Motion-Sensing Footswitch and Methods for a Surgical System

A motion-sensing input device for control of a microsurgical system is disclosed, comprising a housing including a plurality of walls defining a cavity, a plurality of motion-sensing screens, and a processor. Each motion sensing screen of the plurality of motion-sensing screens is mounted within the cavity of the housing, and each motion-sensing screen is configured to detect positional data of an object within the cavity relative to the housing. The processor is operable to analyze the positional data and transmit corresponding command signals to the microsurgical system.

BACKGROUND

Footswitches are an accepted part of the operator controls that enable the use of microsurgical and ophthalmic systems. This disclosure describes a footswitch in terms of its use with microsurgical systems and, in particular, its use with ophthalmic microsurgical systems.

When surgically treating a patient during ophthalmic surgery, a surgeon may use a complex patient treatment apparatus/surgical system that may require the control of a variety of different pneumatic and electronically driven subsystems. Typically, the operation of these subsystems is controlled by a microprocessor-driven console. The microprocessor within the surgical console may receive mechanical inputs from either the surgeon or from an assistant to the surgeon. During ophthalmic surgery, the surgeon views the patient's eye through an operating microscope while operating the system with both hands. To control the microsurgical system and its associated handpieces during the surgical procedure, the surgeon typically either instructs another healthcare professional how to alter the machine settings on the surgical system, or uses a footswitch to change the settings. When possible, many surgeons prefer to use the footswitch to alter the machine settings on the surgical system, eliminating or reducing the need to rely on another healthcare professional to adjust the system settings throughout the surgical procedure.

In some instances, an assistant may directly manipulate controls on the surgical console, while the surgeon/operator may use a control input device, such as a footswitch, to provide mechanical inputs. In the case of a footswitch, the mechanical inputs originate from the movement of the surgeon's foot to control the operation of a subsystem within the surgical system. The mechanical inputs are translated into electrical signals that are then fed to the microprocessor to control the operational characteristics of the desired subsystem. One example of such a subsystem is a laser system used in ophthalmic laser eye surgery, such as the EYELITE® photocoagulator manufactured by Alcon Laboratories, Inc. of Irvine, Calif.

The footswitch is capable of movement by the surgeon in a given range of motion to provide control of the functions of the surgical system or an associated handpiece. The footswitch may include a footpedal or tiltable treadle movably mounted to the base, similar to the accelerator pedal used to govern the speed of an automobile. The footpedal may be movable within set upward and downward limits. In one method of operation, the downward travel of the footpedal is resisted by different spring-like elements and different ranges of travel. The footpedal position is sensed and the operation of the surgical instrument is altered depending on which area of motion the footpedal is in. The movement of the footpedal typically provides a linear control input, and the range of motion of the footpedal may be segregated into several areas, each of which controls a different surgical mode or surgical function. Such linear control inputs may be used, for example, for regulating vacuum, rotational speed, power, or reciprocal motion. However, such mechanical footswitches may be limited in their ability to precisely translate the surgeon's movements into the desired surgical action.

Accordingly, there exists a need for an improved control input device for microsurgical systems, such as a surgical footswitch. The devices, systems, and methods disclosed herein overcome one or more of the deficiencies of the prior art.

SUMMARY

This disclosure relates generally to a motion-sensing control input device for use during a surgical procedure, and in particular to a motion-sensing footswitch controlling an ophthalmic microsurgical system.

In an exemplary embodiment, a motion-sensing input device for control of a microsurgical system comprises a housing and a plurality of motion-sensing elements. In one aspect, the housing includes a plurality of walls defining a cavity, and each motion sensing screen of the plurality of motion-sensing elements is mounted within the cavity of the housing. In one aspect, each motion-sensing element is configured to detect positional data of an object within the cavity relative to the housing. In one aspect, the device includes a processor operable to analyze the positional data and transmit corresponding command signals to the microsurgical system.

