilt , etc.
[00115] As shown in Figure 19C, a housing of the immersive screen 1910 can be mounted on the support member L6 through a seventh rotational joint J7, where the seventh rotational joint J7 is rotatable around a horizontal geometric axis to allow a seventh degree of freedom for pivoting adjustment in a vertical plane (for example, tilting up or down).
[00116] Some or all of the joints, such as the fourth and fifth joints J4 and J5, may include friction brakes, active brakes, clutch and / or other actuating locking mechanisms to help lock the immersive screen support arm in particular configuration. Locking the immersive screen support arm in place can, for example, help combat the gravitational effects that can cause the immersive screen 1910 housing and / or the immersive screen support arm 1920 to retract downwards (for example , on the user, if the seat set is in a reclined configuration). Additionally or alternatively, some or all of the joints can be compensated in order to avoid flattening when not supported externally by a user, among others.
[00117] The manipulations of the pose (ie, position and orientation of the arm) can be controlled manually and / or controlled with an actuator, and can be automatically controlled as with other aspects of the user console described here. Some arm movements can be automatic (for example, retraction or extension) in response to a trigger, such as determining a user present in the seat set based on a user login or detecting a limit weight in the seat set . Manual arm adjustments may involve disengaging a clutch (for example, with a touch sensitive sensor, button, cable, etc.) that is configured to resist arm movement.
[00118] In other variations, the support arm of the immersive screen can be a substantially static element. For example, as shown in Figures 25A and 25B, the screen support arm 2520 can act as a cantilever arm to suspend the immersive screen 2510 usually in front of the seat assembly. In still other variations, the display support arm may include a member that moves laterally towards the user in the seat assembly and in the opposite direction. For example, as shown in Figures 26A and 26B, before a user sits in the seat assembly and while the user is in the seat assembly, but is not using the 2610 immersive screen, the 2620 screen support arm can swing sideways to out in an "external" position to keep the 2610 immersive screen away from the user's face and head. When the user is ready to view through the 2610 immersive screen, as shown in Figure 26C, the 2620 screen support arm can then swing sideways inward in an "internal" position to keep the 2610 immersive screen adjacent to the face and to the user’s head.
[00119] In some variations, the glasses and / or the support arm of the immersive screen may include one or more sensors to assist in collision prevention. For example, at least one proximity sensor (for example, ultrasound, laser, etc.) can be located in at least a portion of the glasses and / or the support arm of the immersive screen to detect possible collisions with the seat assembly ( for example, seat back, armrest, headrest), with the monitor, with the user's face or other body part, etc. Upon detecting a possible collision, the user console can issue a warning, such as an audible warning, a visual signal, a tactile feedback via the seat assembly or user interface devices, etc., and / or the console User can automatically trigger the immersive screen support to remain in a "standby" position or move in the opposite direction to avoid collision between the immersive screen support arm and another object. The sensor or proximity sensors can additionally or alternatively be used to provide a comfortable engagement with the user's face through a damping effect or slower "soft landing" as the glasses and the user's face approach each other to hitch. Auxiliary screen
[00120] The user console can also include a secondary or auxiliary open screen. For example, a secondary open screen 234 may be attached to the seat frame 216 of seat assembly 204 with a support arm 238, as shown in Figures 2A to 2F, but in other examples, one or more secondary open screens may be coupled to the seat cushion, the seat back, the headrest, the armrest, the seat support, the base and / or the screen support, mounted on the midline or beside these components. In another example, as shown in Figure 15A, a secondary open screen 1534 can be located on a user interface platform 1512. The secondary open screen can be a touchscreen device. In some variations, the display assembly may include adjustable mechanisms similar to those described above, which can provide, for example, vertical translation of the secondary display panel, side rotation of the secondary display panel, forward / backward tilt of the display panel secondary, etc.
[00121] The secondary open screen 234 and the immersive screen 236 can be configured to replicate one or more screens or controls on a main display panel 230, and / or may include other controls or images not provided on a main display panel 230 , or each other. For example, the secondary open screen can be configured to provide the user with user identifying information (for example, user ID, password, access code, etc.). In addition or alternatively, the user console can include a microphone, camera, fingerprint sensor, etc. to facilitate the receipt of other user identifiers, through processes such as speech recognition, facial recognition, and other biometric recognition data such as iris code or fingerprint. Illustrative variations
[00122] A user console can include any combination or subcombination of the structures described above. In one embodiment, as shown in Figures 20A and 20B, a 2000 user console can include a base 2002 that has a bottom section and an anterior wall, a seat set 2010, a set of pedals 2040 coupled to the bottom section of the base, and a 2050 screen attached to the front wall of the base (instead of a separate screen support assembly, etc.), but without any user interface devices or immersive screen.
[00123] In another embodiment, as shown in Figures 21A and 21B, a 2100 user console can be similar to the 2000 user console described above with respect to Figures 20A and 20B, except that the 2100 user console can include a base 2102 that has a lower section on which the pedal assembly 2140 is located, a rear wall, and a side facing wall. The 2100 user console can, for example, facilitate a side entry based on the location of the cladding wall. A screen 2150 can be supported by the side wall portion of the base 2102.
[00124] In another embodiment, as shown in Figures 22A and 22B, a 2200 user console is similar to the 2100 user console described above with respect to Figures 21A and 21B, except that the 2200 user console may include a base 2202 that it has a projection that extends over the seat set, the screen 2250 being configured to be suspended from the projection.
[00125] In the variation shown in Figures 23A and 23B, a 2300 user console is similar to the 2100 user console, except that the front wall of base 2302 also extends laterally to provide slanted or curved wings around the screen 2250. This can, for example, help reduce glare on the 2250 screen.
[00126] As shown in Figures 24A and 24B, in some variations, one or more of the components may include wheels 2420. Different modular components may include wheels to facilitate relative movement between the different components. For example, a screen support may include 2420 wheels to enable translation and / or rotation in relation to the seat assembly and / or the base. As another example, the seat assembly may include wheels 2420b to allow translation and / or rotation with respect to the screen and / or the base. Similarly, as shown in Figures 25A and 25B, the seat assembly may include one or more 2520b wheels to enable the seat assembly to adjust its position and orientation with respect to a 2520 user interface platform (for example, that has a keyboard or other controls). As yet another example, as shown in Figures 27A to 27B, the base 2702 can include wheels in order to increase mobility (for example, to move the user console between different operating rooms, or to reposition the user console within a living room). Additionally or alternatively, the pedal set, base and / or other user console components may include one or more wheels. Wheels may include brakes (for example, friction brakes) or other locking mechanisms to prevent movement or other unintentional repositioning of components. User console settings
