STERILE CONSOLE FOR ROBOTIC SURGERY
A sterile console includes at least one master input tool mechanically ungrounded and suitable to be hand-held by a surgeon during surgery. A surgical chair has a seating surface to accommodate the surgeon during surgery. A tracking system detects position and orientation of the master input tool within a predefined tracking volume. A tool supporting element receives the master input tool. The consoles also includes a slave robot assembly has at least one surgical instrument designed to operate on a patient anatomy, and a control unit. A field generator of the tracking system is integral with a portion of the surgical chair so that, when the surgeon is seated and hand-holds the master input tool, the master input tool is located within the predefined tracking volume. The position and orientation of the master input tool are detected by the tracking system.
1 . A method for master slave robotic surgery comprising:
seating on a seating surface of a chair of a master console, the chair comprising at least one field generator generating a tracking volume;
hand-holding at least one mechanically ungrounded master input tool within the tracking volume, to enable detection of position and orientation of the at least one master input tool;
defining a safety sub-volume within the tracking volume;
if the at least one mechanically ungrounded master input tool is detected within the safety sub-volume, then uncoupling a slave robot from the master input tool.
2 . The method of claim 1 , wherein the step of uncoupling comprises automatically uncoupling.
3 . The method of claim 1 , comprising the further steps of:
moving the least one mechanically ungrounded master input tool to a location out of the safety sub-volume and within the tracking volume; and
sending command signals to control the slave robot.
4 . The method of claim 1 , comprising the further step of dropping the at least one mechanically ungrounded master input tool when not hand-held in a tool supporting element located within said safety sub-volume.
5 . The method of claim 4 , comprising the step of moving said master input tool from said tool supporting element, to a location out of the safety sub-volume and within the tracking volume, and
sending command signals to control the slave robot.
6 . A method for master-slave robotic surgery comprising:
seating on a seating surface of a chair of a master console, the chair comprising at least one field generator generating a tracking volume;
hand-holding at least one mechanically ungrounded master input tool within the tracking volume, to enable detection of position and orientation of the at least one master input tool;
defining within the tracking volume an operation sub-volume;
if the at least one mechanically ungrounded master input tool is detected within the operation sub-volume, then sending command signals to control a slave robot.
7 . The method of claim 6 , comprising the further step of uncoupling automatically the slave robot, if the at least one master input tool is detected out of the operation sub-volume.
8 . The method according to claim 6 , wherein the step of hand-holding comprises moving the at least one ungrounded master input tool to the operation sub-volume.
9 . The method according to claim 6 , comprising dropping the at least one ungrounded master input tool within a tool supporting element located out of the operation sub-volume.
10 . The method according to claim 6 , further comprising the steps of:
defining a safety sub-volume out the sub-volume and within said tracking volume;
if the at least one mechanically ungrounded master input tool is detected within the safety sub-volume, then automatically uncoupling the slave robot.
11 . The method according to claim 10 , wherein the step of hand-holding comprises moving the at least one ungrounded master input tool from the safety sub-volume to the operation sub-volume.
12 . A master console for controlling a slave robot having a surgical instrument comprising:
a control unit;
a chair comprising a seating surface for a surgeon to sit thereon during surgery;
at least one mechanically ungrounded master input tool; and
at least one field generator integral with a portion of the chair for generating a tracking volume to detect position and orientation of the at least one master input tool;
wherein the control unit defines a safety sub-volume located in the tracking volume generated by the at least one field generator, so that when the master input tool is detected as being located within said safety sub-volume, the control unit prevents actuation of the surgical instrument.
13 . The master console of claim 12 , comprising at least one tool supporting element comprising a cup, to support the at least one mechanically ungrounded master input tool when not hand-held, wherein said at least one tool supporting element is located within the safety sub-volume.
14 . A master console for controlling a slave robot having a surgical instrument comprising:
a control unit;
a chair comprising a seating surface for a surgeon to sit thereon during surgery;
at least one mechanically ungrounded master input tool; and
at least one field generator, integral with a portion of the chair, for generating a tracking volume to detect position and orientation of the at least one master input tool;
wherein the control unit defines an operation sub-volume within the tracking volume, so that when the mechanically ungrounded master input tool is detected as being located within said operation sub-volume, then the control unit sends a command signal to actuate the slave surgical instrument.
15 . The master console of claim 14 , wherein the control unit sends the command signal to actuate the paired slave surgical instrument only when the mechanically ungrounded master input tool is detected as being located within said operation sub-volume.
16 . The master console of claim 14 , wherein the control unit further defines a safety sub-volume located out the operation sub-volume and within the tracking volume, so that when the mechanically ungrounded master input tool is detected as being located within said safety sub-volume, then the control unit prevents the actuation of the surgical instrument.
17 . The master console of claim 14 , comprising at least one tool supporting element comprising a cup, to support the at least one mechanically ungrounded master input tool when not hand-held, wherein said at least one tool supporting element is located out of the operation sub-volume.