In another exemplary embodiment, an ophthalmic microsurgical system comprises a handpiece and a motion-sensing footswitch. In one aspect, the handpiece has a plurality of functions. In one aspect, the motion-sensing footswitch comprises a housing defining a cavity and a motion-sensing element. In one aspect, the motion-sensing element is coupled to the housing. In one aspect, the motion-sensing element is configured to detect and track a position and an orientation of a foot movably positioned within the cavity and convey positional data representative of the detected position and orientation. In one aspect, the system includes a processor operable to receive the positional data and transmit corresponding command signals to the handpiece to selectively activate at least one of the plurality of functions based on the positional data.

In another exemplary embodiment, a method of controlling an ophthalmic microsurgical system by a motion-sensing footswitch comprises detecting a position and an orientation of an object within the motion-sensing footswitch with at least one motion-sensing element. In one aspect, the detected position and orientation correspond to surgical parameters controllable by the footswitch. In one aspect, the method includes transmitting the detected position and orientation of the object to a processor. In one aspect, the method includes generating a corresponding command signal based on the detected position and orientation of the object. In one aspect, the method includes relaying the corresponding command signal to an appropriate component of the ophthalmic microsurgical system.

DETAILED DESCRIPTION

The present disclosure relates generally to motion-sensing devices used in the operation of microsurgical systems. In some instances, embodiments of the present disclosure are configured to be part of an ophthalmic surgical system. Instead of controlling aspects of the microsurgical system with the use of a mechanical footswitch, the devices disclosed herein allow the user to control the microsurgical system using a motion-sensing user interface or motion-sensing footswitch that recognizes and translates user motions into corresponding control signals for the microsurgical system. In some aspects, the devices, systems, and methods disclosed herein reduce or eliminate the need of a physical, mechanical footswitch and/or mechanical remote control to control the microsurgical system. By relying on the finely nuanced gestures of the user to control the microsurgical system, some aspects of the devices, systems, and methods disclosed herein may allow more precise control of microsurgical systems than conventional footswitches, thereby allowing for a greater degree of control over microsurgical procedures. In some embodiments, the devices, systems, and methods disclosed herein may utilize less power to control the microsurgical systems than conventional footswitches, thereby allowing for wirelessly operated, battery powered control devices.

FIG. 1illustrates a microsurgical system100according to one embodiment of the present disclosure. Though the microsurgical system100shown inFIG. 1is an ophthalmic microsurgical system, the microsurgical system may be any microsurgical system, including a system for performing otic, nasal, throat, maxillofacial, or other surgeries. The system100is capable of providing ultrasound power, irrigation fluid, and aspiration vacuum to an ultrasonic handpiece in an anterior segment ophthalmic surgical procedure. The system100may also be capable of providing pneumatic drive pressure and aspiration vacuum to a vitrectomy probe and irrigation fluid to an irrigation cannula in a posterior segment ophthalmic surgical procedure.

In the pictured embodiment, the system100includes a body110, a graphical user interface (GUI)120attached to the body110, a footswitch interface controller (FIC)130disposed within the body110, a control console140disposed on a surface of the body110, and a motion-sensing user interface or motion-sensing footswitch150connected to the FIC130via a bi-directional bus or cable160. In some embodiments, the GUI120has a liquid crystal display (LCD) with touch screen capability. In other embodiments, the GUI120may include any of a variety of display devices, including by way of non-limiting example, Light Emitting Diode (LED) displays, Cathode Ray Tube (CRT) displays, and flat panel screens. The GUI120may include additional input devices or systems, including by way of non-limiting example, a keyboard, a mouse, a joystick, dials, buttons, among other input devices. The control console140includes a cassette receiving area170and a plurality of ports180. A surgical cassette may be operatively coupled to the system100via the cassette receiving area170to manage the fluidics of the system100in a conventional manner. The bi-directional bus160sends signals in either direction between the FIC130and the motion-sensing footswitch150, and may be used to transmit data to and from the motion-sensing footswitch150and/or may be used to transmit power to the motion-sensing footswitch150. In some embodiments, the FIC130and the motion-sensing footswitch150communicate through a wireless connection. The FIC130is discussed in further detail below with reference toFIGS. 2-3.

