Patent Description:
The invention is defined by the appended claims <NUM> and <NUM>. Methods disclosed herein do not form part of the claimed subject-matter. The present disclosure relates to robotic surgery, and more particularly, to systems, apparatus, and methods for limiting movement of surgical tools and/or robotic arms outside a laparoscopic field of view.

Provided in accordance with the present disclosure is a system for performing robotic surgery. In an aspect of the present invention, the system includes a surgical robot including a plurality of robotic arms, an image capture device and a light source both operably coupled to a first one of the plurality of robotic arms a surgical tool operably coupled to a second one of the plurality of robotic arms and a light sensor located at the distal end of said tool, and a computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to determine whether the light sensor coupled to the surgical tool is detecting at least a predetermined amount of light emitted by the light source coupled to the image capture device, and provide a notification when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In another aspect of the present disclosure, the instructions of the computing device, when executed by the processor, further cause the computing device to cause the surgical robot to reposition the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In a further aspect of the present disclosure, the surgical tool is repositioned towards the image capture device until the light sensor detects at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In another aspect of the present disclosure, the surgical tool is a first surgical tool and the light sensor is a first light sensor, and the system further includes a second surgical tool coupled to a third one of the plurality of robotic arms and a second light sensor, and the instructions, when executed by the processor, further cause the computing device to determine whether the second light sensor coupled to the second surgical tool is detecting at least a second predetermined amount of light emitted by the light source coupled to the image capture device, and provide a notification when it is determined that the second light sensor coupled to the second surgical tool is not detecting at least the second predetermined amount of light emitted by the light source coupled to the image capture device.

In a further aspect of the present disclosure, the instructions, when executed by the processor, further cause the computing device to cause the surgical robot to reposition the second surgical tool when it is determined that the second light sensor coupled to the second surgical tool is not detecting at least the second predetermined amount of light emitted by the light source coupled to the image capture device.

In yet another aspect of the present disclosure, the system further includes a door for the light sensor coupled to the surgical tool, and the instructions, when executed by the processor, further cause the computing device to determine whether the surgical tool is inserted into a trocar, cause the surgical robot to open the door for the light sensor when it is determined that the surgical tool is inserted into the trocar, and cause the surgical robot to close the door for the light sensor when it is determined that the surgical tool is not inserted into the trocar.

In still another aspect of the present disclosure, the instructions, when executed by the processor, further cause the computing device to prevent activation of the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In yet another aspect of the present disclosure, the system further includes a pump for circulating coolant through the surgical tool, and the instructions further cause the computing device to activate the pump to circulate coolant through the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In still another aspect of the present disclosure, the surgical tool is an electrosurgical tool, and the system further includes an electrosurgical generator configured to provide electrosurgical energy to the surgical tool, and the instructions, when executed by the processor, further cause the computing device to prevent the electrosurgical generator from providing electrosurgical energy to the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In yet another aspect of the present disclosure, the image capture device is a laparoscope.

In still another aspect of the present disclosure, the predetermined amount of light is less than a total amount of light emitted by the light source coupled to the image capture device.

Provided in accordance with the present disclosure is a method for robotic surgery. In an aspect of the present disclosure, the method includes determining whether a light sensor coupled to a surgical tool is detecting at least a predetermined amount of light emitted by a light source coupled to an image capture device, and providing a notification when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In another aspect of the present disclosure, the surgical tool is coupled to a robotic arm of a surgical robot, and the method further includes causing the surgical robot to reposition the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In another aspect of the present disclosure, the surgical tool is a first surgical tool and the light sensor is a first light sensor, and the method further includes determining whether a second light sensor coupled to a second surgical tool is detecting at least a second predetermined amount of light emitted by the light source coupled to the image capture device, and providing a notification when it is determined that the second light sensor coupled to the second surgical tool is not detecting at least the second predetermined amount of light emitted by the light source coupled to the image capture device.

In a further aspect of the present disclosure, the second surgical tool is coupled to a robotic arm of a surgical robot, and the method further comprises causing the surgical robot to reposition the second surgical tool when it is determined that the second light sensor coupled to the second surgical tool is not detecting at least the second predetermined amount of light emitted by the light source coupled to the image capture device.

In another aspect of the present disclosure, the method further includes determining whether the surgical tool is inserted into a trocar, opening a door for the light sensor when it is determined that the surgical tool is inserted into the trocar, and closing the door for the light sensor when it is determined that the surgical tool is not inserted into the trocar.

