spatial recognition of central surgical controller to determine operating room devices

专利摘要:
The present invention relates to a surgical instrument. The central surgical controller includes a processor and a memory attached to the processor. The memory stores instructions executable by the processor to receive first image data from a first image sensor, the first image data representing a first field of view, receiving second image data from a second image sensor, the second image data representing a second field of view, and showing, on a screen coupled to the processor, a first image being rendered from the first image data corresponding to the first field of view and a second image rendered from second image data corresponding to the second field of view.
公开号:BR112020012604A2
申请号:R112020012604-7
申请日:2018-07-30
公开日:2020-11-24
发明作者:Frederick E. Shelton Iv；David C. Yates；Jason L. Harris；Daniel E. Alesi
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] The present application claims priority under 35 U.S.C. 119 (e) to US provisional patent application No. 62 / 649,309, entitled
[0002] [0002] The present application claims priority under 35 USC 119 (e) to US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, to the provisional patent application US serial number 62 / 611,340, entitled CLOUD-BASED MEDICAL ANALYTICS, filed on December 28, 2017, and provisional patent application US serial number 62 / 611,339, entitled ROBOT ASSISTED SURGICAL PLATFORM, filed on December 28 2017, with the disclosure of each of which is incorporated herein by reference, in its entirety. BACKGROUND
[0003] [0003] The present disclosure refers to several surgical systems. Surgical procedures are typically performed in operating or operating rooms at a health facility, such as a hospital. A sterile field is typically created around the patient. The sterile field may include members of the brushing team, who are properly dressed, and all furniture and accessories in the area. Various surgical devices and systems are used to perform a surgical procedure. SUMMARY
[0004] [0004] In a general aspect, a central surgical controller is provided. The central surgical controller comprises a processor; and a memory attached to the processor, the memory stores instructions executable by the processor to: receive data from the first image from a first image sensor, with the data from the first image representing a first field of view; receiving data from the second image from a second image sensor, the data from the second image representing a second field of view; and showing, on a screen coupled to the processor, a first image rendered from the data of the first image that corresponds to the first field of view and a second image rendered from the data of the second image that corresponds to the second field of view.
[0005] [0005] In another general aspect, a central surgical controller is provided. The central surgical controller comprises a processor; and a memory attached to the processor, the memory stores instructions executable by the processor to: detect a surgical device connection with the central surgical controller; transmitting a control signal to the detected surgical device to transmit to the surgical parameter data of the central surgical controller associated with the detected surgical device; receive the surgical parameter data from the detected surgical device; receiving image data from an image sensor; and show, on a screen coupled to the central surgical controller, a rendered image based on the image data received from the image sensor together with the surgical parameter data received from the surgical device.
[0006] [0006] In another general aspect, a central surgical controller is provided. The central surgical controller comprises a control circuit configured to: detect a surgical device connection with the central surgical controller; transmitting a control signal to the detected surgical device to transmit to the surgical parameter data of the central surgical controller associated with the detected surgical device; receive the surgical parameter data of the detected surgical device; receiving image data from an image sensor; and show, on a screen coupled to the central surgical controller, an image received from the image sensor together with the surgical parameter data received from the surgical device.
[0007] [0007] In another general aspect, a computer-readable non-transitory medium is provided. The computer-readable, non-transitory media stores computer-readable instructions that, when executed, make the machine: detect a surgical device connection with the central surgical controller; transmitting a control signal to the detected surgical device to transmit to the surgical parameter data of the central surgical controller associated with the detected surgical device; receive the surgical parameter data of the detected surgical device; receiving image data from an image sensor; and show, on a screen coupled to the central surgical controller, an image received from the image sensor together with the surgical parameter data received from the surgical device.
[0008] [0008] In another general aspect, a computer-readable non-transitory medium is provided. The computer-readable non-transitory media stores computer-readable instructions that, when executed, make a machine: receiving data from the first image from a first image sensor, the data from the first image representing a first field of view ; receiving data from the second image from a second image sensor, the data from the second image representing a second field of view; and show, on a screen coupled to the central surgical controller, a first image that corresponds to the first field of view and a second image that corresponds to the second field of view. FIGURES
[0009] [0009] The appeals of several aspects are presented with particularity in the attached claims. The various aspects, however, with regard to both the organization and the methods of operation, together with additional objects and advantages of the same, can be better understood in reference to the description presented below, considered together with the attached drawings as follows.
[0010] [0010] Figure 1 is a block diagram of an interactive surgical system implemented by computer, in accordance with at least one aspect of the present disclosure.
[0011] [0011] Figure 2 is a surgical system being used to perform a surgical procedure in an operating room, in accordance with at least one aspect of the present disclosure.
[0012] [0012] Figure 3 is a central surgical controller paired with a visualization system, a robotic system, and an intelligent instrument, in accordance with at least one aspect of the present disclosure.
[0013] [0013] Figure 4 is a partial perspective view of a compartment of the central surgical controller, and of a generator module in combination received slidingly in a compartment of the central surgical controller, according to at least one aspect of this disclosure.
[0014] [0014] Figure 5 is a perspective view of a generator module in combination with bipolar, ultrasonic and monopolar contacts and a smoke evacuation component, in accordance with at least one aspect of the present disclosure.
[0015] [0015] Figure 6 illustrates different power bus connectors for a plurality of side coupling ports of a side modular cabinet configured to receive a plurality of modules, in accordance with at least one aspect of the present disclosure.
[0016] [0016] Figure 7 illustrates a vertical modular cabinet configured to receive a plurality of modules, according to at least one aspect of the present disclosure.
[0017] [0017] Figure 8 illustrates a surgical data network that comprises a central modular communication controller configured to connect modular devices located in one or more operating rooms of a health care facility, or any environment in a installation of public services specially equipped for surgical operations, to the cloud, in accordance with at least one aspect of this disclosure.
[0018] [0018] Figure 9 illustrates an interactive surgical system implemented by computer, in accordance with at least one aspect of the present disclosure.
[0019] [0019] Figure 10 illustrates a central surgical controller that comprises a plurality of modules coupled to the modular control tower, according to at least one aspect of the present disclosure.
[0020] [0020] Figure 11 illustrates an aspect of a universal serial bus (USB) network central controller device, in accordance with at least one aspect of the present disclosure.
[0021] [0021] Figure 12 illustrates a logical diagram of a control system for an instrument or surgical tool, according to at least one aspect of the present disclosure.
[0022] [0022] Figure 13 illustrates a control circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure.
[0023] [0023] Figure 14 illustrates a combinational logic circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure.
[0024] [0024] Figure 15 illustrates a sequential logic circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure.
[0025] [0025] Figure 16 illustrates an instrument or surgical tool that comprises a plurality of motors that can be activated to perform various functions, according to at least one aspect of the present disclosure.
[0026] [0026] Figure 17 is a schematic diagram of a robotic surgical instrument configured to operate a surgical tool described therein, in accordance with at least one aspect of the present disclosure.
[0027] [0027] Figure 18 illustrates a block diagram of a surgical instrument programmed to control the distal translation of the displacement member, according to one aspect of the present disclosure.
[0028] [0028] Figure 19 is a schematic diagram of a surgical instrument configured to control various functions, in accordance with at least one aspect of the present disclosure.
[0029] [0029] Figure 20 is a simplified block diagram of a generator configured to provide adjustment without inductor, among other benefits, in accordance with at least one aspect of the present disclosure.
[0030] [0030] Figure 21 illustrates an example of a generator, which is a form of the generator of Figure 20, according to at least one aspect of the present disclosure.
[0031] [0031] Figure 22 illustrates a diagram of a surgical instrument centered on a linear clamp transection line that makes use of the benefit of tools and centralization techniques described in connection with Figures 23 to 35, according to at least an aspect of this disclosure.
[0032] [0032] Figures 23 to 25 illustrate a process of aligning an anvil trocar from a circular stapler to a staple overlap portion of a linear staple line created by a double stapling technique, according to at least an aspect of this disclosure, where:
[0033] [0033] Figure 23 illustrates an anvil trocar of a circular stapler that is not aligned with a staple overlap portion of a linear staple line created by a double stapling technique;
[0034] [0034] Figure 24 illustrates an anvil trocar of a circular stapler that is aligned with the center of the staple overlap portion of the linear staple line created by a double stapling technique; and
[0035] [0035] Figure 25 illustrates a centering tool shown on a screen of the central surgical controller that shows a clamp overlap portion of a linear clamp line created by a double stapling technique to be cut out by a clamp - circular saw, where the anvil trocar is not aligned with the staple overlapping portion of the double staple line as shown in Figure 23.
[0036] [0036] Figures 26 and 27 illustrate an image before and an image after a centralization tool, according to at least one aspect of the present disclosure, where:
[0037] [0037] Figure 26 illustrates an image of a projected cutting path of an anvil trocar and a circular knife prior to alignment with the target alignment ring that circumscribes the image of the linear staple line over the image of the portion of overlapping staples presented on a central surgical controller screen; and
[0038] [0038] Figure 27 illustrates an image of a projected cutting path of an anvil trocar and a circular knife after alignment with the target alignment ring that circumscribes the image of the linear staple line over the image of the portion of clamp overlay presented on a central surgical controller screen.
[0039] [0039] Figures 28 to 30 illustrate a process of aligning an anvil trocar of a circular stapler to a center of a linear staple line, according to at least one aspect of the present disclosure, where:
[0040] [0040] Figure 28 illustrates the anvil trocar out of alignment with the center of the linear staple line;
[0041] [0041] Figure 29 illustrates the anvil trocar in alignment with the center of the linear staple line; and
[0042] [0042] Figure 30 illustrates a centering tool shown on a screen of the central surgical controller of a linear staple line, where the anvil trocar is not aligned with the staple overlap portion of the double staple line as shown in Figure 28.
[0043] [0043] Figure 31 is an image of a standard lattice field view of a linear staple line transection of a surgical instrument as seen through a laparoscope shown on the screen of the central surgical controller, according to at least one aspect of this disclosure.
[0044] [0044] Figure 32 is an image of a laser-assisted reticle field of view of the surgical site shown in Figure 31 before the anvil tro-carte and circular stapler knife are aligned to the center of the linear staple line , in accordance with at least one aspect of this disclosure.
[0045] [0045] Figure 33 is an image of a laser-assisted reticle field of view of the surgical site shown in Figure 32 after the anvil trocar and circular circular stapler knife are aligned to the center of the linear staple line , in accordance with at least one aspect of this disclosure.
[0046] [0046] Figure 34 illustrates an inductive non-contact sensor implementation of a non-contact sensor to determine an anvil trocar location in relation to the center of a staple line transection, in accordance with at least one aspect of the present disclosure. dog.
[0047] [0047] Figures 35A and 35B illustrate an aspect of a non-contact capacitive sensor implementation of the non-contact sensor to determine an anvil trocar location in relation to the center of a staple line transection, according to at least one aspect of this disclosure, where:
[0048] [0048] Figure 35A shows the non-contact capacitive sensor without a nearby metal target; and
[0049] [0049] Figure 35B shows the non-contact capacitive sensor next to a metal target.
[0050] [0050] Figure 36 is a logic flow diagram of a process that represents a control program or a logical configuration for aligning a surgical instrument, according to at least one aspect of the present disclosure.
[0051] [0051] Figure 37 illustrates a primary screen of the central surgical controller comprising a local and global screen, according to at least one aspect of the present disclosure.
[0052] [0052] Figure 38 illustrates a primary screen of the central surgical controller, in accordance with at least one aspect of the present disclosure.
[0053] [0053] Figure 39 illustrates a pressure stabilization sequence for a period of five seconds, according to at least one aspect of the present disclosure.
[0054] [0054] Figure 40 illustrates a diagram of four wide-angle images separated from a surgical site at four separate moments during the procedure, according to at least one aspect of the present disclosure.
[0055] [0055] Figure 41 is a graph of tissue deformation hold stabilization curves for two types of tissue, according to at least one aspect of the present disclosure.
[0056] [0056] Figure 42 is a time-dependent proportional filling graph of a grip force stabilization curve, according to at least one aspect of the present disclosure.
[0057] [0057] Figure 43 is a graph of the tissue deformation role in the grip strength stabilization curve, according to at least one aspect of the present disclosure.
[0058] [0058] Figures 44A and 44B illustrate two graphs to determine when the trapped tissue has reached deformation stability, according to at least one aspect of the present disclosure, where:
[0059] [0059] Figure 44A illustrates a curve that represents a tangent vector angle dθ as a function of time; and
[0060] [0060] Figure 44B illustrates a curve that represents a change in force to close (∆FTC - force-to-close) as a function of time.
[0061] [0061] Figure 45 illustrates an example of an enlarged video image of an enlarged preoperative video image with data identifying elements shown, in accordance with at least one aspect of the present disclosure.
[0062] [0062] Figure 46 is a logic flow diagram of a process that represents a control program or a logical configuration for displaying images, according to at least one aspect of the present disclosure.
[0063] [0063] Figure 47 illustrates a communication system that comprises an intermediate signal combiner positioned in the communication path between an imaging module and a screen of the central surgical controller, in accordance with at least one aspect of the present disclosure. .
[0064] [0064] Figure 48 illustrates an independent interactive headset used by a surgeon to communicate data to the central surgical controller, according to one aspect of the present disclosure.
[0065] [0065] Figure 49 illustrates a method for controlling the use of a device, in accordance with at least one aspect of the present disclosure, in accordance with at least one aspect of the present disclosure.
[0066] [0066] Figure 50 illustrates a surgical system that includes a handle that has a controller and a motor, an adapter releasably coupled to the handle and a loading unit releasably coupled to the adapter, according to at least one aspect of this disclosure.
[0067] [0067] Figure 51 illustrates an automated endoscopic camera positioning system for optimal positioning (AE-SOP - Automated Endoscopic System for Optimal Positioning), in accordance with at least one aspect of this disclosure.
[0068] [0068] Figure 52 illustrates a multifunctional surgical control system and a switching interface for integration of the virtual operating room, according to at least one aspect of the present disclosure.
[0069] [0069] Figure 53 illustrates a diagram of a combined beam detector and beam source system used as a device control mechanism in an operating room, in accordance with at least one aspect of the present disclosure.
[0070] [0070] Figures 54A to E illustrate various types of data entry and sterile field control consoles, in accordance with at least one aspect of the present disclosure, where:
[0071] [0071] Figure 54A illustrates a single zone sterile field input and control console;
[0072] [0072] Figure 54B illustrates a data entry console and sterile field control of multiple zones;
[0073] [0073] Figure 54C illustrates a data entry console and anchored sterile field control;
[0074] [0074] Figure 54D illustrates a battery operated sterile field input and control console; and
[0075] [0075] Figure 54E illustrates a battery operated sterile field input and control console.
[0076] [0076] Figures 55A to 55B illustrate a sterile field console in use in a sterile field during a surgical procedure, in accordance with at least one aspect of the present disclosure, where:
[0077] [0077] Figure 55A shows the sterile field console positioned in the sterile field next to two surgeons involved in an operation; and
[0078] [0078] Figure 55B shows one of the surgeons touching the touch screen of the sterile field console.
[0079] [0079] Figure 56 illustrates a process for accepting consultation feed streams from another operating room, in accordance with at least one aspect of this disclosure.
[0080] [0080] Figure 57 illustrates a standard technique for estimating vessel trajectory and depth and device trajectory, according to at least one aspect of the present disclosure.
[0081] [0081] Figures 58A to 58D illustrate multiple real-time views of images of a virtual anatomical detail for dissection, according to at least one aspect of the present disclosure, where:
[0082] [0082] Figure 58A is a perspective view of the virtual anatomical detail;
[0083] [0083] Figure 58C is a side view of the virtual anatomical detail;
[0084] [0084] Figure 58B is a perspective view of the virtual anatomical detail; and
[0085] [0085] Figure 58D is a side view of the virtual anatomical detail.
[0086] [0086] Figures 59A and 59B illustrate a touch screen that can be used in the sterile field, according to at least one aspect of the present disclosure, where:
[0087] [0087] Figure 59A illustrates an image of a surgical site shown on a touchscreen in portrait mode;
[0088] [0088] Figure 59B shows the touchscreen rotated in landscape mode and the surgeon uses his index finger to scroll the image in the direction of the arrows;
[0089] [0089] Figure 59C shows the surgeon using his index finger and thumb to open the image by pinching in the direction of the arrows to zoom in;
[0090] [0090] Figure 59D shows the surgeon using his index finger and thumb to close the image by pinching in the direction of the arrows to decrease the zoom; and
[0091] [0091] Figure 59E shows the touch screen rotated in two directions indicated by arrows to allow the surgeon to see the image in different orientations.
[0092] [0092] Figure 60 illustrates a surgical site using an intelligent retractor that comprises a direct interface control for a central surgical controller, according to at least one aspect of this disclosure.
[0093] [0093] Figure 61 illustrates a surgical site with an intelligent flexible adhesive screen attached to a patient's body, in accordance with at least one aspect of the present disclosure.
[0094] [0094] Figure 62 is a logic flow diagram of a process that represents a control program or a logical configuration to communicate from the inside of a sterile field to a device located outside the sterile field, according to the least one aspect of this disclosure.
[0095] [0095] Figure 63 illustrates a system for performing surgery, in accordance with at least one aspect of the present disclosure.
[0096] [0096] Figure 64 illustrates a second layer of information overlapping a first layer of information, in accordance with at least one aspect of the present disclosure.
[0097] [0097] Figure 65 represents a perspective view of a surgeon using a surgical instrument that includes a handle assembly cabinet and a wireless circuit board during a surgical procedure, with the surgeon wearing a set safety glasses, in accordance with at least one aspect of the present disclosure.
[0098] [0098] Figure 66 is a schematic diagram of a feedback control system to control a surgical instrument, in accordance with at least one aspect of the present disclosure.
[0099] [0099] Figure 67 illustrates a feedback controller that includes an on-screen display module and a heads up display (HUD) module, in accordance with at least one aspect of this disclosure.
[0100] [0100] Figure 68 is a timeline representing the situational recognition of a central surgical controller, in accordance with at least one aspect of the present disclosure. DESCRIPTION
[0101] [0101] The applicant for this application holds the following provisional US patent applications, filed on March 28, 2018, each of which is incorporated herein by reference in its entirety: • US provisional patent application no. serial 62 / 649,302, entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES; • US provisional patent application serial number 62 / 649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RE- CORDS AND CREATE ANONYMIZED RECORD; • US provisional patent application serial number 62 / 649,300, entitled SURGICAL HUB SITUATIONAL AWARENESS;
[0102] [0102] The applicant for this application holds the following US patent applications, filed on March 29, 2018, each of which is incorporated herein by reference in its entirety: • US Patent Application Serial No., entitled INTERAC-
[0103] [0103] The applicant for this application holds the following US patent applications, filed on March 29, 2018, each of which is incorporated herein by reference in its entirety: • US Patent Application Serial No., entitled ADAPTIVE CONTRROL PROGRAM UPDATES FOR SURGICAL DEVICES; Attorney document number END8506USNP / 170773; • US patent application serial number, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS; Attorney document number END8506USNP1 / 170773-1; • US patent application serial number, entitled CLOUD-BA-SED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER; Attorney document number END8507USNP / 170774; • US patent application serial number, entitled CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA
[0104] [0104] The applicant for this application holds the following US patent applications, filed on March 29, 2018, each of which is incorporated herein by reference in its entirety: • US Patent Application Serial No., entitled DRIVE ARRAN- GEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; Attorney document number END8511USNP / 170778; • US patent application serial number, entitled COMMUNICATION-ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLAT-FORMS; Attorney document number END8511USNP1 / 170778-1; • US patent application serial number, entitled CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; Attorney document number END8511USNP2 / 170778-2; • US patent application serial number, entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLAT-FORMS; Attorney document number END8512USNP / 170779;
[0105] [0105] Before explaining in detail the various aspects of surgical instruments and generators, it should be noted that the illustrative examples are not limited, in terms of application or use, to the details of construction and arrangement of parts illustrated in the drawings and in the attached description. Illustrative examples can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. Furthermore, except where otherwise indicated, the terms and expressions used in the present invention were chosen for the purpose of describing illustrative examples for the convenience of the reader and not for the purpose of limiting it. In addition, it will be recognized that one or more of the aspects, expressions of aspects and / or examples described below can be combined with any one or more among the other aspects, expressions of aspects and / or examples described below.
[0106] [0106] Referring to Figure 1, a computer-implemented interactive surgical system 100 includes one or more surgical systems 102 and a cloud-based system (for example, cloud 104 which may include a remote server 113 attached to a device storage 105). Each surgical system 102 includes at least one central surgical controller 106 in communication with the cloud 104 which can include a remote server 113. In one example, as illustrated in Figure 1, surgical system 102 includes a display system 108, a robotic system 110, a smart handheld surgical instrument 112, which are configured to communicate with each other and / or the central controller 106. In some respects, a surgical system 102 may include an M number of central controllers 106 , an N number of visualization systems 108, an O number of robotic systems 110, and a P number of smart, hand-held surgical instruments 112, where M, N, O, and P are integers greater than or equal to one .
[0107] [0107] Figure 3 represents an example of a surgical system 102 being used to perform a surgical procedure on a patient who is lying on an operating table 114 in a surgical operating room 116. A robotic system 110 is used in surgical procedure as a part of the surgical system 102. The robotic system 110 includes a surgeon console 118, a patient car 120 (surgical robot), and a surgical robotic central controller 122. The patient car 120 can handle at least one surgical tool coupled in a removable way 117 through a minimally invasive incision in the patient's body while the surgeon sees the surgical site through the surgeon's console 118. An image of the surgical site can be obtained by a medical imaging 124, which can be manipulated by patient car 120 to guide imaging device 124. Robotic central controller 122 can be used to process patient images surgical site for subsequent display to the surgeon through the surgeon's console 118.
[0108] [0108] Other types of robotic systems can be readily adapted for use with the surgical system 102. Several examples of robotic systems and surgical instruments that are suitable for use with the present disclosure are described in provisional patent application no. 62 / 611,339, entitled ROBOT ASSISTED SURGICAL PLAT-FORM, filed on December 28, 2017, whose disclosure is hereby incorporated by reference in its entirety.
[0109] [0109] Several examples of cloud-based analysis that are performed by the cloud 104, and are suitable for use with the present disclosure, are described in US provisional patent application serial number 62 / 611.340, entitled CLOUD -BASED MEDICAL ANALYTICS, deposited on December 28, 2017, whose disclosure is hereby incorporated by reference, in its entirety.
[0110] [0110] In several respects, imaging device 124 includes at least one image sensor and one or more optical components. Suitable image sensors include, but are not limited to, Charge-Coupled Device (CCD) sensors and complementary metal oxide semiconductor sensors (CMOS - Complementary Metal-Oxide Semiconductor).
[0111] [0111] The optical components of the imaging device 124 may include one or more light sources and / or one or more lenses. One or more light sources can be directed to illuminate portions of the surgical field. The one or more image sensors can receive reflected or refracted light from the surgical field, including reflected or refracted light from the tissue and / or surgical instruments.
[0112] [0112] One or more light sources can be configured to radiate electromagnetic energy in the visible spectrum, as well as in the invisible spectrum. The visible spectrum, sometimes called the optical spectrum or light spectrum, is that portion of the electromagnetic spectrum that is visible to (that is, can be detected by) the human eye and can be called visible light or simply light. A typical human eye will respond to wavelengths in the air that are from about 380 nm to about 750 nm.
[0113] [0113] The invisible spectrum (that is, the non-luminous spectrum) is that portion of the electromagnetic spectrum located below and above the visible spectrum (that is, wavelengths below about 380 nm and above about 750 nm). The invisible spectrum is not detectable by the human eye. Wavelengths greater than about 750 nm are longer than the visible red spectrum, and they become invisible infrared (IR), microwaves, radio and electromagnetic radiation. Wavelengths shorter than about 380 nm are shorter than the ultraviolet spectrum, and they become invisible ultraviolet, x-ray, and gamma-ray electromagnetic radiation.
[0114] [0114] In several respects, the imaging device 124 is configured for use in a minimally invasive procedure. Examples of imaging devices suitable for use with the present disclosure include, but are not limited to, an arthroscope, angioscope, bronchoscope, choledocoscope, colonoscope, cytoscope, duodenoscope, enteroscope, esophagus-duodenoscope (gastroscope), endoscope, laser ringoscope, nasopharyngoscope, sigmoidoscope, thoracoscope, and ureteroscope.
[0115] [0115] In one aspect, the imaging device uses multi-spectrum monitoring to discriminate topography and underlying structures. A multispectral image is one that captures image data within wavelength bands across the electromagnetic spectrum. Wavelengths can be separated by filters or by using instruments that are sensitive to specific wavelengths, including light from frequencies beyond the visible light range, for example, IR and ultraviolet light. Spectral images can make it possible to extract additional information that the human eye cannot capture with its receivers for the colors red, green, and blue. The use of multispectral imaging is described in greater detail under the heading "Advanced Imaging Acquisition Module" in US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, whose disclosure is hereby incorporated by reference in its entirety for reference. Multispectral monitoring can be a useful tool for relocating a surgical field after a surgical task is completed to perform one or more of the tests previously described on the treated tissue.
[0116] [0116] It is axiomatic that strict sterilization of the operating room and surgical equipment is necessary during any surgery. The strict hygiene and sterilization conditions required in an "operating room", that is, an operating or treatment room, justify the highest possible sterilization of all medical devices and equipment. Part of this sterilization process is the need to sterilize anything that comes into contact with the patient or enters the sterile field, including imaging device 124 and its connectors and components. It will be recognized that the sterile field can be considered a specified area, such as inside a tray or on a sterile towel, which is considered free of microorganisms, or the sterile field can be considered an area, immediately around a patient, who was prepared to perform a surgical procedure. The sterile field may include members of the brushing team, who are properly dressed, and all furniture and accessories in the area.
[0117] [0117] In various aspects, the visualization system 108 includes one or more imaging sensors, one or more image processing units, one or more storage matrices and one or more screens that are strategically arranged in relation to the field sterile, as shown in Figure 2. In one aspect, the display system 108 includes an interface for HL7, PACS and EMR. Various components of the visualization system 108 are described under the heading "Advanced Imaging Acquisition Module" in US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLAT-FORM, filed on December 28, 2017, whose disclosure is hereby incorporated by reference in its entirety.
[0118] [0118] As shown in Figure 2, a primary screen 119 is positioned in the sterile field to be visible to the operator on the operating table 114. In addition, a viewing tower 111 is positioned outside the sterile field. The display tower 111 includes a first non-sterile screen 107 and a second non-sterile screen 109, which are opposite each other. The visualization system 108, guided by the central controller 106, is configured to use screens 107, 109, and 119 to coordinate the flow of information to operators inside and outside the sterile field. For example, central controller 106 can cause the display system 108 to show a snapshot of a surgical site, as recorded by an imaging device 124, on a non-sterile screen 107 or 109, while maintaining a live broadcast of the site surgical on primary screen 119. Snapshot on non-sterile screen 107 or 109 may allow a non-sterile operator to perform a diagnostic step relevant to the surgical procedure, for example.
[0119] [0119] In one aspect, central controller 106 is also configured to route an entry or diagnostic feedback by a non-sterile operator in the viewing tower 111 to primary screen 119 within the sterile field, where it can be seen by a sterile operator on the operating table. In one example, the input may be in the form of a modification of the snapshot shown on the non-sterile screen 107 or 109, which can be routed to primary screen 119 by central controller 106.
[0120] [0120] With reference to Figure 2, a 112 surgical instrument is being used in the surgical procedure as part of the surgical system
[0121] [0121] Now with reference to Figure 3, a central controller 106 is shown in communication with a visualization system 108, a robotic system 110 and a smart handheld surgical instrument 112. The central controller 106 includes a central controller screen 135, an imaging module 138, a generator module 140, a communication module 130, a processor module 132 and a storage matrix 134. In certain respects, as shown in Figure 3, the controller control unit 106 additionally includes a smoke evacuation module 126 and / or a suction / irrigation module 128.
[0122] [0122] During a surgical procedure, the application of energy to the tissue, for sealing and / or cutting, is generally associated with the evacuation of smoke, suction of excess fluid and / or irrigation of the tissue. Fluid, power, and / or data lines from different sources are often intertwined during the surgical procedure. Valuable time can be wasted in addressing this issue during a surgical procedure. To untangle the lines, it may be necessary to disconnect the lines from their respective modules, which may require a restart of the modules. The modular compartment of the central controller 136 offers a unified environment to manage power, data and fluid lines, which reduces the frequency of entanglement between such lines.
[0123] [0123] Aspects of the present disclosure present a central surgical controller for use in a surgical procedure that involves applying energy to the tissue at a surgical site. The central surgical controller includes a central controller compartment and a combination generator module received slidingly at a central controller compartment docking station. The docking station includes data and power contacts. The combined generator module includes two or more of an ultrasonic energy generating component, a bipolar RF energy generating component, and a monopolar RF energy generating component which are housed in a single unit. In one aspect, the combined generator module also includes a smoke evacuation component, at least one power supply cable to connect the combined generator module to a surgical instrument, at least one smoke evacuation component configured to evacuate smoke, fluid , and / or particulates generated by the application of therapeutic energy to the tissue, and a fluid line that extends from the remote surgical site to the smoke evacuation component.
[0124] [0124] In one aspect, the fluid line is a first fluid line and a second fluid line extends from the remote surgical site to a suction and irrigation module received slidingly in the central controller compartment. In one aspect, the central controller compartment comprises a fluid interface.
[0125] [0125] Certain surgical procedures may require the application of more than one type of energy to the tissue. One type of energy may be more beneficial for cutting the fabric, while another type of energy may be more beneficial for sealing the fabric. For example, a bi-polar generator can be used to seal the tissue while an ultrasonic generator can be used to cut the sealed tissue. Aspects of the present disclosure present a solution in which a modular compartment of central controller 136 is configured to accommodate different generators and facilitate interactive communication between them. One of the advantages of the modular compartment of the central controller 136 is that it allows the quick removal and / or replacement of several modules.
[0126] [0126] Aspects of the present disclosure present a modular surgical compartment for use in a surgical procedure that involves applying energy to the tissue. The modular surgical compartment includes a first energy generator module, configured to generate a first energy for application to the tissue, and a first docking station that comprises a first coupling port that includes first data and energy contacts, being that the first power generator module is slidingly movable for an electrical coupling with the power and data contacts and the first power generator module is slidingly movable out of the electric coupling with the first energy contacts and data.
[0127] [0127] In addition to the above, the modular surgical compartment also includes a second energy generator module configured to generate a second energy, different from the first energy, for application to the tissue, and a second docking station comprising a second coupling port that includes second data and power contacts, the second power generator module being slidingly movable for an electrical coupling with the energy and data contacts and the second Power generator module is movable in a sliding way out of the electrical coupling with the second power and data contacts.
[0128] [0128] In addition, the modular surgical compartment also includes a communication bus between the first coupling port and the second coupling port, configured to facilitate communication between the first power generator module and the second generator module power.
[0129] [0129] With reference to Figures 3 to 7, aspects of the present disclosure are presented for a modular compartment of the central controller 136 that allows the modular integration of a generator module 140, a smoke evacuation module 126 and a suction module / irrigation 128. The modular compartment of central controller 136 further facilitates interactive communication between modules 140, 126, 128. As shown in Figure 5, generator module 140 can be a generator module with monopolar, bipolar components and integrated ultrasonic systems, supported in a single cabinet unit 139 slidably insertable in the central compartment of the central controller 136. As shown in Figure 5, the generator module 140 can be configured to connect to a monopolar device 146, a bipolar device 147 and an ultrasonic device 148. Alternatively, generator module 140 may comprise a series of mono-generator modules
[0130] [0130] In one aspect, the modular compartment of the central controller 136 comprises a modular power and a rear communication board 149 with external and wireless communication heads to enable the removable fixing of modules 140, 126, 128 and interactive communication between them.
[0131] [0131] In one aspect, the modular compartment of central controller 136 includes docking stations, or drawers, 151, here also called drawers, which are configured to receive modules 140, 126, 128 in a sliding way. Figure 4 illustrates a partial perspective view of a central surgical controller compartment 136, and a combined generator module 145 received in a sliding manner at a docking station 151 of the central surgical controller compartment 136. A docking port 152 with power and data contacts on a rear side of the combined generator module 145 is configured to engage a corresponding coupling port 150 with the power and data contacts of a corresponding docking station 151 of the central controller 136 modular compartment as the combined generator module 145 is slid into position in the corresponding docking station 151 of the central controller modular compartment
[0132] [0132] In several respects, the smoke evacuation module 126 includes a fluid line 154 that carries captured / collected fluid smoke away from a surgical site and to, for example, the smoke evacuation module 126. The vacuum suction that originates from the smoke evacuation module 126 can pull the smoke into an opening of a utility conduit at the surgical site. The utility conduit, coupled to the fluid line, can be in the form of a flexible tube that ends in the smoke evacuation module 126. The utility conduit and the fluid line define a fluid path that extends towards the smoke evacuation module 126 which is received in the central controller compartment
[0133] [0133] In various aspects, the suction / irrigation module 128 is coupled to a surgical tool comprising a fluid suction line and a fluid suction line. In one example, the suction and suction fluid lines are in the form of flexible tubes that extend from the surgical site towards the suction / irrigation module 128. One or more drive systems can be configured to make irrigation and aspiration of fluids to and from the surgical site.
[0134] [0134] In one aspect, the surgical tool includes a drive shaft that has an end actuator at a distal end of it and at least an energy treatment associated with the end actuator, a suction tube, and a irrigation pipe. The suction tube can have an inlet port at a distal end and the suction tube extends through the drive shaft. Similarly, an irrigation pipe can extend through the drive shaft and may have an entrance port close to the power application implement. The power application implement is configured to supply ultrasonic and / or RF energy to the surgical site and is coupled to the generator module 140 by a cable that initially extends through the drive shaft.
