US-12616539-B2 - Systems, methods, and workflows for concomitant procedures

Abstract

Robotic medical systems may perform concomitant procedures. A robotic system can include a first robotic arm configured to manipulate a flexible instrument and a second robotic arm configured to manipulate a rigid instrument. The robotic system can include a first arm support for supporting the first robotic arm and a second arm support, distinct from the first arm support, for supporting the second robotic arm. The robotic system can include a display for displaying feedback from the flexible instrument and the rigid instrument.

Inventors

• Alexander Tarek Hassan
• Enrique Romo

Assignees

• AURIS HEALTH, INC.

Dates

Publication Date

20260505

Application Date

20220525

Claims (20)

1. 1 . A robotic system, comprising: a first robotic arm configured to manipulate a flexible instrument; a second robotic arm configured to manipulate a rigid instrument; a first arm support for supporting the first robotic arm; a second arm support, distinct from the first arm support, for supporting the second robotic arm; a display configured to display feedback from the flexible instrument and feedback from the rigid instrument; and a processor configured to: identify a zone of sterility and a zone of non-sterility; maintain the first robotic arm within the zone of non-sterility; and maintain the second robotic arm within the zone of sterility.
2. 2 . The robotic system of claim 1 , further comprising a bed, wherein both the first arm support and the second arm support are coupled to the bed.
3. 3 . The robotic system of claim 2 , wherein the first arm support is coupled to a first side of the bed and the second arm support is coupled to a second side of the bed that is opposite to the first side of the bed.
4. 4 . The robotic system of claim 1 , further comprising a cart and a bed, wherein: one of the first arm support or the second arm support is coupled to the cart; and the other of the first arm support or the second arm support is coupled to the bed.
5. 5 . The robotic system of claim 4 , wherein the cart is movable relative to the bed.
6. 6 . The robotic system of claim 1 , further comprising a third robotic arm supported by the first arm support.
7. 7 . The robotic system of claim 6 , further comprising a fourth robotic arm supported by the second arm support.
8. 8 . The robotic system of claim 1 , wherein: the flexible instrument comprises a flexible scope; and the rigid instrument comprises a rigid scope.
9. 9 . The robotic system of claim 8 , wherein the display is configured to display the feedback from the flexible scope and the feedback from the rigid scope in a picture-in-picture view.
10. 10 . The robotic system of claim 8 , wherein the display is configured to display the feedback from the flexible scope and the feedback from the rigid scope are displayed in a side-by-side view.
11. 11 . The robotic system of claim 1 , wherein the processor is further configured to: identify a transition zone between the zone of sterility and the zone of non-sterility.
12. 12 . The robotic system of claim 11 , wherein the processor is further configured to: prevent the first robotic arm and the second robotic arm from moving into the transition zone.
13. 13 . The robotic system of claim 1 , wherein the processor is further configured to: identify the zone of sterility and the zone of non-sterility via a visual demarcation.
14. 14 . The robotic system of claim 1 , wherein the processor is further configured to: provide a cue to a user that that the second robotic arm is moving into the zone of non-sterility or moving into a transition zone between the zone of non-sterility and the zone of sterility.
15. 15 . The robotic system of claim 14 , wherein the cue is a visual cue.
16. 16 . The robotic system of claim 14 , wherein the cue is an auditory cue.
17. 17 . The robotic system of claim 14 , wherein the processor is further configured to: prompt the user for confirmation; and continue moving the second robotic arm into the zone of non-sterility or the transition zone upon receiving the confirmation from the user.
18. 18 . A robotic system, comprising: a first robotic arm configured to manipulate a flexible instrument; a second robotic arm configured to manipulate a rigid instrument; a display configured to display feedback from the flexible instrument and the rigid instrument; and a processor configured to: identify a zone of sterility and a zone of non-sterility; maintain the first robotic arm within the zone of non-sterility; and maintain the second robotic arm within the zone of sterility.
19. 19 . A robotic system, comprising: a first robotic arm configured to manipulate a flexible instrument; a second robotic arm configured to manipulate a rigid instrument; a display configured to display feedback from the flexible instrument and the rigid instrument; and a processor configured to: identify a zone of sterility and a zone of non-sterility; prevent the first robotic arm or the flexible instrument from crossing over into the zone of sterility; and prevent the second robotic arm or the rigid instrument from crossing over into the zone of non-sterility.