In yet another aspect of the present disclosure, the method further includes preventing activation of the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In still another aspect of the present disclosure, the method further includes activating a pump to circulate coolant through the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In yet another aspect of the present disclosure, the surgical tool is an electrosurgical tool, and the method further comprises preventing an electrosurgical generator from providing electrosurgical energy to the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

Provided in accordance with an aspect of the present invention is a non-transitory computer-readable storage medium storing instructions which, when executed by a processor in the system for robotic surgery mentioned above, cause a computer to determine whether a light sensor coupled to a surgical tool is detecting at least a predetermined amount of light emitted by a light source coupled to an image capture device, and providing a notification when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In another aspect of the present disclosure, the surgical tool is coupled to a robotic arm of a surgical robot, and the instructions, when executed by the processor, further cause the computer to cause the surgical robot to reposition the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In another aspect of the present disclosure, the surgical tool is a first surgical tool and the light sensor is a first light sensor, and the instructions, when executed by the processor, further cause the computer to determine whether a second light sensor coupled to a second surgical tool is detecting at least a second predetermined amount of light emitted by the light source coupled to the image capture device, and provide a notification when it is determined that the second light sensor coupled to the second surgical tool is not detecting at least the second predetermined amount of light emitted by the light source coupled to the image capture device.

In a further aspect of the present disclosure, the second surgical tool is coupled to a robotic arm of a surgical robot, and the instructions, when executed by the processor, further cause the computer to cause the surgical robot to reposition the second surgical tool when it is determined that the second light sensor coupled to the second surgical tool is not detecting at least the second predetermined amount of light emitted by the light source coupled to the image capture device.

In another aspect of the present disclosure, the instructions, when executed by the processor, further cause the computer to determine whether the surgical tool is inserted into a trocar, open a door for the light sensor when it is determined that the surgical tool is inserted into the trocar, and close the door for the light sensor when it is determined that the surgical tool is not inserted into the trocar.

In yet another aspect of the present disclosure, the instructions, when executed by the processor, further cause the computer to prevent activation of the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In still another aspect of the present disclosure, the instructions, when executed by the processor, further cause the computer to activate a pump to circulate coolant through the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

In yet another aspect of the present disclosure, the surgical tool is an electrosurgical tool, and the instructions, when executed by the processor, further cause the computer to prevent an electrosurgical generator from providing electrosurgical energy to the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

Any of the above aspects and embodiments of the present disclosure may be combined without departing from the scope of the present disclosure.

Various aspects and features of the present disclosure are described hereinbelow with references to the drawings, wherein:.

The present disclosure relates to systems, apparatus, and methods for performing robotic surgery. More particularly, the disclosed systems, apparatus, and tracks surgical tools leaving a field of view of an imaging device, such as a laparoscopic camera, and thus a clinician's view of a surgical site, during robotic surgery. Surgical tools may be moved, whether intentionally or inadvertently, about the surgical site during a robotic surgical procedure. The clinician's view of the surgical site may also be changed due to movement of the imaging device. Thus, as a result of either or both of the movement of the surgical tools and/or the imaging device, the surgical tools may leave the clinician's view of the surgical site.

Robotic surgical systems in accordance with the present disclosure track the location of the surgical tools within the clinician's view of the surgical site and prevents movement and/or activation of the surgical tools outside of the clinician's view.

With reference to <FIG>, there is shown a schematic diagram of an exemplary system <NUM> for use during a robotic surgical procedure according to an embodiment of the present disclosure. System <NUM> includes a surgical robot having a plurality of robotic bases 110a, 110b. Each robotic base 110a, 110b has operatively coupled thereto one or more robotic arms 115a, 115b. Each robotic arm 115a, 115b has in turn operatively coupled thereto a tool, such as a surgical tool <NUM> and/or an image capture device <NUM>.

Surgical tool <NUM> may be a cutting tool, ablation tool, forceps, graspers, stapling tools, suturing tools, etc. and may have an end effector <NUM> at or about a distal portion of surgical tool <NUM>. Surgical tool <NUM> has coupled thereto a light sensor <NUM>, such as a photocell or other sensor configured to detect light, coupled at or about the distal portion of surgical tool <NUM>. Light sensor <NUM> may be protected from exposure to light when not in use by a protective cover or door <NUM>.

Image capture device <NUM> may be a laparoscope or other device configured to capture images. Image capture device <NUM> may have a lens or camera <NUM> at or about a distal portion of image capture device. Image capture device <NUM> has coupled thereto a light source <NUM>, such as a fiber optic light source or other cold light source configured to emit light.

System <NUM> further includes a table <NUM> upon which a patient "P" is positioned during surgery, a generator <NUM> configured to provide electrosurgical energy to surgical tool <NUM>, a cooling pump <NUM> configured to pump fluid through surgical tool <NUM> to cool surgical tool <NUM>, and a computing device <NUM>.