[00127] To facilitate the adjustment and configuration of the user console for ergonomic adjustments and other adjustments, a configuration controller can be provided, which can detect and record the specific configuration of one or more components of the user console, including the seat assembly, display assembly, pedal assembly, and also control the engines of the adjustment mechanisms to restore the user console to a specific saved configuration. Each configuration can be linked to one or more users, user characteristics, patient or patient characteristics (height, weight), operating teams, robotic system settings, seating preferences and / or types of surgery. The configuration controller can be separated from the robotic controller of the robotic system, with its own processor, memory, and input / output interface for the motors, interlocks, actuators and / or sensors, or it can be part of the same system.
[00128] In use, the user console can be adjusted to a desired configuration, including ergonomic adjustments for the seat set, pedal set and screen set, but also customizations for the user interface and user interface devices , if available. The whole or a subset of the configuration can then be saved, and optionally linked to identifiers or categories. Identifiers can be a user identifier, a category or non-user identifier feature (e.g., type of surgery, seating arrangement, etc.) and / or a biometric identifier (e.g., iris code, fingerprint, etc). In subsequent use, or more identifiers are entered, supplied or selected simultaneously or in series, to limit the saved configuration (s) for final selection or confirmation. The configuration controller then signals or controls the various motors to make any mechanical adjustments to the user console, and also reconfigures or adjusts the user interface configuration. This can happen while the user is sitting at the user console or before sitting down to reduce setup time for a single user, or between multiple users who use the same user console in their custom settings during a single procedure, etc. In addition, in some variations, the user's console can dynamically improve ergonomics by tracking the user's movements (e.g., body position, eye position, stare eyes, etc.) and, in response to the user's movements, automatically recommend or transition to an optimal setting for user ergonomics, visualization, hardware and / or other user needs, such as to reduce fatigue or injury. For example, if the configuration controller detects that the user in the seat assembly begins to deform upwards (as if trying to get a higher perspective of the operating table), the controller can automatically adjust the seat assembly to elevate the seat. user.
[00129] In addition to any custom configuration, the configuration controller can include some pre-configured configurations, or it can include an algorithm that defines a configuration based on the height and / or weight of the user as inserted in the configuration controller, or measured by one or more sensors incorporated in the user console (for example, weight sensors on the seat cushion, base and / or pedal set, optical height or length detection). In one example, the configuration controller can instruct the user to sit on the seat assembly with their feet on the pedals. Weight sensors on the seat cushion and base can then adjust the seat height, the seat angle and / or the pedal shift in order to achieve a 50/50 weight distribution (for example, between the sides user's left and right), or other weight distribution. In another example, the seat cushion may comprise a weight sensor located in the center of the seat cushion, and one or more weight sensors located around the front edge of the seat cushion. The seat height and / or the seat angle are then adjusted to obtain a desired weight distribution between the center force and the force of the front edge, which can reduce the concentration of force which can reduce the circulation of the lower leg. In yet another example, an optical or image sensor located on the display assembly can be used to detect the user's eye level and adjust the height of the display panel. The desired height can be adjusted so that the top of the display panel is at eye level, or 0 to 5 cm below the detected eye level, or where the eye level is at a height located in the upper half of the display panel. exhibition.
[00130] Figure 4A illustrates an example set of parameters that can, in some variations, be adjustable to configure the user console. The open screen can be adjusted to varying degrees of freedom ("DOF"). For example, the height of the open screen can be adjusted via vertical translation ("ODV") along a screen support, the anteroposterior location of the open screen can be adjusted via horizontal translation ("ODH") in relation to to a base of the user console, and the inclination of the open screen ("ODT") can be adjusted (for example, in relation to the screen support).
[00131] Additionally or alternatively, the pedal tray can be adjustable by up to three or more degrees of freedom. For example, the inclination of the pedal tray ("PT") can be adjusted (for example, in relation to the base of the user console), the antero-posterior location of the pedal tray can be adjusted through horizontal translation ("PH ") in relation to the base of the user console, and / or the height of the pedal tray can be adjusted through vertical translation (not shown) as with an adjustable elevator attached to the base of the user console.
[00132] The seat assembly can also be adjustable in a variety of degrees of freedom. For example, the rotational position of the chair can be adjusted by rotating the chair ("CS") around a vertical geometric axis (for example, by adjusting the rotating rotational position of a seat support pillar as described in the present invention. ), the height of the chair ("CV") can be adjusted by translating along the pillar supporting the seat, the reclining of the chair (generally shown as reclining the chair ("CR")) in relation to a seat cushion it can be adjusted (for example, as described in more detail in the present invention), and the inclination of the seat cushion ("CBT") can be adjusted (for example, as described in more detail in the present invention). In addition, the height of the headrest ("HV") and / or the inclination of the headrest ("HT") can be adjusted (for example, as further described in the present invention). In addition, the height of the armrest ("AV") and other armrest configurations (for example, lateral or flat movement, as further described in the present invention) can be adjusted.
[00133] In addition, the height of the base ("BV") in relation to the ground can be adjusted, for example, as a result of the placement of wheels (as additionally described below) for transportation and other suitable purposes. The adjustment of many of these and other parameters is described in more detail elsewhere in the present invention.