[0135] [0135] The irrigation tube can be in fluid communication with a fluid source, and the suction tube can be in fluid communication with a vacuum source. The fluid source and / or the vacuum source can be housed in the suction / irrigation module 128. In one example, the fluid source and / or the vacuum source can be housed in the central controller compartment 136 separately from the suction / irrigation module 128. In such an example, a fluid interface can be configured to connect the suction / irrigation module 128 to the fluid source and / or the vacuum source.
[0136] [0136] In one aspect, modules 140, 126, 128 and / or their corresponding docking stations in the modular housing of central controller 136 may include alignment features that are configured to align the docking ports of the modules in engage with their counterparts in the docking stations of the central compartment modular compartment 136. For example, as shown in Figure 4, the combined generator module 145 includes side brackets 155 that are configured to slide the corresponding brackets in a sliding way 156 from the corresponding docking station 151 of the central controller 136 modular compartment. The brackets cooperate to guide the coupling port contacts of the combined generator module 145 in an electrical coupling with the contacts of the central controller modular compartment port 136 .
[0137] [0137] In some respects, the drawers 151 of the central controller module compartment 136 are the same, or substantially the same size, and the modules are adjusted in size to be received in the drawers 151. For example, the side brackets 155 and / or 156 can be larger or smaller depending on the size of the module. In other respects, drawers 151 are different in size and are each designed to accommodate a specific module.
[0138] [0138] In addition, the contacts of a specific module can be switched to engage with the contacts of a specific drawer to prevent the insertion of a module in a drawer with unpaired contacts.
[0139] [0139] As shown in Figure 4, the docking port 150 of one drawer 151 can be coupled to the docking port 150 of another drawer 151 via a communication link 157 to facilitate interactive communication between the modules housed in the modular compartment of the central controller 136. The coupling ports 150 of the modular compartment of the central controller 136 can, alternatively or additionally, facilitate interactive wireless communication between the modules housed in the modular compartment of the central controller 136. Any suitable wireless communication can be used, such as Air Titan Bluetooth.
[0140] [0140] Figure 6 illustrates individual power bus connectors for a plurality of side coupling ports of a side modular cabinet 160 configured to receive a plurality of modules from a central surgical controller 206. Side modular cabinet 160 is configured to receive and interconnect modules 161. laterally, modules 161 are slidably inserted into docking stations 162 of side modular cabinet 160, which includes a back plate for interconnecting modules 161. As shown in Figure 6, the modules 161 are arranged laterally in the side modular cabinet 160. Alternatively, modules 161 can be arranged vertically in a side modular cabinet.
[0141] [0141] Figure 7 illustrates a vertical modular cabinet 164 configured to receive a plurality of modules 165 from the central surgical controller 106. Modules 165 are slidably inserted
[0142] [0142] In several aspects, the imaging module 138 comprises an integrated video processor and a modular light source and is adapted for use with various imaging devices. In one aspect, the imaging device is comprised of a modular cabinet that can be mounted with a light source module and a camera module. The case can be a disposable case. In at least one example, the disposable cabinet is removably coupled to a reusable controller, a light source module, and a camera module. The light source module and / or the camera module can be selected selectively depending on the type of surgical procedure. In one aspect, the camera module comprises a CCD sensor. In another aspect, the camera module comprises a CMOS sensor. In another aspect, the camera module is configured for imaging the scanned beam. Similarly, the light source module can be configured to provide a white light or a different light, depending on the surgical procedure.
[0143] [0143] During a surgical procedure, the removal of a device
[0144] [0144] In one aspect, the imaging device comprises a tubular cabinet that includes a plurality of channels. A first channel is configured to receive the camera module in a sliding way, which can be configured for a snap-fit fit (pressure fitting) with the first channel. A second channel is configured to receive the camera module in a sliding way, which can be configured for a snap-fit fit (pressure fit) with the first channel. In another example, the camera module and / or the light source module can be rotated to an end position within their respective channels. A threaded coupling can be used instead of a pressure fitting.
[0145] [0145] In several examples, multiple imaging devices are placed in different positions in the surgical field to provide multiple views. Imaging module 138 can be configured to switch between imaging devices to provide an ideal view. In several respects, imaging module 138 can be configured to integrate images from different imaging devices.
[0146] [0146] Various image processors and imaging devices suitable for use with the present disclosure are described in US patent No. 7,995,045 entitled COMBINED SBI AND CONVENTIO-NAL IMAGE PROCESSOR, granted on August 9, 2011 which is here incorporated as a reference in its entirety. In addition, US patent No. 7,982,776, entitled SBI MOTION ARTIFACT REMOVAL APPARATUS AND METHOD, issued on July 19, 2011, which is incorporated herein by reference in its entirety, describes various systems for removing motion artifacts from image data. Such systems can be integrated with imaging module 138. In addition to these, the publication of US patent application No. 2011/0306840, entitled CONTROLLABLE MAGNETIC SOURCE TO FIXTURE INTRACORPOREAL APPARATUS, published on December 15, 2011, and the publication of the application US Patent No. 2014/0243597, entitled SYSTEM FOR PERFORMING A MINIMALLY INVASIVE SURGICAL PROCEDURE, published on August 28, 2014, each of which is incorporated herein by reference in its entirety.
[0147] [0147] Figure 8 illustrates a surgical data network 201 that comprises a central modular communication controller 203 configured to connect modular devices located in one or more operating rooms of a healthcare facility, or any environment in a utility facility specially equipped for surgical operations, to a cloud-based system (for example, cloud 204 which may include a remote server 213 coupled to a storage device 205). In one aspect, the central modular communication controller 203 comprises a central network controller 207 and / or a network key 209 in communication with a network router. The central modular communication controller 203 can also be coupled to a local computer system 210 to provide local computer processing and data manipulation. The surgical data network 201 can be configured as a passive, intelligent, or switching network. A passive surgical data network serves as a conduit for the data, enabling data to be transmitted from one device (or segment) to another and to cloud computing resources. An intelligent surgical data network includes features to enable traffic to pass through the surgical data network to be monitored and to configure each port on the central network controller 207 or network key 209. An intelligent surgical data network it can be called a central controller or controllable key. A central switching controller reads the destination address of each packet and then forwards the packet to the correct port.
[0148] [0148] Modular devices 1a to 1n located in the operating room can be coupled to the modular central communication controller 203. The central network controller 207 and / or the network switch 209 can be coupled to a network router 211 to connect devices 1a to 1n to the cloud 204 or to the local computer system 210. Data associated with devices 1a to 1n can be transferred to cloud-based computers via the router for remote data processing and manipulation. The data associated with devices 1a to 1n can also be transferred to the local computer system 210 for processing and manipulation of the local data. Modular devices 2a to 2m located in the same operating room can also be coupled to a network switch 209. Network switch 209 can be attached to the central network controller 207 and / or the network router 211 to connect devices 2a to 2m to cloud 204. The data associated with devices 2a to 2n can be transferred to cloud 204 via network router 211 for data processing and manipulation. The data associated with devices 2a to 2m can also be transferred to the local computer system 210 for processing and manipulating the local data.
[0149] [0149] It will be recognized that the surgical data network 201 can be expanded by interconnecting multiple central network controllers 207 and / or multiple network switches 209 with multiple network routers 211. The central communication controller 203 can be contained in a modular control roaster configured to receive multiple devices 1a to 1n / 2a to 2m. The local computer system 210 can also be contained in a modular control tower. The modular communication central controller 203 is connected to a screen 212 to show the images obtained by some of the devices 1a to 1n / 2a to 2m, for example, during surgical procedures. In several respects, devices 1a to 1n / 2a to 2m can include, for example, several modules such as an imaging module 138 coupled to an endoscope, a generator module 140 coupled to an energy-based surgical device, an evacuation module smoke smoke 126, a suction / irrigation module 128, a communication module 130, a processor module 132, a storage matrix 134, a surgical device attached to a screen, and / or a non-contact sensor module, among other modular devices that can be connected to the central modular communication controller 203 of the surgical data network 201.
[0150] [0150] In one aspect, the surgical data network 201 may comprise a combination of central network controllers, network switches, and network routers that connect devices 1a to 1n / 2a to 2m to the cloud. Any or all of the devices 1a to 1n / 2a to 2m coupled to the central network controller or network key can collect data in real time and transfer the data to cloud computers for data processing and manipulation. It will be recognized that cloud computing depends on sharing computing resources instead of having local servers or personal devices to handle software applications. The word "cloud" can be used as a metaphor for "the Internet", although the term is not limited as such. Consequently, the term "cloud computing" can be used here to refer to "a type of Internet-based computing", in which different services - such as servers, storage, and applications - are applied to the central controller of modular communication 203 and / or computer system 210 located in the operating room (for example, a fixed, mobile, temporary or field operating room or operating space) and devices connected to the 203 modular communication central controller and / or the computer system 210 through the Internet. The cloud infrastructure can be maintained by a cloud service provider. In this context, the cloud service provider may be the entity that coordinates the use and control of devices 1a to 1n / 2a to 2m located in one or more operating rooms. Cloud computing services can perform a large number of calculations based on data collected by smart surgical instruments, robots, and other computerized devices located in the operating room. The central controller hardware allows multiple devices or connections to be connected to a computer that communicates with cloud computing and storage resources.
[0151] [0151] The application of cloud computer data processing techniques to the data collected by devices 1a to 1n / 2a to 2m, the surgical data network provides better surgical results, reduced costs, and better patient satisfaction. At least some of the devices 1a to 1n / 2a to 2m can be used to view tissue status to assess leakage or perfusion of sealed tissue after a tissue sealing and cutting procedure. At least some of the devices 1a to 1n / 2a to 2m can be used to identify pathology, such as the effects of disease, with the use of cloud-based computing to examine data including images of body tissue samples for diagnostic purposes . This includes confirmation of the location and margin of the tissue and phenotypes. At least some of the devices 1a to 1n / 2a to 2m can be used to identify anatomical structures of the body using a variety of sensors integrated with imaging devices and techniques such as overlaying images captured by multiple imaging devices. image- ing. Data collected by devices 1a to 1n / 2a to 2m, including image data, can be transferred to the cloud 204 or the local computer system 210 or both for data processing and manipulation including image processing and manipulation. gem. The data can be analyzed to improve the results of the surgical procedure by determining whether additional treatment, such as application of endoscopic intervention, emerging technologies, targeted radiation, targeted intervention, accurate robotics at specific tissue sites and conditions, can be followed. This data analysis can additionally use analytical processing of the results, and with the use of standardized approaches they can provide beneficial feedback to confirm the surgical treatments and the surgeon's behavior or suggest modifications to the surgical treatments and the surgeon's behavior.
[0152] [0152] In an implementation, operating room devices 1a to 1n can be connected to the central modular communication controller 203 via a wired channel or a wireless channel depending on the configuration of devices 1a to 1n on a controller central network. The central network controller 207 can be implemented, in one aspect, as a local network transmission device that acts on the physical layer of the OSI model ("open system interconnection"). The central network controller provides connectivity to devices 1a to 1n located on the same network as the operating room. The central network controller 207 collects data in the form of packets and sends it to the router in half duplex transmission mode. The central network controller 207 does not store any media access control / Internet protocol
[0153] [0153] In another implementation, operating room devices 2a to 2m can be connected to a network switch 209 through a wired or wireless channel. The network key 209 works in the data connection layer of the OSI model. The network key 209 is a multicast device for connecting devices 2a to 2m in the same operating room to the network. The network key 209 sends data in frame form to the network router 211 and works in full duplex mode. Multiple devices 2a to 2m can send data at the same time via network key 209. Network key 209 stores and uses MAC addresses of devices 2a to 2m to transfer data.
[0154] [0154] The central network controller 207 and / or the network key 209 are coupled to the network router 211 for a connection to the cloud
[0155] [0155] In one example, the central network controller 207 can be implemented as a central USB controller, which allows multiple USB devices to be connected to a host computer. The central USB controller can expand a single USB port on several levels so that more ports are available to connect the devices to the system's host computer. The central network controller 207 can include wired or wireless capabilities to receive information about a wired channel or a wireless channel. In one aspect, a wireless wireless, broadband and short-range wireless USB communication protocol can be used for communication between devices 1a to 1n and devices 2a to 2m located in the operating room.
[0156] [0156] In other examples, operating room devices 1a to 1n / 2a to 2m can communicate with the modular central communication controller 203 via standard Bluetooth wireless technology for exchanging data over short distances ( using short-wavelength UHF radio waves in the ISM band of 2.4 to 2.485 GHz) from fixed and mobile devices and building personal area networks (PANs, "personal area networks"). In other respects, operating room devices 1a to 1n / 2a to 2m can communicate with the modular central communication controller 203 via a number of wireless and wired communication standards or protocols, including, but not limited to, limited to, Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, long-term evolution (LTE, "long-term evolution"), and Ev-DO, HSPA +, HSDPA +, HSUPA + , EDGE, GSM, GPRS, CDMA, TDMA, DECT, and Ethernet derivatives thereof, as well as any other wireless and wired protocols that are designated as 3G, 4G, 5G, and beyond. The computing module can include a plurality of communication modules. For example, a first communication module can be dedicated to short-range wireless communications like Wi-Fi and Bluetooth, and a second communication module can be dedicated to longer-range wireless communications like GPS, EDGE, GPRS , CDMA, WiMAX, LTE, Ev-DO, and others.
[0157] [0157] The modular communication central controller 203 can serve as a central connection for one or all operating room devices 1a to 1n / 2a to 2m and handles a data type known as frames. The tables carry the data generated by the devices 1a to 1n / 2a to 2m. When a frame is received by the central modular communication controller 203, it is amplified and transmitted to the network router 211, which transfers the data to the cloud computing resources using a series of patterns or wireless or wired communication protocols, as described in the present invention.
[0158] [0158] The modular communication central controller 203 can be used as a standalone device or be connected to compatible central network controllers and network switches to form a larger network. The 203 modular communication central controller is, in general, easy to install, configure and maintain, making it a good option for the network of devices 1a to 1n / 2a to 2m from the operating room.
[0159] [0159] Figure 9 illustrates an interactive surgical system, implemented by computer 200. The interactive surgical system implemented by computer 200 is similar in many ways to the interactive surgical system, implemented by computer 100. For example, the integrated surgical system computer implemented 200 includes one or more surgical systems 202, which are similar in many respects to surgical systems
[0160] [0160] Figure 10 illustrates a central surgical controller 206 that comprises a plurality of modules coupled to the modular control tower 236. The modular control tower 236 comprises a central modular communication controller 203, for example, a device network connectivity, and a computer system 210 to provide local processing, visualization, and imaging, for example. As shown in Figure 10, the modular communication central controller 203 can be connected in a layered configuration to expand the number of modules (for example, devices) that can be connected to the modular communication central controller 203 and transfer data associated with modules to computer system 210, cloud computing resources, or both. As shown in Figure 10, each of the central controllers / network switches in the modular central communication controller 203 includes three downstream ports and one upstream port. The upstream central controller / network switch is connected to a processor to provide a communication connection to the cloud computing resources and a local display 217. Communication with the cloud 204 can be done via a channel of wired or wireless communication.
[0161] [0161] The central surgical controller 206 uses a non-contact sensor module 242 to measure the dimensions of the operating room and generate a map of the operating room using non-contact measuring devices such as laser or ultrasonic. An ultrasound-based non-contact sensor module scans the operating room by transmitting an ultrasound explosion and receiving an echo when it bounces off the perimeter of the operating room walls, as described under the heading "Surgical Hub Spatial Awareness Within an Operating Room "in US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, which is hereby incorporated by reference in its entirety, in which the sensor module is configured to determine the size of the operating room and adjust the limits of the pairing distance with Bluetooth. A laser-based non-contact sensor module scans the operating room by transmitting pulses of laser light, receiving pulses of laser light that bounce off the perimeter walls of the operating room, and comparing the phase of the transmitted pulse to the received pulse to determine the size operating room and to adjust the Bluetooth pairing distance limits, for example.
[0162] [0162] Computer system 210 comprises a processor 244 and a network interface 245. Processor 244 is coupled to a communication module 247, storage 248, memory 249, non-volatile memory 250 and an input / output 251 via a system bus. The system bus can be any of several types of bus structure (s), including the memory bus or memory controller, a peripheral bus or external bus, and / or a local bus that uses any variety of architectures available bus speeds including, but not limited to, 9-bit bus, industry standard architecture (ISA - Industrial Standard Architecture), microchannel architecture (MSA - Micro-Channel Architecture), extended ISA (EISA), smart drive electronics (IDE - Intelligent Drive Electronics), VESA local bus (VLB - VESA Local Bus), interconnection of peripheral components (PCI - Peripheral Component Interconnect), USB, accelerated graphics port (AGP - Advanced Graphics Port), international Association bus of memory cards for personal computers (PCMCIA - Personal Computer Memory Card International Association), interface of small computational systems (SCSI - Small C omputer Systems Interface) or any other proprietary bus.
[0163] [0163] Processor 244 can be any single-core or multi-core processor, such as those known under the trade name of ARM Cortex available from Texas Instruments. In one aspect, the processor can be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory 2 KB electrically erasable programmable read-only (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder (QEI) analog inputs, one or more analog to digital converters ( 12-bit ADCs) with 12 analog input channels, details of which are available for the product data sheet.
[0164] [0164] In one aspect, processor 244 may comprise a safety controller comprising two controller-based families, such as TMS570 and RM4x, known under the tradename Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0165] [0165] System memory includes volatile and non-volatile memory. The basic input / output system (BIOS), containing the basic routines for transferring information between elements within the computer system, such as during startup, is stored in non-volatile memory. For example, non-volatile memory can include ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), EE-PROM or flash memory. Volatile memory includes random access memory (RAM), which acts as an external cache memory. In addition, RAM is available in many forms such as SRAM, dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct RAM Rambus RAM (DRRAM).
[0166] [0166] Computer system 210 also includes removable / non-removable, volatile / non-volatile computer storage media, such as disk storage. Disk storage includes, but is not limited to, devices such as a magnetic disk drive, floppy disk drive, tape drive, Jaz drive, Zip drive, LS-60 drive, flash memory card or memory stick (pen-drive). In addition, disk storage may include storage media separately or in combination with other storage media including, but not limited to, an optical disc drive such as a compact disc ROM device (CD-ROM) recordable compact disc (CD-R Drive), recordable compact disc drive (CD-RW drive), or a versatile digital disk ROM drive (DVD-ROM). To facilitate the connection of disk storage devices to the system bus, a removable or non-removable interface can be used.
[0167] [0167] It is to be understood that computer system 210 includes software that acts as an intermediary between users and the basic computer resources described in a suitable operating environment. Such software includes an operating system. The operating system, which can be stored on disk storage, acts to control and allocate computer system resources. System applications benefit from resource management by the operating system through program modules and program data stored in system memory or disk storage. It is to be understood that the various components described in the present invention can be implemented with various operating systems or combinations of operating systems.
[0168] [0168] A user enters commands or information into the computer system 210 via the input device (s) coupled to the I / O interface 251. Input devices include, but are not limited to, a pointing device such as a mouse, trackball, stylus, keyboard, keyboard, microphone, joystick, game pad, satellite card, scanner, TV tuner card, digital camera, digital video camera, web camera, and the like . These and other input devices connect to the processor via the system bus via the interface port (s). The interface ports include, for example, a serial port, a parallel port, a game port and a USB. Output devices use some of the same types of ports as input devices. In this way, for example, a USB port can be used to provide input to the computer system and to provide computer system information to an output device. An output adapter is provided to illustrate that there are some output devices such as monitors, screens, speakers, and printers, among other output devices, that need special adapters. Output adapters include, by way of illustration and not limitation, video and sound cards that provide a means of connection between the output device and the system bus. It should be noted that other devices and / or device systems, such as remote computers, provide input and output capabilities.
[0169] [0169] Computer system 210 can operate in a networked environment using logical connections to one or more remote computers, such as cloud computers, or local computers. The remote cloud computer (s) can be a personal computer, server, router, personal network computer, workstation, microprocessor-based device, peer device, or other network node common, and the like, and typically includes (in) many or all of the elements described in relation to the computer system. For the sake of brevity, only one memory storage device is illustrated with the remote computer. Remote computers are logically connected to the computer system via a network interface and then physically connected via a communication connection. The network interface covers communication networks such as local area networks (LANs) and wide area networks (WANs). LAN technologies include fiber distributed data interface (FDDI), copper distributed data interface (CDDI), Ethernet / IEEE 802.3, Token ring / IEEE 802.5 and the like. WAN technologies include, but are not limited to, point-to-point links, circuit switching networks such as integrated services digital networks (ISDN - Integrated Services Digital Networks) and variations in them, packet switching networks and digital subscribers (DSL - Digital Subscriber Lines).
[0170] [0170] In several respects, computer system 210 of Figure 10, imaging module 238 and / or display system 208, and / or processor module 232 of Figures 9 to 10, may comprise an image processor, image processing engine, media processor, or any specialized digital signal processor (PSD, or digital sig- nal processor) used for digital image processing. The image processor can use parallel computing with single multi-data instruction (SIMD) or multi-data instruction (MIMD) technologies to increase speed and efficiency. The digital image processing engine can perform a range of tasks. The image processor can be an integrated circuit system with a multi-core processor architecture.
[0171] [0171] Communication connections refer to the hardware / software used to connect the network interface to the bus. Although the communication connection is shown for illustrative clarity within the computer system, it can also be external to the computer system 210. The hardware / software required for connection to the network interface includes, for purposes only illustrative, internal and external technologies such as modems, including regular telephone series modems, cable modems and DSL modems, ISDN adapters and Ethernet cards.
[0172] [0172] Figure 11 illustrates a functional block diagram of an aspect of a USB 300 central network controller device, in accordance with one aspect of the present disclosure. In the illustrated aspect, the USB 300 central network controller device uses a TUSB2036 integrated circuit central controller available from Texas Instruments. The USB 300 central network controller is a CMOS device that provides one USB transceiver port 302 and up to three USB transceiver ports downstream 304, 306, 308 in accordance with the USB 2.0 specification. Upstream USB transceiver port 302 is a differential data root port comprising a "minus" (DM0) differential data input paired with a "plus" (DP0) differential data input. The three downstream USB transceiver ports 304, 306, 308 are differential data ports, with each port including "more" differential data outputs (DP1-DP3) paired with "less" differential data outputs (DM1- DM3).
[0173] [0173] The USB 300 central network controller device is implemented with a digital state machine instead of a micro controller, and no firmware programming is required. Fully compatible USB transceivers are integrated into the circuit for the upstream USB transceiver port 302 and all downstream USB transceiver ports 304, 306, 308. The downstream USB transceiver ports 304, 306, 308 support both full speed as low speed automatically configuring the scan rate according to the speed of the device attached to the ports. The USB 300 central network controller device can be configured in bus powered or self-powered mode and includes 312 central power logic to manage power.
[0174] [0174] The USB 300 central network controller device includes a 310 series interface engine (SIE). The SIE 310 is the front end of the USB 300 central network controller hardware and handles most of the protocol described in chapter 8 of the USB specification. SIE 310 typically comprises signaling down to the transaction level. The functions it handles could include: packet recognition, transaction sequencing, SOP, EOP, RESET, and RESUME signal detection / generation, clock / data separation, non-zero data encoding / decoding inverted (NRZI), generation and verification of CRC (token and data), generation and verification / decoding of packet ID (PID), and / or series-parallel / parallel-series conversion. The 310 receives a clock input 314 and is coupled to a frame timer circuit 316 and suspend / resume logic and a central controller repeat circuit 318 to control communication between the USB transceiver port a upstream 302 and the downstream USB transceiver ports 304, 306, 308 through the logic circuits of ports 320, 322,
[0175] [0175] In several aspects, the USB 300 central network controller can connect 127 functions configured in up to six logical layers (levels) to a single computer. In addition, the USB 300 central network controller can connect all peripherals using a standardized four-wire cable that provides both communication and power distribution. The power settings are bus-powered and self-powered modes. The USB 300 central network controller can be configured to support four power management modes: a bus powered central controller, with individual port power management or grouped port power management, and the self-powered central controller, with individual door power management or grouped door power management. In one aspect, using a USB cable, the USB 300 central network controller, the USB transceiver port 302 is plugged into a USB host controller, and the USB transceiver ports downstream 304, 306, 308 are exposed to connect compatible USB devices, and so on. Surgical instrument hardware
[0176] [0176] Figure 12 illustrates a logic diagram of a module of a 470 control system of a surgical instrument or tool, according to one or more aspects of the present disclosure. The 470 system comprises a control circuit. The control circuit includes a microcontroller 461 comprising a processor 462 and memory 468. One or more of the sensors 472, 474, 476, for example, provide real-time feedback to the processor 462. A 482 engine, actuated by a motor drive 492, it operationally couples a longitudinally movable displacement member to activate the knife element of the I-beam beam. A tracking system 480 is configured to determine the position of the longitudinally movable displacement member. Position information is provided to the 462 processor, which can be programmed or configured to determine the position of the longitudinally movable drive member, as well as the position of a firing member, a firing bar and a beam knife element with I-profile. Additional motors can be provided at the instrument driver interface to control the firing of the beam with the I-profile, the displacement of the closing tube, the rotation of the drive shaft and the articulation. A 473 screen shows a variety of instrument operating conditions and may include touchscreen functionality for data entry. The information shown on screen 473 can be overlaid with images captured using endoscopic imaging modules.
[0177] [0177] In one aspect, the 461 microcontroller can be any single-core or multi-core processor, such as those known under the ARM Cortex trade name available from Texas Instruments. In one aspect, the 461 main microcontroller may be an LM4F230H5QR ARM Cortex-M4F processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to optimize performance above 40 MHz, a 32 KB single cycle SRAM, an internal ROM loaded with the StellarisWare® program, a 2 KB EEPROM, one or more PWM, one or more analogs of QEI and / or one or more 12-bit ADCs with 12 analog input channels, details of which are available for the product data sheet.
[0178] [0178] In one aspect, the 461 microcontroller can comprise a safety controller that comprises two families based on controllers, such as TMS570 and RM4x known under the trade name of Hercules ARM Cortex R4, also available from Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0179] [0179] The 461 microcontroller can be programmed to perform various functions, such as precise control of the speed and position of the joint and knife systems. In one aspect, the microcontroller 461 includes a processor 462 and a memory 468. The electric motor 482 can be a brushed direct current (DC) motor with a gearbox and mechanical connections with a knife or joint system. In one aspect, a 492 motor starter can be an A3941 available from Allegro Microsystems, Inc. Other motor starters can be readily replaced for use in tracking system 480 which comprises an absolute positioning system. A detailed description of an absolute positioning system is made in US patent application publication 2017/0296213, entitled SYS-
[0180] [0180] The 461 microcontroller can be programmed to provide precise control of the speed and position of the displacement members and articulation systems. The 461 microcontroller can be configured to compute a response in the microcontroller software
[0181] [0181] In one aspect, the 482 motor can be controlled by the 492 motor starter and can be used by the instrument's trigger system or surgical tool. In many ways, the 482 motor can be a brushed direct current (DC) drive motor, with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the 482 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. The motor drive 492 can comprise an H bridge drive that comprises field effect transistors (FETs), for example. The 482 motor can be powered by a feed set releasably mounted on the handle set or tool cabinet to provide control power for the instrument or surgical tool. The power pack may comprise a battery that may include several battery cells connected in series, which can be used as the power source to energize the instrument or surgical tool. In certain circumstances, the battery cells in the power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium-ion batteries that can be coupled and separable from the power supply.
[0182] [0182] The 492 motor driver can be an A3941 available from Allegro Microsystems, Inc. The 492 A3941 driver is an entire bridge controller for use with external power semiconductor metal oxide (MOSFET) field transistors, N-channel, specifically designed for inductive loads, such as brushed DC motors. The 492 actuator comprises a single charge pump regulator that provides full door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door activation, up to 5.5 V. An input command capacitor can be used to supply the voltage surpassing that supplied by the battery required for N-channel MOSFETs. An internal charge pump for the drive on the top side enables continuous current operation (100 % duty cycle). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. The energy FETs are protected from the shoot-through effect through programmable dead-time resistors. Integrated diagnostics provide indication of undervoltage, overtemperature and faults in the power bridge, and can be configured to protect power MOSFETs under most short-circuit conditions. Other motor drives can be readily replaced for use in the 480 tracking system comprising an absolute positioning system.
[0183] [0183] The tracking system 480 comprises a controlled motor drive circuit arrangement comprising a position sensor 472 in accordance with an aspect of the present disclosure. The position sensor 472 for an absolute positioning system provides a unique position signal that corresponds to the location of a displacement member. In one aspect, the displacement member represents a longitudinally movable drive member comprising a rack of drive teeth for engaging with a corresponding drive gear of a gear reduction assembly. In other respects, the displacement member represents the firing member, which can be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member represents a firing bar or the I-shaped beam, each of which can be adapted and configured to include a rack of driving teeth. Consequently, as used in the present invention, the term displacement member is used generically to refer to any moving member of the surgical instrument or surgical tool, such as the driving member, the firing member, the firing bar, the I-beam profile or any element that can be moved. In one aspect, the longitudinally movable drive member is coupled to the firing member, the firing bar and the I-beam. Consequently, the absolute positioning system can, in effect,
[0184] [0184] The 482 electric motor may include a rotary drive shaft, which interfaces operationally with a gear set, which is mounted on a coupling coupling with a set or rack of drive teeth on the drive member. A sensor element can be operationally coupled to a gear assembly so that a single revolution of the position sensor element 472 corresponds to some linear longitudinal translation of the displacement member. An array of gears and sensors can be connected to the linear actuator by means of a rack and pinion arrangement, or by a rotary actuator, by means of a gear wheel or other connection. A power source supplies power to the absolute positioning system and an output indicator can show the output from the absolute positioning system. The drive member represents the longitudinally movable drive member which comprises a drive tooth rack formed thereon for engagement with a corresponding drive gear of the gear reducer assembly. The displacement member represents the longitudinally movable firing member, the firing bar, the I-beam or combinations thereof.
[0185] [0185] A single revolution of the sensor element associated with the position sensor 472 is equivalent to a longitudinal linear displacement d1 of the displacement member, where d1 is the longitudinal linear distance that the displacement member moves from point "a" to point " b "after a single revolution of the sensor element coupled to the displacement member. The sensor arrangement can be connected by means of a gear reduction which results in the position sensor 472 completing one or more revolutions for the full travel of the displacement member. The 472 position sensor can complete multiple revolutions for the full travel of the displacement member.
[0186] [0186] A series of keys, where n is an integer greater than one, can be used alone or in combination with a gear reduction to provide a single position signal for more than one revolution of the 472 position sensor. of the switches is fed back to microcontroller 461 which applies logic to determine a single position signal corresponding to the longitudinal linear displacement d1 + d2 +… dn of the displacement member. The output of the position sensor 472 is supplied to the 461 microcontroller. In several modalities, the
[0187] [0187] The position sensor 472 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to whether they measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piezoelectric compounds, magnetodiode, magnetic transistors, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0188] [0188] In one aspect, the position sensor 472 for the tracking system 480 which comprises an absolute positioning system comprises a magnetic rotating absolute positioning system. The 472 position sensor can be implemented as a single integrated circuit rotary magnetic position sensor AS5055EQFT, available from Austria Microsystems, AG. The position sensor 472 interfaces with the 461 microcontroller to provide an absolute positioning system. The 472 position sensor is a low-voltage, low-power component and includes four effect elements in an area of the 472 position sensor located above a magnet. A high-resolution ADC and an intelligent power management controller are also provided on the integrated circuit. A CORDIC processor (digital computer for coordinate rotation), also known as the digit-for-digit method and Volder's algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition operations , subtraction, bit offset and lookup table. The angle position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as a serial peripheral interface (SPI), to the 461 microcontroller. The 472 position sensor provides 12 or 14 bits of resolution. The position sensor 472 can be an AS5055 integrated circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4x4x0.85 mm.
[0189] [0189] The tracking system 480 comprising an absolute positioning system can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback, and adaptive controller. A power source converts the signal from the feedback controller to a physical input to the system, in this case the voltage. Other examples include a voltage, current and force PWM. Other sensors can be provided in order to measure the parameters of the physical system in addition to the position measured by the position sensor 472. In some respects, the other sensors may include sensor arrangements as described in US patent No. 9,345. 481 entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, granted on May 24, 2016, which is incorporated by reference in its entirety into this document; US patent application serial number 2014/0263552, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, published on September 18, 2014, is incorporated by reference in its entirety into this document; and US patent application serial number 15 / 628,175, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, submitted on June 20, 2017, is incorporated by reference in its this document. In a digital signal processing system, an absolute positioning system is coupled to a digital data capture system where the output of the absolute positioning system will have a finite resolution and sampling frequency. The absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control loop, that trigger the calculated response towards the measured response. The computed response of the physical system considers properties, such as mass, inertia, viscous friction, resistance to inductance, etc., to predict what the states and exits of the physical system will be, knowing the input.
[0190] [0190] The absolute positioning system provides an absolute positioning of the displaced member on the activation of the instrument without having to retract or advance the longitudinally movable drive member to the reset position (zero or initial ), as may be required by conventional rotary encoders that merely count the number of progressive or regressive steps that the 482 motor has traveled to infer the position of a device actuator, actuation bar, knife and the like.
