US-12622759-B2 - Teleoperated surgical system with scan based positioning

US12622759B2US 12622759 B2US12622759 B2US 12622759B2US-12622759-B2

Abstract

A method is provided for use with a teleoperated surgical system, the method comprising: determining patient position information during a setup for a performance of the surgical procedure within an instance of the surgical system; determining a match between the determined patient position and a patient position signature; and launching a support arm control signal within the surgical system that corresponds to the matched support arm signature.

Inventors

Brandon D. Itkowitz
Mahdi AZIZIAN
Brian D. Hoffman
Ian E. McDowall
Paul W. Mohr
William C. Nowlin

Assignees

Intuitive Surgical Operations, Inc.

Dates

Publication Date: 20260512
Application Date: 20220712

Claims (9)

1 . A surgical system that includes a surgical instrument and a surgical instrument actuator, the surgical system comprising: one or more position sensors configured to determine operating room layout information by scanning a operating room to detect positions of physical fixtures and surgical components; and wherein the one or more position sensors are configured to determine personnel activity information by tracking movement patterns of personnel within the operating room during surgical setup; a processor; a memory device storing an instruction set; a database, stored in the memory device, including image data annotated with operating room layout signatures and personnel activity signatures; wherein the instruction set is executable on the processor to cause the surgical system to perform operations including: determining a match between the determined operating room layout information and an operating room layout signature of the operating room layout signatures of the database; determining a match between the determined personnel activity information and a personnel activity signature of the personnel activity signatures of the database; and in response to the determining the match for the operating room layout signature and the personnel activity signature, generating a control signal that loads stored operating room layout image data associated with both the operating room layout signature and the personnel activity signature to produce an image representing an operating room layout and disposition of the surgical instrument and the surgical instrument actuator in the operating room layout.
2 . The surgical system of claim 1 , wherein the database includes surgical procedure signatures associated with the stored operating room layout image data; and wherein the instruction set further includes instructions to cause the surgical system to perform the operations further including: receiving surgical procedure information; searching the database for a match between the received surgical procedure information and a surgical procedure signature of the surgical procedure signatures stored in the database; launching the stored operating room layout image data associated with the operating room signature, the personnel activity signature, and the surgical procedure signature to produce the image representing a positioning of the surgical system in response to finding the match between the determined operating room layout information and the operating room layout signature, the match between the determined personnel activity information and the personnel activity signature, and the match between the received surgical procedure information and the surgical procedure signature of the surgical procedure signatures of the database.
3 . The surgical system of claim 2 , wherein the instruction set further includes instructions to cause the surgical system to perform the operations further including: for each of a multiplicity of occurrences of a setup of one or more instances of the surgical system, recording operating room layout information of the setup, recording surgical procedure information of the setup, recording personnel activity information of the setup, and recording surgical system positioning information of the setup; and determining, by the processor, one or more rules to match the operating room layout signatures with the determined operating room layout information, to match the surgical system procedure signatures with the received surgical procedure information, and to match the personnel activity signatures with the determined personnel activity information based at least in part upon the recorded operating room layout information of the setup, the recorded surgical system positioning information of the setup, the recorded personnel activity information of the setup, and the recorded surgical system positioning information of the setup, and storing the one or more rules in the database.
4 . The surgical system of claim 1 , wherein the instruction set further includes instructions to cause the surgical system to perform the operations further including: for each of a multiplicity of occurrences of a setup of one or more instances of the surgical system, recording operating room layout information of the setup, recording personnel activity information of the setup, and recording surgical system positioning information of the setup; and determining, by the processor, one or more rules to match the operating room layout signatures with the determined operating room layout information and to match the personnel activity signatures with the determined personnel activity information based at least in part upon the recorded operating room layout information of the setup, the recorded personnel activity information of the setup, and the recorded surgical system positioning information of the setup, and storing the one or more rules in the database.
5 . The surgical system of claim 1 , wherein the instruction set further includes instructions to cause the surgical system to perform the operations further including: reading recorded operating room layout information of a setup of one or more instances of the surgical system and recorded surgical system positioning information of the setup of one or more instances of the surgical system; determining one or more rules to match the operating room layout signatures with the determined operating room layout information based at least in part upon the recorded operating room layout information of the setup and the recorded surgical system positioning information of the setup and storing the one or more rules in the database; and determining the match between the determined operating room layout information and the operating room layout signature using the determined one or more rules.
6 . The surgical system of claim 1 , wherein the operating room layout signatures of the database are stored as multi-dimensional vectors of operating room layout parameters; and wherein the personnel activity signatures of the database are stored as multi-dimensional vectors of parameters of recorded personnel activity.
7 . A surgical system that includes a surgical instrument and a surgical instrument actuator, the surgical system comprising: one or more position sensors configured to determine operating room layout information by scanning a operating room to detect positions of physical fixtures and surgical components; a processor; a memory device storing an instruction set; a database, stored in the memory device, including image data annotated with operating room layout signatures and surgical procedure signatures; and wherein the instruction set is executable on the processor to cause the surgical system to perform operations including: receiving surgical procedure information; determining a match between the determined operating room layout information determined by the one or more position sensors and an operating room layout signature of the operating room layout signatures of the database; determining a match between the received surgical procedure information and a surgical procedure signature of the surgical procedure signatures of the database; in response to the determining the match for the operating room layout signature and the surgical procedure signature, generating a control signal that loads stored operating room layout image data associated with both the operating room layout signature and the surgical procedure signature to produce an image representing an operating room layout and disposition of the surgical instrument and the surgical instrument actuator in the operating room layout.
8 . The surgical system of claim 7 , wherein the instruction set further includes instructions to cause the surgical system to perform the operations further including: for each of a multiplicity of occurrences of a setup of one or more instances of the surgical system, recording operating room layout information of the setup, recording surgical procedure information of the setup, and recording surgical system positioning information of the setup; and determining, by the processor, one or more rules to match the operating room layout signatures with the determined operating room layout information and to match the surgical system procedure signatures with the received surgical procedure information based at least in part upon the recorded operating room layout information of the setup and the recorded surgical procedure information of the setup, and the recorded surgical system positioning information of the setup, and storing the one or more rules in the database.
9 . The surgical system of claim 7 , wherein the operating room layout signatures of the database are stored as multi-dimensional vectors of operating room layout parameters.