[00134] Figures 4B to 4D illustrate in more detail how the seat set can be configurable in one of a plurality of seat set configurations. A configuration can be based on a set of adjustable parameters (for example, at least some or all of the parameters A to F as shown in Figures 4B to 4D). For example, an adjustable parameter A is the angle of the user's lower leg in relation to the user's thigh when the user is in the seat assembly, as a result of the relative orientation of the seat cushion and pedal set. Adjustable parameter B is the angle of the seat back in relation to the horizontal. Adjustable parameter C is the angle of the pedal set in relation to the horizontal (for example, the base of the seat or floor set). Adjustable parameter D is the angle of the armrest in relation to the horizontal. The adjustable angle E is the angle of the headrest in relation to the backrest. Adjustable parameter F is the location of a lower end of the backrest in relation to the seat cushion. In some variations, the seat set can be configurable in at least any one, and preferably two or three, among a seated configuration (for example, Figure 4B), a reclined configuration (for example, Figure 4C), and a high configuration (for example, Figure 4D).
[00135] In the exemplary seated configuration shown in Figure 2E, seat cushion 218 is in a generally horizontal orientation and the vertical height of seat set 204 is adjusted so that the user's heels are in contact with the base 202 and with the lower legs in a forward position and the heels in contact with the base with the feet in a neutral, slightly plantar flexion position. The pedal set 212 is positioned in relation to the base 202 so that the user's forefoot, but not the heels, are on the pedal set 212, with a lead angle 252 in the range of about 25 to 45 degrees. In other variations, the pedal assembly 212 may comprise a heel or heel rest region, and may be positioned under the foreleg and heel. The backrest of the seat 220 is at a vertical or slightly rear angle, and the screen assembly 208 is adjusted so that the upper edge of the screen frame 232 is generally at eye level, and the screen holder 228 is tilted so that the display panels of the screen 232 structure are orthogonal to the user's visual axis, which is slightly below the horizontal of eye level.
[00136] An exemplary elevated configuration is shown in Figure 2F. A high setting can be useful, for example, when the user wants to have a direct view into the procedure room or procedure table. In addition, the elevated configuration may, for example, be suitable for sterile use, easy and quick entry and / or exit of the user from the user console (for example, so that the user can "enter" or "exit" the set of high configuration). In this configuration, the seat cushion 218 is reversed, with its front edge tilted downwards, and also moved or retracted backwards, in order to reduce the area of the seat cushion available to support the user's thighs (that is, reduce the depth of the seat cushion anterior to the seat back, as measured in the anteroposterior direction) and so that less or no part of the user's thighs are supported by the seat cushion 218, compared to the seated configuration in Figure 2E, and allow the user's legs to be in a more vertical orientation. Additionally or alternatively, the seat support area can be reduced in other ways, such as translating the seat backrest previously, by folding and / or rolling at least partially a posterior portion of the seat cushion (for example, in variations in which the seat cushion is cut or flexible It should be noted that such adjustments to the seat support area can additionally or alternatively be used to accommodate and be customized for different user sizes.To additionally accommodate this relatively more vertical orientation, the assembly of pedals 218 can be moved further back on base 202 compared to the seated configuration, and the lead angle of the pedal set 218 can be flat or at least less than the lead angle in the seated configuration. seat 220 can be in the same orientation or in a relatively more forward inclined orientation compared to the seated configuration. screen 232 can be raised to a higher position in relation to the seated configuration. In addition, with the specific rear tilted seat support 214 of this user console 200, when the seat frame 216 is raised, there is also a posterior shift of the user's position, and the screen assembly 208 can also be moved in the rear position in the elevated setting to maintain or at least partially compensate for changes in the distance between the eye and the user's display panel. To facilitate the movement of the screen assembly 208, wheels 246 or low friction sliding structures can be provided to facilitate the movements. In other variations, however, the screen assembly 208 may be mounted on the base 202 and may have no exposed or visible wheels or slides.
[00137] Figures 5A to 5C illustrate additional details related to the exemplary seated and elevated configurations, as well as an exemplary reclined configuration, as illustrated schematically with a user console 500 comprising a display panel 502, a set of pedals 504, a seat cushion 506, armrest 508, seat backrest 510, headrest 512 and immersive screen 514.
[00138] In a seated configuration like the one shown in Figure 5A, the seat cushion 506 can be at a height where the user's heels are in contact or are generally on the base while the seat cushion and the user's thighs are generally aligned, and horizontal or slanted in the range of about -5 degrees to about +5 degrees, about -5 degrees to about +10 degrees, or about -10 degrees to about +15 degrees from the plane horizontal. The pedal set 504 is positioned in an anteroposterior position, the user's forefoot being in contact with the pedals, and tilted perpendicularly around the user's lower leg. The amount of the seat cushion 506 that projects previously from the plane of the seat backrest 510 can be in the range of about 75% to 100%, 80 to 100%, or 90% to 100% of the maximum anterior displacement of the cushion of the 506 seat. Depending on the user, the 506 seat cushion can be customized to an extended position in the seated configuration to support approximately 25% to 100% of the thigh in a position distal to the user's gluteal fold, and in other examples, it can be in the range of about 50% to about 95%, or about 70% to about 100%. Seat back 220 can be configured with an anterior angle in the range of about 80 degrees to about 110 degrees, about 90 degrees to about 105 degrees, about 90 degrees to about 100 degrees, or about 100 degrees about 110 degrees. The pedal angle in the seated configuration can be in the range of about 15 to 45 degrees, about 20 to 40 degrees, or about 25 to about 35 degrees from the previous horizontal plane 516, for example.
[00139] In an elevated configuration like the one shown in Figure 5B, the seat cushion 506 is elevated in relation to the position in the seated configuration, and can also be reversed or previously tilted at an angle of at least -5 degrees, -7 degrees , -10 degrees or - 15 degrees, for example. The seat cushion 506 can also be retracted from the seat back 510 so that about 10% to 75%, about 25% to about 60%, about 40% to 55%, or at least 10 cm , 20 cm or 30 cm of the seat cushion 506 is positioned posterior to the plane of the seat backrest 510. The seat backrest 510 can be configured with an anterior angle in the range of about 80 degrees to about 110 degrees, about 90 degrees to about 105 degrees, about 90 degrees to about 100 degrees, or about 100 degrees to about 110 degrees. The angle of pedal 516 in the seated configuration can be in the range of about 0 to 30 degrees, about 0 to 15 degrees, or about 0 to about 7 degrees from the previous horizontal plane. The height of the seat cushion 506 can be adjusted so that the user's heel is in contact with the base, but in other variations, it can be configured so that the user's heels are above and not in contact with the base.