[0191] [0191] A 474 sensor, such as a strain gauge or a micro strain gauge, is configured to measure one or more parameters of the end actuator, such as the extent of the strain on the anvil during a gripping operation, which can be indicative of tissue compression. The measured effort is converted into a digital signal and supplied to the 462 processor. Alternatively, or in addition to the 474 sensor, a 476 sensor, such as a load sensor, can measure the closing force applied by the system anvil closing drive The sensor 476, such as a load sensor, can measure the firing force applied to a beam with an I-profile in a firing stroke of the surgical instrument or surgical tool. The i-profile beam is configured to engage a wedge slider, which is configured to move the clamp drivers upward to force the clamps to deform in contact with an anvil. The i-profile beam includes a sharp cutting edge that can be used to separate fabric, as the i-profile beam is advanced distally by the firing bar. Alternatively, a 478 current sensor can be used to measure the current drained by the motor
[0192] [0192] In one form, a 474 strain gauge sensor can be used to measure the force applied to the tissue by the end actuator. A strain gauge can be attached to the end actuator to measure the force applied to the tissue being treated by the end actuator. A system for measuring forces applied to the tissue attached by the end actuator comprises a 474 strain gauge sensor, such as, for example, a microstrain gauge, which is configured to measure one or more parameters of the end actuator, for example. In one aspect, the 474 strain gauge sensor can measure the amplitude or magnitude of the strain exerted on a clamp member of an end actuator during a gripping operation, which can be indicative of tissue compression. The measured effort is converted into a digital signal and fed to the 462 processor of a microcontroller
[0193] [0193] Measurements of tissue compression, tissue thickness and / or force required to close the end actuator on the tissue, as measured by sensors 474, 476 respectively, can be used by microcontroller 461 to characterize the selected position of the trigger member and / or the corresponding trigger member speed value. In one case, a memory 468 can store a technique, an equation and / or a look-up table that can be used by the 461 microcontroller in the evaluation.
[0194] [0194] The control system 470 of the instrument or surgical tool can also comprise wired or wireless communication circuits for communication with the modular central communication controller shown in Figures 8 to 11.
[0195] [0195] Figure 13 illustrates a control circuit 500 configured to control aspects of the instrument or surgical tool according to an aspect of the present disclosure. The control circuit 500 can be configured to implement various processes described herein. The control circuit 500 may comprise a microcontroller that comprises one or more processors 502 (for example, microprocessor, microcontroller) coupled to at least one memory circuit 504. The memory circuit 504 stores instructions executable on the machine which, when executed by processor 502, cause processor 502 to execute machine instructions to implement several of the processes described here. The 502 processor can be any one of a number of single-core or multi-core processors known in the art. The memory circuit 504 may comprise volatile and non-volatile storage media. The processor 502 can include an instruction processing unit 506 and an arithmetic unit 508. The instruction processing unit can be configured to receive instructions from the memory circuit 504 of the present disclosure.
[0196] [0196] Figure 14 illustrates a combinational logic circuit 510 configured to control aspects of the instrument or surgical tool according to an aspect of the present disclosure. The combinational logic circuit 510 can be configured to implement the various processes described here. The combinational logic circuit 510 may comprise a finite state machine comprising a combinational logic 512 configured to receive data associated with the instrument or surgical tool at an input 514, process the data by combinational logic 512 and provide an output 516.
[0197] [0197] Figure 15 illustrates a sequential logic circuit 520 configured to control aspects of the surgical instrument or tool according to an aspect of the present disclosure. Sequential logic circuit 520 or combinational logic 522 can be configured to implement the process described here. Sequential logic circuit 520 may comprise a finite state machine. Sequential logic circuit 520 may comprise combinational logic 522, at least one memory circuit 524, a clock 529 and, for example. The at least one memory circuit 524 can store a current state of the finite state machine. In certain cases, the sequential logic circuit 520 may be synchronous or asynchronous. Combinational logic 522 is configured to receive data associated with the surgical instrument or tool from an input 526, process the data using combinational logic 522, and provide an output 528. In other respects, the circuit may comprise a combination of one processor (for example, processor 502, Figure 13) and a finite state machine for implementing various processes of the present invention. In other respects, the finite state machine may comprise a combination of a combinational logic circuit (for example, a combinational logic circuit 510, Figure 14) and the sequential logic circuit 520.
[0198] [0198] Figure 16 illustrates an instrument or surgical tool that comprises a plurality of motors that can be activated to perform various functions. In certain cases, a first engine can be activated to perform a first function, a second engine can be activated to perform a second function, a third engine can be activated to perform a third function, a fourth engine can be activated to perform a fourth function, and so on. In certain cases, the plurality of motors of the robotic surgical instrument 600 can be individually activated to cause firing, closing, and / or articulation movements in the end actuator. The triggering, closing and / or articulation movements can be transmitted to the end actuator through a set of drive axes, for example.
[0199] [0199] In certain cases, the instrument or surgical tool system may include a 602 firing motor. The 602 firing motor can be operationally coupled to a 604 firing motor drive assembly, which can be configured to transmit firing movements generated by the 602 motor to the end actuator, particularly to move the beam element with an I-profile. In certain cases, the firing movements generated by the 602 motor can cause the clamps to be positioned from of the staple cartridge in the fabric captured by the end actuator and / or the cutting edge of the I-beam beam element to be advanced in order to cut the captured fabric, for example. The I-beam member can be retracted by reversing the direction of the 602 motor.
[0200] [0200] In certain cases, the surgical instrument or tool may include a closing motor 603. The closing motor 603 can be operationally coupled to a drive assembly of the closing motor 605 that can be configured to transmit closing movements generated by the 603 motor to the end actuator, particularly to move a closing tube to close the anvil and compress the fabric between the anvil and the staple cartridge. Closing movements can cause the end actuator to transition from an open configuration to an approximate configuration to capture tissue, for example. The end actuator can be moved to an open position by reversing the motor direction
[0201] [0201] In certain cases, the surgical instrument or tool may include one or more articulation motors 606a, 606b, for example. The motors 606a, 606b can be operationally coupled to the drive assemblies of the articulation motor 608a, 608b, which can be configured to transmit articulation movements generated by the motors 606a, 606b to the end actuator. In certain cases, articulation movements can cause the end actuator to be articulated in relation to the drive shaft assembly, for example.
[0202] [0202] As described above, the surgical instrument or tool can include a plurality of motors that can be configured to perform various independent functions. In certain cases, the plurality of motors of the instrument or surgical tool can be activated individually or separately to perform one or more functions, while other motors remain inactive. For example, the articulation motors 606a, 606b can be activated to cause the end actuator to be articulated, while the firing motor 602 remains inactive. Alternatively, the firing motor 602 can be activated to fire the plurality of clamps, and / or advance the cutting edge, while the articulation motor 606 remains inactive. In addition, the closing motor 603 can be activated simultaneously with the firing motor 602 to cause the closing tube or I-beam beam element to move distally, as described in more detail later in this document.
[0203] [0203] In certain cases, the surgical instrument or tool may include a common control module 610 that can be used with a plurality of the instrument's instruments or surgical tool. In some cases, the common control module 610 can accommodate one of the plurality of motors at a time. For example, the common control module 610 can be coupled to and separable from the plurality of motors of the robotic surgical instrument individually. In certain cases, a plurality of surgical instrument or tool motors may share one or more common control modules, such as the common control module 610. In certain cases, a plurality of surgical instrument or tool motors may be individually and selectively coupled to the common control module 610. In certain cases, the common control module 610 can be selectively switched between interfacing with one of a plurality of instrument motors or surgical tool to interface with another among the plurality of instrument motors or surgical tool.
[0204] [0204] In at least one example, the common control module 610 can be selectively switched between the operating coupling with the hinge motors 606a, 606B, and the operating coupling with the firing motor 602 or the closing motor 603 In at least one example, as shown in Figure 16, a key 614 can be moved or moved between a plurality of positions and / or states. In the first position 616, the switch 614 can electrically couple the common control module 610 to the trip motor 602; in a second position 617, the switch 614 can electrically couple the control module 610 to the closing motor 603; in a third position 618a, the switch 614 can electrically couple the common control module 610 to the first articulation motor 606a; and in a fourth position 618b, the switch 614 can electrically couple the common control module 610 to the second articulation motor 606b, for example. In certain cases, separate common control modules 610 can be electrically coupled to the firing motor 602, closing motor 603, and hinge motors 606a, 606b at the same time. In certain cases, key 614 can be a mechanical key, an electromechanical key, a solid state key, or any suitable switching mechanism.
[0205] [0205] Each of the 602, 603, 606a, 606b motors can comprise a torque sensor to measure the output torque on the motor drive shaft. The force on an end actuator can be detected in any conventional manner, such as by means of force sensors on the outer sides of the jaws or by a motor torque sensor that drives the jaws.
[0206] [0206] In several cases, as shown in Figure 16, the common control module 610 may comprise a motor driver 626 that may comprise one or more H-Bridge FETs. The motor driver 626 can modulate the energy transmitted from a power source 628 to a motor coupled to the common control module 610, based on an input from a microcontroller 620 (the "controller"), for example. In certain cases, the microcontroller 620 can be used to determine the current drawn by the motor, for example, while the motor is coupled to the common control module 610, as described above.
[0207] [0207] In certain examples, the microcontroller 620 may include a microprocessor 622 (the "processor") and one or more non-transitory computer-readable media or 624 memory units (the "memory"). In certain cases, memory 624 can store various program instructions which, when executed, can cause processor 622 to perform a plurality of functions and / or calculations described herein. In certain cases, one or more of the memory units 624 can be coupled to the processor 622, for example.
[0208] [0208] In certain cases, the power source 628 can be used to supply power to the microcontroller 620, for example. In certain cases, the 628 power source may comprise a battery (or "battery pack" or "power pack"), such as a Li ion battery, for example. In certain cases, the battery pack can be configured to be releasably mounted on a handle to supply power to the surgical instrument 600. Several battery cells connected in series can be used as the 628 power source. In certain cases , the power source 628 can be replaceable and / or rechargeable, for example.
[0209] [0209] In several cases, the 622 processor can control the 626 motor starter to control the position, direction of rotation and / or speed of a motor that is coupled to the common control module
[0210] [0210] In one example, the 622 processor can be any single-core or multi-core processor, such as those known by the Texas Instruments ARM Cortex trade name. In certain cases, the 620 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Core-Tex-M4F processor core that comprises a 256 KB single cycle flash integrated memory, or other non-volatile memory, up to 40 MHz, a search buffer anticipated to optimize performance above 40 MHz, a 32 KB single cycle SRAM, an internal ROM loaded with StellarisWare® software, a 2 KB EEPROM, one or more PWM modules, one or more QEI analogs , one or more 12-bit ADCs with 12 analog input channels, among other features that are readily available for the product data sheet. Other microcontrollers can be readily replaced for use with the 4410 module. Consequently, the present disclosure should not be limited in this context.
[0211] [0211] In certain cases, memory 624 may include program instructions for controlling each of the motors of the surgical instrument 600 that are attachable to the common control module 610. For example, memory 624 may include program instructions for controlling the firing motor 602, the closing motor 603 and the hinge motors 606a, 606b. Such program instructions can cause the 622 processor to control the trigger, close, and link functions according to inputs from the instrument or surgical tool control algorithms or programs.
[0212] [0212] In certain cases, one or more mechanisms and / or sensors, such as 630 sensors, can be used to alert the 622 processor about the program instructions that must be used in a specific configuration. For example, sensors 630 can alert the 622 processor to use the program instructions associated with triggering, closing and pivoting the end actuator. In certain cases, sensors 630 may comprise position sensors that can be used to detect the position of switch 614,
[0213] [0213] Figure 17 is a schematic diagram of a robotic surgical instrument 700 configured to operate a surgical tool described in this document, in accordance with an aspect of that disclosure. The robotic surgical instrument 700 can be programmed or configured to control the distal / proximal translation of a displacement member, the distal / proximal displacement of a closing tube, the rotation of the drive shaft, and articulation, either with a single type or multiple articulation drive links. In one aspect, surgical instrument 700 can be programmed or configured to individually control a firing member, a closing member, a driving shaft member and / or one or more hinge members. The surgical instrument 700 comprises a control circuit 710 configured to control motor-driven firing members, closing members, driving shaft members and / or one or more hinge members.
[0214] [0214] In one aspect, the robotic surgical instrument 700 comprises a control circuit 710 configured to control an anvil 716 and a beam portion with I-profile 714 (including a sharp cutting edge) from an end actuator 702, a removable staple cartridge 718, a drive shaft 740 and one or more hinge members 742a, 742b through a plurality of engines 704a to 704e. A position sensor 734 can be configured to provide I-beam beam position feedback 714 to control circuit 710. Other sensors 738 can be configured to provide feedback to control circuit 710. A timer / counter 731 provides information timing and counting to control circuit 710. A power source 712 can be provided to operate motors 704a to 704e and a current sensor 736 provides motor current feedback to control circuit 710. Motors 704a to 704e they can be operated individually by control loop 710 in an open loop or closed loop feedback control.
[0215] [0215] In one aspect, the control circuit 710 may comprise one or more microcontrollers, microprocessors or other processors suitable for executing instructions that cause the processor or processors to perform one or more tasks. In one aspect, a timer / counter 731 provides an output signal, such as elapsed time or a digital count, to control circuit 710 to correlate beam position with I-shaped profile 714, as determined by position sensor 734, with the timer / counter output 731 so that the control circuit 710 can determine the position of the I-beam beam 714 at a specific time (t) in relation to an initial position or the time (t) when the beam with profile in I 714 it is in a specific position in relation to an initial position. The timer / counter 731 can be configured to measure elapsed time, count external events or measure external events.
[0216] [0216] In one aspect, control circuit 710 can be programmed to control functions of end actuator 702 based on one or more tissue conditions. Control circuit 710 can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. The control circuit 710 can be programmed to select a trigger control program or closing control program based on the conditions of the fabric. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when thicker tissue is present, control circuit 710 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When thinner tissue is present, control circuit 710 can be programmed to translate the displacement member at a higher speed and / or with a higher power. A closing control program can control the closing force applied to the tissue by the anvil 716. Other control programs control the rotation of the drive shaft 740 and the hinge members 742a, 742b.
[0217] [0217] In one aspect, the 710 control circuit can generate motor setpoint signals. Motor setpoint signals can be provided for various motor controllers 708a through 708e. Motor controllers 708a to 708e can comprise one or more circuits configured to provide motor drive signals for motors 704a to 704e in order to drive motors 704a to 704e, as described here. In some instances, motors 704a to 704e may be brushed DC motors. For example, the speed of motors 704a to 704e can be proportional to the respective motor start signals. In some instances, motors 704a to 704e may be brushless DC electric motors, and their
[0218] [0218] In one aspect, the control circuit 710 can initially operate each of the motors 704a to 704e in an open circuit configuration for a first open circuit portion of a travel member travel. Based on the response of the robotic surgical instrument 700 during the open circuit portion of the stroke, control circuit 710 can select a trigger control program in a closed circuit configuration. The instrument response may include a translation of the distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the energy supplied to one of the motors 704a to 704e during the open circuit portion, a sum pulse widths of a motor drive signal, etc. After the open circuit portion, control circuit 710 can implement the selected trigger control program for a second portion of the travel member travel. For example, during a portion of the closed circuit course, control circuit 710 can modulate one of the motors 704a to 704e based on the translation of data describing a position of the displacement member in closed circuit to translate the displacement member at a constant speed.
[0219] [0219] In one aspect, motors 704a to 704e can receive power from a 712 power source. Power source 712 can be a DC power source powered by a main alternating current power source, a battery, a supercapacitor, or any other suitable energy source. Motors 704a to 704e can be mechanically coupled to individual moving mechanical elements such as the I-profile beam 714, the anvil 716, the drive shaft 740, the joint 742a and the joint 742b, through the respective transmissions 706a to 706e. Transmissions 706a through 706e may include one or more gears or other connecting components to couple motors 704a to 704e to moving mechanical elements. A 734 position sensor can detect an I-beam beam position
[0220] [0220] In one aspect, control circuit 710 is configured to drive a firing member as the portion of the I-profile beam 714 of end actuator 702. Control circuit 710 provides a motor setpoint for a motor control 708a, which provides a drive signal for motor 704a. The output shaft of the motor 704a is coupled to a torque sensor 744a. The torque sensor 744a is coupled to a transmission 706a which is coupled to the beam with I-profile 714. The transmission 706a comprises moving mechanical elements, such as rotating elements, and a firing member to control the movement distally and proximally. of the I-beam beam 714 along a longitudinal geometric axis of the end actuator 702. In one aspect, the motor 704a can be coupled to the knife gear assembly, which includes a knife gear reduction assembly that includes a first knife drive gear and a second knife drive gear. A torque sensor 744a provides a trigger force feedback signal to control circuit 710. The trigger force signal represents the force required to fire or move the I-profile beam 714. A 734 position sensor can be configured to provide the position of the I-profile beam 714 along the firing stroke or the position of the firing member as a feedback signal to control circuit 710. End actuator 702 may include additional sensors 738 configured to provide signals feedback to control circuit 710. When ready for use, control circuit 710 can provide a trip signal to the 708a motor control. In response to the trigger signal, motor 704a can drive the trigger member distally along the longitudinal geometry axis of end actuator 702 from an initial proximal position of the stroke to an end distal position of the stroke relative to the initial position of course. As the firing member travels distally, an I-beam beam 714, with a cutting element positioned at a distal end, advances distally to cut the fabric between the staple cartridge 718 and the anvil 716.
[0221] [0221] In one aspect, control circuit 710 is configured to trigger a closing member, such as the anvil portion
[0222] [0222] In one aspect, control circuit 710 is configured to rotate a drive shaft member, such as drive shaft 740, to rotate end actuator 702. Control circuit 710 provides a set point motor for a 708c motor control, which provides a drive signal for the 704c motor.
[0223] [0223] In one aspect, control circuit 710 is configured to link end actuator 702. Control circuit 710 provides a motor setpoint for a 708d motor control, which provides a trigger signal for the 704d engine. The output shaft of the motor 704d is coupled to a torque sensor 744d. The torque sensor 744d is coupled to a transmission 706d which is coupled to a pivot member 742a. The 706d transmission comprises moving mechanical elements, such as articulation elements, to control the articulation of the 702 ± 65 ° end actuator. In one aspect, the 704d motor is coupled to a pivot nut, which is rotatably seated on the proximal end portion of the distal column portion and is pivotally driven thereon by a pivot gear assembly. The torque sensor 744d provides a hinge force feedback signal to control circuit 710. The hinge force feedback signal represents the hinge force applied to the end actuator 702. The 738 sensors, as an articulation encoder, can supply the articulation position of end actuator 702 to control circuit 710.
[0224] [0224] In another aspect, the articulation function of the robotic surgical system 700 may comprise two articulation members, or connections, 742a, 742b. These hinge members 742a, 742b are driven by separate disks at the robot interface (the rack), which are driven by the two motors 708d, 708e. When the separate firing motor 704a is provided, each hinge link 742a, 742b can be antagonistically driven relative to the other link to provide a resistive holding movement and a head load when it is not moving and to provide a articulation movement when the head is articulated. The hinge members 742a, 742b attach to the head in a fixed radius when the head is rotated. Consequently, the mechanical advantage of the push and pull link changes when the head is rotated. This change in mechanical advantage can be more pronounced with other drive systems for the articulation connection.
[0225] [0225] In one aspect, the one or more motors 704a to 704e may comprise a brushed DC motor with a gearbox and mechanical connections to a firing member, closing member or articulation member. Another example includes electric motors 704a to 704e that operate the moving mechanical elements such as the displacement member, the articulation connections, the closing tube and the drive shaft. An external influence is a negligible and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to one of the electric motors 704a to 704e. External influence, such as drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[0226] [0226] In one aspect, the position sensor 734 can be implemented as an absolute positioning system. In one aspect, the position sensor 734 can comprise an absolute rotary magnetic positioning system implemented as a single integrated circuit rotary magnetic position sensor AS5055EQFT, available from Austria Microsystems, AG. The position sensor 734 can interface with the control circuit 710 to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit by digit method and Volder algorithm, which is provided to implement a simple and efficient algorithm for calculating hyperbolic functions and trigonometry that require only addition, subtraction, bit shift and lookup table operations.
[0227] [0227] In one aspect, the control circuit 710 can be in communication with one or more sensors 738. The sensors 738 can be positioned on the end actuator 702 and adapted to work with the robotic surgical instrument 700 to measure various derived parameters such as the span distance in relation to time, the compression of the tissue in relation to time and the anvil effort in relation to time. The 738 sensors can comprise a magnetic sensor, a magnetic field sensor, a stress meter, a load cell, a pressure sensor, a force sensor, a torque sensor,
[0228] [0228] In one aspect, the one or more sensors 738 may comprise an effort meter, such as a microstrain meter, configured to measure the magnitude of the stress on the anvil 716 during a stuck condition. The effort meter provides an electrical signal whose amplitude varies with the magnitude of the effort. Sensors 738 can comprise a pressure sensor configured to detect pressure generated by the presence of compressed tissue between the anvil 716 and the staple cartridge 718. Sensors 738 can be configured to detect the impedance of a section of tissue located between the anvil 716 and the staple cartridge 718 which is indicative of the thickness and / or completeness of the fabric located between them.
[0229] [0229] In one aspect, the 738 sensors can be implemented as one or more limit switches, electromechanical devices, solid-state switches, Hall effect devices, magnetor-
[0230] [0230] In one aspect, sensors 738 can be configured to measure the forces exerted on the anvil 716 by the closing actuation system. For example, one or more sensors 738 may be at a point of interaction between the closing tube and the anvil 716 to detect the closing forces applied by the closing tube to the anvil 716. The forces exerted on the anvil 716 can be representative of the tissue compression experienced by the tissue section captured between the anvil 716 and the staple cartridge
[0231] [0231] In one aspect, a current sensor 736 can be used to measure the current drawn by each of the 704a to 704e motors. The force required to advance any of the moving mechanical elements such as the I-beam profile 714 corresponds to the current drained by one of the motors 704a to 704e. The force is converted into a digital signal and supplied to control circuit 710. Control circuit 710 can be configured to simulate the response of the instrument's actual system in the controller software. A displacement member can be actuated to move an I-beam beam 714 on end actuator 702 at or near a target speed. The robotic surgical instrument 700 may include a feedback controller, which can be one or any of the feedback controllers, including, but not limited to, a PID controller, state feedback, linear quadratic (LQR) and / or an adaptable controller, for example. The robotic surgical instrument 700 can include a power source to convert the signal from the feedback controller to a physical input such as case voltage, PWM voltage, frequency-modulated voltage, current, torque and / or force, for example. Additional details are disclosed in US Patent Application Serial No. 15 / 636,829, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT, filed on June 29, 2017, which is hereby incorporated by way of reference in its wholeness.
[0232] [0232] Figure 18 illustrates a block diagram of a surgical instrument 750 programmed to control the distal translation of a displacement member in accordance with an aspect of the present disclosure. In one aspect, the surgical instrument 750 is programmed to control the distal translation of a displacement member, such as the beam with I-shaped profile 764. The surgical instrument 750 comprises an end actuator 752 which may comprise a 766 anvil. , a beam with an I-shaped profile 764 (including a sharp cutting edge) and a removable staple cartridge 768.
[0233] [0233] The position, movement, displacement and / or translation of a linear displacement member, such as the beam with I-764 profile, can be measured by an absolute positioning system, a sensor arrangement and a position sensor 784. As the I-beam beam 764 is coupled to a longitudinally movable drive member, the position of the I-beam beam 764 can be determined by measuring the position of the longitudinally mobile drive member using the 784 position sensor. Consequently, in the following description, the position, displacement and / or translation of the I-profile beam 764 can be obtained by the position sensor 784, as described in the present invention. A control circuit 760 can be programmed to control the translation of the displacement member, such as the I-profile beam 764. The control circuit 760, in some examples, may comprise one or more microcontrollers, microprocessors or other products. suitable terminators to carry out the instructions that cause the processor or processors to control the displacement member, for example the beam with I 764 profile, in the manner described. In one aspect, a timer / counter 781 provides an output signal, such as elapsed time or a digital count, to control circuit 760 to correlate the beam position with I-shaped profile 764, as determined by position sensor 784 , with the timer / counter 781 output so that the control circuit 760 can determine the position of the I-profile beam 764 at a specific time (t) in relation to an initial position. The 781 timer / counter can be configured to measure elapsed time, count external events, or measure timeless events.
[0234] [0234] Control circuit 760 can generate a motor setpoint signal 772. Motor setpoint signal 772 can be supplied to a motor controller 758. Motor controller 758 can comprise one or more circuits configured to provide a motor 774 drive signal to motor 754 to drive motor 754, as described in the present invention. In some instances, the 754 motor may be a DC motor with a brushed DC electric motor. For example, the speed of motor 754 can be proportional to the drive signal of motor 774. In some instances, motor 754 can be a brushless DC electric motor and the motor drive signal 774 can comprise a PWM signal provided for a or more motor stator windings 754. In addition, in some examples, motor controller 758 may be omitted, and control circuit 760 can generate motor drive signal 774 directly.
[0235] [0235] The 754 motor can receive power from a power source
[0236] [0236] The control circuit 760 can be in communication with one or more sensors 788. The sensors 788 can be positioned on the end actuator 752 and adapted to work with the surgical instrument 750 to measure the various derived parameters, such as distance span in relation to time, compression of the tissue in relation to time and anvil effort in relation to time. The 788 sensors can comprise a magnetic sensor, a magnetic field sensor, a stress meter, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a resistive sensor, a capacitive sensor, a sensor optical and / or any other suitable sensor for measuring one or more parameters of the end actuator 752. The 788 sensors may include one or more sensors.
[0237] [0237] The one or more sensors 788 may comprise a stress meter, such as a microstrain meter, configured to measure the magnitude of the stress on the anvil 766 during a stuck condition. The effort meter provides an electrical signal whose amplitude varies with the magnitude of the effort. The 788 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 766 and the staple cartridge 768. The 788 sensors can be configured to detect the impedance of a section of fabric located between the anvil 766 and the staple cartridge 768 which is indicative of the thickness and / or completeness of the fabric located between them.
[0238] [0238] The 788 sensors can be configured to measure the forces exerted on the anvil 766 by the closing drive system. For example, one or more sensors 788 can be at a point of interaction between a closing tube and anvil 766 to detect the closing forces applied by a closing tube to the anvil
[0239] [0239] A current sensor 786 can be used to measure the current drained by the 754 motor. The force required to advance the beam with I-shaped profile 764 corresponds to the current drained by the 754 motor. The force is converted into a digital signal. and supplied to the control circuit
[0240] [0240] Control circuit 760 can be configured to simulate the actual system response of the instrument in the controller software. A displacement member can be actuated to move a beam with I-profile 764 on end actuator 752 at or near a target speed. The surgical instrument 750 may include a feedback controller, which can be any or any feedback controller, including, but not limited to, a PID controller, status feedback, LQR, and / or a adaptive controller, for example. The surgical instrument 750 can include a power source to convert the signal from the feedback controller to a physical input such as case voltage, PWM voltage, voltage modulated by frequency, current, torque and / or force, for example.
[0241] [0241] The actual drive system of the surgical instrument 750 is configured to drive the displacement member, cutting member or beam with I-764 profile, by a brushed DC motor with gearbox and mechanical connections to a control system. knife and / or joint. Another example is the 754 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence of things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 754 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[0242] [0242] Several exemplifying aspects are directed to a surgical instrument 750 that comprises an end actuator 752 with surgical implements for stapling and cutting driven by engine. For example, a 754 motor can drive a displacement member distally and proximally along a longitudinal geometric axis of end actuator 752. End actuator 752 can comprise a pivoting anvil 766 and, when configured for use , a staple cartridge 768 positioned on the opposite side of the anvil
[0243] [0243] In several examples, the surgical instrument 750 may comprise a control circuit 760 programmed to control the distal translation of the displacement member, such as the beam with I-shaped profile 764, for example, based on one or more conditions of fabric. The control circuit 760 can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. Control circuit 760 can be programmed to select a trigger control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker tissue is present, control circuit 760 can be programmed to move the displacement member at a lower speed and / or with a lower power. When a thinner fabric is present, the control circuit 760 can be programmed to move the displacement member at a higher speed and / or with a higher power.
[0244] [0244] In some examples, the control circuit 760 may initially operate the motor 754 in an open circuit configuration by a first open circuit portion of a travel of the travel member. Based on a response from instrument 750 during the open circuit portion of the course, control circuit 760 can select a trip control program. The response of the instrument may include a travel distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the energy supplied to the motor 754 during the open circuit portion, a sum pulse widths of a motor start signal, etc. After the open circuit portion, control circuit 760 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed circuit portion of the stroke, control circuit 760 can modulate motor 754 based on the translation data that describes a position of the displacement member in a closed circuit manner to translate the member displacement at a constant speed. Additional details are disclosed in US patent application serial number 15 / 720,852, entitled SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICAL INSTRUMENT, filed on September 29, 2017, which is hereby incorporated by reference in its wholeness.
[0245] [0245] Figure 19 is a schematic diagram of a 790 surgical instrument configured to control various functions in accordance with an aspect of the present disclosure. In one aspect, the surgical instrument 790 is programmed to control the distal translation of a displacement member, such as the I-profile beam 764. Surgical instrument 790 comprises an end actuator 792 that can comprise an anvil 766, a beam with I-profile 764 and a removable staple cartridge 768 that can be interchanged with an RF cartridge 796 (shown in dashed line).
[0246] [0246] In one aspect, the 788 sensors can be implemented as a limit switch, electromechanical device, solid state switches, Hall effect devices, MRI devices, GMR devices, magnetometers, among others. In other implementations, 638 sensors can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, MOSFET, bipolar, and the like). In other implementations, 788 sensors can include driverless electric switches, ultrasonic switches,
[0247] [0247] In one aspect, the position sensor 784 can be implemented as an absolute positioning system, which comprises an absolute rotary magnetic positioning system implemented as a single integrated circuit rotary magnetic position sensor AS5055EQFT , available from Austria Microsystems, AG. The position sensor 784 can interface with the control circuit 760 to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit by digit method and Volder's algorithm, which is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions which only require addition, subtraction, bit shift and lookup table operations.
[0248] [0248] In one aspect, the I-764 beam can be implemented as a knife member comprising a knife body that operationally supports a fabric cutting blade therein and may additionally include flaps or latching features anvil and channel hitch features or a base. In one aspect, the staple cartridge 768 can be implemented as a standard surgical (mechanical) fastener cartridge. In one aspect, the RF cartridge 796 can be implemented as an RF cartridge. These and other sensor provisions are described in US Patent Application Common Ownership No. 15 / 628,175, entitled TECHNIQUES FOR ADAP-
[0249] [0249] The position, movement, displacement and / or translation of a linear displacement member, such as the beam with I-764 profile, can be measured by an absolute positioning system, a sensor arrangement and position sensor represented as the position sensor 784. As the beam with I-shaped profile 764 is coupled to the longitudinally movable drive member, the position of the beam with I-shaped profile 764 can be determined by measuring the position of the member longitudinally movable drive that uses the 784 position sensor. Consequently, in the following description, the position, displacement and / or translation of the I-profile beam 764 can be obtained by the position sensor 784, as described in present invention. A control circuit 760 can be programmed to control the translation of the displacement member, such as the I-profile beam 764, as described in the present invention. The control circuit 760, in some examples, may comprise one or more microcontrollers, microprocessors or other suitable processors to carry out instructions that cause the processor or processors to control the displacement member, for example the I-profile beam 764, as described. In one aspect, a timer / counter 781 provides an output signal, such as elapsed time or a digital count, to control circuit 760 to correlate beam position with I-shaped profile 764, as determined by position sensor 784 , with the timer / counter 781 output so that the control circuit 760 can determine the position of the beam with I-shaped profile 764 at a specific time (t) in relation to an initial position. The 781 timer / counter can be configured to measure elapsed time, count external events, or measure timeless events.
[0250] [0250] Control circuit 760 can generate a motor setpoint signal 772. Motor setpoint signal 772 can be supplied to a motor controller 758. Motor controller 758 can comprise one or more circuits configured to provide a motor 774 drive signal to motor 754 to drive motor 754, as described in the present invention. In some instances, the 754 motor may be a DC motor with a brushed DC electric motor. For example, the speed of motor 754 can be proportional to the drive signal of motor 774. In some instances, motor 754 can be a brushless DC electric motor and the motor drive signal 774 can comprise a PWM signal provided for a or more motor stator windings 754. In addition, in some examples, motor controller 758 may be omitted, and control circuit 760 can generate motor drive signal 774 directly.
[0251] [0251] The 754 motor can receive power from a power source
[0252] [0252] The control circuit 760 can be in communication with one or more sensors 788. The sensors 788 can be positioned on the end actuator 792 and adapted to work with the surgical instrument 790 to measure the various derived parameters, such as distance span in relation to time, compression of the tissue in relation to time and anvil effort in relation to time. The 788 sensors can comprise a magnetic sensor, a magnetic field sensor, a stress meter, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a resistive sensor, a capacitive sensor, a sensor optical and / or any other sensor suitable for measuring one or more parameters of the end actuator 792. The 788 sensors may include one or more sensors.
[0253] [0253] The one or more sensors 788 may comprise a stress meter, such as a microstrain meter, configured to measure the magnitude of the stress on the anvil 766 during a stuck condition. The effort meter provides an electrical signal whose amplitude varies with the magnitude of the effort. The 788 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 766 and the staple cartridge 768. The 788 sensors can be configured to detect the impedance of a section of fabric located between the anvil 766 and the staple cartridge 768 which is indicative of the thickness and / or completeness of the fabric located between them.
[0254] [0254] The 788 sensors can be configured to measure the forces exerted on the anvil 766 by the closing drive system. For example, one or more sensors 788 may be at a point of interaction between a closing tube and anvil 766 to detect the closing forces applied by a closing tube to anvil 766. The forces exerted on anvil 766 can be represented - sensations of the tissue compression experienced by the tissue section captured between the anvil 766 and the staple cartridge 768. The one or more sensors 788 can be positioned at various points of interaction throughout the closing drive system to detect the closing forces applied to the anvil 766 by the closing drive system. The one or more 788 sensors can be sampled in real time during a gripping operation by a processor portion of the 760 control circuit. The 760 control circuit receives sample measurements in real time to provide and analyze information. time-based formations and assess, in real time, the closing forces applied to the anvil 766.