During ophthalmic surgery, a series of handpieces may be coupled to the system100, typically via conventional flexible plastic tubing fluidly coupled with the surgical cassette and/or electric cabling to operatively connect to the system100through one or more of the ports180. Some exemplary handpieces that are utilized in anterior segment ophthalmic surgery include, for example, an irrigation handpiece, an irrigation/aspiration handpiece, an ultrasonic handpiece, and a diathermy handpiece. One type of exemplary ultrasonic handpiece is a phacoemulsification handpiece. Exemplary handpieces that are utilized in posterior segment ophthalmic surgery include, by way of non-limiting example, an extrusion handpiece, an infusion cannula, a vitrectomy probe, microsurgical scissors, and a diathermy handpiece.

The system100may include a microprocessor (within the FIC130, the control console140, and/or the motion-sensing footswitch150), random access memory (RAM), read only memory (ROM), input/output circuitry such as the bus160, an audio output device, and other components of microsurgical systems well known to those in the art. The memory may be used to store instructions executed by the processor as well as input/output data associated with the execution of the instructions. A variety of peripheral devices may also be coupled to the system100, such as storage devices (hard disk drive, compact disc read-only memory (CD ROM) drive, etc.), printers, and other input/output devices.

FIG. 2illustrates the motion-sensing footswitch150used to control various operational modes and functions of the microsurgical system100according to one embodiment of the present disclosure. The motion-sensing footswitch150includes a housing200that contains at least one motion-sensing element referenced herein as a motion-sensing screen205. For example, in one embodiment, the housing200includes five motion-sensing screens205. The housing200comprises a multi-sided, open structure configured to support the motion-sensing screens205within a cavity206. In the pictured embodiment, the cavity206is a rectangular cavity defined by the walls207. In the pictured embodiment, the housing200includes five walls207: an upper wall207a, a lower wall207b, a front wall207c, a left wall207d, and a right wall207e. In the pictured embodiment, a motion-sensing screen205is mounted on each wall207. In other embodiments, the housing200may contain less motion-sensing screens205than walls207. For example, in one embodiment, the lower wall207bof the motion-sensing footswitch150may lack a motion-sensing screen. In other embodiments, the housing200may include multiple motion-sensing screens or other motion-sensing sensors on any single wall207.

In the pictured embodiment, the housing200includes a handle208to enable a user to easily lift, reposition, and carry the motion-sensing footswitch150. Alternative embodiments may lack a handle208. In the pictured embodiment, the housing200include switches or buttons209that may be used by the surgeon to change various operating characteristics of the footswitch150and/or the system100. Other embodiments may lack switches or buttons209.

In the pictured embodiment, the motion-sensing footswitch150includes a foot plate210coupled to the housing200. In some embodiments, the foot plate210is an integral part of the housing200. In alternative embodiments, the foot plate210is a detachable part of the housing200or is entirely separate from the housing. The motion-sensing footswitch150includes a heel cup215that is shaped and configured to support and stabilize the heel of a user during use of the motion-sensing footswitch150. The heel cup215secures the surgeon's heel relative to the motion-sensing screens205and guards against inadvertent slippage off the motion-sensing footswitch150. The heel cup215is configured to allow the user to rest his or her heel on a platform216and against a sidewall217and extend the rest of his or her foot into the cavity206of the housing200. In some embodiments, the platform216may be textured to provide frictional engagement with the surgeon's foot.

Unlike conventional footswitches comprising a movable footpedal to translate the user's motions in two dimensions (e.g., up and down along a vertical axis), the motion-sensing footswitch150lacks a physical support structure for the rest of the user's foot. Rather, the motion-sensing footswitch150is configured to allow the user to freely move his or her foot in at least three dimensions (e.g., right and left along a horizontal axis as well as up and down along a vertical axis). In the pictured embodiment, the platform216is raised above the level of the foot plate210, thereby allowing the user to pivot his or her foot in a downward direction toward the lower wall207bof the housing200.

In the pictured embodiment, the heel cup215is positioned on the foot plate210. Some embodiments lack the foot plate210, and the heel cup215is coupled directly to the housing200. For example, in some embodiments, the heel cup215is disposed within the housing200. In some embodiments, the heel cup215may be an integral extension of either the foot plate210or the housing200. In other embodiments, the heel cup215may be a separate component that is coupled to either the foot plate210or the housing200byany of a variety of known methods, including by way of non-limiting example, adhesive, welding, and/or mechanical fasteners.