[00140] The horizontal distance of the display panel or screen assembly in the seated or elevated configuration can be in the range of about 50 cm to 150 cm, 50 cm to about 125 cm, or about 50 to about 100 cm . In Figures 5A and 5B, when the seat support (not shown) is tilted backwards, as in the example user console 200 in Figures 2A to 2C, as the seat height is increased, as shown in Figure 5B, the seat cushion seat 506, and the seat backrest 510 are also moved back and forth when seat assembly 518 is lowered. In this example, the screen assembly 208 can be moved in a posterior or anterior position by a distance equal to the horizontal offset of the seat assembly 518, but in other examples, the display panel 502 may not be moved, or may be moved by a different amount than the horizontal displacement of the 516 seat assembly. The height of the display panel (s) or screen frame in the seated or elevated configuration can be adjusted so that the upper edge of the panel (s) ) display or screen housing is at a relative height that is in the range of about +10 to -20 cm, +10 cm to -10 cm, about +5 cm to about -5 cm, about 0 cm about - 5 cm from the user's optical axis, depending on the size of the screen. In other variations, the height of the screen can be adjusted so that the user's optical axis is aligned by about 125% to 50%, about 125% to about 75%, about 110% to about 90%, about 100% to about 90% in relation to the bottom edge of the screen (0%) and the top edge of the screen (100%). The angle of inclination of the display panel (s) or the screen housing can be adjusted in a linear or non-linear manner to the angle of inclination of the backrest 510. In some examples, the angle of inclination of the screen may be in the relative range of about 0 degrees to about 15 degrees below the seatback angle 220. In other examples, the angle of inclination of the screen to the 90 degree axis can be shifted by a proportion of the angle deviation of the seat back from an axis of 105 degrees, for example, from about 50% to about 100% of the angle change in the seat back 510.
[00141] In a reclined configuration like the one shown in Figure 5C, the seat cushion 506 is in a retroverted orientation along the display panel 502. The degree of retroversion can be at least +5 degrees, +7 degrees, +10 degrees, +15 degrees, +20 degrees, +30 degrees, or +45 degrees for example, although the monitor can be tilted down by +5 degrees, +7 degrees, +10 degrees, +15 degrees or +20 degrees, for example. The seat back 510 can be configured with an anterior angle in the range of about 100 degrees to about 130 degrees, about 110 degrees to about 125 degrees, about 110 degrees to about 120 degrees, or about 120 degrees at about 130 degrees. The angle of pedal 516 in the reclined configuration can be in the range of about 10 to 40 degrees, about 10 to 25 degrees, or about 10 to about 20 degrees from the previous horizontal plane. In other examples, the angle of pedal 516 can be unchanged from the seated configuration. In some variations, due to spatial limitations or adjustment limitations of the user console 500, one or more changes to the seat configuration may also involve translational movement. For example, the reclined configuration, to perform the 506 retroversion of the seat cushion 506, the seat controller can be configured to perform a combination of translational and pivoting movements of the screen 502, the pedal set 504, seat cushion 506 and seat backrest 510. In Figure 5C, seat assembly 518 can be moved further down, and then the front edge 520 of seat cushion 506 is pivoted to achieve the final retroversion of seat cushion 506. The pedal set 504 can be previously moved and raised. Due to the user's rear displacement caused by the rear cushion of the seat cushion 506 and the rear tilt of the seat backrest 510, the screen 502 can be moved backwards and tilted downwards.
[00142] In some variations, adjustments between the seated configuration and a reclined configuration can maintain the relative position and orientation of the screen 502, the pedal set 503, the seat cushion 506 and the seat backrest 510, and use a combination of translation and angle changes within the mechanical adjustability ranges of the user console 500 to achieve a net rotation of the relative configuration of these components in space or in relation to gravity. The virtual axis of rotation of the relative configuration can be fixed along the reclining range, or can move in different reclining sub-ranges. For example, a part of the reclining strip may include a virtual axis of rotation generally located at the intersection of the seat cushion 506 and the seat backrest 510, while another part of the reclining strip may have a virtual axis of rotation located at or on the pedal set and / or at the base of the screen set. In some variations, as the degree of recline increases, the virtual or effective axis of rotation of the seat components can move continuously from a posterior location to an anterior location, as a result of limitations on the adjustability of the individual components. To control the degree of reclination, user console 200 can have a single reclining control, which coordinates the translational and angular movements of the screen 502, the pedal set 503, the seat cushion 506 and the seat back 510 to achieve the desired level of recline, while maintaining the desired relative configuration.
[00143] In another example of a user console, shown in Figures 27A to 27C, the user console comprises a curved base 2702 on which the screen set 2750 and the seat set 2710 are mounted, as on rails. The screen assembly 2750 and / or seat assembly 2710 can be moved along the curved base 2702 to allow changes in the angle of recline while simultaneously maintaining or changing the relative spacing and orientation of the screen assembly 2750 and the seat assembly 2710, as well as any foot operated control, such as a set of pedals (not shown) that is attached to the curved 2750 base.
[00144] Figures 6 and 7A show configurable configurable parameters or parameters for a user console configuration. As shown in Figure 6, the maximum adjustable height 530 of the base 532 to the midpoint or nominal mounting position 534 of the display panel (s) or the screen frame can be in the range of 150 cm to 160 cm , 155 cm to 180 cm, or 145 cm to 200 cm. In Figure 7A, the minimum adjustable height 536 from the base 532 to the nominal mounting position 534 can be in the range of about 90 cm to 110 cm, about 95 cm to 105 cm, about 80 cm to 110 cm, or about 70 cm to about 100 cm.
[00145] The horizontal separation distance 538 between the mounting position 534 of the screen and the vertical axis 540 that crosses the bottom of the seat back may have a minimum distance in the range of about 50 cm to 60 cm, about 45 cm at 65 cm, about 40 cm to 60 cm, and a maximum distance in the range of about 100 cm to about 110 cm, about 90 cm to about 120 cm, about 100 cm to about 150 cm, for example example. The maximum upward tilt angle 542 of the screen to the vertical axis, as shown in Figure 6, can be in the range of about 10 degrees to 20 degrees, about 10 degrees to about 30 degrees, or about 15 degrees at about 45 degrees. The minimum downward tilt angle 544 of the screen 502, as shown in Figure 7A can be in the range of about 10 degrees to 20 degrees, about 10 degrees to about 30 degrees, or about 15 degrees to about 45 degrees . The total adjustable tilt range for the screen can be in the range of about 20 degrees to 40 degrees, about 20 degrees to about 60 degrees, or about 30 degrees to about 90 degrees.
[00146] The maximum backward tilt 546 of the pedal set 504 from the base 532 can be in the range of about 20 degrees to 40 degrees, about 25 degrees to 45 degrees, or about 30 degrees to 50 degrees. The minimum backward slope can be a zero degree or horizontal orientation parallel to the base 532, as shown in Figure 7A, but in other variations, the minimum backward slope can be a non-zero angle that is less than about 7 degrees , less than about 5 degrees, or less than about 3 degrees. In other variations, the base may comprise a cavity or recess that may allow the pedal set to tilt previously below the surface of the base, within a range that may drop to about -5 degrees, about -10 degrees, or about -15 degrees below the base.