Description

CLAIM OF PRIORITY This application is a continuation of and claims the benefit of priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 16/349,214, filed on May 10, 2019, which is a U.S. National Stage Filing under 35 U.S.C. 371 from International Application No. PCT/US2017/061144, filed on Nov. 10, 2017, and published as WO 2018/089823 A1 on May 17, 2018, which claims the benefit of priority to U.S. Patent Application No. 62/421,089, filed on Nov. 11, 2016, each of which is hereby incorporated by reference herein in its entirety. BACKGROUND 1. Field of Invention Inventive aspects are associated with medical devices used during surgery. More specifically, aspects are associated with positioning of surgical system components. 2. Art Surgeons typically undertake extensive study before performing a surgical procedure. Traditionally, surgeons were limited to the study of generic anatomical models, such as photographs or drawings. More recently, various pre-operative diagnostic procedures (e.g., x-ray, CT, MRI, etc.) have made patient-specific anatomical information available. In some cases, it is desirable to make additional, relevant anatomic and surgical procedure information available to a surgeon. In one aspect, it is desirable to provide a surgeon planning an operation on a particular patient with a surgical site video recording of an earlier surgical procedure performed on the particular patient. In another aspect, it is desirable to provide a surgeon with one or more surgical video recordings of surgical procedures on other patients that are similar to the surgical procedure planned for a particular patient. In one aspect, it is desirable to provide such information to a surgeon prior to the surgeon undertaking a particular surgical procedure. And in another aspect, it may be desirable to provide this information to a surgeon intraoperatively. In one aspect, it is desirable to configure a video database that includes intraoperative surgical site video recordings of various procedures undergone by various patients. In one aspect, it is desirable to configure a medical device capable of video recording to further include an input that enables a surgeon using the medical device to highlight and annotate the video recording in real time as it is being recorded. In one aspect, it is desirable to configure a computer-based pattern matching algorithm to search through the individual records of the video database, identify relevant video records, and provide a surgeon with this relevant information for a particular surgical procedure. SUMMARY The following summary introduces certain aspects of the inventive subject matter in order to provide a basic understanding. This summary is not an extensive overview of the inventive subject matter, and it is not intended to identify key or critical elements or to delineate the scope of the inventive subject matter. Although this summary contains information that is relevant to various aspects and embodiments of the inventive subject matter, its sole purpose is to present some aspects and embodiments in a general form as a prelude to the more detailed description below. In one aspect, a method is provided for use with a teleoperated surgical system. Patient position information is determined during a setup of the surgical system for a surgical procedure. A match is determined between the determined patient position information during the setup and a respective patient position signature. A support arm control signal is launched during the setup that corresponds to the matched respective patient position signature. In another aspect, a method is provided for use with a teleoperated surgical system. Operating room layout is determined during a setup of the surgical system for a surgical procedure. A match is determined between the determined operating room layout during the setup and a respective operating room layout signature. An image is produced representing a surgical system module position that corresponds to the matched respective operating room layout signature. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view of a minimally invasive teleoperated surgical system. FIG. 2 is a perspective view of a surgeon's console. FIG. 3 is a perspective view of an electronics cart. FIG. 4 is a diagrammatic illustration of a teleoperated surgical system. FIG. 5A is a perspective view of a patient-side cart of a minimally invasive teleoperated surgical system, in accordance with embodiments. FIG. 5B is an illustrative simplified block diagram showing an example positioning of mechanical support arms of the teleoperation surgery system during a surgical procedure in accordance with some embodiments. FIGS. 5C-5E are illustrative drawings representing a segmented mechanical support arm with its first, second and third segments and in three different horizontal positions in accordance with some embodiments. FIGS. 5F-5G are illustrative drawings representing certain det