In some embodiments, the heel cup215may be repositionable relative to the front wall207con the motion-sensing footswitch150to increase or decrease the space available to accommodate for variations in the length of a user foot. For example, in the pictured embodiment, the heel cup215is slidable on a track218along a longitudinal axis LA of the foot plate210. The heel cup215may be locked in position on the track218at a desired distance from the front wall207c. In such an embodiment, the user may reposition and lock the heel cup215on the track218to optimally position his or her foot within the housing200for motion capture by the motion-sensing screens205.

In some embodiments, the right wall207e, the left wall207d, the front wall207c, and the upper wall207aare in a fixed position relative to the lower wall207b. In other embodiments, the right wall207e, the left wall207d, the front wall207c, and/or the upper wall207amay be adjusted inwardly or outwardly relative to the lower wall207bto decrease or increase the space available between the walls207and accommodate for variations in the dimensions of a user foot. Thus, the motion-sensing footswitch may be ergonomically customized for different individual users.

The housing200, the foot plate210, and the heel cup215may be made from any suitable material or combination of materials, including, by way of non-limiting example, stainless steel, titanium, and/or plastic.

In the pictured embodiment, the housing200is attached to a plurality of base members220that support the motion-sensing footswitch150on the operating room floor. In other embodiments, the base member210comprises a single, continuous piece of material that covers the lower wall207bof the housing200and a lower surface225of the foot plate210to support the motion-sensing footswitch150on the operating room floor. During operation, the motion-sensing footswitch150may be maintained in a constant position on the floor by the pressure of the user's heel pressing downward on the heel cup215. In some embodiments, the base members210are configured to provide frictional resistance to the inadvertent sliding of the motion-sensing footswitch150across the operating room floor.

In the pictured embodiment, the motion-sensing screens205comprise flat-panel screens shaped and configured as continuous, substantially planar surfaces overlying the walls207. In some embodiments, the motion-sensing screens205have at least some similar physical characteristics to conventional computer screens and/or touchscreens, and include motion-sensing capability. In the pictured embodiment, the motion-sensing footswitch150includes five motion-sensing screens205coupled to the housing to lie in parallel with their respective walls207. In alternative embodiments, one or more of the motion-sensing screens205may be angled into the cavity206at nonparallel angles with their respective walls207. Other embodiments may include any number of motion-sensing screens205, positioned on any number of the walls207in any of a variety of arrangements (e.g., both symmetrical and nonsymmetrical, both fixed and repositionable). In addition, although described as screens, the motion-sensing screens205may be one or more discrete points, spots, or locations on the walls207of the housing200.

The motion-sensing screens205may be any devices capable of motion capture having the ability to capture (e.g., identify and/or track) the movement of an object in three-dimensional (3D) space and translate that motion into another representation such as, by way of non-limiting example, a digital model. For example, the motion-sensing screens205may include any type or any number of cameras, including visible-light cameras, infrared (IR) cameras, ultraviolet cameras, or any other type of device or combination of devices that are capable of capturing an image of an object and representing that image in the form of digital data. In one example, each motion-sensing screen205comprises a grid of camera sensors, such as complementary metal-oxide-semiconductor (CMOS) active pixel sensors, and/or infrared (IR) light-emitting diodes (LEDs). In some embodiments, the motion-sensing screens205are able to capture the movement of objects with sub-millimeter precision within a 3D spatial volume (e.g., within the cavity206of the housing200).

The motion-sensing screens205may be capable of capturing video images (i.e., successive image frames at a constant rate) to capture the motion of the object. The particular type and capabilities of the motion-sensing screens205can vary between different embodiments as to the frame rate, the image resolution, the color/intensity resolution, the imaging modality, the physical characteristics of the screens, depth of field, etc. In general, any imaging modality capable of focusing on and tracking an object within a spatial volume of interest may be used. In some instances, the motion-sensing screens205and the microsurgical system100includes components or features similar to those disclosed in U.S. Patent Publication No. 2013/0182897, entitled “Systems and Methods for Capturing Motion in Three-Dimensional Space,” and filed on Dec. 21, 2012, which is hereby incorporated by reference in its entirety. The motion-sensing screens205will be discussed in further detail below with reference toFIGS. 3 and 4.