[00147] To accommodate different seat configurations, the pedal set 504 can be configured to be positioned movably along an axis of anteroposterior movement. In relation to the vertical axis 540 that crosses the front of the seat backrest 510, the minimum horizontal separation distance 548 to the rear edge of the pedal assembly 504 can be in the range of about 45 cm to 50 cm, about 40 cm to 55 cm, or about 35 cm to about 55 cm. The maximum horizontal separation distance 550 between the vertical axis 540 and the pedal set 504 can be in the range of about 90 cm to 95 cm, about 85 cm to 110 cm, or about 80 cm to 120 cm.
[00148] The seat cushion 506 can be configured with a minimum seat height 552, as measured from the base 532 to the central surface of the seat cushion 506, which is in the range of about 25 cm to 35 cm, about from 30 cm to about 50 cm, or about 20 cm to 60 cm. The maximum height of seat 554 can be in the range of about 60 cm to 80 cm, about 65 cm to 100 cm, or about 50 cm to about 120 cm. The maximum anteversion angle 556 from the horizontal plane, as shown in Figure 6, can be in the range of about 10 degrees to 20 degrees, about 15 degrees to 35 degrees, or about 15 degrees to 30 degrees. The typical retroversion angle in the reclined configuration can be about 5 degrees to 10 degrees, as shown in Figure 7A, but the maximum 558 retroversion angle can be in the range of about 10 degrees to 20 degrees, about 15 degrees to about 35 degrees, or about 15 degrees to about 30 degrees. The total angle adjustment range of the seat cushion 506 can be in the range of about 20 degrees to 40 degrees, about 30 degrees to about 50 degrees, about 25 degrees to about 45 degrees.
[00149] The seat backrest 510 can typically be in a retroverted position with respect to the vertical axis 540 of about -10 degrees, as shown in Figure 6, but it can have a maximum anterior angle 560 that is 0 degrees from the vertical axis 540, or can be configured with a maximum anterior angle of at least +5 degrees, +7 degrees or even +10 degrees. As shown in Figure 7A, the maximum retroversion angle 562 to the vertical axis 540 can be in the range of about 20 degrees to 40 degrees, about 30 degrees to about 60 degrees, or about 25 degrees to about 50 degrees.
[00150] In the seated and reclined configurations, the seat cushion 506 and the seat backrest 510 may be in a relative relationship, the rear portion of the seat cushion 506 and the lower seat backrest 510 being in contact or otherwise in its greater proximity to each other, as shown in Figure 7A. In the elevated configuration, as shown in Figure 6, the rear portion of the seat cushion 506 is displaced backwards with respect to the lower portion of the seat cushion 510 (or alternatively, the lower portion of the seat backrest 510 is displaced anteriorly with respect to the rear portion or the top surface of the seat cushion 506). The maximum posterior displacement 564 of the seat cushion 510 can be in the range of about 10 cm to 20 cm, about 15 cm to 30 cm, about 20 cm to 30 cm, or about 15 cm to about 40 cm or more.
[00151] Depending on the configuration of the seat assembly, the seat cushion 506 and the seat backrest 510 can be configured to rotate laterally. In some instances, this rotation can facilitate the user's entry and exit from the seat assembly. As shown in Figure 7B, the maximum lateral rotation amount 566, 568, as measured from the anteroposterior axis 570, can be in the range of about 45 degrees to 75 degrees, about 75 degrees to 120 degrees, about 90 degrees to about 140 degrees, or about 100 degrees to about 150 degrees. Although with many user consoles, the maximum amount of side rotation 566, 568 will be symmetrical for each side, in other examples, including, but not limited to, the asymmetric user consoles described below, the support can be asymmetric, and less or less not available, on the side with the asymmetric support.
[00152] Referring again to Figures 6 and 7A, the headrest 570 of the seat assembly, if any, is typically attached to the seat back 510 in a fixed configuration or an adjustable configuration, but in other examples, it can independently movable from the seat back. When attached to the backrest 510 as in Figures 6 and 7A, the headrest 570 moves in conjunction with the movements of the backrest 510, but can be configured for additional relative movement in relation to the backrest 510. For example , the headrest in Figures 6 and 7A is configured to be vertically extendable from the seat backrest 510, with a minimum distance of zero and a maximum extension distance 572 that is in the range of about 10 cm to 40 cm, about 15 cm to 50 cm, about 20 cm to about 60 cm or more. With respect to the longitudinal axis of the seat backrest 510, the headrest 570 can be configured with a maximum tilt-back angle of zero, but in some variations, it can be configured with a maximum tilt-back angle in the fence range from zero to -5 degrees, about zero to -10 degrees, about zero to -15 degrees or about zero to -30 degrees. The maximum forward tilt angle 574 can be in the range of about zero to 30 degrees, about 10 degrees to 30 degrees, about 15 degrees to about 45 degrees, for example.
[00153] The armrest 508 of the seat assembly can be attached to the seat cushion 506 or the seat backrest 510, and moves with the adjustments to these structures, but it can also be attached to a different structure from the user console 500, such as the seat frame (not shown) or the base 532, or the screen mount. In the examples, when armrest 508 moves with seat cushion 506 or seat frame, armrest 508 may have an adjustable vertical stripe with a minimum vertical distance 576 from the horizontal plane through the upper center of the seat cushion. seat 506 which is in the range of about 15 cm to 25 cm, about 20 cm to 25 cm, about 15 to 50 cm, or about 20 cm to 60 cm or more. The maximum vertical distance 578 can be in the range of about 30 cm to 50 cm, about 40 cm to about 70 cm, about 35 cm to about 80 cm, for example. The armrest 508 can have an adjustable horizontal band with a minimum horizontal distance 580, from an anterior surface of the seat backrest 510 to the horizontal center of the armrest 508, in the range of about 10 cm to 30 cm, about 15 cm to 25 cm, about 15 to 50 cm, or about 20 cm to 60 cm or more. The maximum horizontal distance 582 can be in the range of about 30 cm to 50 cm, about 40 cm to about 70 cm, about 35 cm to about 80 cm, for example. In additional examples, the armrest 508 can also be configured to rotate or tilt in the anteroposterior direction, with an anterior or maximum forward angle 584 of about 10 degrees to 20 degrees, about 15 degrees to 30 degrees, or about 15 degrees to 45 degrees. The maximum rear or rear angle can be zero, or in the range of about zero to 10 degrees, about zero to 15 degrees, about 5 degrees to 30 degrees, or about 10 degrees to about 45 degrees.
[00154] Referring again to Figure 7B, the user console 500 has a width of 586 which is in the range of about 90 cm to 100 cm, about 80 cm to about 120 cm, or about 90 cm to about 150 cm or more. The length 588 can be in the range of about 150 cm to 200 cm, about 160 cm to about 250 cm, or about 160 cm to about 180 cm. The size of the user console can facilitate the positioning of the user console 500 in an operating room or procedure, or through the door (s) of that room or suite.