As further described below, during a surgical procedure, computing device <NUM> may cause the surgical robot to insert surgical tool <NUM> and/or image capture device <NUM> into the patient's body via one or more trocars (not shown). Once inserted via the trocar, door <NUM> may be opened to allow light sensor <NUM> to detect light emitted by light source <NUM>. During the surgical procedure, light source <NUM> will illuminate a surgical site inside the patient's body, and because light source <NUM> is coupled to image capture device <NUM>, the area illuminated by the light emitted by light source <NUM> will roughly correspond with a field of view of the surgical site captured by image capture device <NUM>, and thus the clinician's view of the surgical site. As such, during the surgical procedure, computing device <NUM>, by means of processor <NUM>, other logic, and/or an application <NUM>, may continually monitor whether light sensor <NUM> detects light emitted by light source <NUM>, and may allow or prevent activation of surgical tool <NUM> based on whether light sensor <NUM> detects light emitted by light source <NUM>. Computing device <NUM> may also cause the surgical robot to reposition surgical tool <NUM> to be within the area illuminated by light source <NUM>.

Turning now to <FIG>, there is shown a schematic diagram of a computing device <NUM> forming part of system <NUM> of <FIG>, according to an embodiment of the present disclosure. Computing device <NUM> includes a memory <NUM> storing a database <NUM> and an application <NUM>. Application <NUM> may include instructions which, when executed by a processor <NUM>, cause computing device <NUM> to perform various functions. Computing device <NUM> may further include a graphical user interface (GUI) <NUM>. In some embodiments, GUI <NUM> may be part of and/or included in application <NUM>. In other embodiments, GUI <NUM> may be separate from application <NUM>, such as an operating system of computing device <NUM>.

Memory <NUM> of computing device <NUM> may include any non-transitory computer-readable storage medium for storing data and/or software that is executable by processor <NUM> and which controls the operation of computing device <NUM>. In an embodiment, memory <NUM> may include one or more solid-state storage devices such as flash memory chips. Alternatively or in addition to the one or more solid-state storage devices, memory <NUM> may include one or more mass storage devices connected to the processor <NUM> through a mass storage controller (not shown) and a communications bus (not shown). Although the description of computer-readable media contained herein refers to a solid-state storage, it should be appreciated by those skilled in the art that computer-readable storage media can be any available media that can be accessed by the processor <NUM>. That is, computer readable storage media may include, but is not limited to, non-transitory, volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media may include RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, Blu-Ray or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by computing device <NUM>.

Computing device <NUM> further includes a user interface <NUM>, a communications interface <NUM>, and an output interface <NUM>. User interface <NUM> may be a mouse, keyboard, or other hand-held controller, foot pedal, touch screen, voice interface, and/or any other device or interface by means of which a user may interact with computing device <NUM>.

Communications interface <NUM> may be configured to connect to a network such as a local area network (LAN) consisting of a wired network and/or a wireless network, a wide area network (WAN), a wireless mobile network, a BLUETOOTH® network, and/or the internet. Output interface <NUM> may be a screen or other display device usable to output images, data, and/or GUI <NUM> by computing device <NUM>.

As noted above, application <NUM> includes instructions which, when executed by processor <NUM>, control the operation of computing device <NUM>. Various functions of computing device <NUM> are described below. Such functions may be performed by dedicated hardware or other logic included in computing device <NUM>, and/or by execution of application <NUM>. Thus, those skilled in the art will recognize that some or all of the functions and operations of computing device <NUM> described herein may be performed by hardware, software, and/or firmware included in and/or executed by computing device <NUM>.

With reference to <FIG>, there is shown a flowchart of an exemplary method <NUM> for robotic surgery according to embodiments of the present disclosure. Method <NUM> may be performed, for example, by using application <NUM> executing on computing device <NUM> of <FIG> and system <NUM> of <FIG>. While method <NUM> is described below in an ordered sequence of steps, those skilled in the art will recognize that one or more of the steps may be performed out of sequence, in a different sequence, repeated, and/or omitted without departing from the scope of the present disclosure.

Method <NUM> may start at step S302, where it is determined whether light sensor <NUM>, coupled to surgical tool <NUM>, is inserted via a trocar into the patient's body. The determination may be made by application <NUM> executing on computing device <NUM>, and/or specialized or dedicated logic coupled to light sensor <NUM>, surgical tool <NUM>, and/or the trocar. If it is determined that light sensor <NUM> is not inserted via the trocar, processing proceeds to step S304 where door <NUM> is closed, or kept closed, to cover light sensor <NUM>. Thereafter, processing proceeds to step S324, described below.