In the pictured embodiment, the housing200includes a microprocessor230to allow for efficient communication with other system components, such as the motion-sensing screens205and/or the FIC130. The microprocessor230is in communication with the motion-sensing screens205and the FIC130of the microsurgical system100. The microprocessor230may be configured to translate and communicate the image data received by the motion-sensing screens205to the FIC130. The microprocessor230may include one microprocessor chip, multiple processors and/or co-processor chips, and/or digital signal processor capability. In other embodiments, the body may lack the microprocessor230and therefore, processing and control may be entirely performed on the FIC130of the microsurgical system100. In such embodiments, the motion-sensing screens205may be capable of data transformation and data transfer to and from the FIC130without the aid of a separate processor. The microprocessor230and/or the FIC130are operable to analyze the image data received from the motion-sensing screens205to determine the 3D position and motion of an object (e.g., a foot) that moves in the field of view of the motion-sensing screens205and translate that information into the appropriate control signals to control the microsurgical system100.

In some embodiments, the motion-sensing screens205and/or the microprocessor230may be communicatively coupled to the FIC130via the cable160. The cable160extends from and connects the motion-sensing footswitch150to the body110of the system100and provides electrical communication therebetween and provides power to the motion-sensing footswitch150. In one embodiment, the motion-sensing footswitch205is a wireless footswitch and contains its own power source235. The power source235may be a rechargeable battery, such as a lithium ion or lithium polymer battery, although other types of batteries may be employed. In addition, any other type of power cell is appropriate for power source235.

In other embodiments, the motion-sensing screens205and/or the microprocessor230can communicate with and transfer data to the FIC130via wireless means. In wireless embodiments, communication between the FIC130and the microprocessor230or between the FIC130and the motion-sensing screens205may occur through a series of transmitting and receiving components onboard the motion-sensing footswitch150and within the body110.

FIG. 3illustrates a side, cross-sectional view of a foot300of the user (e.g., a surgeon) positioned within the motion-sensing footswitch150according to one embodiment of the present disclosure.FIG. 4illustrates a top, cross-sectional view of the foot300positioned within the motion-sensing footswitch150according to one embodiment of the present disclosure.

In particular, inFIG. 3, the foot300is shown in an elevated position with the user resting a heel305on the platform216and against the sidewall217and extending the rest of the foot300into the cavity206of the housing200. In the pictured embodiment, the foot300is shown elevated at an angle α relative to the platform216of the heel cup215. When the foot300is lowered to align with a longitudinal axis A of the platform216, the foot300is positioned in alignment with a neutral or resting plane represented by the longitudinal axis A. In some embodiments where the platform216is not elevated and is aligned with the foot plate210, the axis A is substantially the same as the axis LA shown inFIG. 1. In the pictured embodiment, the foot300is movable about an axis C, which may extend through the user's ankle A and is substantially perpendicular to a longitudinal axis B of the upper wall207aof the housing200, and a longitudinal axis D extending through the heel cup215. The foot is tiltable or pivotable with respect to the housing200about the axis D, which extends perpendicular to the axis C and parallel to the axis B in the pictured embodiment. The axes A, B, C, and D may be oriented differently relative to one another in other embodiments. In various embodiments, the axes A, B, C, and D may be oriented at known angles with respect to each other to enable effective and precise motion-sensing by the motion-sensing screens205.

The user may move the foot300in a given range of motion (i e, limited by the dimensions of the housing200, the capacities of the motion-sensing screens205, and/or the flexibility of the foot300) to change various operating characteristics of the microsurgical system100. For example, the user can move the foot300in three dimensions to adjust the operational mode and/or provide proportional control to various operational functions of the microsurgical system100. In some embodiments, as shown inFIG. 3, the user may move the foot300to rotate or pivot from about zero to about sixty degrees in the x-y plane about the axis D extending through the heel cup215. In some embodiments, as shown inFIG. 4, the user may move the foot300to rotate or pivot from about zero to about 75 degrees about the axis C extending through the heel cup215(e.g., perpendicular to the axis D and the upper wall207a). Other ranges of rotation are contemplated. These ranges of motion are typically segregated into several (virtual or digital) positions, each of which controls a different surgical mode. Neighboring positions frame or bookend distinct areas that provide proportional control over the functions of particular operational mode defined by each particular position. In some embodiments, movement in the x-y plane about the axis D controls both switching between different surgical modes and proportional control within those modes. In other embodiments, movement in the x-y plane about the axis D controls either switching between different surgical modes or proportional control within those modes, while movement in the x-z plane controls the other of switching between different surgical modes or proportional control within those modes. These control relationships are presented for exemplary purposes only, and other control relationships are contemplated.