[0255] [0255] A current sensor 786 can be used to measure the current drained by the motor 754. The force required to advance the beam with I-profile 764 corresponds to the current drained by the motor 754. The force is converted into a digital signal and supplied to the control circuit
[0256] [0256] An RF power source 794 is coupled to the end actuator 792 and is applied to the RF 796 cartridge when the RF 796 cartridge is loaded on the end actuator 792 in place of the staple cartridge 768. The circuit Control Panel 760 controls the supply of RF energy to the 796 RF cartridge.
[0257] [0257] Additional details are disclosed in US Patent Application Serial No. 15 / 636,096, entitled SURGICAL SYSTEM COUPLA-
[0258] [0258] Figure 20 is a simplified block diagram of a generator 800 configured to provide adjustment without inductor, among other benefits. Additional details of generator 800 are described in US patent no.
[0259] [0259] In certain forms, ultrasonic and electrosurgical trigger signals can be provided simultaneously to different surgical instruments and / or to a single surgical instrument, such as the multifunctional surgical instrument, with the ability to supply both ultrasonic and electrosurgical energy to the fabric. It will be recognized that the electrosurgical signal provided by both the dedicated electrosurgical instrument and the electro-surgical / ultrasonic multifunctional combined instrument can be both a therapeutic and subtherapeutic signal, where the subtherapeutic signal can be used, for example, to monitor tissue or the conditions of the instruments and provide feedback to the generator. For example, RF and ultrasonic signals can be supplied separately or simultaneously from a generator with a single output port in order to provide the desired output signal to the surgical instrument, as will be discussed in more detail below. Consequently, the generator can combine the RF electrosurgical and ultrasonic energies and supply the combined energies to the multi-functional electrosurgical / ultrasonic instrument. Bipolar electrodes can be placed in one or both of the claws of the end actuator. A claw can be triggered by ultrasonic energy in addition to RF electrosurgical energy, working simultaneously. Ultrasonic energy can be used to perform tissue dissection, while RF electrosurgical energy can be used to cauterize vessels.
[0260] [0260] The non-isolated stage 804 may comprise a power amplifier 812 having an output connected to a primary winding 814 of the power transformer 806. In certain forms, the power amplifier 812 may comprise a push-type amplifier and to pull. For example, the non-isolated stage 804 may additionally contain a logic device 816 to provide digital output to a digital-to-analog converter (DAC)
[0261] [0261] Power can be supplied to a power rail of the power amplifier 812 by a key mode regulator 820, for example, a power converter. In certain forms, the key mode regulator 820 may comprise an adjustable antagonist regulator (buck), for example. The non-isolated stage 804 may further comprise a first processor 822 which, in one form, may comprise a PSD processor as an ADSP-21469 SHARC DSP analog device, available from Analog Devices, Norwood, MA, USA, for example, although in various forms, any suitable processor can be used. In certain ways, the PSD 822 processor can control the operation of the key mode regulator 820 responsive to voltage feedback data received from the power amplifier 812 by the PSD 822 processor via an ADC circuit
[0262] [0262] In certain ways, the logic device 816, in conjunction with the PSD 822 processor, can implement a digital synthesis circuit as a control scheme with a direct digital synthesizer to control the waveform, frequency and / or the amplitude of the trigger signals emitted by the generator 800. In one way, for example, the logic device 816 can implement a DDS control algorithm by retrieving waveform samples stored in a lookup table (LUT , "lookup table") dynamically updated, like a RAM LUT, which can be built into an FPGA. This control algorithm is particularly useful for ultrasonic applications in which an ultrasonic transducer, such as an ultrasonic transducer, can be driven by a clean sinusoidal current at its resonant frequency. Since other frequencies can excite parasitic resonances, minimizing or reducing the total distortion of the branching current can correspondingly minimize or reduce the undesirable effects of the resonance. As the waveform of a drive signal emitted by generator 800 is impacted by various sources of distortion present in the output drive circuit (for example the 806 power transformer,
[0263] [0263] The non-isolated stage 804 may additionally comprise a first ADC circuit 826 and a second ADC circuit 828 coupled to the output of the power transformer 806 by means of the respective isolation transformers 830 and 832, to respectively sample the voltage and the current of trigger signals emitted by the generator 800. In certain ways, the ADC 826 and 828 circuits can be configured for high speed sampling (for example, 80 mega samples per second (MSPS)) to enable over-sampling of the trigger signals. In one way, for example, the sampling speed of the ADC 826 and 828 circuits can enable an oversampling of approximately 200x (depending on the frequency) of the drive signals. In certain ways, the sampling operations of the ADC circuit 826 and 828 can be performed by a single ADC circuit receiving voltage and current input signals through a bidirectional multiplexer. The use of high-speed sampling in the forms of generator 800 can make it possible, among other things, to calculate the complex current flowing through the branch of motion (which can be used in certain forms to implement waveform control based on in DDS described above), the accurate digital filtering of the sampled signals and the calculation of the actual energy consumption with a high degree of precision. The feedback data about voltage and current emitted by the ADC 826 and 828 circuits can be received and processed (for example first in, first out (FIFO), multiplexer) by logic device 816 and stored in data memory for subsequent retrieval, for example, by the PSD 822 processor. As noted above, feedback data on voltage and current can be used as input to an algorithm for pre-distortion or modification of waveform samples at LUT, in a dynamic and continuous way. In certain ways, this may require that each pair of feedback data on stored voltage and current be indexed based on, or otherwise associated with, a corresponding LUT sample that was provided by logic device 816 when the pair of feedback data on voltage and current was captured. The synchronization of the LUT samples with the feedback data about voltage and current in this way contributes to the correct timing and stability of the pre-distortion algorithm.
[0264] [0264] In certain forms, voltage and current feedback data can be used to control the frequency and / or amplitude (for example current amplitude) of the drive signals. In one way, for example, feedback data about voltage and current can be used to determine the impedance phase. The frequency of the trigger signal can then be controlled to minimize or reduce the difference between the determined impedance phase and an impedance phase setpoint (eg 0 °), thereby minimizing or reducing the effects harmonic distortion and correspondingly accentuating the accuracy of the impedance phase measurement. The determination of phase impedance and a frequency control signal can be implemented in the PSD 822 processor, for example, with the frequency control signal being supplied as input to a DDS control algorithm implemented by the logic device
[0265] [0265] In another form, for example, the current feedback data can be monitored in order to maintain the current amplitude of the drive signal at a current amplitude setpoint. The current amplitude set point can be specified directly or indirectly determined based on the specified set points for voltage and power amplitude. In certain ways, the control of the current amplitude can be implemented by the control algorithm, such as, for example, a proportional-integral-derivative control (PID) algorithm, in the PSD 822 processor. The variables controlled by the control to properly control the current amplitude of the drive signal may include, for example, the scaling of the LUT waveform samples stored in logic device 816 and / or the full-scale output voltage of the DAC circuit 818 (which provides input to the power amplifier 812) via a DAC circuit
[0266] [0266] The non-isolated stage 804 can additionally comprise a second processor 836 to provide, among other things, the functionality of the user interface (UI - user interface). In one form, the UI 836 processor may comprise an Atmel AT91SAM9263 processor with an ARM 926EJ-S core, available from Atmel Corporation, of San Jose, California, USA, for example. Examples of UI functionality supported by the UI 836 processor may include audible and visual feedback from the user, communication with peripheral devices (for example, via a USB interface), communication with a foot switch, communication with a input device (eg a touchscreen) and communication with an output device (eg a loudspeaker). The UI processor 836 can communicate with the PSD processor 822 and logic device 816 (for example, via SPI busses). Although the UI 836 processor can primarily support UI functionality, it can also coordinate with the PSD 822 processor to implement risk mitigation in certain ways. For example, the UI 836 processor can be programmed to monitor various aspects of user input and / or other inputs (eg touch screen inputs, foot switch inputs, temperature sensor inputs) and can disable generator drive output 800 when an error condition is detected.
[0267] [0267] In certain ways, both the PSD 822 processor and the UI 836 processor can, for example, determine and monitor the operational state of generator 800. For the PSD 822 processor, the operational state of generator 800 can determine, for example, which control and / or diagnosis processes are implemented by the PSD 822 processor. For the UI 836 processor, the operational state of generator 800 can determine, for example, which elements of a UI (for example, display, sounds) are presented to a user. The respective PSD and UI processors, 822 and 836, can independently maintain the current operational state of the generator 800, as well as recognize and evaluate possible transitions out of the current operational state. The PSD 822 processor can act as the primary processor in this relationship, and can determine when transitions between operational states should occur. The UI 836 processor can be aware of valid transitions between operational states and can confirm that a particular transition is adequate. For example, when the PSD 822 processor instructs the UI 836 processor to transition to a specific state, the UI 836 processor can verify that the requested transition is valid. If a requested transition between states is determined to be invalid by the UI 836 processor, the UI 836 processor can cause generator 800 to enter a fault mode.
[0268] [0268] The non-isolated platform 804 may also contain an 838 controller for monitoring input devices (for example, a capacitive touch sensor used to turn generator 800 on and off, a sensitive capacitive screen touch). In certain ways, controller 838 may comprise at least one processor and / or another controller device in communication with the UI processor 836. In one form, for example, controller 838 may comprise a processor (for example a Meg168 controller 8-bit available from Atmel) configured to monitor the user input provided via one or more capacitive touch sensors. In one way, the 838 controller can comprise a touchscreen controller (for example, a QT5480 touchscreen controller available from Atmel) to control and manage the capture of touch data from a capacitive touchscreen to the touch.
[0269] [0269] In certain ways, when generator 800 is in an "off" state, controller 838 can continue to receive operating power (for example, through a line from a generator 800 power supply, as the source 854 power supply discussed below). In this way, controller 838 can continue to monitor an input device (for example, a capacitive touch sensor located on a front panel of the generator 800) to turn the generator on and off
[0270] [0270] In certain forms, controller 838 may cause generator 800 to provide audible feedback or other sensory feedback to alert the user that an on or off sequence has been initiated. This type of alert can be provided at the beginning of a sequence on or off, and before the start of other processes associated with the sequence.
[0271] [0271] In certain forms, the isolated stage 802 may comprise an instrument interface circuit 840 to, for example, provide a communication interface between a control circuit of a surgical instrument (for example, a control circuit that handle handles) and non-isolated stage 804 components, such as logic device 816, PSD processor 822 and / or UI processor 836. Instrument interface circuit 840 can exchange information with components of the non-isolated stage 804 via a communication link that maintains an adequate degree of electrical isolation between the isolated and non-isolated stages 802 and 804, such as an IR-based communication link. Power can be supplied to the instrument interface circuit 840 using, for example, a low-drop voltage regulator powered by an isolation transformer driven from the non-isolated stage
[0272] [0272] In one form, the instrument interface circuit 840 can comprise a logic circuit 842 (for example logic circuit, programmable logic circuit, PGA, FPGA, PLD) in communication with a signal conditioning circuit 844. The control circuit Signal conditioning 844 can be configured to receive a periodic signal from logic circuit 842 (for example a 2 kHz square wave) to generate a bipolar interrogation signal with an identical frequency. The question mark can be generated, for example, using a bipolar current source powered by a differential amplifier. The interrogation signal can be communicated to a surgical instrument control circuit (for example, using a conductor pair on a cable connecting the generator 800 to the surgical instrument) and monitored to determine a state or condition. control circuit configuration. The control circuit may comprise several switches, resistors and / or diodes to modify one or more characteristics (for example, amplitude, rectification) of the question mark so that a state or a configuration of the control circuit is discernible, unequivocally, based on this one or more characteristics. In one form, for example, signal conditioning circuit 844 may comprise a circuit
[0273] [0273] In one form, the instrument interface circuit 840 may comprise a first data circuit interface 846 to enable the exchange of information between logic circuit 842 (or another element of the instrument interface circuit 840) and a first data circuit disposed in a surgical instrument or otherwise associated with it. In certain ways, for example, a first data loop may be arranged on a wire integrally attached to a handle of the surgical instrument or on an adapter to interface between a specific type or model of surgical instrument and the generator 800. The first data circuit can be deployed in any suitable way and can communicate with the generator according to any suitable protocol, including, for example, as described here with respect to the first data circuit. In certain ways, the first data circuit may comprise a non-volatile storage device, such as an EEPROM device. In certain ways, the first data circuit interface 846 can be implemented separately from logic circuit 842 and comprise a suitable circuit set (for example, separate logic devices, a processor) to enable communication between logic circuit 842 and the first data circuit. In other forms, the first data circuit interface 846 can be integral with logic circuit 842.
[0274] [0274] In certain forms, the first data circuit can store information related to the specific surgical instrument with which it is associated. This information may include, for example,
[0275] [0275] As discussed earlier, a surgical instrument can be removable from a handle (for example, the multifunctional surgical instrument can be removable from the handle) to promote interchangeability and / or disposability of the instrument. In such cases, conventional generators may be limited in their ability to recognize specific instrument configurations being used, as well as to optimize the control and diagnostic processes as needed. The addition of readable data circuits to surgical instruments to resolve this issue is problematic from a compatibility point of view, however. For example, designing a surgical instrument so that it remains retrocompatible with generators lacking the indispensable data reading functionality may be impractical, for example, due to different signaling schemes, design complexity and cost. The forms of instruments discussed here address these concerns with the use of data circuits that can be implemented in existing surgical instruments, economically and with minimal design changes to preserve the compatibility of surgical instruments with current generator platforms.
[0276] [0276] Additionally, the shapes of the generator 800 can enable communication with instrument-based data circuits. For example, generator 800 can be configured to communicate with a second data circuit contained in an instrument (for example, the multifunctional surgical instrument). In some ways, the second data circuit can be implemented in a manner similar to that of the first data circuit described here. The instrument interface circuit 840 may comprise a second data circuit interface 848 to enable such communication. In one form, the second data circuit interface 848 can comprise a three-state digital interface, although other interfaces can also be used. In certain ways, the second data circuit can generally be any circuit for transmitting and / or receiving data. In one form, for example, the second data circuit can store information related to the specific surgical instrument with which it is associated. This information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument was used, and / or any other types of information.
[0277] [0277] In some ways, the second data circuit can store information about the electrical and / or ultrasonic properties of an associated ultrasonic transducer, end actuator or ultrasonic drive system. For example, the first data loop can indicate an initialization frequency slope, as described here. In addition or alternatively, any type of information can be communicated to the second data circuit for storage on it via the second data circuit interface 848 (for example, using the logic circuit
[0278] [0278] In certain ways, the second data circuit and the second data circuit interface 848 can be configured so that communication between logic circuit 842 and the second data circuit can be carried out without the need to provide additional conductors for this purpose (for example, dedicated conductors on a cable connecting a handle to generator 800). In one way, for example, information can be communicated to and from the second data circuit using a wire bus communication scheme, implemented in the existing wiring, as one of the conductors used to transmit interrogation signals from signal conditioning circuit 844 to a control circuit on a handle. In this way, changes or modifications to the design of the surgical device that may otherwise be necessary are minimized or reduced. In addition, due to the fact that different types of communications implemented on a common physical channel can be separated based on frequency, the presence of a second data circuit can be "invisible" to generators that do not have the essential function. data readiness, which, therefore, enables the backward compatibility of the surgical instrument.
[0279] [0279] In certain forms, the isolated stage 802 may comprise at least one blocking capacitor 850-1 connected to the trigger signal output 810b to prevent the passage of direct current to a patient. A single blocking capacitor may be required to comply with medical regulations and standards, for example. Although failures in designs with a single capacitor are relatively uncommon, this type of failure can still have negative consequences. In one form, a second 850-2 blocking capacitor can be supplied in series with the 850-1 blocking capacitor, with one-point current dispersion between the 850-1 and 850-2 blocking capacitors being monitored, for example, by an ADC 852 circuit for sampling a voltage induced by dispersion current. Samples can be received by logic circuit 842, for example. Changes based on the leakage current (as indicated by the voltage samples), generator 800 can determine when at least one of the 850-1, 850-2 blocking capacitors has failed, thus providing a benefit over single capacitor designs with a single point of failure.
[0280] [0280] In certain embodiments, the non-isolated stage 804 may comprise a power supply 854 to provide DC power with adequate voltage and current. The power supply can comprise, for example, a 400 W power supply to supply a system voltage of 48 VDC. The power supply 854 can additionally comprise one or more DC / DC voltage converters 856 to receive the output from the power supply to generate DC outputs at the voltages and currents required by the various components of generator 800. As discussed above in connection to controller 838, one or more of the 856 dc / dc voltage converters can receive an input from controller 838 when the activation of the "on / off" input device by a user is detected by controller 838 to enable operation or the awakening of the 856 DC / DC voltage converters.
[0281] [0281] Figure 21 illustrates an example of generator 900, which is a form of generator 800 (Figure 20). The 900 generator is configured to supply multiple types of energy to a surgical instrument. The 900 generator provides ultrasonic and RF signals to supply energy to a surgical instrument, independently or simultaneously. Ultrasonic and RF signals can be provided alone or in combination and can be provided simultaneously. As indicated above, at least one generator output can provide multiple energy modes (for example, ultrasonic, bi-polar or monopolar RF, irreversible and / or reversible electroporation, and / or microwave energy , among others) through a single port, and these signals can be supplied separately or simultaneously to the end actuator to treat tissue.
[0282] [0282] Generator 900 comprises a processor 902 coupled to a waveform generator 904. Processor 902 and waveform generator 904 are configured to generate various signal waveforms based on information stored in a memory. coupled to processor 902, not shown for clarity of disclosure. The digital information associated with a waveform is provided to the waveform generator 904 that includes one or more DAC circuits to convert the digital input to an analog output. The analog output is powered by an amplifier 1106 for signal conditioning and amplification. The amplified conditioned output of the amplifier 906 is coupled to a power transformer 908. The signals are coupled by the power transformer 908 to the secondary side, which is on the patient isolation side. A first signal of a first energy modality is provided to the surgical instrument between the terminals identified as ENERGY1 and RETURN. A second signal of a second energy modality is coupled by a 910 capacitor and is supplied to the surgical instrument between the terminals identified as ENERGY2 and RETURN. It will be recognized that more than two types of energy can be issued and, therefore, the subscript "n" can be used to designate that up to n ENERGIAn terminals can be provided, where n is a positive integer greater than 1. It will also be recognized that up to "n" return paths, RETURN can be provided without departing from the scope of this disclosure.
[0283] [0283] A second voltage detection circuit 912 is coupled through the terminals identified as ENERGY1 and the BACK path to measure the output voltage between them. A second voltage detection circuit 924 is coupled through the terminals identified as ENERGY2 and the RETURN path to measure the output voltage between them. A current detection circuit 914 is arranged in series with the RETURN leg on the secondary side of the power transformer 908 as shown to measure the output current for any energy modality. If different return paths are provided for each energy modality, then a separate current detection circuit would be provided on each return leg. The outputs of the first and second voltage detection circuits 912, 924 are supplied to the respective isolation transformers 916, 922 and the output of the current detection circuit 914 is supplied to another isolation transformer 918. The outputs of the transformers isolation switches 916, 928, 922 on the primary side of the power transformer 908 (non-isolated side of the patient) are supplied to one or more ADC 926 circuits. The digitized output from the ADC 926 circuit is provided to processor 902 for further processing and computing. The output voltages and the output current feedback information can be used to adjust the output voltage and the current supplied to the surgical instrument, and to compute the output impedance,
[0284] [0284] In one aspect, impedance can be determined by processor 902 by dividing the output of the first voltage detection circuit 912 coupled through the terminals identified as ENERGY1 / RETURN or the second voltage detection circuit 924 coupled through the terminals identified as ENERGY2 / RETURN by the output of the current detection circuit 914 arranged in series with the RETURN leg on the secondary side of the power transformer 908. The outputs of the first and second voltage detection circuits 912, 924 are provided to separate the isolating transformers 916, 922 and the output of the current sensing circuit 914 is supplied to another isolating transformer 916. The digitized voltage and current detection measurements of the ADC 926 circuit are provided to the processor 902 to compute the impedance. As an example, the first energy modality ENERGIA1 can be ultrasonic energy and the second energy modality ENERGIA2 can be RF energy. However, in addition to the ultrasonic and bipolar or monopolar RF energy modes, other energy modalities include irreversible and / or reversible electroporation and / or microwave energy, among others. In addition, although the example shown in Figure 21 shows that a single RETURN return path can be provided for two or more energy modes, in other respects, multiple RETORN return paths can be provided for each ENER- GIAn. Thus, as described here, the impedance of the ultrasonic transducer can be measured by dividing the output of the first voltage detection circuit 912 by the current detection circuit 914 and the tissue impedance can be measured by dividing the output of the second circuit detection voltage 924 by current detection circuit 914.
[0285] [0285] As shown in Figure 21, generator 900 comprising at least one output port may include a 908 power transformer with a single output and multiple taps to provide power in the form of one or more modes of energy, such as ultrasonic, bipolar or monopolar RF, irreversible and / or reversible electroporation, and / or microwave energy, among others, for example, to the end actuator depending on the type of tissue treatment being performed. For example, the 900 generator can supply energy with higher voltage and lower current to drive an ultrasonic transducer, with lower voltage and higher current to conduct RF electrodes to seal the tissue or with a coagulation waveform for spot coagulation using monopolar or bipolar RF electrosurgical electrodes. The output waveform of generator 900 can be oriented, switched or filtered to supply the frequency to the end actuator of the surgical instrument. The connection of an ultrasonic transducer to the output of generator 900 would preferably be located between the output identified as ENERGY1 and RETURN, as shown in Figure 21. In one example, a connection of bipolar RF electrodes to the output of generator 900 would preferably be located between the exit identified as ENERGY2 and the RETURN. In the case of monopolar output, the preferred connections would be an active electrode (for example, light beam or other probe) for the ENERGIA2 output and a suitable return block connected to the RETURN output.
[0286] [0286] Additional details are disclosed in US patent application publication 2017/0086914 entitled TECHNIQUES FOR OPERATING
[0287] [0287] As used throughout this description, the term "wireless" and its derivatives can be used to describe circuits, devices, systems, methods, techniques, communication channels, etc., which can communicate data through the use of modulated electromagnetic radiation through a non-solid medium. The term does not imply that the associated devices do not contain any wires, although in some aspects they may not. The communication module can implement any of a number of wireless and wired communication standards or protocols, including, but not limited to, Wi-Fi (IEEE family
[0288] [0288] As used in the present invention, a processor or processing unit is an electronic circuit that performs operations on some external data source, usually memory or some other data flow. The term is used in the present invention to refer to the central processor (central processing unit) in a computer system or systems (specifically systems on a chip (SoCs)) that combine several specialized "processors".
[0289] [0289] As used here, a system on a chip or system on the chip (SoC or SOC) is an integrated circuit (also known as an "IC" or "chip") that integrates all components of a computer or other electronic systems . It can contain digital, analog, mixed and often radio frequency functions - all on a single substrate. A SoC integrates a microcontroller (or microprocessor) with advanced peripherals such as a graphics processing unit (GPU), Wi-Fi module, or coprocessor. An SoC may or may not contain internal memory.
[0290] [0290] As used here, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuits and memory. A microcontroller (or MCU for microcontroller unit) can be implemented as a small computer on a single integrated circuit. It can be similar to a SoC; a SoC can include a microcontroller as one of its components. A microcontroller can contain one or more core processing units (CPUs) along with memory and programmable input / output peripherals. Program memory in the form of ferroelectric RAM, NOR flash or OTP ROM is also often included on the chip, as well as a small amount of RAM. Microcontrollers can be used for integrated applications, in contrast to microprocessors used in personal computers or other general-purpose applications that consist of several separate integrated circuits.
[0291] [0291] As used in the present invention, the term controller or microcontroller can be an independent chip or IC (integrated circuit) device that interfaces with a peripheral device. This can be a connection between two parts of a computer or a controller on an external device that manages the operation of (and connection to) that device.
[0292] [0292] Any of the processors or microcontrollers in the present invention can be any implemented by any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the processor may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises an integrated 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory 2 KB electronically programmable and erasable read-only (EEPROM), one or more pulse width modulation (PWM) modules, one or more analogs of quadrature encoder (QEI) inputs, one or more converters 12-bit analog to digital (ADCs) with 12 channels of analog input, details of which are available for the product data sheet.
[0293] [0293] In one aspect, the processor may comprise a safety controller that comprises two controller-based families, such as TMS570 and RM4x, known under the trade name Hercules ARM Cortex R4, also by Texas Instruments . The safety controller can be configured specifically for the critical safety applications IEC 61508 and ISO 26262, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0294] [0294] The modular devices include the modules (as described in connection with Figures 3 and 9, for example) that are receivable within a central surgical controller and the devices or surgical instruments that can be connected to the various modules a in order to connect or pair with the corresponding central surgical controller. Modular devices include, for example, smart surgical instruments, medical imaging devices, suction / irrigation devices, smoke evacuators, power generators, fans, insufflators and screens. The modular devices described here can be controlled by control algorithms. The control algorithms can be performed on the modular device itself, on the central surgical controller to which the specific modular device is paired, or on both the modular device and the central surgical controller (for example, via a distributed computing architecture). In some examples, the control algorithms of the modular devices control the devices based on the data detected by the modular device itself (that is, by sensors on, over or connected to the modular device). These data can be related to the patient being operated on (for example, tissue properties or insufflation pressure) or to the modular device itself (for example, the rate at which a knife is being advanced, the motor current, or the energy levels). For example, a control algorithm for a surgical stapling and cutting instrument can control the rate at which the instrument's motor drives its knife through the fabric according to the resistance encountered by the knife as it progresses. User feedback methods
[0295] [0295] The present disclosure provides feedback techniques to the user. In one aspect, the present disclosure provides an image display through a medical imaging device (for example, laparoscope, endoscope, thoracoscope and the like). A medical imaging device comprises an optical component and an image sensor. The optical component can comprise a lens and a light source, for example. The image sensor can be implemented as a load-coupled device (CCD) or complementary oxide semiconductor (CMOS). The image sensor provides image data to electronic components in the central surgical controller. The data representing the images can be transmitted via wired or wireless communication to show the status of the instrument, feedback data, imaging data and highlight tissue irregularities and underlying structures. In another aspect, the present disclosure provides wired or wireless communication techniques to communicate feedback from the user of a device (eg instrument, robot or tool) to the central surgical controller. In another aspect, the present disclosure provides enabling and recording of use and identification. Finally, in another aspect, the central surgical controller can have direct interface control between the device and the central surgical controller. Display of data monitor through the laparoscope
[0296] [0296] In several respects, the present disclosure provides data monitor display through the laparoscope. The display of data monitor through the data laparoscope can comprise showing a current instrument alignment with respect to previous adjacent operations, the cooperation between local instrument screens and paired lasparoscope screen, and display of specific instrument data necessary for the efficient use of a portion of the end actuator of a surgical instrument. Each of these techniques is described later in this document. Screen of alignment of the current instrument in relation to previous previous operations
[0297] [0297] In one aspect, the present disclosure provides alignment guidance display elements that provide the user with information about the location of a shot or a previous performance and enable them to align the next use of the instrument to the position without having to see the instrument directly. In another aspect, the first device and the second device are separate; the first device is in the sterile field and the second is used from outside the sterile field.
[0298] [0298] During a colorectal transection using a double stapling technique, it is difficult to align the location of an anvil trocar in a circular stapler with the center of a line of overlapping staples. During the procedure, the anvil trocar of the circular stapler is inserted into the rectum below the staple line and a laparoscope is inserted into the peritoneal cavity above the staple line. As the staple line seals the colon, there is no line of sight to align the anvil trocar with the use of the laparoscope to optically align the insertion location of the anvil trocar in relation to the center of the overlapping anvil. staple line.
[0299] [0299] One solution provides a non-contact sensor located on the anvil trocar of the circular stapler and a target located at the distal end of the laparoscope. Another solution provides a non-contact sensor located at the distal end of the laparoscope and a target located over the anvil trocar of the circular stapler.
[0300] [0300] A central surgical controller computer processor receives signals from the non-contact sensor and shows a centering tool on a screen indicating the alignment of the circular stapler anvil trocar and the overlap portion in the center of the staple line. The screen shows a first image of the target staple line with a radius around the staple line overlap portion and a second image of the projected anvil trocar location. The anvil trocar and the overlap portion in the center of the staple line are aligned when the first and second images overlap.
[0301] [0301] In one aspect, the present disclosure provides a central surgical controller for aligning a surgical instrument. The central surgical controller comprises a processor and a memory attached to the processor. The memory stores instructions executable by the processor to receive image data from an image sensor, generate a first image based on the image data first image on a monitor coupled to the processor, receive a signal from a non-contact sensor, generate a second image based on the position of the surgical device and showing the second image on the monitor. The data in the first image represents a center of a staple line seal. The first image represents a target corresponding to the center of the staple line. The sign is indicative of a position of a surgical device in relation to the center of the staple line. The second image represents the position of the surgical device along a projected path of the surgical device towards the center of the staple line.
[0302] [0302] In one aspect, the center of the staple line will be a double staple overlap portion zone. In another aspect, the image sensor receives an image from a laparoscope. In another aspect, the surgical device is a circular stapler that comprises an anvil trocar and the non-contact sensor is configured to detect the location of the anvil trocar in relation to the center of the staple line seal. In another aspect, the non-contact sensor is an inductive sensor. In another aspect, the contactless sensor is a capacitive sensor.
[0303] [0303] In several aspects, the present disclosure provides a control circuit to align the surgical instrument as described above. In many respects, this disclosure provides a non-transitory, computer-readable medium that stores legitimate instructions.
[0304] [0304] This technique provides better alignment of a surgical instrument such as a circular stapler around the overlapping portion of the staple line to produce a better seal and cut after the circular stapler is fired.
[0305] [0305] In one aspect, the present disclosure provides a system for displaying the current instrument alignment in relation to previous adjacent operations. Instrument alignment information can be displayed on a monitor or any electronic device suitable for visual display of data whether located locally on the instrument or remotely from the instrument via the central modular communication controller. The system can show the current alignment of a circular staple cartridge with respect to an overlapping staple line, show the current alignment of a circular staple cartridge with respect to an earlier linear staple line and / or show the existing staples of the linear transection and an alignment circle indicating a properly centered circular staple cartridge. Each of these techniques is described later in this document.
[0306] [0306] In one aspect, the present disclosure provides alignment guidance display elements that provide the user with information about the location of a shot or a previous performance of a surgical instrument (eg a surgical stapler) and enables the user align the next use of the instrument (for example, triggering or operating the surgical stapler) to the proper position without the need to see the instrument directly. In another aspect, the present disclosure provides a first device and a second device that is separate from the first device. The first device is located in a sterile field and the second is located outside the sterile field. The techniques described here can be applied to surgical staplers, ultrasonic instruments, electrosurgical instruments, combination of ultrasound / electrosurgical instruments and / or combination of surgical stapler / electrosurgical instruments.
[0307] [0307] Figure 22 shows a 6000 diagram of a surgical instrument 6002 centered on a line of clamps 6003 that makes use of the benefit of tools and centering techniques described in connection with Figures 23 to 33, according to an aspect of this disclosure. As used in the following description of Figures 23 to 33, a staple line can include multiple rows of misaligned staples typically includes two or three rows of misaligned staples, without limitation. The staple line can be a double staple line 6004 formed using a double stapling technique as described in connection with Figures 23 to 27 or it can be a 6052 linear staple line formed using a technique linear transection as described in connection with Figures 28 to 33. The tools and centering techniques described here can be used to align the 6002 instrument located in one part of the anatomy with the 6003 staple line or with another instrument located in another part of the anatomy without the benefit of a line of sight. Centralization tools and techniques include showing the current alignment of the 6002 instrument adjacent to previous operations. The centralization tool is useful, for example, during lapaloscopy-assisted rectal surgery that uses a double stapling technique, also called the overlapping stapling technique. In the illustrated example, during a laparoscopic-assisted rectal surgical procedure, a circular stapler 6002 is positioned on a patient's rectum 6006 in pelvic cavity 6008 and a laparoscope is positioned in the peritoneal cavity.
[0308] [0308] During laparoscopic-assisted rectal surgery, the colon is subjected to the transection and is sealed by the 6003 staple line with a "l" length. The double stapling technique uses the circular stapler 6002 to create an end-to-end anastomosis and is currently widely used in laparoscopic-assisted rectal surgery. For a successful formation of an anastomosis using a circular stapler 6002, the anvil trocar 6010 of the circular stapler 6002 must be aligned with the central "l / 2" of the staple line 6003 transection before drilling through the "l / 2 "center of the staple line 6003 and / or to fully clamp the fabric before firing the circular stapler 6002 to cut the overlapping portion of staples 6012 and form the anastomosis. The misalignment of the anvil trocar 6010 to the center of the transection of the staple line 6003 can result in a high rate of anastomotic failure. This technique can be applied to ultrasonic instruments, electrosurgical instruments, a combination of ultrasonic / electrosurgical instruments and / or a combination of surgical stapler / electrosurgical instruments. Various techniques are now described for aligning the anvil trocar 6010 from the circular stapler 6002 to the central "1/2" of the staple line 6003.
[0309] [0309] In one aspect, as described in Figures 23 to 25 and with reference also to Figures 1 to 11 to show the interaction with an interactive surgical system environment 100 that includes a central surgical controller 106, 206, the present disclosure provides a apparatus and a method to detect the overlapping portion of the double staple line 6004 in a colorectal transection of laparoscopy-assisted rectal surgery using a double stapling technique. The overlapping portion of the double staple line 6004 is detected and the current location of the anvil trocar 6010 of the circular stapler 6002 is shown.