Alternatively, if it is determined at step S302 that light sensor <NUM> is inserted via the trocar, processing proceeds to step S306, where door <NUM> is opened, or kept open, to uncover light sensor <NUM>. Thereafter, processing proceeds to step S308, where light source <NUM> is caused to emit light. For example, once application <NUM> determines or is notified that light sensor <NUM> is uncovered, application <NUM> may cause light source <NUM> to emit light. At this point, or at some point prior, surgical tool <NUM> and image capture device <NUM> are positioned about a surgical site inside the patient's body. Additional surgical tools <NUM> and image capture devices <NUM> may also be inserted via trocars and positioned about the surgical site inside the patient's body.

Thereafter, at step S310, application <NUM> determines whether light sensor <NUM> is detecting the light emitted by light source <NUM>. For example, computing device <NUM> may receive a signal from light sensor <NUM>, or from logic associated with light sensor <NUM>, indicating that light sensor <NUM> is detecting light. If application <NUM> determines that light sensor <NUM> is detecting light, it may be assumed that surgical tool <NUM> is within the field of view of image capture device <NUM>, and processing proceeds to step S312, where application <NUM> allows activation of surgical tool <NUM>. For example, if surgical tool <NUM> is an ablation tool, application <NUM> may allow generator <NUM> to provide electrosurgical energy to surgical tool <NUM>. Thereafter, processing proceeds to step S324, described below.

Alternatively, if application <NUM> determines that light sensor <NUM> is not detecting light, or that light sensor <NUM> is detecting insufficient light, (for example, by comparing an amount of light sensed by the light sensor <NUM> to a predetermined threshold and/or determining whether the light sensor <NUM> is detecting at least a predetermined amount of light emitted by the light source <NUM>) it may be assumed that surgical tool <NUM> is not within the field of view of image capture device <NUM>. For example, if light sensor <NUM> detects insufficient light, that is, light below the predetermined threshold, or no light at all, application <NUM> may determine that surgical tool <NUM> is not within the field of view of image capture device <NUM>. Thereafter, processing proceeds to step S314, where application <NUM> provides an alert or alarm to the clinician indicating that surgical tool <NUM> is not within the field of view of image capture device <NUM>. The alert or alarm may be an auditory, visual, or tactile alert to inform the clinician that surgical tool <NUM> is outside of the clinician's view of the surgical site.

Application <NUM> may further, at step S316, cause the surgical robot to reposition surgical tool <NUM> towards image capture device <NUM> until light sensor <NUM> detects light emitted by light source <NUM>. The repositioning may be automatic or dependent on instruction by the clinician. Application <NUM> may also, at step S318, prevent activation of surgical tool <NUM> while light sensor <NUM> does not detect light emitted by light source <NUM>. Additionally, application <NUM> may, at step S320, cause cooling pump <NUM> to pump cooling fluid through surgical tool <NUM> to cool surgical tool <NUM> while light sensor <NUM> does not detect light emitted by light source <NUM>. Further, application <NUM> may, at step S322, stop and/or prevent generator <NUM> from providing electrosurgical energy to surgical tool <NUM>. While the above-described steps S316-S322 are described in sequence, those skilled in the art will realize that one or more of such steps may be omitted depending on the type of surgical tool <NUM> being used and/or may be performed in a different order or sequence than described here, without departing from the scope of the present disclosure.

Thereafter, processing proceeds to step S324, where application <NUM> determines whether the surgical procedure has been completed. If application <NUM> determines that the surgical procedure has not been completed, processing returns to step S302, where application <NUM> determines whether light sensor <NUM> remains inserted via the trocar. Alternatively, if application <NUM> determines at step S324 that the surgical procedure has been completed, processing ends.

While the above-described steps of method <NUM> describe an embodiment where a surgical robot is used to perform the surgery, those skilled in the art will recognize that the same or similar steps may be performed by a clinician performed manual laparoscopic surgery. For example, all of steps S302-S324, with the exception of the automatic repositioning of surgical tool <NUM> at step S316, are also applicable to manual laparoscopic surgery and the same or similar devices as described herein may be used without the surgical robot.

Claim 1:
A system (<NUM>) for robotic surgery, the system comprising:
a surgical robot including a plurality of robotic arms (115a, 115b);
an image capture device (<NUM>) and a light source (<NUM>) both operably coupled to a first one of the plurality of robotic arms
a surgical tool (<NUM>) operably coupled to a second one of the plurality of robotic arms and a light sensor (<NUM>) located at the distal end of said tool; and
a computing device (<NUM>) including a processor (<NUM>) and a memory (<NUM>) storing instructions which,
when executed by the processor, cause the computing device to:
determine whether the light sensor coupled to the surgical tool is detecting at least a predetermined amount of light emitted by the light source coupled to the image capture device; and
provide a notification when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.