As the foot300rotates about the axis D (e.g., up and down between the upper wall207aand the lower wall207b) and/or shifts or rotates (e.g., right and left between the left wall207dand the right wall207e) with respect to the axis C to progress from one position to another, the surgeon may actively change the operational mode or function as the motion-sensing screens205identifies and tracks the movement and either the microprocessor230and/or the FIC130process the image data into command signals to control the microsurgical system100. AlthoughFIG. 3illustrates the foot300positioned on the heel cup215while it is moving within the housing200, in some instances the motion-sensing screens205are operable to accurately identify and track the movements of the foot300while the user freely moves the foot300within the housing200without keeping his or her heel connected to the heel cup215.

By way of nonlimiting example, depending on the operating mode of the system100, the foot300may be moved within the housing200to provide focusing control over a microscope, proportional control, stepped control, or ON-OFF powering of vitrectomy probe cut rate, vitrectomy probe aspiration vacuum, ultrasound handpiece power, and/or ultrasound handpiece aspiration flow rate. In the example shown inFIG. 3, for an exemplary phacoemulsification handpiece operatively coupled to system100, according to one embodiment of the present disclosure, keeping the foot in a first position310may provide no active surgical operations. Moving the foot300through a first area315may provide a fixed amount of irrigation flow to a handpiece. Moving the foot300into a second position320may provide fixed irrigation flow and activate control of aspiration flow into the handpiece. Moving the foot300through the second area325may provide fixed irrigation flow and proportional, linear control of aspiration flow. Moving the foot300into a third position330may activate control of ultrasound power to the handpiece. Moving the foot300through the third area335towards a fourth position340may provide fixed irrigation flow, proportional, linear control of aspiration flow, and proportional, linear control of ultrasound power to the handpiece.

In the example shown inFIG. 4, for an exemplary phacoemulsification handpiece operatively coupled to system100, according to one embodiment of the present disclosure, keeping the foot300in a first position410, which aligns with the axis A, may provide no active surgical operations or may provide irrigation flow to the handpiece. The user may swing the foot leftward in the x-z plane about the axis C shown inFIG. 3by an angle13from the axis A to hover or pause in a second position420. Moving the foot300through a first area415toward the left wall207dand its corresponding motion-sensing screen205to the second position420may change the operational mode (e.g., into aspiration mode). In another instance, moving the foot300through a first area415to the second position420may provide a fixed amount of irrigation flow to the handpiece. The user may swing the foot rightward in the x-z plane about the axis C by an angle θ relative to the axis A to hover or pause in a second position420. Moving the foot300into a third position425may activate control of ultrasound power to the handpiece. In another instance, moving the foot300into a third position425may provide fixed irrigation flow and activate control of aspiration flow into the handpiece. Moving the foot300through a second area430may provide fixed irrigation flow and proportional, linear control of aspiration flow.

In alternative embodiments, different numbers of positions and areas, either in the x-y plane or the x-z plane, as well as different surgical modes, may be assigned for different microsurgical systems other than system100and/or different handpieces operatively coupled to the system100. In some embodiments, the number of positions and areas and the corresponding surgical modes may be defined by the surgeon using the control console140of the system100. For example, the surgeon may customize the different positions and areas to particular surgical modes and proportional controls as desired. In one example, an upward motion of the foot300toward the upper wall207amay be programmed into the system100as signifying an instruction to increase aspiration flow, whereas in another instance, the upward motion of the foot300may be programmed to signify an instruction to decrease aspiration flow.