[0310] [0310] Figures 23 to 25 illustrate a process of aligning an anvil trocar 6010 from a circular stapler 6022 to a staple overlapping portion 6012 of a double staple line 6004 created by a double stapling technique, from according to one aspect of this disclosure. The overlapping portion of staples 6012 is centered on the double staple line 6004 formed by a double stapling technique. The circular stapler 6002 is inserted into colon 6020 below the double staple line 6004 and a laparoscope 6014 is inserted through the abdomen, above the double staple line
[0311] [0311] Figure 23 illustrates an anvil trocar 6010 of a circular stapler 6002 that is not aligned with an overlapping portion of staples 6012 of a double staple line 6004 created by a double stapling technique. The double staple line 6004 has a length "l" and the overlapping portion of staples 6012 is located halfway along the double staple line 6004 at "l / 2". As shown in Figure 23, the circular stapler 6002 is inserted into a section of the colon 6020 and is positioned just below the double staple line 6004. A 6014 laparoscope is positioned above the double staple line 6004 and feeds with a image of double staple line 6004 and overlapping portion of staples 6012 in field of view 6016 of laparos-
[0312] [0312] As shown in Figure 23, the projected path 6018 of the anvil trocar 6010 is shown along a dashed line to a position marked by an X. As shown in Figure 23, the projected path 6018 of the anvil trocar 6010 is not is aligned with the overlapping portion of staples 6012. Perforating the anvil trocar 6010 through the double staple line 6004 at a point outside the overlapping portion of staples 6012 could lead to an anastomotic failure. Using the centering tool 6030 of the anvil trocar 6010 described in Figure 25, the surgeon can align the trocar of the anvil 6010 with the overlapping clamp 6012 portion using the images shown by the centering tool 6030. For example , in one implementation, the 6022 sensor is an inductive sensor. As the overlapping portion of staples 6012 contains more metal than the rest of the side portions of the double staple line 6004, signal 6024 is maximum when sensor 6022 is aligned with and adjacent to the overlapping portion of staples 6012 . The sensor 6022 provides a signal to the central surgical controller 206 that indicates the location of the anvil trocar 6010 in relation to the overlapping portion of clamps 6012. The output signal is converted into a visualization of the location of the anvil trocar 6010 in relation to the overlapping portion of clamps 6012 which is shown on the screen of the central surgical controller 215.
[0313] [0313] As shown in Figure 24, the anvil trocar 6010 is aligned with the overlapping portion of clamps 6012 in the center.
[0314] [0314] Figure 25 illustrates a centering tool 6030 shown on a screen of the central surgical controller 215, the centering tool providing a screen of a portion of overlapping clamps 6012 of a double clamp line 6004 created by a double stapling technique, where the anvil trocar 6010 is not aligned with the staple overlapping 6012 portion of the double staple line 6004 as shown in Figure 23. The centering tool 6030 displays a 6038 image on the controller screen center surgical 215 of double staple line 6004 and an image 6040 of the overlapping portion of staples 6012 received from laparoscope 6014. A target alignment ring 6032 centered around the image 6040 of the overlapping portion of staples 6012 circumscribes the image 6038 of the double staple line 6004 to ensure that the overlapping portion of staples 6012 is located at the circumference of the projected cutting path 603 4 of the circular stapler knife 6002 when the projected cutting path 6034 is aligned with the target alignment ring 6032. The cross 6036 (X) represents the location of the anvil trocar 6010 in relation to the overlapping portion of clamps 6012. The cross 6036 (X) indicates the point through the double clamp line 6004 where the anvil trocar 6010 would pierce if advanced from its current location.
[0315] [0315] As shown in Figure 25, the anvil trocar 6010 is not aligned with the desired perforation through the location designated by image 6040 of the overlapping portion of staples 6012.
[0316] [0316] As discussed above, the sensor 6022 is configured to detect the position of the anvil trocar 6010 in relation to the overlapping portion of clamps 6012. Consequently, the location of the cross 6036 (X) shown on the central controller screen 215 is determined - swims by the 6022 surgical stapler sensor. In another aspect, the 6022 sensor can be located on the 6014 laparoscope, where the 6022 sensor is configured to detect the tip of the 6010 anvil trocar. In other respects, the 6022 sensor can be located on the circular stapler 6022 or laparoscope 6014, or both, to determine the location of the anvil trocar 6010 in relation to the overlapping portion of staples 6012 and provide the information for the central surgical controller screen 215 via the surgical controller central 206.
[0317] [0317] Figures 26 and 27 illustrate an image before 6042 and an image after 6043 of a 6030 centering tool, in accordance with an aspect of the present disclosure. Figure 26 illustrates an image of a cutting path 6034 projected from an anvil trocar 6010 and a circular knife before alignment with target alignment ring 6032 that circumscribes image 6038 of double staple line 6004 over image 6040 of the portion overlapping clamp 6040 shown on a screen of the central surgical controller 215. Figure 27 illustrates an image of a projected cutting path 6034 of an anvil trocar 6010 and a circular knife after alignment with the ring alignment target 6032 that circumscribes the image 6038 of the double staple line 6004 over the image 6040 of the overlapping portion of staples 6040 shown on a screen of the central surgical controller 215. The current location of the anvil trocar 6010 is marked by the cross 6036 (X) which, as shown in Figure 26, is positioned below and to the left of the center of the 6040 image of the staple overlapping portion
[0318] [0318] In another aspect, the 6022 sensor can be configured to detect the beginning and end of a linear staple line in a colorectal transection and to provide the position of the current location of the 6010 anvil trocar of the circular stapler 6002. In another aspect, the present disclosure provides a central surgical controller screen 215 to present circular stapler 6002 centered on the linear staple line, which would create uniform folds, and to provide the current position of the anvil trocar 6010 to enable the surgeon center or align the 6010 anvil trocar as desired before drilling and / or fully securing the tissue before firing the 6002 circular stapler.
[0319] [0319] In another aspect, as described in Figures 28 to 30 and with reference also to Figures 1 to 11 to show the interaction with an interactive surgical system environment 100 that includes a central surgical controller 106, 206, in a colorectal transection of rectal surgery aided by laparoscopy using a linear stapling technique, the beginning and end of the linear staple line 6052 are detected and the current location of the 6010 anvil trocar of the circular stapler 6002 is shown in a central surgical controller screen 215 coupled to central surgical controller 206. central surgical controller screen 215 shows a circular image centered on the double staple line 6004, which would create uniform folds and the current position of the trocar anvil 6002 is shown to allow the surgeon to center or align the anvil trocar 6010 before drilling through the linear staple line 6052 and / or securing the tissue fully before firing circular stapler 6002 to cut the center 6050 of linear staple line 6052 to form an anastomosis.
[0320] [0320] Figures 28 to 30 illustrate a process of aligning an anvil trocar 6010 of a circular stapler 6022 to a center 6050 of a linear staple line 6052 created by a linear stapling technique, in accordance with an aspect of the present disclosure. Figures 28 and 29 illustrate a 6014 laparoscope and a 6022 sensor located on the circular stapler 6022 to determine the location of the anvil trocar 6010 in relation to the center 6050 of the linear staple line
[0321] [0321] Figure 28 illustrates the anvil trocar 6010 out of alignment with the center 6050 of the linear staple line 6052 and Figure 29 illustrates the anvil trocar 6010 in alignment with the center 6050 of the linear staple line 6052. The sensor 6022 is used to detect the center 6050 of the linear staple line 6052 to align the anvil trocar 6010 with the center of the 6052 staple line. In one aspect, the center 6050 of the linear staple line 6052 can be located by moving the circular stapler 6002 until one end of the linear staple line 6052 is detected. One end can be detected when there are no more staples in the 6022 sensor path. Once one end is reached, circular stapler 6002 is moved along the straight staple line 6053 until the opposite end is detected and the length "l" of the linear staple line 6052 is determined by measuring or counting individual staples by the 6022 sensor. Once the length of the linear staple line 6052 has been determined, the center 6050 of the linear staple line 6052 can be determined by dividing the length by two "l / 2".
[0322] [0322] Figure 30 illustrates a 6054 centering tool shown on a screen of the central surgical controller 215, with the centering tool providing a screen of a 6052 linear staple line, where the anvil trocar 6010 is not aligned with the overlapping portion of staples 6012 of double staple line 6004 as shown in Figure 28. The central surgical controller screen 215 shows a standard lattice field of view 6056 of laparoscopic field of view 6016 of linear staple line 6052 and a portion of colon 6020. The central surgical controller screen 215 also features a 6062 target ring that circumscribes the center of the linear staple line image and a projected cutting path 6064 of the anvil trocar and circular knife. The cross 6066 (X) represents the location of the anvil trocar 6010 in relation to the center 6050 of the linear staple line 6052. The cross 6036 (X) indicates the point through the linear staple line 6052 where the anvil trocar 6010 would pierce if advanced from your current location.
[0323] [0323] As shown in Figure 30, the anvil trocar 6010 is not aligned with the desired perforation through the location designated by the offset between the target ring 6062 and the projected cutting path 6064. To align the anvil trocar 6010 with the center 6050 from the linear staple line 6052, the surgeon manipulates the circular stapler 6002 until the projected cutting path 6064 overlaps the target alignment ring 6062 and the cross 6066 (X) is centered on the 6040 image of the overlapping portion staple 6012. Once alignment is complete, the surgeon pierces the anvil trooper 6010 through the center 6050 of the linear staple line 6052 and / or grips the tissue completely before firing the circular stapler 6002 to cut out the portion overlapping clamps 6012 and form the anastomosis.
[0324] [0324] In one aspect, the present disclosure provides an apparatus and method for displaying an image of a 6052 linear staple line using a linear transection technique and an alignment ring or target center positioned as if the anvil trocar 6010 of the circular stapler 6022 was properly centered along the linear staple line 6052. The apparatus shows a gray alignment ring superimposed on the current position of the anvil trocar 6010 in relation to the center 6050 of the linear staple line 6052. The image can include indication marks to assist the alignment process by indicating which direction to move the anvil trocar
[0325] [0325] Now with reference to Figures 28 to 31, Figure 31 is a 6080 image of a standard 6080 lattice field view of a 6052 linear staple line transection of a surgical instrument as seen through a 6014 laparoscope shown in central surgical controller screen 215, in accordance with an aspect of this disclosure. In a 6080 standard lattice view, it is difficult to see the 6052 linear staple line in the standard lattice field of view
[0326] [0326] Now with reference to Figures 28 to 32, Figure 32 is a 6082 image of a 6072 laser-assisted reticulum field of view shown in Figure 31 before the anvil trocar 6010 and the circular stapler knife circular 6002 are aligned with the center 6050 of the linear staple line 6052, in accordance with an aspect of the present disclosure. The 6072 laser-assisted lattice field of view provides a 6066 (X) alignment or cross mark, currently positioned below and to the left of the center of the 6052 linear staple line, showing the projected trajectory of the 6010 anvil tro-carte to assist positioning of the anvil trocar 6010. In addition to the projected path marked by the cross 6066 (X) of the anvil trocar 6010, image 6082 shows the staples of the linear staple line 6052 in a contrast color to make them more visible in relation to in the background. The linear staple line 6052 is highlighted and a center of target 6070 is shown over the center 6050 of the linear staple line 6052. Outside the 6072 laser-assisted lattice field of view, image 6082 shows a 6068 status warning box , a suggestion box 6074, a target ring 6062 and the current alignment position of the anvil trocar 6010 marked by the cross 6066 (X) in relation to the center 6050 of the linear staple line 6052. As shown in Figure 32, the status warning 6068 indicates that the trocar is "OFFSET" and the suggestion box 6074 says "Adjust trocar to center staple line".
[0327] [0327] Now with reference to Figures 28 to 33, Figure 33 is a 6084 image of a 6072 laser-assisted reticulum field of view shown in Figure 32 after the anvil trocar 6010 and the circular stapler knife circular 6002 are aligned with the center 6050 of the linear staple line 6052, in accordance with an aspect of the present disclosure. The 6072 laser-assisted lattice field of view provides a 6066 (X) alignment or cross mark, currently positioned below and to the left of the center of the 6052 linear staple line, showing the projected trajectory of the 6010 anvil tro-carte to assist positioning of the anvil trocar 6010. In addition to the projected path marked by the cross 6066 (X) of the anvil trocar 6010, image 6082 shows the staples of the linear staple line 6052 in a contrast color to make them more visible in relation to in the background. The linear staple line 6052 is highlighted and a center of target 6070 is shown over the center 6050 of the linear staple line 6052. Outside the 6072 laser-assisted lattice field of view, image 6082 shows a 6068 status warning box , a suggestion box 6074, a target ring 6062 and the current alignment position of the anvil trocar 6010 marked by the cross 6066 (X) in relation to the center 6050 of the linear staple line 6052. As shown in Figure 32, the status warning 6068 indicates that the trocar is "OFFSET" and the suggestion box 6074 says "Adjust trocar to center staple line".
[0328] [0328] Figure 33 is a view of the laser-assisted surgical site shown in Figure 32 after the anvil trocar 6010 and the circular knife are aligned to the center of the 6052 clamp line. In this view, within the 6072 field of view of the laser-assisted reticle, the 6066 (X) alignment marking cross is positioned over the center of the 6052 staple line and the center of the target highlighted to indicate the alignment of the trocar to the center of the staple line. Outside the 6072 field of view of the laser-assisted reticulum, the status warning box indicates that the trocar is "ALIGNED" and the suggestion is "Proceed with trocar insertion".
[0329] [0329] Figure 34 illustrates a 6090 non-contact inductive sensor implementation of the 6022 non-contact sensor to determine an anvil trocar location 6010 relative to the center of a staple line transection (the overlapping portion of staples 6012 of the double staple line 6004 shown in Figures 23 and 24 or the center 6050 of the linear staple line 6052 shown in Figures 28 and 29, for example), in accordance with an aspect of the present disclosure. The non-contact inductive sensor 6090 includes an oscillator 6092 that drives an inductive coil 6094 to generate an electromagnetic field 6096. As a metal target 6098, such as a metal clamp, is introduced into the electromagnetic field 6096, eddy currents 6100 induced in the target 6098 oppose the electromagnetic field 6096 and the reluctance shifts and the amplitude of the oscillator voltage 6102 drops. A 6104 amplifier amplifies the voltage amplitude of the 6102 oscillator as it changes.
[0330] [0330] Now with reference to Figures 1 to 11, to show interaction with an interactive surgical system environment 100, including a central surgical controller 106, 206, and also Figures 22 to 33, the 6090 inductive sensor is a sensor contactless electronic device. It can be used to position and detect metallic objects such as metal clamps in the 6003, 6004, 6052 clamp lines described above. The detection range of inductive sensor 6090 a is dependent on the type of metal being detected. Since the 6090 inductive sensor is a non-contact sensor, it can detect metallic objects through a stapled fabric barrier. The inductive sensor 6090 can be located both on the circular stapler 6002 to detect staples on the staple lines 6003, 6004, 6052, to detect the location of the distal end of the 6014 laparoscope, or to be located on the 6014 laparoscope to detect the location of the trocar anvil 6010. A control circuit or processor located on the circular stapler 6002, laparoscope 6014 or attached to the central surgical controller 206 receives signals from the 6090 inductive sensors and can be used to show the centering tool on the surgical controller screen center 215 to determine the location of the anvil trocar 6010 in relation to the clamp overlapping portion 6012 of a double staple line 6004 or the center 6050 of a linear staple line 6052.
[0331] [0331] In one aspect, the distal end of the 6014 laparoscope can be detected by the 6090 inductive sensor located on the circular stapler 6002. The 6090 inductive sensor can detect a metal target 6098 positioned at the distal end of the 6014 laparoscope. the laparoscope 6014 is aligned with the center 6050 of the linear clamp line 6052 or with the overlapping clamp 6012 portion of the double clamp line 6004, a signal from the inductive sensor 6090 is transmitted to circuits that convert the signals from the inductive sensor 6090 to present an image of the relative alignment of the laparoscope 6014 with the anvil trocar 6010 of the circular stapler 6002.
[0332] [0332] Figures 35A AND 35B illustrate an aspect of a 6110 capacitive non-contact sensor implementation of the 6022 non-contact sensor to determine an anvil trocar location 6010 relative to the center of a staple line transection (the portion of overlapping staples 6012 of the double staple line 6004 shown in Figures 23 and 24 or the center 6050 of the linear staple line 6052 shown in Figures 28 and 29, for example), in accordance with an aspect of the present disclosure . Figure 35A shows the 6110 non-contact capacitive sensor without a nearby metal target and Figure 35B shows the 6110 non-contact capacitive sensor near a 6112 metal target. The 6110 non-contact capacitive sensor includes capacitor plates 6114, 6116 housed in a detection head and establishes field lines 6118 when energized by an oscillator waveform to define a detection zone. Figure 35A shows field lines 6118 when no target is present proximal to capacitor plates 6114, 6116. Figure 35B shows a target of ferrous or non-ferrous metal 6120 in the detection zone. As the 6120 metal target enters the detection zone, the capacitance increases, causing the natural frequency to shift towards the oscillation frequency, causing amplitude gain. Since the 6110 capacitive sensor is a non-contact sensor, it can detect metallic objects through a stapled fabric barrier. The capacitive sensor 6110 can be located on either the circular stapler 6002 to detect the staple lines 6004, 6052 or the location of the distal end of the 6014 laparoscope, or the capacitive sensor 6110 can be located on the 6014 laparoscope to detect the location of the trocar anvil 6010. A control circuit or processor located on circular clamp 6002, laparoscope 6014 or coupled to the central surgical controller 206 receives signals from capacitive sensor 6110 to present an image of the relative alignment of the laparoscope 6014 with the trocar anvil 6010 of the circular stapler 6002.
[0333] [0333] Figure 36 is a 6130 logic flow diagram of a process that represents a control program or a logical configuration for aligning a surgical instrument, in accordance with an aspect of the present disclosure. With reference to Figures 1 to 11, to show interaction with an environment of the interactive surgical system 100 including a central surgical controller 106, 206, and also to Figures 22 to 35, the central surgical controller 206 comprises a processor 244 and a coupled memory 249 to processor 244. Memory 249 stores instructions executable by processor 244 to receive 6132 image data from a laparoscope image sensor, generate 6134 a first image based on the image data, show 6136 the first image on a screen. central surgical controller 215 coupled to processor 244, receive 6138 a signal from a non-contact sensor 6022, the signal indicating a position of a surgical device, generating a second image based on the signal indicating the position of the surgical device, for example example, the anvil trocar 6010 and show 6140 trocar the second image on the screen of the central surgical controller 215. The data in the first image represent a center 6044, 6050 of a staple line seal 6004, 6052. The first image represents a target corresponding to the center 6044, 6050 of a staple line seal 6004, 6052. The sign is indicative of a position of a surgical device, for example, an anvil trocar 6010, in relation to the center 6044, 6050 of the staple line seal 6004, 6052. The second image represents the position of the surgical device, for example, an anvil trocar 6010, along a projected path 6018 of the surgical device, for example, an anvil trooper 6010, towards the center 6044, 6050 of the staple line seal 6004, 6052.
[0334] [0334] In one aspect, the center 6044 of the double staple line seal 6004 defines an overlapping portion of staples 6012. In another aspect, an image sensor receives an image from a medical imaging device. In another aspect, the surgical device is a circular stapler 6002 comprising an anvil trooper 6010 and the non-contact sensor 6022 is configured to detect the location of the anvil trocar 6010 in relation to the center 6044 of the line seal double clamp 6004. In another aspect, the non-contact sensor 6022 is an inductive sensor 6090. In another aspect, the contact sensor 6022 is a capacitive sensor 6110. In one aspect, the clamp line can be a linear staple line 6052 formed using a linear transection technique. Cooperation between local instrument screens and paired imaging device screen
[0335] [0335] In one aspect, the present disclosure provides an instrument that includes a local screen, a central controller with an operating room (OR) screen, or operating room, separate from the instrument screen. When the instrument is connected to the central surgical controller, the secondary screen on the device reconfigures itself to show information different from when it is independent of the central surgical controller connection. In another aspect, part of the information on the secondary screen of the instrument is then shown on the primary screen of the central surgical controller. In another aspect, the fusion of images allowing the overlapping of the state of a device, the integration reference points being used to interlock several images and at least one orientation feature are provided on the instrument screen and / or central surgical controller. Techniques for overlapping or enlarging images and / or text from multiple image / text sources to present images composed on a single screen are described later in this document in connection with Figures 45 to 53 and Figures 63 to 67.
[0336] [0336] In another aspect, the present disclosure provides cooperation
[0337] [0337] During a surgical procedure, the surgical site is shown on a remote "primary" central surgical controller screen. During a surgical procedure, surgical devices track and record variables and surgical data (eg surgical parameters) that are stored on the instrument (see Figures 12 to 19 for instrument architectures that include processors, memory, control circuits, storage , etc.). Surgical parameters include force to fire (FTF - force-to-fire), force to close (FTC), fire progress, tissue span, power level, impedance, tissue compression stability (deformation) and similar. Using conventional techniques during the procedure, the surgeon needs to watch two separate screens. Providing image / text overlay is thus advantageous because, during the procedure, the surgeon can watch a single screen that displays the overlapping image / text information.
[0338] [0338] A solution detects when the surgical device (eg instrument) is connected to the central surgical controller and then shows a composite image on the primary screen that includes a field of view of the surgical site received from a first instrument (eg, medical imaging such as, for example, laparoscope, endoscope, thoracoscope and the like), augmented by variables and surgical data received from a second instrument (for example, a surgical stapler) to provide relevant images and data on the primary screen.
[0339] [0339] During a surgical procedure, the surgical site is shown as a narrow field of view of a medical imaging device on the primary screen of the central surgical controller. Items outside the current field of view and collateral structures cannot be seen without moving the medical imaging device.
[0340] [0340] One solution provides a narrow field of view of the surgical site in a first window of the screen enlarged by a wide field of view of the surgical site in a window separate from the screen. This provides a composite aerial field of view mapped using two or more imaging matrices to provide an enlarged image from multiple perspective views of the surgical site.
[0341] [0341] In one aspect, the present disclosure provides a central surgical controller that comprises a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to detect a surgical device connection to the central surgical controller, transmit a control signal to the detected surgical device to transmit data of surgical parameters associated with the detected device to the central surgical controller, receive the surgical parameter data, receive image data from an image sensor and show, on a screen coupled to the central surgical controller, an image received from the image sensor together with the surgical parameter data received from the surgical device.
[0342] [0342] In another aspect, the present disclosure provides a central surgical controller that comprises a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to receive data from the first image from a first image sensor, receive data from the second image from a second image sensor and show, on a screen coupled to the central surgical controller, a first image corresponding to the first field of view and a second image corresponding to the second field of view. The data in the first image represents a first field of view and the data in the second image represents a second field of view.
[0343] [0343] In one aspect, the first field of view is a small-angle field of view and the second field of view is a wide-angle field of view. In another aspect, the memory stores instructions executable by the processor to enlarge the first image with the second image on the screen. In another aspect, the memory stores instructions executable by the processor to fuse the first image and the second image into a third image and show a fused image on the screen. In another aspect, the fused image data comprises status information associated with a surgical device, a reference point for the integration of image data to interlock a plurality of images and at least one orientation parameter. In another aspect, the first image sensor is the same image sensor and the data in the first image is captured as a first time and the data in the second image is captured in a second time.
[0344] [0344] In another aspect, the memory stores instructions executable by the processor to receive data from the third image from a third image sensor, with the data from the third image representing a third field of view, generating complex image data. put that comprise the data of the second and third image, show the first image in a first window of the screen, the first image corresponding to the data of the first image, and show a third image in a second window of the screen, being that the third image corresponds to the data in the composite image.
[0345] [0345] In another aspect, the memory stores instructions executable by the processor to receive data from the third image from a third image sensor, the data from the third image representing a third field of view, merging the data from the second and of the third image to generate data from the merged image, show the first image in a first window of the screen, the first image corresponding to the data in the first image, and show a third image in a second window of the screen, the third image corresponds to the data in the merged image.
[0346] [0346] In several aspects, the present disclosure provides a control circuit to perform the functions described above. In many respects, the present disclosure provides a non-transitory computer-readable medium that stores computer-readable instructions that, when executed, cause a machine to perform the functions described above.
[0347] [0347] Showing endoscope images enlarged with images of the surgical device on a primary screen of the central surgical controller, allows the surgeon to focus on a screen to obtain an enlarged field of view of the surgical site with data from the surgical device associated with the procedure surgical as force to shoot, force to close, progression of shooting, tissue span, power level, impedance, tissue compression stability (deformation) and the like.
[0348] [0348] Showing an image of narrow field of view in a first window of a screen and an image composed of several other perspectives such as broader fields of view allows the surgeon to see an enlarged image of the surgical site simultaneously with wider fields of view of the surgical site without moving the viewing device.
[0349] [0349] In one aspect, the present disclosure provides both global and local display of a device, for example a surgical instrument, coupled to the central surgical controller. The device shows all of its relevant menus and displays on a local screen until it detects a connection to the central surgical controller at the point where a subset of the information is only shown on the monitor via the central surgical controller and this information is expected. on the device screen or are no longer accessible on the device's detonated screen. This technique allows you to release the device screen to show different information or to show information from larger sources on the central surgical controller screen.
[0350] [0350] In one aspect, the present disclosure provides an instrument with a local screen, a central surgical controller with an operating room screen (eg operating room or OR) that is separate from the instrument screen. When the instrument is connected to the central surgical controller, the local screen of the instrument becomes a secondary screen and the instrument reconfigures itself to show information different from when it is in operation regardless of the central surgical controller connection. In another aspect, part of the information on the secondary screen is then shown on the primary screen in the operating room via the central surgical controller.
[0351] [0351] Figure 37 illustrates a primary screen 6200 of the central surgical controller 206 comprising a global screen 6202 and a local instrument screen 6204, in accordance with an aspect of the present disclosure. Still with reference to Figures 1 to 11, to show interaction with an interactive surgical system environment 100, including a central surgical controller 106, 206, and also Figures 12 to 21, for instruments connected to a central surgical controller, together with Figure 37, the behavior of the local instrument screen 6204 is shown when instrument 235 detects the connectable presence of a global screen 6202 through the central surgical controller 206. Global screen 6202 shows a field of view 6206 of a surgical site 6208, as seen through a medical imaging device such as, for example, a laparoscope / endoscope 219 coupled to an imaging module 238, in the center of the screen of the central surgical controller 215, also called in the present invention as a monitor, for example. The 6218 end actuator portion of the connected instrument 235 is shown in the field of view 6206 of the surgical site 6208 on the global screen
[0352] [0352] The 6200 central surgical controller screen provides perioperative visualization of the 6208 surgical site. Advanced imaging identifies and visually highlights 6222 critical structures such as the 6220 ureter (or nerves, etc.) and also tracks 6210 instrument proximity displays and are shown on the left side of screen 6200. In the illustrated example, the 6210 instrument proximity displays show specific instrument settings. For example, the upper instrument proximity display 6212 shows settings for a monopolar instrument, the middle instrument proximity display 6214 shows settings for a bipolar instrument, and the lower instrument proximity display 6212 shows settings for a ultrasonic instrument.
[0353] [0353] In another aspect, independent secondary screens or dedicated local screens can be connected to the central surgical controller 206 to provide both an interaction portal via a touch screen and / or a secondary screen that can show display any number of data streams tracked from the central surgical controller 206 to provide a clear, non-confusing state. The secondary screen can show strength to fire (FTF), fabric span, power level, impedance, tissue compression stability (deformation), etc., while the primary screen can show only the key variables to maintain the organized feed flow. The interactive screen can be used to move the screen from specific information to the primary screen to a desired location, size, color, etc. In the illustrated example, the secondary screen shows the 6210 instrument proximity displays on the left side of screen 6200 and the local instrument screen 6204 on the lower right side of screen 6200. The local instrument screen 6204 shown on the central surgical controller 6200 shows an icon of the end actuator 6218, such as the icon of a staple cartridge 6224 currently in use, the size 6226 of the staple cartridge 6224 (eg 60 mm) and an icon of the current knife position 6228 of the end actuator.
[0354] [0354] In another aspect, the screen 237 located on the instrument 235 shows the wireless or wired fixation of the instrument 235 to the central surgical controller 206 and the communication / recording of the instrument on the central surgical controller 206. A configuration can be provided in the instrument 235 to enable the user to select mirror or screen extension for both monitoring devices. Instrument controls can be used to interact with the central surgical controller screen of the information that is provided on the instrument. As previously discussed, instrument 235 may comprise wireless communication circuits for communicating wirelessly with the central surgical controller 206.
[0355] [0355] In another aspect, a first instrument coupled to the central surgical controller 206 can pair with a screen of a second instrument coupled to the central surgical controller 206 allowing both instruments to show some hybrid combination of information from the two devices of both becoming mirrors of parts of the primary screen. In yet another aspect, primary screen 6200 of central surgical controller 206 provides a 360 ° composite top visual view of surgical site 6208 to avoid collateral structures. For example, a secondary screen of the surgical actuator of the end actuator can be provided on primary screen 6200 of the central surgical controller 206 or another screen to provide a better perspective around the areas within a current field of view 6206. These aspects are described later in this document in conjunction with Figures 38 to 40.
[0356] [0356] Figures 38 to 40 illustrate an aerial view composed of a portion of the end actuator 6234 of a surgical stapler mapped using two or more imaging matrices or a matrix and time to provide multiple perspective views of the 6234 end actuator to enable imaging of a composite aerial field of view. The techniques described here can be applied to ultrasonic instruments, electrosurgical instruments, combination of ultrasonic / electrosurgical instruments and / or combination of surgical stapler / electrosurgical instruments. Various techniques for superimposing or enlarging images and / or text from multiple image / text sources to present composite images on a single screen are described later in this document in connection with Figures 45 to 53 and Figures 63 to 67 .
[0357] [0357] Figure 38 illustrates a primary screen 6200 of the central surgical controller 206, in accordance with an aspect of the present disclosure. A primary window 6230 is located in the center of the screen and shows a small, enlarged or exploded angle view of a 6232 surgical field of view. Primary window 6230 located in the center of the screen shows a small angled or enlarged view of an end actuator. 6234 of the surgical stapler holding a 6236 vessel. The primary window 6230 shows mesh images to produce a composite image that makes it possible to view structures adjacent to the 6232 surgical field of view. A second window 6240 is shown in the lower left corner of primary screen 6200. The second window 6240 shows a mesh image in a wide angle view in standard focus of the image shown in primary window 6230 in an aerial view. The aerial view provided in the second window 6240 allows the viewer to easily see items that are out of the narrow field 6232 surgical field of view without moving the laparoscope, or other imaging device 239 coupled to the imaging module 238 of the surgical controller central
[0358] [0358] Figure 39 illustrates a 6250 hold stabilization sequence for a period of five seconds, in accordance with an aspect of the present disclosure. The grip stabilization sequence 6250 is shown over a period of five seconds with intermittent screens 6252, 6254, 6256, 6258, 6260 spaced at 6268 second intervals in addition to providing real time 6266 (for example 09:35:10), which can be a pseudo real time to preserve the patient's anonymity. The flashing screens 6252, 6254, 6256, 6258, 6260 show the flow of filling in the circle until the hold stabilization period is complete. At that point, the last 6260 screen is shown in solid color. Grip stabilization after end actuator 6234 secures vessel 6236 enables the formation of a better seal.
[0359] [0359] Figure 40 illustrates a 6270 diagram of four separate wide-angle images 6272, 6274, 6276, 6278 of a surgical site at four separate times during the procedure, in accordance with one aspect of the present disclosure. The sequence of images shows the creation of an aerial composite image in wide and narrow focus over time. A first image 6272 is a wide angle view of end actuator 6234 holding vessel 6236 taken at an earlier time t0 (e.g. 09:35:09). A second image 6274 is another wide angle view of the end actuator 6234 holding the vessel 6236 taken at the present time t1 (for example 09:35:13). A third image 6276 is a composite image of an overhead view of the end actuator 6234 holding the vessel 6236 taken at the present time t1. The third 6276 image is shown in the second window
[0360] [0360] In one aspect, the present disclosure provides a central surgical controller screen of instrument-specific data necessary for the efficient use of a surgical instrument, such as a surgical stapler. The techniques described here can be applied to ultrasonic instruments, electrosurgical instruments, combination of ultrasonic / electrosurgical instruments and / or combination of surgical stapler / electrosurgical instruments. In one aspect, a hold time indicator based on the properties of the fabric is shown on the screen. In another aspect, a 360 ° composite top visual view is shown on the screen to avoid collateral structures as shown and described in connection with Figures 37 to 40 and is incorporated here for reference and, for brevity and clarity of disclosure, the description of Figures 37 to 40 will not be repeated here.
[0361] [0361] In one aspect, the present disclosure provides a display of tissue deformation to provide the user with tissue stability / compression data on the tissue and to guide the user to make an appropriate choice of when to conduct the next action the instrument. In one aspect, an algorithm calculates a constant advance of a feedback system based on progressive time related to the tissue's viscoelastic response. These and other aspects are described later in this document.
[0362] [0362] Figure 41 is a 6280 graph of tissue deformation hold stabilization curves 6282, 6284 for two types of fabric, according to one aspect of the present disclosure. The hold stabilization curves 6284, 6284 are plotted as force to close (FTC) as a function of time, where FTC (N) is shown along the vertical geometric axis and Time, t, (s) is shown along the horizontal geometric axis. The FTC is the amount of force exerted to close the gripping arm on the fabric. The first hold stabilization curve 6282 represents the stomach tissue and the second hold stabilization curve 6284 represents the lung tissue. In one aspect, the FTC along the vertical geometric axis is on a scale from 0 to 180 N and the horizontal geometric axis is on a scale from 0 to 5 s. As shown, the FTC as a different profile over a five-second hold stabilization period (for example, as shown in Figure 39).