[00155] The configurations described above for seated, reclined and elevated user console configurations can be further illustrated with reference to Figures 9 to 11. User console seat assembly 900 in Figures 9A to 9E is in a seated configuration. When the seat assembly is moved to an elevated configuration, as shown in Figures 11A to 11E, the seat frame 916 moves up and down to the inclined seat support. When compensation for these adjustments is desired, the monitor holder 906 can, for example, move backwards in relation to the base, and the monitor 950 can move higher up in relation to the support of the screen 906. The pedal set 904 can also move backwards and can tilt down for a more level / horizontal orientation, to better ergonomically orient the user's raised or almost vertical pose. The seat cushion is retracted in relation to the seat frame and the seat back, and can rotate for a more reversed orientation. The headrest padding can also move over the seat back, and the armrests are moved higher than the seat assembly. The support arm of the immersive screen can also be moved upwards in relation to the seat assembly, as by articulated adjustments placed manually or actuated from the connections along the support arm of the immersive screen.
[00156] Figures 10A to 10E represent user console 900 in the reclined configuration. Here, the seat frame 916 has been moved down and forward to the tilted back seat support 914, with a substantial portion of the seat support above the opening of the seat frame 916. The seat cushion is in a retracted position and the seat backrest tilted backwards with the seat backrest, so that the seat support is substantially residing in the seatback cavity. The headrest padding can be moved downwards towards the seatback padding. The armrests were tilted back with the seat back. Because of the retroversion of the seat cushion, the user can sit deeper and lower in the carcass on the seat and in relation to the seat back, compared to the seated configuration in the seat assembly. In some variations, the support arm of the 960 immersive screen can, in general, maintain an orientation parallel to the base of the user console (for example, horizontal and parallel to the floor, if the base is horizontal). In some variations, the immersive screen 960 can tilt down, for example, to maintain an orthogonal optical view for the user to view the immersive screen 960. Alternatively, in some variations, the proximal portion of the support arm of the immersive screen 960 (eg example, the portion attached to the seat back) can be moved to a lower position so that the support arm tilts back similarly to the armrests. On this user console, the 940 screen may or may not be configured to tilt down to maintain a viewing plane more orthogonal to the user's optical axis. The screen support can be moved further back to maintain or partially compensate for any change in distance along the user's optical axis resulting from the reclining angle of the seat back. In other examples, the previous displacement of the seat frame below the seat support and the subsequent movement of the seat backrest are not performed, as if the previous displacement of the seat frame below the seat support was sufficient to maintain the distance desired display. When the screen support is moved backwards, the screen support can be configured with a central opening between the side support legs to accommodate the pedal set. The pedal assembly can be tilted back to accommodate the user's reclining angle in the seat assembly. Security features
[00157] The user console can also be equipped with a "locking" feature, in which the user console can automatically determine if a user is on the user console and ready to perform a surgical procedure via the user console. In response to this determination, the user console can automatically enable or disable controls. The user console can include one or more sensors configured to detect the presence or absence of a user in the seat assembly. For example, such a sensor may be arranged on and / or around the seat assembly (for example, on the seat cushion, seat backrest, headrest, etc.) and include a pressure sensor configured to measure the weight on the seat set, where a pressure measurement beyond a threshold value indicates the presence of a user on the user console. As another example, an IR sensor can be configured to measure the heat applied to the seat assembly, where a temperature measurement beyond a threshold value indicates the presence of a user on the user console. As another example, an optical sensor can be configured to detect an interruption or stop in a beam of light directed through the user console, where the beam interruption indicates the presence of a user on the user console. Another example of such sensors is an optical sensor (for example, on the monitor, auxiliary screen, immersive screen, etc.) configured to apply an eye tracking algorithm to determine the presence of a user ready to operate the user console controls. In addition, in some variations, the presence of a user in the seat set can be determined by receiving a voice command (for example, by an authorized user), performing voice or facial recognition, receiving a login ID approved user, etc.
[00158] Certain manipulations of the user of the user console can also indicate the presence of the user. For example, as shown in Figures 26A to 26C, the user console can have a side entry configuration, in which a user can approach an outward-facing swivel seat assembly (Figure 26D) to enter the user console. The user can then rotate the seat assembly to a centralized orientation (Figure 26B) facing the front of the user console. In this example, the seat set can be equipped with a switch or other sensor configured to detect when the seat set rotates and transitions to centralized orientation, after which the controls for remotely operating the surgical instrument can be activated. Other deliberate user actions (for example, picking up user interface devices, engaging the pedal set, pressing a start button, etc.) can also trigger the activation of the controls. Conversely, opposite actions (rotating the seat assembly outward, lowering the user interface devices, etc.) can trigger the controls to lock.
[00159] The user console may additionally or alternatively include one or more sensors configured to detect the competence of a user in the seat set, in order to verify that the user who operates the surgical instrument is sufficiently rested and / or sober. For example, an optical sensor to perform eye tracking, as described above, can be used to predict whether a user has not slept well or is fatigued (for example, based on eye movement, blink rate, etc.). As another example, pressure sensors like those described above can be used to detect sudden displacements or rapid changes in weight distribution in the seat assembly, which can indicate a medical emergency, such as a user's seizure. In addition, a chemical sensor (for example, breath analyzer) can be included to check sobriety based on traces of ethanol and the like. These types of events can, for example, trigger at least one audible / visible alarm or other warning, and / or a blocking of controls to protect the patient who is undergoing a surgical procedure.
[00160] The aforementioned description, for purposes of explanation, used specific nomenclature to provide a complete understanding of the invention. However, it will be apparent to the person skilled in the art that specific details are not required to practice the invention. Accordingly, the aforementioned descriptions of specific embodiments of the invention are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms revealed; obviously, many modifications and variations are possible in view of the above teachings. The modalities were chosen and described to better explain the principles of the invention and its practical applications, thus allowing other technicians in the subject to make better use of the invention and various modalities with various modifications, as they are suitable for the specific use contemplated. The following claims and equivalents are intended to define the scope of the invention.