20. 20 . The robotic system of claim 19 , wherein the processor is further configured to: identify a transition zone between the zone of sterility and the zone of non-sterility; and prevent the first robotic arm and the second robotic arm from moving into the transition zone.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation of U.S. patent application Ser. No. 16/831,092, filed Mar. 26, 2020, issued as U.S. Pat. No. 11,369,448 on Jun. 28, 2022, entitled “Systems, Methods, and Workflows for Concomitant Procedures,” which claims the benefit of U.S. Provisional Application No. 62/831,064, filed Apr. 8, 2019, all of which are hereby incorporated by reference in their entireties. TECHNICAL FIELD The systems and methods disclosed herein are directed to systems and methods for performing medical procedures, and more particularly to concomitant procedures. BACKGROUND Various medical procedures may be performed using a robotic medical system to control the insertion and/or manipulation of one or more medical instruments. For certain medical conditions, two or more medical procedures may be performed to fully treat the medical condition. The robotic medical system may include one or more robotic arms or any other instrument positioning device(s). The robotic medical system may also include a controller used to control the positioning of the instrument(s) during each of the procedures via the manipulation of the robotic arm(s) and/or instrument positioning device(s). SUMMARY The systems, methods and devices of this disclosure each have several innovative aspects, no single one of which is solely responsible for the desirable attributes disclosed herein. In one aspect, there is provided a surgical method, comprising: manipulating a flexible instrument using a first robotic arm of a robotic system; manipulating a rigid instrument using a second robotic arm of the robotic system; displaying feedback from the flexible instrument; and displaying feedback from the rigid instrument. In another aspect, there is provided a surgical method, comprising: manipulating a flexible instrument using a first robotic arm of a robotic system; manipulating a rigid instrument using a second robotic arm of the robotic system; displaying first feedback from the flexible instrument as a primary view on a viewing screen; and displaying second feedback from the rigid instrument as a secondary view on the same viewing screen. In yet another aspect, there is provided a surgical method, comprising: manipulating a flexible instrument using a first robotic arm of a robotic system through a natural orifice of a patient; manipulating a rigid instrument using a second robotic arm of the robotic system through an incision formed in the patient; and displaying feedback information from the flexible instrument and the rigid instrument. In still yet another aspect, there is provided a surgical method, comprising: introducing a flexible instrument into a patient via a natural orifice of the patient; and manipulating the flexible instrument using a first robotic arm of a robotic system through the natural orifice; in response to receiving an input signal via a user input device, deploying a second robotic arm of the robotic system from a stored position to a set-up position; manipulating a rigid instrument using the second robotic arm of the robotic system through an incision formed in the patient; and displaying feedback from at least one of the flexible instrument and the rigid instrument. In yet another aspect, there is provided a robotic system, comprising: a flexible instrument; a rigid instrument; a first robotic arm configured to manipulate the flexible instrument; a second robotic arm configured to manipulate the rigid instrument; and a display configured to display vision data from the flexible instrument and the rigid instrument. In still yet another aspect, there is provided a non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to: manipulate a flexible instrument using a first robotic arm of a robotic system; manipulate a rigid instrument using a second robotic arm of the robotic system; display feedback from the flexible instrument; and display feedback from the rigid instrument. BRIEF DESCRIPTION OF THE DRAWINGS The disclosed aspects will hereinafter be described in conjunction with the appended drawings, provided to illustrate and not to limit the disclosed aspects, wherein like designations denote like elements. FIG. 1 illustrates an embodiment of a cart-based robotic system arranged for diagnostic and/or therapeutic bronchoscopy procedure(s). FIG. 2 depicts further aspects of the robotic system of FIG. 1. FIG. 3 illustrates an embodiment of the robotic system of FIG. 1 arranged for ureteroscopy. FIG. 4 illustrates an embodiment of the robotic system of FIG. 1 arranged for a vascular procedure. FIG. 5 illustrates an embodiment of a table-based robotic system arranged for a bronchoscopy procedure. FIG. 6 provides an alternative view of the robotic system of FIG. 5. FIG. 7 illustrates an example system configured to stow robotic arm(s). FIG. 8 illustrates an embodiment of a table-based robotic system conf