In some embodiments, the surgeon can program the microsurgical system100(e.g., the microprocessor230and/or the FIC130) to customize the control functions of particular movements. For example, the surgeon can customize whether, by way of non-limiting example: (1) movement in the x-y plane, as shown inFIG. 3, controls a footswitch-mediated transition through surgical modes while movement in the x-z plane, as shown inFIG. 4, controls a proportional shift in a particular action at the handpiece; (2) movement in the x-y plane, as shown inFIG. 3, controls a proportional shift in a particular action at the handpiece while movement in the x-z plane, as shown inFIG. 4, controls a footswitch-mediated transition through surgical modes; (3) movement in the x-y plane, as shown inFIG. 3, controls both proportional shift in a particular action at the handpiece and a footswitch-mediated transition through surgical modes; or (4) movement in the x-z plane, as shown inFIG. 4, controls both proportional shift in a particular action at the handpiece and a footswitch-mediated transition through surgical modes. Thus, two parameters (e.g., surgical mode, microscope control, and proportional control) could be controlled at one time by using motion in two planes. Moreover, the motion-sensing screens205offer limitless gesture-recognition capabilities to the user, and the user may assign specific motions or types of motions to particular command signals to increase the ease of use for the user.

The surgeon may freely move his or her foot300within the housing200to control the microsurgical system100. Movement of the foot300within the housing200, including the rotation of the foot300about the axes C and D, is detected by the motion-sensing screens205in three dimensions. As the foot300moves within the housing200, the motion-sensing screens205identify and track the position of the foot300with respect to the walls207and/or the screens205as well as the rotational displacement of the foot300with respect to the axes C and D. In some instances, the motion-sensing screens205track the velocity of the movement and other characteristics of the motion. The rotational movement of the foot300with respect to the axes C and D may be precisely measured and cross-referenced by multiple motion-sensing screens205to achieve greater positional accuracy. For example, the positional and rotational measurements of individual motion-sensing screens205may be compared with each other to confirm and/or calculate accurate measurements.

The motion-sensing screens205detect the rotational displacement and position of the foot300and communicates data representative of the position of the foot300to the electronic components of the system100(e.g., the FIC130) and/or motion-sensing footswitch150(e.g., the microprocessor230). The motion-sensing screens205may communicate data corresponding to the sensed position of the foot300to the microprocessor230of the motion-sensing footswitch150, or may include the circuitry necessary to communicate such data directly to the FIC130of the microsurgical system100(illustrated inFIGS. 1 and 2). The microprocessor230may report positional data to the FIC130of the microsurgical system100and/or may process command signals from the FIC130to control the motion-sensing screens205. In alternative embodiments, the microprocessor230may independently issue command signals to control or adjust the motion-sensing screens205and/or surgical tools (e.g., the handpiece) of the microsurgical system100. In alternative embodiments, the FIC130may independently issue command signals to control the motion-sensing screens205and/or surgical tool (e.g., the handpiece) of the microsurgical system100.

The FIC130and/or the microprocessor230may include embedded software applications necessary to analyze the data from the motion-sensing screens205and to control the surgical tool (e.g., the handpiece) of the microsurgical system100based on that data. In particular, the software applications are designed to generate command signals based on the positional data received from the motion-sensing screens205to control the actuators of various components of the microsurgical system100. Such software applications contain motion-sensing and control algorithms designed to read information from the control console140and/or motion-sensing screens205to create a distinct surgical effect for a given motion within the motion-sensing footswitch150, whether the event is a footswitch-mediated transition through surgical modes or a proportional shift in a particular action at the handpiece. These software applications are designed to generate command signals based on the image data (including positional and rotational data) detected, sensed, or measured by the motion-sensing screens205to control the microsurgical system100. In particular, the software application may use the data from the motion-sensing screens205to create command signals that can adjust the operating conditions and modes at the handpiece of the microsurgical system100without requiring the surgeon to shift his attention from the surgical field.

FIG. 5is a flow diagram illustrating an exemplary method500of using the motion-sensing footswitch150to control the microsurgical system100according to one embodiment of the present disclosure. Initially, at500, the surgeon positions his or her foot (e.g., foot300) in a starting or original position within the housing200of the motion-sensing footswitch150. In some embodiments, at505, which may occur either before or after500, the surgeon can customize the microsurgical system100(e.g., the microprocessor230and/or the FIC130) by assigning particular surgical commands, parameters, settings, and/or modes to different movements and/or positions. In some embodiments, the surgeon may selectively activate and/or deactivate one or more motion-sensing screens205.