权利要求:
Claims (24)
[0001]
1. User console (100) for controlling a remote robotic surgical instrument, characterized by the fact that it comprises: an adjustable ergonomic seat set (518) comprising a seat cushion (506), the seat set (518) ) is configurable between a seated configuration and an elevated configuration, with the seat cushion (506) having a higher forward position in the elevated configuration than in the seated configuration; a screen (503) configured to receive surgical information in real time; and one or more controls (104, 106, 340) to remotely control the robotic instrument, the screen (503) or the one or more controls (104, 106, 340) having multiple positions and changing positions automatically according to a seat profile associated with at least one user.
[0002]
2. User console according to claim 1, characterized by the fact that the screen (503) or the one or more controls (104, 106, 340) are in a higher position when the seat assembly (518) is in the elevated configuration than when the seat assembly (518) is in the seated configuration.
[0003]
User console according to claim 1, characterized in that the seat assembly (518) additionally comprises a seat backrest (510) with multiple angular positions in relation to the seat cushion (506).
[0004]
4. User console according to claim 3, characterized in that a rear end of the seat cushion (506) is more posterior than a lower end of the seat back (510) when the seat assembly (518) is in the elevated configuration than when the seat assembly (518) is in the seated configuration.
[0005]
5. User console according to claim 4, characterized by the fact that it also comprises a headrest (224, 570) coupled to the seat back (510).
[0006]
6. User console according to claim 1, characterized by the fact that the seat assembly (518) is additionally configurable in a reclined configuration.
[0007]
7. User console, according to claim 1, characterized by the fact that the screen (503) or the one or more controls (104, 106, 340) change positions automatically according to any one of a plurality of profiles seats associated with a plurality of users.
[0008]
8. User console according to claim 1, characterized by the fact that the one or more controls (104, 106, 340) comprise a portable user interface device (106).
[0009]
9. User console according to claim 8, characterized by the fact that it also comprises a docking station (1442, 1512) configured to releasably retain the portable user interface device (106).
[0010]
10. User console, according to claim 1, characterized by the fact that it also comprises at least one armrest (508) coupled to the seat assembly (518).
[0011]
11. User console according to claim 10, characterized by the fact that the armrest (508) has multiple positions and changes position automatically according to the seat profile.
[0012]
12. User console according to claim 10, characterized by the fact that the armrest (508) is in a higher position in relation to the seat cushion when the seat assembly (518) is in the elevated configuration of the than when the seat set is in the seated configuration.
[0013]
13. User console, according to claim 1, characterized by the fact that it additionally comprises a control panel (234) to receive information from the user.
[0014]
14. User console according to claim 1, characterized by the fact that the screen (503) comprises an open screen.
[0015]
15. User console according to claim 1, characterized by the fact that the screen (503) comprises an immersive screen.
[0016]
16. User console, according to claim 1, characterized by the fact that the screen (503) or the one or more controls (104, 106, 340) change positions automatically according to a type of surgical procedure.
[0017]
17. User console, according to claim 1, characterized by the fact that the position of the screen (503) or one or more controls (104, 106, 340) is manually adjustable.
[0018]
18. User console, according to claim 1, characterized by the fact that it also comprises a console controller configured to detect the presence or absence of a user in the user console (100).
[0019]
19. User console according to claim 18, characterized by the fact that the console controller detects the presence or absence of a user based on an eye tracking algorithm.
[0020]
20. User console, according to claim 18, characterized by the fact that the console controller detects the presence or absence of a user based on at least one sensor on the user console (100).
[0021]
21. User console, according to claim 20, characterized by the fact that the console controller detects the presence or absence of a user based on at least one pressure sensor on the user console (100).
[0022]
22. User console according to claim 18, characterized by the fact that the one or more controls are disabled in response to the detection by the console controller of the absence of a user.
[0023]
23. User console, according to claim 1, characterized by the fact that it also comprises wheels (2847) coupled to the seat assembly.
[0024]
24. User console according to claim 1, characterized by the fact that at least one of the seat set (518) and the one or more controls (104, 106, 340) provides tactile feedback to a user on the console user.