[0363] [0363] With reference to the first hold stabilization curve 6282, as the stomach tissue is attached by the 6234 end actuator, the closing force (FTC) applied by the 6234 end actuator increases from 0 N to a peak closing force of ~ 180 N after ~ 1 s. Although the 6234 end actuator remains trapped in the stomach tissue, the force to close decays and stabilizes at ~ 150 N over time due to tissue deformation.
[0364] [0364] Similarly, with reference to the second hold stabilization curve 6284, as the lung tissue is attached by the end actuator 6234, the closing force applied by the end actuator 6234 increases from 0 N to a force to peak close of ~ 90 N after less than ~ 1 s. Although the 6234 end actuator remains trapped in the lung tissue, the force to close decays and stabilizes at ~ 60 N over time due to tissue deformation.
[0365] [0365] Grip stabilization of end actuator 6234 is monitored as described above in connection with Figures 38 to 40 and is shown every second corresponding to sampling times t1, t2, t3, t4, t5 of the force for close to provide user feedback related to the state of the trapped tissue. Figure 41 shows an example of tissue stabilization monitoring for lung tissue by sampling the force to close every second for a period of 5 seconds. At each sample time t1, t2, t3, t4, t5, instrument 235 or central surgical controller 206 calculates a tangent vector 6288, 6292, 6294, 6298, 6302 corresponding to the second hold stabilization curve 6284 The tangent vector 6288, 6292, 6294, 6298, 6302 is monitored until its slope falls below a limit to indicate that the fabric deformation is complete and the fabric is ready to be sealed and cut. As shown in Figure 41, the lung tissue is ready to be sealed and cut after the ~ 5 s hold stabilization period, where a solid gray circle is shown at sampling time 6300. As shown, the vector tangent 6302 is less than a predetermined limit.
[0366] [0366] The equation of a tangent vector 6288, 6292, 6294, 6298, 6302 for the hold stabilization curve 6284 can be calculated using differential calculation techniques, for example. In one aspect, at a certain point on the pressure stabilization curve 6284, the gradient of curve 6284 is equal to the gradient of the tan of curve 6284. The derivative (or gradient function) describes the gradient of curve 6284 in any point on curve 6284. Similarly, it also describes the gradient of a tangent of curve 6284 at any point on curve 6284. The normal for curve 6284 is a line perpendicular to the tangent of curve 6284 at any given point. To determine the equation of a tangent to a curve, find the derivative using the differentiation rules. Replaced
[0367] [0367] Figure 42 is a 6310 time-dependent proportional fill graph of a grip force stabilization curve, according to one aspect of the present disclosure. Graph 6310 includes grip stabilization curves 6312, 6314, 6316 for standard thick stomach tissue, thin stomach tissue and standard lung tissue. The vertical geometric axis represents FTC (N) on a scale from 0 to 240 N and the horizontal geometric axis represents Time, t, (s) on a scale from 0 to 15 s. As shown, the stomach tissue curve of standard thickness 6316 is the standard strength drop stability curve. All three FTC profiles of grip stabilization curves 6312, 6314, 6316 reach maximum strength shortly after the grip on the tissue and then the FTC decreases over time until it finally stabilizes due to the viscoelastic response of the tissue. As shown, the standard lung tissue hold stabilization curve 6312 stabilizes after a period of ~ 5 s, the thin stomach tissue hold stabilization curve 6314 stabilizes after a period of ~ 10 s and the stomach tissue hold stabilization curve thick 6316 stabilizes after a period of ~ 15 s.
[0368] [0368] Figure 43 is a 6320 graph of the tissue deformation role on the 6322 grip strength stabilization curve, in accordance with an aspect of the present disclosure. The vertical geometric axis represents force to close FTC (N) and the horizontal geometric axis represents Time, t, (s) in seconds. The tangent vector angles dθ1, dθ2… dθn are measured at each sampling time of force to close (t0, t1, t2, t3, t4, etc.). The tangent vector angle dθn is used to determine when the tissue has reached the limit for deformation termination, which indicates that the tissue has reached deformation stability.
[0369] [0369] Figures 44A and 44B illustrate two graphs 6330, 6340 to determine when the trapped tissue has reached deformation stability, in accordance with an aspect of the present disclosure. Graph 6330 in Figure 44A illustrates a 6332 curve that represents a tan vector angle dθ as a function of time. The tangent vector angle dθ is calculated as discussed in Figure 43. The horizontal line 6334 is the limit for terminating tissue deformation. Tissue deformation is considered stable at the intersection 6336 of curve 6332 of the tangent vector angle dθ with the limit for termination of tissue deformation 6334. Graph 6340 in Figure 44B illustrates a curve of ∆FTC 6342 that represents ∆FTC as a time function. The ∆FTC 6342 curve illustrates limit 6344 for 100% complete tissue deformation stability meter. Tissue deformation is considered stable at the intersection 6346 of the daFTC 6342 curve with the 6344 limit. Communication techniques
[0370] [0370] Referring also to Figures 1 to 11, to show interaction with an environment of the interactive surgical system 100, including a central surgical controller 106, 206, and in particular, Figures 9 and 10, in various respects, the present disclosure provides communication techniques for exchanging information between an instrument 235, or other modules, and the central surgical controller 206. In one aspect, communication techniques include image fusion to place analysis and instrument status in an image laparoscope, as an overlay of data on the screen, in and around the perimeter of an image displayed on a screen of the central surgical controller 215, 217. In another aspect, communication techniques include combining an intermediate signal short-range wireless, for example Bluetooth, with the image and, in another aspect, communication techniques include applying security and requested pairing identification. In yet another aspect, communication techniques include an independent interactive headset used by a surgeon who connects to the central controller with visual and audio information that avoids the need for overlapping, but allows for personalization of information shown around the periphery of the vision. Each of these communication techniques is discussed later in this document. Overlay of data on the screen inside and around the perimeter of the image shown
[0371] [0371] In one aspect, the present disclosure provides the fusion of images allowing the overlapping of the state of a device, the integration reference points being used to interlock several images and at least one orientation feature. In another aspect, the present disclosure provides a technique for superimposing data on the screen in and around the perimeter of the image shown. Radiographic integration can be used for pre-procedure overlap and internal live detection. The merging of images from one source can be superimposed on another. Image fusion can be used to place analysis and instrument status on an image of a medical imaging device (eg laparoscope, endoscope, thoracoscope, etc.). The merging of images allows the overlapping of the state of a device or instrument, integration reference points to interlock multiple images and at least one orientation feature.
[0372] [0372] Figure 45 illustrates an example of an enlarged video image 6350 comprising a preoperative video image 6352 enlarged with data 6354, 6356, 6358 identifying elements shown. An augmented reality vision system can be used in surgical procedures to implement a method for augmenting data on a 6352 preoperative image. The method includes generating a 6352 preoperative image of an anatomical section of a patient and generating an image increased video of a surgical site at the patient. The 6350 enlarged video image includes an image of at least a portion of a 6354 surgical tool operated by a 6456 user. The method further includes processing the 6352 preoperative image to generate data about the patient's anatomical section. The data includes a 6358 identification for the anatomical section and a peripheral margin of at least a portion of the anatomical section. The peripheral margin is configured to guide a surgeon to a cut location in relation to the anatomical section, incorporating the data and a 6356 user identity into the 6350 preoperative image to show a 6350 enlarged video image to the user over the section anatomical anatomy of the patient. The method additionally includes detecting a loading condition on the 6354 surgical tool, generating a feedback signal based on the detected loading condition and updating, in real time, the data and a location of the identity of the user who operates the surgical tool. 6354 incorporated in the 6350 enlarged video image in response to a change in a location of the 6354 surgical tool in the 6350 enlarged video image. Additional examples are disclosed in US Patent No. 9,123,155, entitled APPARATUS AND METHOD FOR USING AUGMENTED REALITY VISION SYSTEM IN SURGICAL PROCEDURES, granted on September 1, 2015, which is incorporated here as a reference in its entirety.
[0373] [0373] In another aspect, radiographic integration techniques can be used to superimpose the 6352 preoperative image with data obtained through pre-procedure techniques or internal live detection. Radiographic integration may include identification of the reference point and marker using surgical reference points, radiographic markers placed inside or outside the patient,
[0374] [0374] Digital radiography techniques use image detectors that include flat panel detectors (FPDs), which are classified into two main categories, indirect FPDs and direct FPDs. Indirect FPDs include amorphous silicon (a-Si) combined with a scintillator in the detector's outer layer, which is produced from cesium iodide (CsI) or gadolinium oxide (Gd2O2S), converting X-rays into light. The light is channeled through the a-Si photodiode layer where it is converted into a digital output signal. The digital signal is then read by thin film transistors (TFTs - thin film transistors) or charge coupled devices (CCDs - charge coupled devices) coupled with fiber. Direct FPDs include amorphous selenium (a-Se) FPDs that convert X-ray photons directly into charge. The outer layer of a flat panel in this design is typically a high voltage polarization electrode. X-ray photons create electron-gap pairs in an a-Se, and the transit of these electrons and gaps depends on the potential of the polarizing voltage charge. As the gaps are replaced by electrons, the resulting charge pattern in the selenium layer is read by a TFT matrix, active matrix, electrometer probes or microplasma line addressing. Other direct digital detectors are based on CMOS and CCD technology. Phosphorus detectors can also be used to record X-ray energy during exposure and are scanned by a laser diode to excite stored energy that is released and read by a digital image capture matrix from a CCD.
[0375] [0375] Figure 46 is a 6360 logic flow diagram of a process that represents a control program or a logical configuration for showing images, according to one aspect of the present disclosure. Referring also to Figures 1 to 11, to show interaction with an interactive surgical system environment 100, including a central surgical controller 106, 206, the present disclosure provides, in one aspect, a central surgical controller 206, which comprises comprises a processor 244 and a memory 249 coupled to processor 244. Memory 249 stores instructions executable by processor 244 to receive 6362 data from the first image from a first image sensor, receive 6364 data from the second image from a second image sensor and show 6366, on a screen 217 coupled to the central surgical controller 206, a first image corresponding to the first field of view and a second image corresponding to the second field of view. The data in the first image represents a first field of view and the data in the second image represents a second field of view.
[0376] [0376] In one aspect, the first field of view is a small-angle field of view and the second field of view is a wide-angle field of view. In another aspect, memory 249 stores instructions executable by processor 244 to enlarge the first image with the second image on the screen. In another aspect, memory 249 stores instructions executable by processor 244 to merge the first image and the second image into a third image and show a merged image on screen 217. In another
[0377] [0377] In another aspect, memory 249 stores instructions executable by processor 244 to receive data from the third image from a third image sensor, the data from the third image representing a third field of view, generating image data with put that comprise the data of the second and third image, show the first image in a first window of the screen, the first image corresponding to the data of the first image, and show a third image in a second window of the screen 215, with the third image corresponding to the data in the composite image.
[0378] [0378] In another aspect, memory 249 stores instructions executable by processor 244 to receive data from the third image from a third image sensor, the data from the third image representing a third field of view, merging the data from the second and of the third image to generate data from the merged image, show the first image in a first window of screen 217, the first image corresponding to the data in the first image, and show a third image in a second window of screen 217 , with the third image corresponding to the data in the merged image. Wireless short range intermediate signal combiner (for example Bluetooth)
[0379] [0379] A wireless short-range intermediate signal combiner, for example, Bluetooth, may comprise a wireless alert display adapter placed in the monitor's communication path for a laparoscope console that allows the central surgical controller to override data on the screen. Security and identification of the requested pairing can increase communication techniques.
[0380] [0380] Figure 47 illustrates a 6370 communication system comprising an intermediate signal combiner 6372 positioned on the communication path between an imaging module 238 and a screen of the central surgical controller 217, in accordance with at least one aspect of the present disclosure. . The signal combiner 6372 receives image data from an imaging module 238 in the form of short-range wired or wireless signals. The 6372 signal combiner also receives image and audio data from a 6374 headset and combines the image data from the 238 imaging module with the audio and image and audio data from the 6374 headset. The central surgical controller 206 receives the combined data from the 6372 combiner and overlays the data provided on screen 217, where the overlapping data is shown. The 6372 signal combiner can communicate with the central surgical controller 206 via wired or wireless signals. The 6374 headset receives image data from a 6376 imaging device attached to the 6374 headset and receives audio data from a 6378 audio device attached to the 6374 headset. The 6376 imaging device can be a camera - digital video camera and the 6378 audio device can be a microphone. In one aspect, the 6372 signal combiner can be an intermediate short-range wireless signal combiner, for example Blu-etooth. The 6374 signal combiner can comprise a wireless alert display adapter to attach to the 6374 headset placed on the communication path of the screen 217 to a console that allows the central surgical controller 206 to overlay data on the screen 217 .
[0381] [0381] Figure 48 illustrates an independent 6380 interactive headset used by a 6382 surgeon to communicate data to the central surgical controller, in accordance with one aspect of the present disclosure. Peripheral information from the 6380 stand-alone interactive headset does not include active video. Instead, peripheral information includes only device configurations, or signals that do not have the same renewal rate demands. The interaction can increase the information of the 6382 surgeon based on connection with preoperative computed tomography (CT) or other data connected to the central surgical controller 206. The independent interactive headset 6380 can identify structure - ask if the instrument is playing a nerve, vessel or adhesion, for example. The 6380 stand-alone interactive headset can include preoperative scan data, an optical view, tissue interrogation properties captured throughout the procedure and / or processing in the central surgical controller 206 used to provide an answer. The 6382 surgeon can dictate notes to the 6380 independent interactive headset to be saved with patient data in the central controller storage 248 for later use in the medical record or for follow-up.
[0382] [0382] In one aspect, the 6380 stand-alone interactive headset used by the surgeon 6382 connects to the central surgical controller 206 with visual and audio information to avoid the need for overlaps and allows for the customization of information shown on the display. peripheral vision pain. The 6380 stand-alone interactive headset provides signals from devices (eg instruments), answers queries about device configurations or positional information linked to video to identify quadrant or position. The 6380 independent interactive headset has audio feedback and audio control from the 6380 headset. The 6380 independent interactive headset is also capable of interacting with all other systems in the operating room (eg room operation) and have feedback and interaction available whenever the 6382 surgeon is viewing. Registration of use and identification
[0383] [0383] In one aspect, the present disclosure provides a screen of the authenticity of refills, modular components or charging units. Figure 49 illustrates a 6390 method for controlling the use of a 6392 device. A 6392 device is connected to a 6394 power source. The 6392 device includes a 6396 memory device that includes 6398 storage and 6400 communication devices. 6398 includes 6402 data that can be locked data 6404 or unlocked data 6406. Additionally, storage 6398 includes an error detector code 6408 as a cyclic redundancy check (CRC) value and a sterilization indicator 6410. A The 6394 power supply includes a 6412 reader, a 6414 display, a 6416 processor and a 6418 data port that couples the 6394 power supply to a 6420 network. The 6420 network is coupled to a central 6422 server, which is attached to a central database 6424. The 6420 network is also coupled to a 6426 reprocessing facility. The 6426 reprocessing facility includes a 64 reprocessing data reader / printer 28 and a 6430 sterilization device.
[0384] [0384] The method comprises connecting the device to a 6394 power source. The data is read from a 6396 memory device incorporated into the 6392 device. The data including one or more of a unique identifier (UID), a value of usage, an activation value, a reprocessing value or a sterilization indicator. The usage value is increased when the 6392 device is connected to the power source
[0385] [0385] Figure 50 provides a 6500 surgical system in accordance with the present disclosure and includes a 6502 surgical instrument that is communicating with a 6522 console or a 6526 handheld device over a 6518 local area network or a network in 6520 cloud via a wired or wireless connection. In many ways, the 6522 console and the 6526 handheld can be any suitable computing device. The 6502 surgical instrument comprises a 6504 handle, a 6508 adapter and a loading unit
[0386] [0386] The first and second claws 6532, 6534 are configured to clamp the fabric between them, fire clamps through the clamped fabric and separate the clamped fabric. The first 6532 jaw can be configured to fire at least one fastener a plurality of times or it can be configured to include a replaceable multi-shot cartridge including a plurality of fasteners (for example clamps, clips, etc.) that can be released more than once before being replaced. The second 6534 jaw may include an anvil that deforms or otherwise holds the fasteners around the fabric as the fasteners are ejected from the multi-shot fastener cartridge.
[0387] [0387] The 6504 handle includes a motor that is coupled to the drive shaft to affect the drive shaft rotation. The 6504 handle includes a control interface to selectively activate the engine. The control interface can include buttons, keys, levers, sliding elements, touchscreen and any other suitable input mechanisms or user interfaces, which can be engaged by a doctor to activate the engine.
[0388] [0388] The handle control interface 6504 is in communication with a controller 6528 of handle 6504 to selectively activate the motor to affect the rotation of the drive shafts. The 6528 controller is arranged on the 6504 handle and is configured to receive input from the control interface and adapter data from the 6508 adapter or load unit data from the loading unit 6514. The 6528 controller analyzes the control interface input and data received from adapter 6508 and / or charging unit 6514 to selectively activate the engine. The 6504 handle can also include a screen that is visible to a doctor when using the 6504 handle. The screen is configured to show portions of the data from the charging unit or adapter before, during or after the instrument is triggered. 6502.
[0389] [0389] Adapter 6508 includes an adapter identification device 6510 disposed therein and the charging unit 6514 includes a device identifying the charging unit 6516 disposed thereon. The adapter identification device 6510 is in communication with the 6528 controller and the charging unit identification device 6516 is in communication with the controller 6528. It will be recognized that the charging unit identification device 6516 may be in communication with the adapter identification device 6510, which retransmits or passes communication from the charging unit identification device 6516 to the 6528 controller.
[0390] [0390] The 6508 adapter can also include a plurality of 6512 sensors (one shown) arranged around it to detect various conditions of the 6508 adapter or the environment (for example, if the 6508 adapter is connected to a unit of loading, if the 6508 adapter is connected to a handle, if the drive axes are rotating, the torque of the drive axes, the effort of the drive drive axes, the temperature in the 6508 adapter, multiple shots of the 6508 adapter , a peak force of the 6508 adapter during firing, a total amount of force applied to the 6508 adapter, a peak retraction force of the 6508 adapter, multiple pauses of the 6508 adapter during firing, etc.). The plurality of sensors 6512 provides an input to the adapter identification device 6510 in the form of data signals. Data signals from the plurality of 6512 sensors can be stored, or used to update the stored adapter data, on the adapter identification device 6510. Data signals from the plurality of 6512 sensors can be analog or digital . The plurality of sensors 6512 may include a force gauge to measure a force exerted on the loading unit 6514 during firing.
[0391] [0391] The handle 6504 and the adapter 6508 are configured to interconnect the adapter identification device 6510 and the charging unit identification device 6516 with the controller 6528 through an electrical interface. The electrical interface can be a direct electrical interface (that is, include electrical contacts that engage with each other to transmit energy and signals between them). Additionally or alternatively, the electrical interface can be a non-contact electrical interface for transmitting energy and signals between them wirelessly (for example, inductive transfer). It is also contemplated that the adapter identification device 6510 and the controller 6528 may be in wireless communication with each other via a wireless connection separate from the electrical interface.
[0392] [0392] The 6504 handle includes a 6506 transmitter which is configured to transmit instrument data from the 6528 controller to other components of the 6500 system (for example, the LAN 6518, the 6520 cloud, the 6522 console or the 6526 handheld device ). The 6506 transmitter can also receive data (for example, cartridge data, loading unit data, or adapter data) from other components of the 6500 system. For example, the 6528 controller can transmit instrument data including an adapter serial number attached (for example adapter 6508) attached to handle 6504, a serial number of a loading unit (for example loading unit 6514) attached to the adapter and a serial number of a multi-shot fastener cartridge (for example multiple shot fasteners), loaded in the loading unit, to the 6528 console. After that, the 6522 console can transmit data (for example cartridge data, loading unit data or adapter data) associated with the cartridge the charging unit and an adapter, respectively, back to the 6528 controller. The 6528 controller can show messages on the local instrument screen or t transmit the message, via transmitter 6506, to the 6522 console or handheld device 6526 to display the message on screen 6524 or handheld screen, respectively. Multifunctional surgical control system and switching interface for verbal control of imaging device
[0393] [0393] Figure 51 illustrates a verbal AESOP camera positioning system. Additional examples are disclosed in US Patent No. 7,097,640, entitled MULTI-FUNCTIONAL SURGICAL CONTRROL SYSTEM AND SWITCHING INTERFACE, granted on August 29, 2006, which is hereby incorporated by reference in its entirety. Figure 51 shows a 6550 surgical system that can be coupled with central surgical controller 206, described in connection with Figures 1 to 11. The 6550 system allows a surgeon to operate several different surgical devices 6552, 6554, 6556 and 6558 from from a single 6560 input device. Providing a single input device reduces the complexity of operating the various devices and improves the efficiency of a surgical procedure performed by a surgeon. The 6550 system can be adapted and configured to operate a positioning system for an imaging device such as a camera or endoscope with the use of verbal commands.
[0394] [0394] The 6552 surgical device can be a robotic arm that can hold and move a surgical instrument. The 6552 arm can be a device like the one sold with Computer Motion, Inc. of Goetel, California, USA, under the trademark AESOP, which is an acronym for Automated Endoscopic System for Optimal Positioning or automated endoscopic system for optimal positioning . The 6552 arm is commonly used to hold and move an endoscope within a patient. The 6550 system allows the surgeon to control the operation of the 6552 robotic arm through the 6560 input device.
[0395] [0395] The 6554 surgical device can be an electrocautery device. Electrocautery devices typically have a bipolar tip that carries a current that heats and denatures the tissue. The device is typically attached to an on / off switch to actuate the device and heat the tissue. The electrocautery device can also receive control signals to vary its power output. The 6550 system allows the surgeon to control the operation of the electrocautery device through the 6560 input device.
[0396] [0396] The 6556 surgical device can be a laser. The 6556 laser can be activated using an on / off switch. In addition, the power of the 6556 laser can be controlled by control signals. The 6550 system allows the surgeon to control the operation of the 6556 laser through the 6560 input device.
[0397] [0397] The 6558 device can be an operating table. The 6558 operating table can contain motors and mechanisms that adjust the position of the table. The present invention allows the surgeon to control the position of the 6558 table using the 6560 input device. Although four surgical devices 6552, 6554, 6556 and 6558 are described, it should be understood that other functions in the operating room can be controlled via the 6560 input device. As an example, the 6560 system can enable the surgeon to control the lighting and temperature of the operating room via the 6560 input device.
[0398] [0398] The 6560 input device can be a pedal that has a plurality of buttons 6562, 6564, 6565, 6566 and 6568 that can be pressed by the surgeon. Each button is typically associated with a specific control command for a surgical device. For example, when the 6560 input device is controlling the 6552 robotic arm, pressing the 6562 button can move the arm in one direction and pressing the 6566 button can move the arm in the opposite direction. Likewise, when the 6554 electrocautery device or the 6556 laser is coupled to the 6560 input device, pressing the 6568 button can energize the devices, and so on. Although a pedal is shown and described, it should be understood that the 6560 input device can be a manual controller, a speech interface that accepts the surgeon's voice commands, a cantilever pedal or other input devices that can be well known in the technique of surgical device control. Using the speech interface, the surgeon is able to position a camera or endoscope connected to the 6552 robotic arm with the use of verbal commands. The imaging device, such as a camera or endoscope, can be coupled to the 6552 robotic arm positioning system that can be controlled via the 6550 system using verbal commands.
[0399] [0399] The 6550 system has a 6570 switching interface that couples the 6560 input device to the 6552, 6554, 6556 and 6558 surgical devices. The 6570 interface has a 6572 input channel that is connected to the 6560 input device by a bus 6574. Interface 6570 also has a plurality of output channels 6576, 6578, 6580 and 6582 that are coupled to surgical devices by busses 6584, 6586, 6588, 6590, 6624, 6626, 6628 and which can be adapted - controllers or controllers arranged in electrical communication with themselves and between them. Such adapters and controllers will be discussed in more detail later in this document.
[0400] [0400] As each 6552, 6554, 6556, 6558 device may need control signals specifically configured for proper operation, the 6620, 6622 adapters or a 6618 controller can be placed as an intermediary (s) and in electrical communication with a specific outlet channel and a specific surgical device. In the case of the 6552 robotic arm system, no adapter is required and, as such, the 6552 robotic arm system can be in direct connection with a specific output channel. The 6570 interface couples input channel 6572 to one of output channels 6576, 6578, 6580 and 6582.
[0401] [0401] The 6570 interface has a selection channel 6592 that can switch input channel 6572 to a different output channel 6576, 6578, 6580 or 6582 so that the input device 6560 can control any of the surgical devices. The 6570 interface can be a multiplexer circuit built as an integrated circuit and placed in an ASIC. Alternatively, the 6570 interface can be a plurality of solenoid actuated relays coupled to the selection channel by a logic circuit. The 6570 interface switches to a specific output channel in response to an input signal or switch signal applied to the 6592 selection channel.
[0402] [0402] As shown in Figure 51, there may be several inputs for selection channel 6592. Such inputs originate from pedal 6560, speech interface 6600 and CPU 6662. Interface 6570 can have a multiplexing unit of so that only one switching signal can be received on selection channel 6592 at any time, thus ensuring no substantial hardware conflicts. The prioritization of the input devices can be configured so that the pedal has maximum priority followed by the voice interface and the CPU. This serves as an example of how the prioritization scheme can be used to guarantee the system with maximum efficiency. As such, other prioritization schemes can be used. Selection channel 6592 can connect the input channel sequentially to one of the output channels each time a switching signal is supplied to selection channel 6592. Alternatively, selection channel 6592 can be addressable so that the interface 6570 connects the input channel to a specific output channel when an address is provided for the 6592 selection channel. This addressing is known in the electrical switching technique.
[0403] [0403] Selection channel 6592 can be connected via line 6594 to a dedicated button 6596 on pedal 6560. The surgeon can switch surgical devices by pressing button 6596. Alternatively, selection channel 6592 can be coupled via line 6598 to an inter - 6600 speech face that allows the surgeon to switch surgical devices with voice commands.
[0404] [0404] The 6550 system can have a 6602 central processing unit (CPU) that receives input signals from the 6560 input device via the 6570 interface and a 6585 bus. The 6602 CPU receives the input signals and can guarantee that no inappropriate command is being entered into the controller. If this occurs, the 6602 CPU can respond accordingly, sending a different switching signal to the 6592 selection channel or alerting the surgeon via a video monitor or speaker.
[0405] [0405] CPU 6602 can also provide output commands for selection channel 6592 on bus 6608 and receives input commands from speech interface 6600 on the same bidirectional bus 6608. CPU 6602 can be coupled to a 6610 monitor and / or a 6612 speaker via bus 6614 and 6616, respectively. The 6610 monitor can provide a visual indication of which surgical device is attached to the 6560 input device. The monitor can also provide a command menu that can be selected by the surgeon via the 6600 speech interface or the 6596 button. Alternatively, the surgeon it could switch to a surgical device by selecting a command via a graphical user interface. The 6610 monitor can also provide information regarding inappropriate control signals sent to a specific surgical device 6552, 6554, 6556, 6558 and recognized by CPU 6602. Each device 6552, 6554, 6556, 6558 has a specific suitable operating range, which is well known to the person skilled in the art. As such, the 6602 CPU can be programmed to recognize when the requested operation of the 6560 input device is unsuitable and will then alert the surgeon either visually via the 6610 monitor or audibly via the 6612 speaker. speaker 6612 can also provide an audio indication of which surgical device is coupled to the 6560 input device.
[0406] [0406] The 6550 system can include a 6618 controller that receives input signals from the 6560 input device and provides corresponding output signals to control the operating table
[0407] [0407] In operation, the 6570 interface initially couples the 6560 input device to one of the surgical devices. The surgeon can control a different surgical device by generating an input command that is supplied to the selection channel
[0408] [0408] Figure 52 illustrates a 6650 multifunctional surgical control system and a switching interface for virtual operating room integration. A virtual control system to control surgical equipment in an operating room while a surgeon performs a surgical procedure on a patient comprising: a virtual control device that includes an image of a control device located on a surface and a sensor to interrogate an object's contact interaction with the image on the surface, the virtual control device providing an interaction signal indicative of the object's contact interaction with the image; and a connected system controller to receive the interaction signal from the virtual control device and provide a control signal to the surgical equipment in response to the interaction signal to control the surgical equipment in response to the object's contact interaction with the image. Additional examples are disclosed in US Patent No. 7,317,955, entitled VIR- TUAL OPERATING ROOM INTEGRATION, granted on January 8, 2008, which is incorporated herein by reference in its entirety.
[0409] [0409] As shown in Figure 52, the 6674 communication links are established between the 6676 system controller and the various components and functions of the 6650 virtual control system. The 6674 communication links are preferably optical paths, but the communication links can also be formed by attire
[0410] [0410] Communication links 6674 with surgical equipment 6652, a virtual control panel 6556, a virtual foot switch 6654 and patient monitoring equipment 6660 are bidirectional, which means that information flows in both directions through the 6674 links that connect these components and functions. For example, the 6676 system controller provides signals that are used to create a control panel image from the 6656 virtual control panel and a foot switch image from the 6654 virtual foot switch. 6656 virtual control and 6654 virtual foot switch provide information to the 6676 system controller that describes the physical interaction of the surgeon's foot and toe in relation to a projected control panel image and the projected foot switch image . The 6676 system controller responds to information describing physical interaction with the projected image, and provides control signals to 6652 surgical equipment and 6660 patient monitoring equipment to control the functionality of these components in response to information from physical interaction. The control, status and functionality information that describes the 6652 surgical equipment and the 6660 patient monitoring equipment flows to the 6676 system controller and, after the information is interpreted by the 6676 system controller, it is provided to a 6670 system screen, a 6666 monitor and / or a 6668 alerts screen for presentation.
[0411] [0411] The 6674 communication links between the 6676 system controller and the 6670 system screen, the 6668 alert screen, the 6666 monitor, a 6658 label printer and 6664 output devices are all unidirectional, which means that information flows from the 6676 system controller to components and functions. Similarly, communication links 6674 between the 6676 system controller and a 6672 scanner and the 6662 input devices are unidirectional as well, but information flows from components 6662, 6672 to the 6676 system controller. certain circumstances, certain control and status information can flow between the 6676 system controller and components 6658, 6660, 6662, 6664, 6666, 6668, 6670, 6672 to control the functionality of these components.
[0412] [0412] Each 6674 communication link preferably has a unique identity so that the 6676 system controller can communicate individually with each of the components of the 6650 virtual control system. The unique identity of each communication link it is preferable when some or all of the 6674 communication links are through the same medium, as would be the case for optical and radio communication. The unique identity of each 6674 communication link ensures that the 6676 system controller has the ability to exercise individual control over each component and function very quickly and almost simultaneously. The unique identity of each 6674 communication link can be achieved by using different frequencies for each 6674 communication link or by using unique identification and address codes associated with the communication transferred on each communication link
[0413] [0413] In one aspect, the present disclosure provides and illustrates a surgical communication and control headset that interfaces with the central surgical controller 206 described in connection with Figures 1 to
[0414] [0414] The 6680 system will provide a means for a sterile doctor to control procedural devices easily and quickly, but with hands free and centrally. The ability to maximize the efficiency of the operation and minimize the time a patient is under anesthesia is important for the patient's best results. It is common for surgeons, cardiologists or radiologists to verbally request that adjustments be made to certain medical devices and electronic equipment used in the procedure outside the sterile field. It is typical that he or she needs to rely on another team member to make the adjustments he or she needs for settings on devices such as cameras, bovies, surgical beds, shavers or shavers, insufflators, injectors, to name a few. In many circumstances, having to command a team member to make a configuration change can delay a procedure because the non-sterile team member is busy with another task. The sterile doctor cannot adjust the non-sterile equipment without compromising sterility, so he or she often needs to wait for the non-sterile team member to make the requested adjustment on a particular device before resuming the procedure.
[0415] [0415] The 6680 system allows a user to use a beam source and a beam detector to regenerate a pointer overlay coupled to a GUI and a concomitant switching method (ie, a foot switch, etc.) to enable the doctor to click on commands on the primary screen. In one respect, a GUI could appear on the procedure video screen when activated, such as when the user tilts his head twice to wake it up or steps on a foot switch supplied with the system. Or it is possible that a head-to-right tilt awakens the system and a head-to-left tilt simply activates the beam source. When the overlay (called a device control GUI overlay) appears on the screen, it shows button icons that represent various surgical devices and the user can use the beam source, in this case a laser beam, to aim at the button icons. Once the laser is over the correct button icon, a foot switch or other simultaneous key method can be activated, acting effectively as a mouse click on a computer. For example, a user can "wake up" the system by making the device control GUI overlay appear that lists
[0416] [0416] In one aspect, components of the 6680 system can be coupled to existing robotic endoscope brackets to "guide" a rigid surgical endoscopic camera by sending motion commands to the robotic endoscope retaining arm (provided separately, this ie, AESOP with Computer Motion). The endoscope is usually insured by an assistant nurse or resident doctor. There are supports of robotic and mechanical scope currently available on the market and some were even presented with voice control. However, voice control systems have often proven to be impractical, slow and imprecise. This aspect would use a series of hardware and software components to enable the overlay to appear as a cross on the primary procedure video screen. The user could point the beam source anywhere in the quadrant and click on a simultaneous switch, such as a pedal, to send motion commands to the existing robotic arm that, when coupled to the secondary trigger (ie, a foot switch, waistband key, etc.), would send a command to adjust the arm in minute increments towards the beam source. It could be directed by holding the secondary trigger down until the desired camera position and angle is reached and then released. This same concept could be used for surgical bed adjustments having the overlap similar to the controls of a surgical bed. The surgical bed is commonly adjusted during surgery to provide better access to anatomy. Using the combination of the beam source, in this case a laser, a beam detection sensor such as a camera, a beam source processor and a control system GUI overlay processing unit and an interface unit. - device control face, virtually any medical device could be controlled via this system. Control codes would be programmed in the device control interface unit and most devices can be connected using an RS-232 interface, which is a standard for serial binary data signals connecting a DTE (Data Terminal Equipment or Data Terminal Equipment) and DCE (Data Circuit Terminating Equipment or Data Circuit Terminating Equipment). The present invention, although described with reference to application in the medical field, can be expanded / modified for use in other fields. Another use of the present invention could be in helping those who are not using their hands due to injury or disability or for professions in which the hands are busy and the hands-free interface is desired. Central surgical controller with direct interface control with secondary surgeon display units designed to be in the sterile field and accessible for entry and display by the surgeon
[0417] [0417] In one aspect, the central surgical control 206 provides a secondary user interface that makes it possible to view and control functions of the central surgical controller 206 from within the sterile field. The secondary screen could be used to change the display locations, what information is shown where and to pass control of specific devices or functions.