At510, the motion-sensing screens205detect the original position and orientation of the foot300relative to the housing200, and communicate or transmit the data corresponding to the position and orientation of the foot300(i.e., positional data) to a processor such as the microprocessor230and/or the FIC130. In some embodiments, the microprocessor230and/or the FIC130relays the positional data received from the motion-sensing screens205to the GUI120, which displays the positional data and corresponding operational mode of the motion-sensing footswitch150.

At515, the microprocessor230and/or the FIC130define a home position and orientation based on the positional data detected by the motion-sensing screens205.

At520, the surgeon moves or rotates the foot300into a second position that is different than the first position.

At525, the motion-sensing screens205track the changes in position and orientation of the foot300relative to the original or home position and communicate this positional data to the microprocessor270and/or the FIC130.

At530, the microprocessor270and/or the FIC130utilize embedded software applications to analyze the positional data received from the motion-sensing screens205to determine which command signals correspond to the observed motions of the foot300. In some embodiments, a particular gesture may correspond to the command signal issued immediately previous to the recent repositioning of the foot300. For instance, in one example, twitching the foot300to the left could correspond to the command signal of the previous surgical step.

At540, the microprocessor270and/or the FIC130generate and relay command signals based on the positional data received from the motion-sensing screens205to control and/or actuate the appropriate components of the microsurgical system100. In some embodiments, the microprocessor230contains the software applications necessary to control the microsurgical system100independently of the FIC130. In such embodiments, the microprocessor230may issue command signals based on the data received from the motion-sensing screens205directly to the appropriate components of the microsurgical system100. In other embodiments, the microprocessor230relays the positional data received from the motion-sensing screens205to the FIC130and receives command signals from the FIC130, which contains the software applications necessary to generate the appropriate command signals. In some embodiments, the FIC130contains the software applications and circuitry necessary to receive the data from the motion-sensing screens205and control the microsurgical system100independently of the microprocessor230. Such embodiments may lack a microprocessor230.

In some instances, the motion-sensing devices, systems, and methods disclosed herein could be utilized by healthcare professionals other than the operating surgeon to change surgical parameters or power settings of the microsurgical system without being within close proximity of the GUI120. For example, some embodiments may include motion-sensing screens205positioned outside the footswitch150(e.g., on the body110shown inFIG. 1). Persons who are not in close proximity to the microsurgical system100may gesture in view of the motion-sensing screens205to control the microsurgical system100from a distance.

The devices, systems, and methods disclosed herein may enable the motion-sensing footswitch to provide more precise control over the surgical parameters and power settings of the microsurgical system than a conventional mechanical footswitch. The devices, systems, and methods disclosed herein may allow the surgeon to freely move within more dimensions than a conventional footswitch and to customize the control inputs to enable more convenient, customizable, and rapid control over the microsurgical system. In some instances, the motion-sensing footswitch is capable of controlling the microsurgical system using less power than conventional mechanical footswitches. The devices, systems, and methods disclosed herein may allow for faster and more efficient control of the microsurgical system without as much time lag as conventional mechanical footswitches between user input at the footswitch and command signal output from the microsurgical system. The motion-sensing footswitches disclosed herein may avoid the disadvantages of mechanical degradation and malfunction sometimes associated with conventional mechanical footswitches.

Persons of ordinary skill in the art will appreciate that the embodiments encompassed by the present disclosure are not limited to the particular exemplary embodiments described above. In that regard, although illustrative embodiments have been shown and described, a wide range of modification, change, and substitution is contemplated in the foregoing disclosure. For example, although the motion-sensing control input device is described in relation to a “footswitch,” it is understood that a user may insert and move any other object (e.g., a hand, or an inanimate object) within the motion-sensing footswitch instead of a foot to control the microsurgical system. It is understood that such variations may be made to the foregoing without departing from the scope of the present disclosure. Accordingly, it is appropriate that the appended claims be construed broadly and in a manner consistent with the present disclosure.