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US20220079694A1|2022-03-17|Adjustable user console for a surgical robotic system

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AU2015413611A1|2018-05-17|Mobile patient bed

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WO2020092170A1|2020-05-07|Surgical robotic system

同族专利:

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公开号 | 公开日

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AU2020201561A1|2020-03-19|

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EP3515350A4|2020-05-27|

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CA3035251C|2021-06-29|

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US10568704B2|2020-02-25|

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AU2020201561B2|2020-10-29|

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US20200222124A1|2020-07-16|

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US20200214773A1|2020-07-09|

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KR20190043140A|2019-04-25|

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WO2018057814A1|2018-03-29|

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JP6811848B2|2021-01-13|

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CA3035251A1|2018-03-29|

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EP3515350A1|2019-07-31|

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AU2017330370B2|2019-12-05|

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JP2019528838A|2019-10-17|

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US10568703B2|2020-02-25|

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BR112019004136A2|2019-07-16|

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CN108472097A|2018-08-31|

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AU2017330370A1|2019-03-07|

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US20180078319A1|2018-03-22|

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KR102216350B1|2021-02-18|

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US20180078034A1|2018-03-22|

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法律状态:
2020-05-19| B07A| Technical examination (opinion): publication of technical examination (opinion) [chapter 7.1 patent gazette]|

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2020-11-03| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2020-12-15| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 21/09/2017, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US201662397823P| true| 2016-09-21|2016-09-21|

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US62/397,823|2016-09-21|

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PCT/US2017/052824|WO2018057814A1|2016-09-21|2017-09-21|User console system for robotic surgery|

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