Robotically-assisted surgical suturing systems
A surgical suturing tracking system configured for use with a suturing needle is disclosed. The surgical suturing tracking system comprises a spectral light emitter, a waveform sensor, and a control circuit coupled to the waveform sensor. The control circuit is configured to cause the spectral light emitter to emit spectral light waves toward a suturing needle and a tissue structure, receive an input corresponding to the spectral light waves reflected by the needle and the tissue structure and determine a distance between the needle and the tissue structure based on the received input.
1. A surgical suturing tracking system configured for use with a suturing needle, wherein the surgical suturing tracking system comprises:
a spectral light emitter;
a waveform sensor; and
a control circuit coupled to the waveform sensor, wherein the control circuit is configured to:
cause the spectral light emitter to emit spectral light waves toward the suturing needle and a tissue structure;
receive an input corresponding to the spectral light waves reflected by the suturing needle and the tissue structure; and
determine a distance between the suturing needle and the tissue structure based on the received input,
wherein the surgical suturing tracking system is configured to control a robotic suturing system using the determined distance between the suturing needle and the tissue structure.
2. The surgical suturing tracking system of claim 1 , wherein the control circuit is further configured to alert a clinician of the determined distance between the suturing needle and the tissue structure.
3. The surgical suturing tracking system of claim 1 , wherein the control circuit is further configured to alert a clinician of the determined distance between the suturing needle and the tissue structure when the determined distance is less than or equal to a predefined distance.
4. The surgical suturing tracking system of claim 1 , wherein the control circuit is further configured to compare the determined distance between the suturing needle and the tissue structure to a predefined distance profile comprising a first zone indicative of a distance that is approaching a critical distance and a second zone indicative of a distance that has reached the critical distance, and wherein the control circuit is further configured to alert a clinician if the determined distance reaches at least one of the first zone and the second zone.
5. The surgical suturing tracking system of claim 1 , wherein the control circuit is further configured to calculate a recommended suture bite depth.
6. The surgical suturing tracking system of claim 1 , wherein the control circuit is further configured to calculate a recommended suture bite width.
7. The surgical suturing tracking system of claim 1 , wherein the control circuit is configured to determine a distance between a tip of the suturing needle and the tissue structure.
8. A surgical suturing system, comprising:
a robotically-assisted suturing device, comprising:
a grasper configured to be manipulated automatically by a surgical robot and manually by a clinician; and
a suturing needle configured to be actuated through a suturing stroke by the grasper when automatic control motions are robotically applied to the grasper;
a spectral light emitter;
a waveform sensor; and
a control circuit coupled to the waveform sensor and the robotically-assisted suturing device, wherein the control circuit is configured to:
cause the spectral light emitter to emit spectral light waves toward the suturing needle and a tissue structure;
receive an input corresponding to the spectral light waves reflected by the suturing needle and the tissue structure;
determine a distance between the suturing needle and the tissue structure; and
adjust the control motions robotically applied to the grasper when the determined distance between the suturing needle and the tissue structure is less than or equal to a predefined distance.
9. The surgical suturing system of claim 8 , wherein adjusting the control motions comprises pausing actuation of the grasper.
10. The surgical suturing system of claim 8 , wherein adjusting the control motions comprises applying reversing control motions to the grasper to reverse the suturing stroke of the suturing needle.
11. The surgical suturing system of claim 8 , wherein the control circuit is further configured to alert a clinician of the determined distance between the suturing needle and the tissue structure.
12. The surgical suturing system of claim 8 , wherein the control circuit is further configured to alert a clinician of the determined distance between the suturing needle and the tissue structure when the determined distance reaches the predefined distance.
13. The surgical suturing system of claim 8 , wherein the control circuit is further configured to calculate a recommend suture bite depth.
14. The surgical suturing system of claim 8 , wherein the control circuit is further configured to calculate a recommend suture bite width.
15. The surgical suturing system of claim 8 , wherein the control circuit is configured to determine a distance between a tip of the suturing needle and the tissue structure.
16. A surgical suturing system, comprising:
a robotically-assisted suturing device, comprising:
a grasper configured to be manipulated automatically by a surgical robot and manually by a clinician; and
a suturing needle configured to be actuated through a suturing stroke by the grasper when automatic control motions are robotically applied to the grasper;
a spectral light emitter;
a waveform sensor; and
a control circuit coupled to the waveform sensor and the robotically-assisted suturing device, wherein the control circuit is configured to:
cause the spectral light emitter to emit spectral light waves toward the suturing needle and a tissue structure;
receive an input corresponding to the spectral light waves reflected by the suturing needle and the tissue structure;
determine a position of the suturing needle and a position of the tissue structure based on the received input;
predict a path of the suturing stroke to be performed by the robotically assisted suturing device based on the received input; and
determine a distance between the predicted path of the suturing stroke and the tissue structure.
17. The surgical suturing system of claim 16 , wherein the control circuit is further configured to alert a clinician of the determined distance between the predicted path of the suturing stroke and the tissue structure.
18. The surgical suturing system of claim 16 , wherein the control circuit is further configured to alert a clinician of the determined distance between the predicted path of the suturing stroke and the tissue structure when the determined distance is less than or equal to a predefined distance.
19. The surgical suturing system of claim 16 , wherein the control circuit is further configured to compare the determined distance between the predicted path of the suturing stroke and the tissue structure to a predefined distance profile comprising a first zone indicative of a distance that is approaching a critical distance and a second zone indicative of a distance that is equal to or less than the critical distance, and wherein the control circuit is further configured to alert a clinician if the determined distance is within at least one of the first zone and the second zone.
20. The surgical suturing system of claim 16 , wherein the control circuit is configured to determine a distance between a predicted suturing stroke path of a tip of the suturing needle and the tissue structure.