[0418] [0418] During a surgical procedure, the surgeon may not have an accessible user interface device for interactive input by the surgeon and display in the sterile field. In this way, the surgeon cannot interface between the user interface device and the central surgical controller in the sterile field and cannot control other surgical devices through the central surgical controller from within the sterile field.
[0419] [0419] One solution provides a display unit designed to be used in the sterile field and accessible for entry and display by the surgeon to enable the surgeon to have interactive input control from the sterile field to control other surgical devices attached to the central surgical controller. The display unit is sterile and located in the sterile field to allow surgeons to interface with the display unit and the central surgical controller to interface directly and configure instruments as needed without leaving the sterile field. The display unit is a master device and can be used for display, control, tool control changes, enabling feed flows from other central surgical controllers without the surgeon leaving the sterile field.
[0420] [0420] In one aspect, the present disclosure provides a control unit comprising an interactive touch screen, an interface configured to couple the interactive touch screen to a central surgical controller, processor and memory attached to the processor. The memory stores instructions executable by the processor to receive input commands from the interactive touchscreen located within a sterile field and transmits input commands to a central surgical controller to control devices coupled to the central surgical controller located outside the sterile field.
[0421] [0421] In another aspect, the present disclosure provides a control unit comprising an interactive touch screen, an interface configured to couple the interactive touch screen to a central surgical controller and a control circuit configured to receive commands input of the interactive touchscreen located within a sterile field and transmit input commands to a central surgical controller to control devices coupled to the central surgical controller located outside the sterile field.
[0422] [0422] In another aspect, the present disclosure provides a non-transitory, computer-readable medium that stores computer-readable instructions that, when executed, cause a machine to receive input commands from an interactive touchscreen located within a sterile field. and transmitting input commands to a central surgical controller through a configured interface to couple the interactive touchscreen to the central surgical controller to control devices attached to the central surgical controller located outside the sterile field.
[0423] [0423] Providing a display unit designed to be used in the sterile field and accessible for entry and display by the surgeon provides the surgeon with interactive input control from the sterile field to control other surgical devices attached to the central surgical controller.
[0424] [0424] This display unit in the sterile field is sterile and allows surgeons to interface between it and the central surgical controller. This gives the surgeon control of the instruments attached to the central surgical controller and allows the surgeon to directly interface and configure the instruments as needed without leaving the sterile field. The display unit is a master device and can be used for display, control, tool control changes, enabling feed flows from other central surgical controllers without the surgeon leaving the sterile field.
[0425] [0425] In several respects, the present disclosure provides a secondary user interface to enable the display and control of functions of the central surgical controller from within a sterile field. This control could be a display device such as an iPad, for example, a portable interactive touchscreen device configured to be introduced into the operating room in a sterile manner. It could be paired like any other device or it could be location sensitive. The display device would be allowed to operate in this way whenever the display device is placed on a specific location on the patient's draped abdomen during a surgical procedure. In other respects, the present disclosure provides an intelligent retractor and an intelligent adhesive label. These and other aspects are described later in this document.
[0426] [0426] In one aspect, the present disclosure provides a secondary user interface to enable display and control of functions of the central surgical controller from within the sterile field. In another aspect, the secondary screen could be used to change the display locations, determine what information and where the information is shown, and pass control over specific devices or specific functions.
[0427] [0427] There are four types of secondary surgeon screens in two categories. One type of secondary surgeon display units is designed to be used in the sterile field and accessible for entry and display by the surgeon on the sterile field interactive control screens. Sterile field interactive control screens can be shared or common sterile field input control screens.
[0428] [0428] A sterile field screen can be mounted on the operating table, on a support or merely placed on the patient's abdomen or chest. The sterile field screen is sterile and allows surgeons to interface with the sterile field screen and the central surgical controller. This gives the surgeon control of the system and allows him to directly interface and configure the sterile field screen as needed. The sterile field screen can be configured as a master device and can be used for display, control, tool control changes, enabling feed flows from other central surgical controllers, etc.
[0429] [0429] In one aspect, the sterile field screen can be used to reconfigure wireless activation devices in the operating room (OR) and its paired power device if a surgeon hands the device over to another. Figures 54A to 54E illustrate various types of data entry and sterile field control consoles 6700, 6702, 6708, 6712, 6714, in accordance with various aspects of the present disclosure. Each of the 6700, 6702, 6708, 6712, 6714 disclosed data entry and field control consoles comprise at least one touchscreen input / output device 6701, 6704/6706, 6709, 6713 .6716 layered on an electronic visual screen of an information processing system. The 6700, 6702, 6708, 6712, 6714 sterile field control and data entry consoles can include batteries as a power source. Some include a 6710 cable to connect to a separate power source or to recharge batteries. A user can input or control the information processing system using simple or multiple touch gestures by touching the touchscreen 6701, 6704/6706, 6709, 6713, 6716 with a stylus, one or more fingers or a surgical tool. The sterile field control and data entry 6700, 6702, 6708, 6712, 6714 consoles can be used to reconfigure wireless operating room devices and a paired power device if a surgeon delivers the device to another surgeon. The sterile field control and data entry consoles 6700, 6702, 6708, 6712, 6714 can be used to accept consultation feed streams from another operating room where you would then configure a portion of the operating room screens or all of them to mirror the other operating room so that the surgeon is able to see what is needed to help. Data entry and sterile field control consoles 6700, 6702, 6708, 6712, 6714 are configured to communicate with central surgical controller 206. Consequently, the description of central surgical controller 206 discussed in connection with Figures 1 to 11 are incorporated in this section for reference.
[0430] [0430] Figure 54A illustrates a 6700 single zone sterile field input and control console, in accordance with one aspect of the present disclosure. The 6700 single zone console is configured for use in a single zone in a sterile field. Once deployed in a sterile field, the 6700 single zone console can receive touchscreen inputs from a user in the sterile field. The 6701 touchscreen allows the user to interact directly with what is shown, instead of using a mouse, touchpad or other similar devices (other than a stylus or surgical tool). The 6700 single zone console includes wireless communication circuits to communicate wirelessly with the central surgical controller 206.
[0431] [0431] Figure 54B illustrates a data entry console and sterile field control of multiple zones 6702, according to an aspect of the present disclosure. The 6702 multizone console comprises a first 6704 touchscreen for receiving input from a first zone of a sterile field and a second 6706 touchscreen for receiving input from a second zone of a sterile field. The 6702 multizone console is configured to receive input from multiple users in a sterile field. The 6702 multizone console includes wireless communication circuits to communicate wirelessly with the central surgical controller 206. Consequently, the 6702 multizone sterile field control and data entry console comprises an interactive touch screen with multiple entry and exit zones.
[0432] [0432] Figure 54C illustrates a 6708 anchored sterile field data entry and control console, in accordance with one aspect of the present disclosure. The anchored console 6708 includes a cable 6710 to connect the anchored console 6708 to the central surgical controller 206 via a wired connection. The 6710 cable allows the docked console 6708 to communicate over a wired connection in addition to a wireless connection. The 6710 cable also allows the docked console 6708 to connect to a power source to power the 6708 console and / or recharge the batteries in the 6708 console.
[0433] [0433] Figure 54D illustrates a data entry console and sterile field control operated by a battery 6712, according to an aspect of the present disclosure. The 6712 sterile field console is battery operated and includes wireless communication circuits to communicate wirelessly with the 206 central surgical controller. In particular, in one aspect, the 6712 sterile field console is configured to communicate with any of the modules coupled to the central surgical controller 206 as the generator module 240. Through the sterile field console 6712, the surgeon can adjust the power output level of a generator using a touchscreen interface. Touch
[0434] [0434] Figure 54E illustrates a data entry console and sterile field control operated by battery 6714, in accordance with one aspect of the present disclosure. The 6714 sterile field console includes a user interface shown on a generator's touchscreen. The surgeon can then control the generator output by touching the up / down arrow icons 6718A, 6718B which increase / decrease the power output of the generator module 240. Additional icons 6719 allow access to the generator settings generator module 6174, to volume 6178 using the +/- icons, among other resources directly from the 6714 sterile field console. The 6714 sterile field console can be used to adjust settings or reconfigure other wireless activation devices or modules coupled to the central controller 206 in the operating room and its energy device paired when the surgeon delivers the 6714 sterile field console to each other.
[0435] [0435] Figures 55A to 55B illustrate a 6700 sterile field console in use in a sterile field during a surgical procedure, in accordance with an aspect of the present disclosure. Figure 55A shows the sterile field console 6714 positioned in the sterile field next to two surgeons involved in an operation. In Figure 55B, one of the surgeons is shown touching the 6701 touchscreen on the sterile field console with a 6722 surgical tool to adjust the output of a modular device coupled to the central surgical controller 206, reconfigure the modular device, or a energy device paired with the modular device coupled to the central surgical controller 206.
[0436] [0436] In another aspect, the sterile field screen can be used to accept consultation feed streams from another operating room (OR), such as another operating room or central surgical controller 206, where she would then configure a portion of the OR screens or all of them to mirror the other ORs so that the surgeon could see what is needed to help. Figure 56 illustrates a 6750 process for accepting consultation feed streams from another operating room, in accordance with an aspect of the present disclosure. The sterile field control and data input consoles 6700, 6702, 6708, 6712, 6714 shown in Figures 54A to 54E, 55A and 55B can be used as a scalable secondary screen capable of interaction that allows the surgeon to cover other feed streams or images from laser scan doppler arrays or other image sources. The 6700, 6702, 6708, 6712, 6714 data entry and sterile field control consoles can be used to call up a preoperative scan or image for review. Laser Doppler techniques are described in US provisional patent application No. 62 / 611,341, filed on December 28, 2017, and entitled INTERACTIVE SURGICAL PLATFORM, which is hereby incorporated by reference in its entirety.
[0437] [0437] It is recognized that the tissue penetration depth of the light depends on the wavelength of the light used. In this way, the wavelength of the source laser light can be chosen to detect particle movement (such as blood cells) in a specific range of tissue depth. A laser Doppler uses means to detect moving particles, such as blood cells, based on a variety of tissue depths based on the wavelength of laser light. A laser source can be aimed at a surface of a surgical site. A blood vessel (such as a vein or artery) can be arranged in the tissue at some depth δ in relation to the surface of the tissue. Red laser light (which has a wavelength in the range of about 635 nm to about 660 nm) can penetrate tissue at a depth of about 1 mm. Green laser light (which has a wavelength in the range of about 520 nm to about 532 nm) can penetrate tissue at a depth of about 2 to 3 mm. Blue laser light (which has a wavelength in the range of about 405 nm to about 445 nm) can penetrate tissue to a depth of about 4 mm or greater. A blood vessel can be located at a depth of about 2 to 3 mm below the surface of the tissue. The red laser light will not penetrate this depth and, therefore, will not detect blood cells flowing in this vessel. However, both green and blue laser light can penetrate this depth. Therefore, the green and blue laser light spread from the blood cells will result in a Doppler shift observed in both green and blue.
[0438] [0438] In some respects, a fabric can be scanned by red, green and blue laser illumination sequentially and the effect of this illumination can be detected by a CMOS imaging sensor over time. It can be recognized that sequential illumination of the tissue by laser illumination at different wavelengths can allow Doppler analysis at varying tissue depths over time. Although red, green and blue laser sources can be used to illuminate the surgical site, it can be recognized that other wavelengths outside visible light (such as in the infrared or ultraviolet regions) can be used to illuminate the surgical site for analysis of Doppler. Imaging sensor information can be provided to the 6700, 6702, 6708, 6712, sterile field control and data
[0439] [0439] The sterile field control and data entry consoles 6700, 6702, 6708, 6712, 6714 provide access to data recorded in the past. In an OR1 operating room, the 6700, 6702, 6708, 6712, 6714 data entry and sterile field control consoles can be configured as "consultants" and erase all data when the consultation is complete. In another operating room designated as OR3 (operating room 3), the data entry and sterile field control consoles 6700, 6702, 6708, 6712, 6714 can be configured as a "consulted" and are configured to register retrieve all data received from data entry consoles and sterile field control 6700, 6702, 6708, 6712, 6714 from OR1 operating room (operating room 1). These settings are summarized in Table 1 below. Data entry and control console Data entry console and sterile field control Na OR1 Na OR3 Access to data recorded in the past OR1 consultant Consulted with OR3 Erase data when finished Record all data Table 1
[0440] [0440] In an implementation of the 6750 process, the OR1 operating room receives 6752 an OR3 consultation request. The data is transferred to the OR1's 6700 sterile field input and control console, for example. The data is temporarily stored 6754. The data is time-driven and the OR1 6756 display of the temporary data starts on the OR1's 6700 sterile field control and data input console 6701 touchscreen. When the visualization is complete, the data is cleared 6758 and the control returns 6760 to OR1. The data is then erased 6762 from the OR1 sterile field control and data entry console 6700 memory.
[0441] [0441] In yet another aspect, the sterile field screen can be used as a scalable secondary screen capable of interaction that allows the surgeon to cover other feed streams or images as laser scan Doppler arrays. In yet another aspect, the sterile field screen can be used to call up a preoperative scan or image for review. Once the vessel trajectory and the depth and trajectory of the device are estimated, the surgeon uses a scalable secondary screen capable of interacting with the sterile field, allowing the surgeon to superimpose other feeds or images.
[0442] [0442] Figure 57 is a 6770 diagram that illustrates a technique for estimating depth, vessel path and device path. Before dissecting a 6772, 6774 vessel below the surface of the 6775 tissue using a standard approach, the surgeon estimates the trajectory and depth of the 6772, 6774 vessel and a 6776 trajectory of a 6778 surgical device will occur to reach the 6772 vessel ,
[0443] [0443] Figures 58A to 58D illustrate multiple real-time views of images of a virtual anatomical detail for dissection including perspective views (Figures 58A, 58C) and side views (Figures 58B, 58D). The images are shown on a sterile field screen of a tablet computer or console for data entry and sterile field control used as a scalable secondary screen capable of interaction allowing the surgeon to superimpose other feeds or images, according to an aspect of the present disclosure. The virtual anatomy images allow the surgeon to more accurately predict the trajectory and depth of a 6772, 6774 vessel located below the surface of the 6775 tissue, as shown in Figure 57 and the best 6776 trajectory of the 6778 surgical device.
[0444] [0444] Figure 58A is a perspective view of a virtual anatomy 6780 shown on a tablet type computer or data entry console and sterile field control. Figure 58B is a side view of the virtual anatomy 6780 shown in Figure 58A, in accordance with an aspect of the present disclosure. With reference to Figures 58A and 58B, in one aspect, the surgeon uses an intelligent surgical device 6778 and a tablet computer to view virtual anatomy 6780 in real time and in multiple views. The three-dimensional perspective view includes a portion of tissue 6775 in which vessels 6772, 6774 are located below the surface. The tissue portion is superimposed with a 6786 grid to enable the surgeon to view a scale and measure the trajectory and depth of the 6772, 6774 vessels in target locations 6782, 6784, each marked by an X. The 6786 grid also helps the surgeon to determine the best path 6776 of the surgical device 6778. As illustrated, vessels 6772, 6774 have an unusual vessel trajectory.
[0445] [0445] Figure 58C illustrates a perspective view of virtual anatomy 6780 for dissection, according to one aspect of the present disclosure. Figure 58D is a side view of virtual anatomy 6780 for dissection, in accordance with an aspect of the present disclosure. With reference to Figures 58C and 58D, with the use of a tablet computer, the surgeon can enlarge and view 360 ° to obtain an ideal view of the virtual anatomy 6780 for dissection. The surgeon then determines the best 6776 path or path to insert the 6778 surgical device (for example a dissector in this example). The surgeon can view the anatomy in a three-dimensional perspective view or in any of the six views. See, for example, the side view of the virtual anatomy in Figure 58D and the insertion of surgical device 6778 (for example the dissector).
[0446] [0446] In another aspect, a data entry console and sterile field control can enable live conversation between different departments, such as, for example, with the oncology or pathology department, to discuss the margins or other details associated with imaging. The sterile field control and data entry console can enable the pathology department to tell the surgeon about margin relationships in a sample and show them to the surgeon in real time using the sterile field console.
[0447] [0447] In another aspect, a sterile field control and data entry console can be used to change the focus and field of view of your own image or control this from any of the other monitors attached to the central surgical controller.
[0448] [0448] In another aspect, a data entry console and sterile field control can be used to show the status of any of the equipment or modules attached to the 206 central surgical controller. The knowledge of which device attached to the central surgical controller 206 is being used can be obtained through information such as that the device is not in the instrument block or in the sensors in the device. Based on this information, the sterile field control and data entry console can change the display, settings, switch power to drive one device, not another, a cable from the capital to the instrument block and multiple cables from the same. Device diagnostics can gain knowledge that the device is inactive or not being used. Device diagnostics can be based on information such as that the device is not in the instrument block or be based on sensors on the device.
[0449] [0449] In another aspect, a sterile field control and data entry console can be used as a learning tool. The console can show checklists, procedure steps and / or sequence of steps. A timer / clock can be shown to measure the time to complete steps and / or procedures. The console can show the room's sound pressure level as an indicator for activity, stress, etc.
[0450] [0450] Figures 59A and 59B illustrate a touchscreen
[0451] [0451] Figure 59A illustrates a 6892 image of a surgical site shown on a 6890 touchscreen in portrait mode. Figure 59B shows the 6890 touch screen rotated 6894 to landscape mode and the surgeon uses his 6896 index finger to roll the 6892 image in the direction of the arrows. Figure 59C shows the surgeon using his 6896 index finger and 6898 thumb to open the 6892 image by pinching in the direction of the 6899 arrows to zoom in. Figure 59D shows the surgeon using his 6896 index finger and 6898 thumb to close the 6892 image by pinching in the direction of the 6897 arrows to zoom out. Figure 59E shows the 6890 touch screen rotated in two directions indicated by arrows 6894, 6896 to enable the surgeon to see image 6892 in different orientations.
[0452] [0452] Outside the sterile field, control and static screens are used because they are different from the control and static screens used within the sterile field. Control and static screens located outside the sterile field provide interactive and static screens for the operating room (OR) and device control. Control and static screens located outside the sterile field can include secondary static screens and secondary touch screens for entry and exit.
[0453] [0453] Secondary static non-sterile screens 107, 109, 119 (Figure 2) for use outside the sterile field include monitors placed on the wall of the operating room, on a rolling rack or on an equipment
[0454] [0454] Secondary touchscreen entry screens located outside the sterile field can be part of the visualization system 108 (Figure 2), part of the central surgical controller 108 (Figure 2) or can be touch-sensitive monitors for placement fixed on walls or on rolling supports. A difference between the secondary touch sensitive input screens and the static screens is that a user can interact with a secondary touch sensitive input screen by changing what is shown on that specific monitor or on others. For capital equipment applications, it could be the interface for controlling the configuration of the connected capital equipment. Secondary touch screens and static screens outside the sterile field can be used to preload the surgeon's preferences (settings and instrumentation modes, lighting, procedure and preferred sequence and steps, music , etc.)
[0455] [0455] Secondary surgeon screens may include personal entry screens with a personal input device that works similarly to the common sterile field input display device, but is controlled by a specific surgeon. Secondary personal screens can be implemented in many form factors, for example, a clock, a small display block, interface glasses, etc. A personal secondary screen can include control capabilities of a common display device and, since it is situated on or controlled by a specific surgeon, the personal secondary screen would be keyed to him / her specifically and would indicate this to others and to you . Generally speaking, a personal secondary screen would not normally be useful for exchanging paired devices because they are not accessible.
[0456] [0456] A personal secondary screen can be used to provide dedicated data for one of several members of the surgical staff who want to monitor something that others typically would not want to monitor. In addition, a personal secondary screen can be used as the control module. In addition, a personal secondary screen can be held by the chief surgeon in the operating room and would give the surgeon control to ignore any of the other entries from anyone else. A personal secondary screen can be attached to a short-range wireless microphone and headset, for example Bluetooth, allowing the surgeon to have separate conversations or calls or the personal secondary screen can be used to transmit to everyone else in the operating room or in another department.
[0457] [0457] Figure 60 illustrates a surgical site 6900 using a smart surgical retractor 6902 which comprises a direct interface control for a central surgical controller 206 (Figures 1 to 11), in accordance with an aspect of the present disclosure. The 6902 smart surgical retractor helps the surgeon and professionals in the operating room to keep an incision or wound open during surgical procedures. The smart surgical retractor 6902 assists with the retention of underlying organs or tissues, allowing doctors / nurses better visibility and access to the exposed area. Referring also to Figures 1 to 11, the smart surgical retractor 6902 can comprise an input screen 6904 operated by the smart surgical retractor 6902. The smart surgical retractor 6902 can comprise a wireless communication device to communicate with a device connected to a generator module 240 coupled to central surgical controller 206. Using the 6904 input screen of the smart surgical retractor 6902, the surgeon can adjust the power level or mode of the generator module 240 to cut and / or clot the tissue. If automatic on / off is used for power supply when closing an end actuator on the fabric, the automatic on / off state can be indicated by a light, screen or other device located in the 6902 smart retractor cabinet. The power being used can be changed and displayed.
[0458] [0458] In one aspect, the smart surgical retractor 6902 can detect or know which device / instrument 235 the surgeon is using, either through the central surgical controller 206 or RFID or another device placed on device / instrument 235 or the smart surgical retractor 6902, and provide a suitable screen. Alarm and alerts can be activated when conditions demand. Other features include showing the temperature of the ultrasonic blade, nerve monitoring, the 6906 light source, or fluorescence. The 6906 light source can be used to illuminate the 6908 surgical field of view and to load 6918 photocells on a single-use adhesive screen adhere to the smart 6902 retractor (see Figure 61, for example). In another aspect, the smart surgical retractor 6902 may include an augmented reality projected onto the patient's anatomy (for example, as a vein viewer).
[0459] [0459] Figure 61 illustrates a 6910 surgical site with a flexible flexible adhesive screen 6912 attached to a patient's body / skin 6914, in accordance with an aspect of the present disclosure. As shown, the flexible flexible adhesive screen 6912 is applied to a patient's body / skin 6914 between the area exposed by the 6916 surgical retractors. In one aspect, the flexible flexible adhesive screen 6912 can be powered by light, a battery in the plate or a grounding block. The flexible adhesive screen 6912 can communicate for a short
[0460] [0460] Figure 62 is a 6920 logic flow diagram of a process that represents a control program or logic configuration to communicate from within a sterile field to a device located outside the sterile field, according to an aspect of this disclosure. In one aspect, a control unit comprises an interactive touchscreen, an interface configured to couple the interactive touchscreen to a central surgical controller, processor and memory attached to the processor. The memory stores instructions executable by the processor to receive 6922 input commands from the interactive touchscreen located within a sterile field and transmits 6924 to input commands to a central surgical controller to control devices attached to the central surgical controller located outside the sterile field.
[0461] [0461] Figure 63 illustrates a system for performing surgery. The system comprises a control box that includes a set of internal circuits; a surgical instrument including a distal element and techniques for detecting a position or condition of said distal element; techniques associated with said surgical instrument to transmit said position or condition detected to said set of internal circuits of said control box; and to transmit said position or condition detected from said internal circuitry of said control box to a video monitor for display on it, said position or condition being detected being shown on said video monitor as an icon or symbol, which additionally comprises a source of tension to generate a tension contained entirely in said surgical instrument. Additional examples are disclosed in US patent no.
[0462] [0462] Figure 63 shows schematically a system through which data is transmitted to a video monitor for display, such data related to the position and / or condition of one or more surgical instruments. As shown in Figure 63, a laparoscopic surgical procedure is performed, with a plurality of 6930 trocar gloves being inserted through a 6931 body wall to provide access to a 6932 body cavity. A 6933 laparoscope is inserted through of one of the 6930 trocar gloves to provide illumination (light wire 6934 is shown leading to a light source, not shown) to the surgical site and to obtain an image of it. A 6935 camera adapter is attached to the proximal end of the 6933 laparoscope and the 6936 imaging cable extends from it to a 6937 control box discussed in more detail below. The image cable entries for the image receive port 416 in the control box 6937.
[0463] [0463] Additional surgical instruments 6939, 6940 are inserted through the additional trocar gloves 6900 that extend through the body wall 6931. In Figure 63, instrument 6939 schematically illustrates an endoscopic stapling device, for example an Endo instrument GIA * produced by the assignee of the present application, and the 6940 instrument schematically illustrates a manual instrument, for example an Endo Grasp * device manufactured also by the present assignee. Additional and / or alternative instruments can also be used, in accordance with the present invention; the illustrated instruments are merely exemplary of surgical instruments that can be used in accordance with the present invention.
[0464] [0464] Instruments 6939, 6940 include 6941, 6942 adapters associated with their respective grip portions. Adapters communicate electronically with conductive mechanisms (not shown). These mechanisms, which include electrically conductive contact members electrically connected by wires, cables and the like, are associated with the distal elements of the respective instruments, for example the anvil 6943 and the 6944 cartridge of the Endo GIA * instrument, the claws 6945, 6946 Endo Grasp * device and the like. The mechanisms are adapted to interrupt an electronic circuit when the distal elements are in a first position or condition and to complete the electronic circuit when the distal elements are in a second position or condition. A voltage source for the electronic circuit can be provided in the surgical instrument, for example, in the form of a battery, or supplied from the 6937 control box via cables 6947, 6948.
[0465] [0465] Control box 6937 includes a plurality of 6949 connectors that are adapted to receive cables 6947, 6948 and the like. The control box 6937 additionally includes an output adapter 6950 which is adapted to cooperate with a cable 6951 to transmit the laparoscopic image obtained by the 6933 laparoscope together with the data relating to surgical instruments 6939, 6940 to the 6952 video monitor. The circuitry in the 6937 control box is provided to convert the presence of a broken circuit, for example, for the electronic components in the 6947 cable and the mechanism associated with the distal elements of the 6939 instrument, into an icon or symbol for display on the 6952 video monitor. Similarly, the circuitry in the 6937 control box is adapted to provide a second icon or symbol for the 6952 video monitor when a completed circuit exists for the 6947 cable and the associated mechanism.
[0466] [0466] The illustrative icons / symbols 6953, 6954 are shown on the 6952 video monitor. The 6953 icon shows a surgical clamp and can be used to communicate to the surgeon that the 6944 cartridge and the 6943 anvil of the 6939 instrument are properly positioned - there are staples in the 6955 fabric. The 6953 icon could take another shape when the 6944 cartridge and the 6943 anvil are not properly positioned to form staples, thus interrupting the circuit. The 6954 icon shows a hand instrument with separate jaws, thus communicating to the surgeon that the jaws 6945, 6946 of the 6940 instrument are open. The 6954 icon could take another shape when the claws 6945, 6946 are closed, thus completing the circuit.
[0467] [0467] Figure 64 illustrates a second layer of information that overlaps a first layer of information. The second layer of information includes a symbolic representation of the knife that overlaps the detected position of the knife in the DLU represented in the first layer of information. Additional examples are disclosed in US Patent Application Publication No. 9,283,054, entitled SURGICAL APPARATUS WITH INDICATOR, which was granted on March 15, 2016 and which is incorporated herein by reference in its entirety.
[0468] [0468] With reference to Figure 64, the second layer of information 6963 can overlap at least a portion of the first layer of information 6962 on screen 6960. In addition, the touch screen 6961 can enable a user to manipulate the second layer of information 6963 in relation to video feedback on the first underlying information layer 6962 on screen 6960. For example, a user can operate the 6961 touch screen to select, manipulate, reformat, resize and / or otherwise modify the information shown in the second layer of information 6963. In certain aspects, the user can use the touch screen 6961 to manipulate the second layer of information 6963 in relation to the surgical instrument 6964 represented in the first information layer 6962 on screen 6960. A user can select a menu, category and / or rating from his 6967 control panel, for example, and the second information layer 696 3 and / or the 6967 control panel can be adjusted to reflect the user's selection. In several respects, a user can select a category from the 6969 instrument feedback category that corresponds to a specific resource or resources of the 6964 surgical instrument represented in the first 6962 information layer. The feedback corresponding to the category selected by the user can move, locate and / or "fit" in a position on the 6960 screen in relation to the specific feature or features of the 6964 surgical instrument. For example, the selected feedback can move to a position close and / or superimposed on the specific resource or resources of the 6964 surgical instrument represented in the first layer of information 6962.
[0469] [0469] The 6969 instrument feedback menu can include a plurality of feedback categories and can relate to feedback information measured and / or detected by the 6964 surgical instrument during a surgical procedure. As described in the present invention, the 6964 surgical instrument can
[0470] [0470] When the DLU 6965 knife is visually blocked by the claws of the 6966 end actuator and / or by the T fabric, for example, the operator can track and / or approximate the knife position on the DLU 6964 based on the change value of the feedback data and / or the offset position of the feedback data in relation to the DLU 6965 represented in the first underlying information layer 6962.
[0471] [0471] In several respects, the 6967 control panel display menu 6977 can refer to a plurality of categories, such as 6978 unit systems and / or 6979 data modes, for example. In certain respects, a user can select the category of 6978 unit systems to switch between unit systems, such as metric and customary units in the USA, for example. In addition, a user can select the 6979 data mode category to switch between types of numerical representations of feedback data and / or types of graphical representations of feedback data, for example. The numerical representations of the feedback data can be shown as numeric values and / or percentages, for example. In addition, the graphical representations of the feedback data can be shown as a function of time and / or distance, for example. As described here, a user can select the 6980 instrument controller menu from the 6967 control panel to enter guidelines for the 6964 surgical instrument, which can be implemented via the instrument controller and / or the microcontroller, for example. A user can minimize or retrieve the 6967 control panel by selecting the minimize / maximize 6968 icon, and can maximize or return the 6967 control panel by selecting the minimize / maximize 6968 icon again.
[0472] [0472] Figure 65 represents a perspective view of a surgeon using a surgical instrument that includes a handle assembly cabinet and a wireless circuit board during a surgical procedure, with the surgeon wearing a set in safety glasses. The wireless circuit board transmits a signal to a set of safety glasses worn by a surgeon who uses the surgical instrument during a procedure. The signal is received by a wireless port on the safety glasses. One or more illumination devices on a front lens of the safety glasses change color, fade or shine in response to the signal received to indicate information to the surgeon about the status of the surgical instrument. The lighting devices are disposable at peripheral edges of the front lens to avoid distracting the surgeon's direct line of sight. Additional examples are disclosed in US Patent No. 9,011,427, entitled SURGICAL INSTRUMENT WITH SAFETY GLASSES, issued on April 21, 2015, which is hereby incorporated by reference in its entirety.
[0473] [0473] Figure 65 shows a version of 6991 safety glasses that can be worn by a 6992 surgeon during a surgical procedure while using a medical device. During use, a wireless communication card housed in a 6993 surgical instrument can communicate with a 6994 wireless port on safety glasses
[0474] [0474] A version of the 6991 safety glasses may include a lighting device at the peripheral edges of the safety glasses
[0475] [0475] LEDs can be located on the edges or sides of a front lens of the 6991 safety glasses so as not to distract from a user's center of view while they are still positioned within the user's field of view so that the user does not need to look outside the surgical site to see the lighting device. The lights shown can pulse and / or change color to communicate to the user of the 6991 safety glasses various aspects of information retrieved from the 6993 instrument, such as system status information or tissue detection information (that is, if the end actuator separated and sealed the fabric sufficiently). Feedback from the 6995 housed wireless communication card can cause a lighting device to activate, flash, or change color to indicate information about the use of the 6993 instrument to a user. For example, a device may incorporate a feedback mechanism based on one or more detected tissue parameters. In this case, a change in the device's output (s) based on this feedback synchronized with a change in tone can send a signal through the 6995 wireless communication card to the 6991 safety glasses to trigger the activation of the lighting device. . Such means of activating the described lighting device should not be considered limiting, since other means of indicating the status information of the 6993 instrument to the user through the 6991 safety glasses are contemplated. Additionally, 6991 safety glasses can be single-use or reusable glasses. Button cell power supplies such as button cell batteries can be used to power wireless receivers and LEDs for 6991 safety glasses versions, which can also include a housed wireless card and three-color LEDs. Such button cell power supplies can provide a low-cost means of providing sensory feedback of information about the 6993 instrument when in use to the 6992 surgeon wearing the 6991 safety glasses.
[0476] [0476] Figure 66 is a schematic diagram of a feedback control system for controlling a surgical instrument. The surgical instrument includes a cabinet and an elongated drive shaft that extends distally from the cabinet and defines a first longitudinal geometric axis. The surgical instrument also includes a firing rod arranged on the elongated drive shaft and a drive mechanism arranged at least partially within the cabinet. The drive mechanism mechanically cooperates with the trigger rod to move the trigger rod. A motion sensor detects a change in the electric field (for example capacitance, impedance or admittance) between the trigger rod and the elongated drive shaft. The measuring unit determines a trigger rod movement parameter, such as the position, speed and direction of the trigger rod, based on the change detected in the electric field. A controller uses the measured parameter of the motion of the firing rod to control the drive mechanism. Additional examples are disclosed in US Patent No. 8,960,520, entitled METHOD AND APPARATUS FOR DETERMINING PARAMETERS OF LINEAR MOTION IN A SURGICAL INSTRUMENT, granted on February 24, 2015, which is incorporated herein reference in its entirety.
[0477] [0477] Referring to Figure 66, aspects of the present disclosure may include a 6150 feedback control system. The 6150 system includes a 6152 feedback controller. Surgical instrument 6154 is connected to feedback controller 6152 via a data port, which can be wired (for example FireWire®, USB, Serial RS232, Serial RS485, USART, Ethernet, etc.) or wireless (for example Bluetooth®, ANT3®, KNX®, Z -Wave X10®, Wireless USB®, Wi-Fi®, IrDA®, nanoNET®, TinyOS®, ZigBee®, 802.11 IEEE and other radio, infrared, UHF, VHF and similar communications). The 6152 feedback controller is configured to store the data transmitted to it by the 6154 surgical instrument, as well as to process and analyze the data. The 6152 feedback controller is also connected to other devices, such as a 6154 video screen, a 6156 video processor and a 6158 computing device (for example, a computer).
[0478] [0478] Figure 67 illustrates a 6152 feedback controller including an on-screen display module (OSD) and an alert screen module (HUD). The modules process the output of a microcontroller for display on multiple screens. More specifically, the OSD module superimposes text and / or graphics information from the 6152 feedback controller to other video images received from the surgical site through cameras placed on it. The modified video signal with overlapping text is transmitted to the video screen that allows the user to view useful feedback information from the 6154 surgical instrument and / or 6152 re-information controller while still looking at the surgical site. The 6152 feedback controller includes a 6160 data port coupled to a microcontroller that allows the 6152 feedback controller to be connected to the 6158 computing device (Figure 66). Data port 6160 can provide wired and / or wireless communication with the 6158 computing device by providing an interface between the 6158 computing device and the 6152 feedback controller for retrieving stored feedback data, configuring operating parameters of the 6152 feedback controller and firmware update and / or other software for the 6152 feedback controller.
[0479] [0479] The 6152 feedback controller includes a 6162 cabinet and a plurality of input and output ports, such as a 6164 video input, a 6166 video output and a HUD 6168 screen output. The 6152 feedback controller also includes a screen to show status information related to the 6152 feedback controller. Additional examples are disclosed in US Patent No. 8,960,520, entitled METHOD AND APPARATUS FOR DETERMINING PARAMETERS OF LINEAR MOTION IN A SURGICAL INSTRUMENT, granted on 24 February 2015, which is incorporated here as a reference in its entirety. Situational recognition
[0480] [0480] Situational recognition is the ability of some aspects of a surgical system to determine or infer information related to a surgical procedure from data received from databases and / or instruments. The information may include the type of procedure being performed, the type of tissue being operated on or the body cavity that is the object of the procedure. With contextual information related to the surgical procedure, the surgical system can, for example, improve the way in which it controls the modular devices (for example a robotic arm and / or a robotic surgical tool) that are connected to it and providing contextual information or suggestions to the surgeon during the course of the surgical procedure.
[0481] [0481] Now with reference to Figure 68, a 5200 timeline representing the situational recognition of a central controller, such as central surgical controller 106 or 206, for example, is represented. Timeline 5200 is an illustrative surgical procedure and the contextual information that the central surgical controller 106, 206 can derive from data received from data sources at each stage in the surgical procedure. Timeline 5200 represents the typical steps that would be taken by nurses, surgeons, and other medical personnel during the course of a pulmonary segmentectomy procedure, starting with the setup of the operating room and ending with the transfer of the patient to a recovery room in the postoperative period.
[0482] [0482] The situational recognition central surgical controller 106, 206 receives data from data sources throughout the course of the surgical procedure, including the data generated each time the medical staff uses a modular device that is paired with the central surgical controller 106, 206. central surgical controller 106, 206 can receive this data from paired modular devices and other data sources and continuously derive inferences (ie contextual information) about the ongoing procedure as new data are received, such as which stage of the procedure is being performed at any given time. The situational recognition system of the central surgical controller 106, 206 is capable of, for example, recording data related to the procedure to generate reports, checking the steps being taken by medical personnel, providing data or warnings (for example, through a display) that may be relevant to the specific step of the procedure, adjust the modular devices based on the context (for example, activate monitors, adjust the field of view (FOV) of the medical imaging device, or change the level power of an ultrasonic surgical instrument or RF electrosurgical instrument), and take any other action described above.
[0483] [0483] In the first step 5202, in this illustrative procedure, the members of the hospital team retrieve the electronic patient record (PEP) from the hospital's PEP database. Based on the patient selection data in the PEP, the central surgical controller 106, 206 determines that the procedure to be performed is a thoracic procedure.
[0484] [0484] In step 5204, team members scan the incoming medical supplies for the procedure. The central surgical controller 106, 206 cross-references the scanned supplies with a list of supplies that are used in various types of procedures and confirms that the mixing of the supplies corresponds to a thoracic procedure. In addition, the central surgical controller 106, 206 is also able to determine that the procedure is not a wedge procedure (because the inlet supplies have an absence of certain supplies that are necessary for a thoracic cuff procedure or, otherwise, that the inlet supplies do not correspond to a thoracic wedge procedure).
[0485] [0485] In the third step 5206, the medical staff scans the patient's band with a scanner that is communicably connected to the central surgical controller 106, 206. The central surgical controller 106, 206 can then confirm the patient's identity based on the scanned data.
[0486] [0486] In the fourth step 5208, the medical team turns on the auxiliary equipment. The auxiliary equipment being used may vary according to the type of surgical procedure and the techniques to be used by the surgeon, but in this illustrative case they include a smoke evacuator, an insufflator and a medical imaging device. When activated, auxiliary equipment that is a modular device can automatically pair with the central surgical controller 106, 206 which is located within a specific neighborhood of the modular devices as part of its initialization process. The central surgical controller 106, 206 can then derive contextual information about the surgical procedure by detecting the types of modular devices that correspond with it during this preoperative or initialization phase. In this particular example, the central surgical controller 106, 206 determines that the surgical procedure is a VATS (video-assisted thoracic surgery) procedure based on this specific combination of paired modular devices. Based on the combination of data from the electronic patient record (PEP), the list of medical supplies to be used in the procedure, and the type of modular devices that connect to the central controller, the central surgical controller 106, 206 can, in general, infer the specific procedure that the surgical team will perform. After the central surgical controller 106, 206 recognizes which specific procedure is being performed, the central surgical controller 106, 206 can then retrieve the steps of that process from a memory or from the cloud and then cross over the data that subsequently receives from connected data sources (for example, modular devices and patient monitoring devices) to infer which stage of the surgical procedure the surgical team is performing.
[0487] [0487] In the fifth step 5210, team members fix electrocardiogram (ECG) electrodes and other patient monitoring devices on the patient. ECG electrodes and other patient monitoring devices are able to pair with the central surgical controller 106, 206. As the central surgical controller 106, 206 begins to receive data from the patient's monitoring devices, the surgical controller central 106, 206 thus confirms that the patient is in the operating room.
[0488] [0488] In the sixth step 5212, medical personnel induced anesthesia in the patient. Central surgical controller 106, 206 can infer that the patient is under anesthesia based on data from modular devices and / or patient monitoring devices, including ECG data, blood pressure data, ventilator data, or combinations thereof, for example. After the completion of the sixth step 5212, the preoperative portion of the lung segmentectomy procedure is completed and the operative portion begins.
[0489] [0489] In the seventh step 5214, the lung of the patient being operated on is retracted (while ventilation is switched to the contralateral lung). The central surgical controller 106, 206 can infer from the ventilator data that the patient's lung has been retracted, for example. The central surgical controller 106, 206 can infer that the operative portion of the procedure started when he could compare the detection of the patient's lung collapse in the expected steps of the procedure (which can be accessed or retrieved earlier) and thus determine that lung retraction is the first operative step in this specific procedure.
[0490] [0490] In the eighth step 5216, the medical imaging device (for example, a display device) is inserted and the video from the medical imaging device is started. Central surgical controller 106, 206 receives data from the medical imaging device (i.e., video or image data) through its connection to the medical imaging device. Upon receipt of data from the medical imaging device, the central surgical controller 106, 206 can determine that the portion of the laparoscopic surgical procedure has started. In addition, the central surgical controller 106, 206 can determine that the specific procedure being performed is a segmentectomy, rather than a lobectomy (note that a wedge procedure has already been discarded by the central surgical controller 106, 206 based on the data received in the second step 5204 of the procedure). The medical imaging device data 124 (Figure 2) can be used to determine contextual information about the type of procedure being performed in a number of different ways, including by determining the angle at which the medical imaging device is. oriented regarding the visualization of the patient's anatomy,
[0491] [0491] In the ninth step 5218 of the procedure, the surgical team starts the dissection step. Central surgical controller 106, 206 can infer that the surgeon is in the process of dissecting to mobilize the patient's lung because he receives data from the RF or ultrasonic generator that indicate that an energy instrument is being triggered. Central surgical controller 106, 206 can cross-check the received data with the steps retrieved from the surgical procedure to determine that an energy instrument is being triggered at that point in the process (that is, after completing the previously discussed steps of the procedure) corresponds to the dissection stage. In certain cases, the energy instrument may be a power tool mounted on a robotic arm in a robotic surgical system.
[0492] [0492] In the tenth step 5220 of the procedure, the surgical team proceeds to the connection step. Central surgical controller 106, 206 can infer that the surgeon is ligating the arteries and veins because he receives data from the surgical stapling and cutting instrument indicating that the instrument is being fired. Similar to the previous step, the central surgical controller 106, 206 can derive this inference by crossing the reception data of the stapling and surgical cutting instrument with the steps recovered in the process. In certain cases, the surgical instrument can be a surgical tool mounted on a robotic arm of a robotic surgical system.
[0493] [0493] In the eleventh step 5222, the segmentectomy portion of the procedure is performed. Central surgical controller 106, 206 can infer that the surgeon is transecting the parenchyma based on data from the surgical stapling and cutting instrument, including data from its cartridge. The cartridge data can correspond to the size or type of clamp being triggered by the instrument, for example. As different types of staples are used for different types of fabrics, the cartridge data can thus indicate the type of fabric that is being stapled and / or undergoing transection. In this case, the type of clamp that is triggered is used for the parenchyma (or other similar types of tissue), which allows the central surgical controller 106, 206 to infer which portion of the procedure's segmentectomy is being performed.
[0494] [0494] In the twelfth step 5224, the node dissection step is then performed. The central surgical controller 106, 206 can infer that the surgical team is dissecting the node and performing a leak test based on the data received from the generator that indicates which ultrasonic or RF instrument is being fired. For this specific procedure, an RF or ultrasonic instrument being used after the parenchyma has undergone a transection corresponds to the node dissection step, which allows the central surgical controller 106, 206 to make this inference. It should be noted that surgeons regularly alternate between surgical stapling / cutting instruments and surgical energy instruments (that is, RF or ultrasonic) depending on the specific step in the procedure because different instruments are better adapted for specific tasks. Therefore, the specific sequence in which cutting / stapling instruments and surgical energy instruments are used can indicate which stage of the procedure the surgeon is performed on. In addition, in certain cases, robotic tools can be used for one or more steps in a surgical procedure and / or hand-held surgical instruments can be used for one or more steps in the surgical procedure. The surgeon can switch between robotic tools and hand-held surgical instruments and / or can use the devices simultaneously, for example. After the completion of the twelfth stage 5224, the incisions are closed and the post-operative portion of the process begins.
[0495] [0495] In the thirteenth stage 5226, the patient's anesthesia is reversed. The central surgical controller 106, 206 can infer that the patient is emerging from anesthesia based on ventilator data (that is, the patient's respiratory rate begins to increase), for example.
[0496] [0496] Finally, in the fourteenth step 5228 is that medical personnel remove the various patient monitoring devices from the patient. The central surgical controller 106, 206 can thus infer that the patient is being transferred to a recovery room when the central controller loses ECG, blood pressure and other data from patient monitoring devices. As can be seen from the description of this illustrative procedure, the central surgical controller 106, 206 can determine or infer when each step of a given surgical procedure is taking place according to the data received from the various data sources that are communicable. coupled to the central surgical controller 106, 206.
[0497] [0497] Situational recognition is additionally described in US provisional patent application serial number 62 / 611,341, entitled INTE-RACTIVE SURGICAL PLATFORM, filed on December 28, 2017, which is incorporated herein by reference in its entirety . In certain cases, the operation of a robotic surgical system, including the various robotic surgical systems disclosed herein, for example, can be controlled by the central controller 106, 206 based on its situational recognition and / or feedback from the components of the same and / or based on information from cloud 102.
[0498] [0498] Various aspects of the subject described in this document are defined in the following numbered examples.
[0499] [0499] Example 1. A central surgical controller that comprises: a processor; and a memory coupled to the processor, the memory stores instructions executable by the processor to: receive data from the first image from a first image sensor, the data from the first image representing a first field of view; receive data from the second image from a second image sensor, the data from the second image representing a second field of view; and showing, on a screen coupled to the processor, a first image rendered from the data of the first image that corresponds to the first field of view and a second image rendered from the data of the second image that corresponds to the second field of view.
[0500] [0500] Example 2. The central surgical controller in Example 1, the first field of view being a small angle field of view.
[0501] [0501] Example 3. The central surgical controller for any of Examples 1 and 2, the first field of view being a wide-angle field of view.
[0502] [0502] Example 4. The central surgical controller of any of Examples 1 to 3, the memory stores instructions executable by the processor to enlarge the first image with the second image on the screen.
[0503] [0503] Example 5. The central surgical controller of any of Examples 1 to 4, the memory stores instructions executable by the processor to fuse the first image and the second image into a third image and show a fused image on the screen.
[0504] [0504] Example 6. The central surgical controller of any of Examples 1 to 5, with the fused image data comprising status information associated with a surgical device, a reference point for the integration of the image data to interlock a plurality of images and at least one orientation parameter.
[0505] [0505] Example 7. The central surgical controller of any of Examples 1 to 6, the first image sensor being the same as the second image sensor and the first image data being captured as a first moment by first image sensor and the second image data are captured in a second moment by the first image sensor.
[0506] [0506] Example 8. The central surgical controller of any of Examples 1 to 7, the memory stores instructions executable by the processor to: receive data from the third image from a third image sensor, the data from the third image represent a third field of view; generate composite image data that comprises data from the second and third images; show the first image in a first window of the screen, the first image corresponding to the data in the first image; and show a third image in a second window of the screen, with the third image corresponding to the data in the composite image.
[0507] [0507] Example 9. The central surgical controller of any of Examples 1 to 8, the memory stores instructions executable by the processor to: receive data from the third image from a third image sensor, the data from the third image represent a third field of view; combining second and third image data to generate combined image data; show the first image in a first window of the screen, the first image corresponding to the data in the first image; and show a third image in a second window of the screen, with the third image corresponding to the data in the merged image.
[0508] [0508] Example 10. A central surgical controller comprising: a processor; and a memory coupled to the processor, the memory storing instructions executable by the processor to: detect a surgical device connection with the central surgical controller; transmit a control signal to the detected surgical device to transmit to the surgical parameter data of the central surgical controller associated with the detected surgical device; receive the surgical parameter data from the detected surgical device; receiving image data from an image sensor; and show, on a screen coupled to the central surgical controller, a rendered image based on the image data received from the image sensor together with the surgical parameter data received from the surgical device.
[0509] [0509] Example 11. The central surgical controller of Example 10, the surgical device comprising a local screen that is separated from the screen coupled to the central surgical controller.
[0510] [0510] Example 12. The central surgical controller of any of Examples 10 and 11, with the surgical device connected to the central surgical controller being configured to reconfigure the local display to present information that is different from the information presented when the device surgical is not connected to the central surgical controller.
[0511] [0511] Example 13. The central surgical controller of any of Examples 10 to 12, a portion of the information shown on the local screen is shown on the screen attached to the central surgical controller.
[0512] [0512] Example 14. The central surgical controller of any of Examples 10 to 13, the information shown on the screen attached to the central surgical controller being mirrored on the local screen of the surgical device.
[0513] [0513] Example 15. A central surgical controller that comprises: a control circuit configured to: detect a surgical device connection with the central surgical controller; transmit a control signal to the detected surgical device to transmit to the surgical parameter data of the central surgical controller associated with the detected surgical device; receive the surgical parameter data from the detected surgical device; receiving image data from an image sensor; and show, on a screen coupled to the central surgical controller, an image received from the image sensor together with the surgical parameter data received from the surgical device.
[0514] [0514] Example 16. The central surgical controller of Example 15, the surgical device comprising a local screen that is separated from the screen coupled to the central surgical controller.
[0515] [0515] Example 17. The central surgical controller of any of Examples 15 and 16, with the surgical device connected to the central surgical controller being configured to reconfigure the local display to present information that is different from the information presented when the device surgical is not connected to the central surgical controller.
[0516] [0516] Example 18. The central surgical controller of any of Examples 15 to 17, a portion of the information shown on the local screen is shown on the screen attached to the central surgical controller.
[0517] [0517] Example 19. The central surgical controller of any of Examples 15 to 18, with the information shown on the screen attached to the central surgical controller being mirrored on the local screen of the surgical device.
[0518] [0518] Example 20. A non-transitory, computer-readable medium that stores computer-readable instructions that, when executed, make the machine: detect a surgical device connection with the central surgical controller; transmit a control signal to the detected surgical device to transmit to the surgical parameter data of the central surgical controller associated with the detected surgical device; receive the surgical parameter data of the detected surgical device; receiving image data from an image sensor; and show, on a screen coupled to the central surgical controller, an image received from the image sensor together with the surgical parameter data received from the surgical device.
[0519] [0519] Example 21. Non-transitory, computer-readable media
[0520] [0520] Although several forms have been illustrated and described, it is not the applicant's intention to restrict or limit the scope of the claims attached to such detail. Numerous modifications, variations, alterations, substitutions, combinations and equivalents of these forms can be implemented and will occur to those skilled in the art without departing from the scope of this disclosure. In addition, the structure of each element associated with the shape can alternatively be described as a means of providing the function performed by the element. In addition, where materials for certain components are disclosed, other materials can be used. It should be understood, therefore, that the preceding description and the appended claims are intended to cover all these modifications, combinations and variations that fall within the scope of the modalities presented. The appended claims are intended to cover all such modifications, variations, alterations, substitutions, modifications and equivalents.
[0521] [0521] The previous detailed description presented various forms of devices and / or processes through the use of block diagrams, flowcharts and / or examples. Although these block diagrams, flowcharts and / or examples contain one or more functions and / or operations, it will be understood by those skilled in the art that each function and / or operation within these block diagrams, flowcharts and / or examples can be implemented , individually and / or collectively, through a wide range of hardware, software, firmware or almost any combination thereof. Those skilled in the art will recognize, however, that some aspects of the aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs run on one or more computers ( for example, as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (for example, as one or more programs running on one or more microprocessors), as firmware , or virtually as any combination thereof, and that designing the circuitry and / or writing the code for the software and firmware would be within the scope of practice of the technician, in the light of this disclosure. In addition, those skilled in the art will understand that the mechanisms of the subject described herein can be distributed as one or more program products in a variety of ways and that an illustrative form of the subject described here is applicable regardless of the specific type of transmission medium. signals used to effectively carry out the distribution.
[0522] [0522] The instructions used to program the logic to execute various disclosed aspects can be stored in a memory in the system, such as dynamic random access memory (DRAM), cache, flash memory or other storage. In addition, instructions can be distributed over a network or via other computer-readable media. In this way, a machine-readable media can include any mechanism to store or transmit information in a machine-readable form (for example, a computer), but is not limited to, floppy disks, optical discs, compact memory disc read-only (CD-ROMs), and magneto-optical discs, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, flash memory, or a machine-readable tangible storage media used to transmit information over the Internet via an electrical, optical, acoustic cable or other forms of propagated signals (for example, carrier waves, infrared signal, digital signals, etc.). Consequently, computer-readable non-transitory media includes any type of machine-readable media suitable for storing or transmitting instructions or electronic information in a machine-readable form (for example, a computer).
[0523] [0523] As used in any aspect of the present invention, the term "control circuit" can refer to, for example, a set of wired circuits, programmable circuits (for example, a computer processor comprising one or more individual instruction processing cores, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (PSD), programmable logic device (PLD), programmable logic matrix (PLA), or matrix field programmable ports (FPGA)), state machine circuits, firmware that stores instructions executed by the programmable circuit, and any combination thereof. The control circuit can, collectively or individually, be incorporated as an electrical circuit that is part of a larger system, for example, an integrated circuit (IC), an application-specific integrated circuit (ASIC), an on system -chip (SoC), desktop computers, laptop computers, tablet computers, servers, smart headsets, etc. Consequently, as used in the present invention, "control circuit" includes, but is not limited to, electrical circuits that have at least one discrete electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one circuit integrated for specific application, electrical circuits that form a general purpose computing device configured by a computer program (for example, a general purpose computer configured by a computer program that at least partially runs processes and / or devices described herein, or a microprocessor configured by a computer program that at least partially performs the processes and / or devices described here), electrical circuits that form a memory device (for example, forms of random access memory), and / or electrical circuits that form a communications device (for example, a modem, communication key, or optical-electrical equipment). Those skilled in the art will recognize that the subject described here can be implemented in an analog or digital way, or in some combination of these.
[0524] [0524] As used in any aspect of the present invention, the term "logical" can refer to an application, software, firmware and / or circuit configured to perform any of the aforementioned operations. The software can be incorporated as a software package, code, instructions, instruction sets and / or data recorded on the computer-readable non-transitory storage media. The firmware can be embedded as code, instructions or instruction sets and / or data that are hard-coded (for example, non-volatile) in memory devices.
[0525] [0525] As used in any aspect of the present invention, the terms "component", "system", "module" and the like may refer to a computer-related entity, be it hardware, a combination of hardware and software, software or software running.
[0526] [0526] As used here in one aspect of the present invention, an "algorithm" refers to the self-consistent sequence of steps that lead to the desired result, where a "step" refers to the manipulation of physical quantities and / or logical states that can, although they do not necessarily need to, take the form of electrical or magnetic signals that can be stored, transferred, combined, compared and manipulated in any other way. It is common use to call these signs bits, values, elements, symbols, characters, terms, numbers or the like. These terms and similar terms can be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities and / or states.
[0527] [0527] A network can include a packet-switched network. Communication devices may be able to communicate with each other using a selected packet switched network communications protocol. An exemplary communications protocol may include an Ethernet communications protocol that may be able to allow communication using a transmission control protocol / Internet protocol (TCP / IP). The Ethernet protocol can conform to or be compatible with the Ethernet standard published by the Institute of Electrical and Electronics Engineers (IEEE) entitled "IEEE 802.3 Standard", published in December 2008 and / or later versions of this standard. Alternatively or in addition, communication devices may be able to communicate with each other using an X.25 communications protocol. The X.25 communications protocol can conform to or be compatible with a standard promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or in addition, communication devices may be able to communicate with each other using a frame-relay communications protocol. The frame-layout communications protocol can conform or be compatible with a standard promulgated by the Consultative Committee for International Telegraph and Telephone (CCITT)
[0528] [0528] Unless stated otherwise, as is evident from the previous disclosure, it is understood that, throughout the previous disclosure, discussions that use terms such as "processing", or "computation", or "calculation ", or" determination ", or" display ", or similar, refers to the action and processes of a computer, or similar electronic computing device, that manipulates and transforms the data represented in the form of physical quantities (electronic) in the computer system's records and memories in other data represented in a similar way in the form of physical quantities in the computer's memories or records, or in other similar information storage, transmission or display devices.
[0529] [0529] One or more components can be called in the present invention "configured for", "configurable for", "operable / operational for", "adapted / adaptable for", "capable of", "according to movable / conformed to ", etc. Those skilled in the art will recognize that "configured for" can, in general, encompass components in an active state and / or components in an inactive state and / or components in a standby state, except when the context dictates otherwise.
[0530] [0530] The terms "proximal" and "distal" are used in the present invention with reference to a physician who handles the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the doctor, and the term "distal" refers to the portion located in the opposite direction to the doctor. It will also be understood that, for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "up" and "down" can be used in the present invention with respect to drawings. However, surgical instruments can be used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.
[0531] [0531] Persons skilled in the art will recognize that, in general, the terms used here, and especially in the appended claims (eg, bodies of the appended claims) are generally intended as "open" terms (eg, the term "including" should be interpreted as "including, but not limited to", the term "having" should be interpreted as "having, at least", the term "includes" should be interpreted as "includes, but not limits to ", etc.). It will also be understood by those skilled in the art that, when a specific number of a claim statement entered is intended, that intention will be expressly mentioned in the claim and, in the absence of such mention, no intention will be present. For example, as an aid to understanding, the following appended claims may contain the use of the introductory phrases "at least one" and "one or more" to introduce claim statements. However, the use of such phrases should not be interpreted as implying that the introduction of a claim statement by the indefinite articles "one, ones" or "one, ones" limits any specific claim containing the mention of the claim entered to claims that contain only such a mention, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles, such as "one, ones" or "one, ones" (for example, "one , ones "and / or" one, ones "should typically be interpreted as meaning" at least one "or" one or more "); the same goes for the use of defined articles used to introduce claims.
[0532] [0532] Furthermore, even if a specific number of an introduced claim statement is explicitly mentioned, those skilled in the art will recognize that that statement must typically be interpreted as meaning at least the number mentioned (for example, the mere mention of "two mentions", without other modifiers, typically means at least two mentions, or two or more mentions). In addition, in cases where a convention analogous to "at least one of A, B and C, etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by (for example, "a system that has at least one of A, B and C" would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B and C together, etc.). In cases in which a convention analogous to "at least one among A, B or C, etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by (for example, "a system that has at least one of A, B and C "would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B and C together, etc.). It will be further understood by those skilled in the art that typically a disjunctive word and / or phrase presenting two or more alternative terms, whether in the description, in the claims or in the drawings, should be understood as contemplating the possibility of including one of the terms - mos, either term or both terms, except when the context determines to indicate something different. For example, the phrase "A or B" will typically be understood to include the possibilities for "A"
[0533] [0533] With respect to the attached claims, those skilled in the art will understand that the operations mentioned in them can, in general, be performed in any order. In addition, although several operational flow diagrams are presented in one or more sequences, it must be understood that the various operations can be performed in other orders than those shown, or can be performed simultaneously. Examples of such alternative orderings may include overlapping, interleaved, interrupted, reordered, incremental, preparatory, supplementary, simultaneous, inverse or other variant orders, unless the context determines otherwise. Furthermore, terms such as "responsive to", "related to" or other adjectival principles are not generally intended to exclude these variants, except when the context determines otherwise.
[0534] [0534] It is worth noting that any reference to "one (1) aspect", "one aspect", "an exemplification" or "one (1) exemplification", and the like means that a particular resource, structure or characteristic described in connection with the aspect is included in at least one aspect. Thus, the use of expressions such as "in one (1) aspect", "in one aspect", "in an exemplification", "in one (1) exemplification", in several places throughout this specification necessarily refers to the same aspect. In addition, specific resources, structures or characteristics can be combined in any appropriate way in one or more aspects.
[0535] [0535] Any patent application, patent, non-patent publication or other description material mentioned in this specification and / or mentioned in any order data sheet is hereby incorporated by reference, up to the point in that the embedded materials are not inconsistent with this. Thus, and as necessary,
[0536] [0536] In short, numerous benefits have been described that result from the use of the concepts described in this document. The previously mentioned description of one or more modalities was presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. One or more modalities were chosen and described in order to illustrate the principles and practical application to, thus, enable the person skilled in the art to use the various modalities and with several modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.

权利要求:
Claims (21)
[1]
1. Central surgical controller, characterized by comprising: a processor; and a memory coupled to the processor, the memory stores instructions executable by the processor to: receive first image data from a first image sensor, the first image data representing a first field of view; receiving second image data from a second image sensor, the second image data representing a second field of view; and show, on a screen attached to the processor, a first image rendered from the first image data that corresponds to the first field of view and a second image rendered from the second image data that corresponds to the second field of view. eyesight.
[2]
Central surgical controller according to claim 1, characterized in that the first field of view is a narrow-angle field of view.
[3]
Central surgical controller according to claim 1, characterized in that the first field of view is a wide-angle field of view.
[4]
4. Central surgical controller, according to claim 1, characterized in that the memory stores instructions executable by the processor to enlarge the first image with the second image on the screen.
[5]
5. Central surgical controller, according to claim 1, characterized in that the memory stores instructions executable by the processor to combine the first image and the second image in a third image and show a combined image on the screen.
[6]
6. Central surgical controller according to claim 1, characterized in that the combined image data comprises status information associated with a surgical device, an image data integration reference to interlock a plurality of images, and at least one orientation parameter.
[7]
7. Central surgical controller, according to claim 1, characterized in that the first image sensor is the same as the second image sensor and the first image data is captured as a first moment by the first sensor image and the second image data are captured in a second moment by the first image sensor.
[8]
8. Central surgical controller, according to claim 1, characterized in that the memory stores instructions executable by the processor to: receive third image data from a third image sensor, with the third image data representing a third field of view; generate composite image data comprising the second and third image data; show the first image in a first window of the screen, with the first image corresponding to the first image data; and show a third image in a second window of the screen, with the third image corresponding to the data of the composite image.
[9]
9. Central surgical controller, according to claim 1, characterized in that the memory stores instructions executable by the processor to: receive third image data from a third image sensor, with the third image data representing a third field of view; combining second and third image data to generate combined image data; show the first image in a first window of the screen, with the first image corresponding to the first image data; and show a third image in a second window of the screen, with the third image corresponding to the combined data of the image.
[10]
10. Central surgical controller, characterized by comprising: a processor; and a memory attached to the processor, the memory stores instructions executable by the processor to: detect a connection from the surgical device to the central surgical controller; transmitting a control signal to the detected surgical device to transmit to the surgical parameter data of the central surgical controller associated with the detected surgical device; receive the surgical parameter data of the detected surgical device; receiving image data from an image sensor; and show, on a screen coupled to the central surgical controller, a rendered image based on the image data received from the image sensor together with the surgical parameter data received from the surgical device.
[11]
11. Central surgical controller, according to claim 10, characterized in that the surgical device comprises a local screen that is separate from the screen attached to the central surgical controller.
[12]
12. Central surgical controller, according to claim 11, characterized in that the surgical device connected to the central surgical controller is configured to reconfigure the local screen to present information that is different from the information presented when the surgical device does not. is connected to the central surgical controller.
[13]
13. Central surgical controller, according to claim 11, characterized in that a portion of information shown on the local screen is shown on the screen coupled to the central surgical controller.
[14]
14. Central surgical controller, according to claim 11, characterized in that the information shown on the screen attached to the central surgical controller is mirrored on the local screen of the surgical device.
[15]
15. Central surgical controller, characterized by comprising: a control circuit configured to: detect a connection from the surgical device to the central surgical controller; transmitting a control signal to the detected surgical device to transmit to the surgical parameter data of the central surgical controller associated with the detected surgical device; receive the surgical parameter data of the detected surgical device; receiving image data from an image sensor; and show, on a screen coupled to the central surgical controller, an image received from the image sensor together with the surgical parameter data received from the surgical device.
[16]
16. Central surgical controller, according to claim 15, characterized in that the surgical device comprises a local screen that is separate from the screen attached to the central surgical controller.
[17]
17. Central surgical controller, according to claim 16, characterized in that the surgical device connected to the central surgical controller is configured to reconfigure the local screen to present information that is different from the information presented when the surgical device does not. it is connected to the central surgical controller.
[18]
18. Central surgical controller, according to claim 16, characterized in that a portion of information shown on the local screen is shown on the screen coupled to the surgical central surgical controller.
[19]
19. Central surgical controller, according to claim 16, characterized in that the information shown on the screen attached to the central surgical controller is mirrored on the local screen of the surgical device.
[20]
20. Non-transient, computer-readable media, characterized by storing computer-readable instructions that, when executed, cause a machine to: detect a connection from the surgical device to the central surgical controller; transmit a control signal to the detected surgical device to transmit to the surgical parameter data of the central surgical controller associated with the detected surgical device; receive the surgical parameter data of the detected surgical device; receive image data from an image sensor; and show, on a screen attached to the central surgical controller,
an image received from the image sensor together with the surgical parameter data received from the surgical device.
[21]
21. Non-transient, computer-readable media, characterized by storing computer-readable instructions that, when executed, cause a machine to: receive first image data from a first image sensor, the first image data representing a first field of view; receive second image data from a second image sensor, the second image data representing a second field of view; and show, on a screen attached to the central surgical controller, a first image that corresponds to the first field of view and a second image that corresponds to the second field of view.

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法律状态:
2021-12-07| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

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申请号 | 申请日 | 专利标题

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US201762611341P| true| 2017-12-28|2017-12-28|

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US201762611340P| true| 2017-12-28|2017-12-28|

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US201762611339P| true| 2017-12-28|2017-12-28|

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US62/611,340|2017-12-28|

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US62/611,341|2017-12-28|

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US62/611,339|2017-12-28|

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US201862649309P| true| 2018-03-28|2018-03-28|

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US15/940,671|2018-03-29|

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PCT/US2018/044447|WO2019133069A1|2017-12-28|2018-07-30|Surgical hub spatial awareness to determine devices in operating theater|

---