Granted Patent B2

US 11,886,772 · App. 18/084,477 · Granted Jan 30, 2024

Inventors: Gal Atarot (Kfar Saba, IL); Motti Frimer (Zichron Yaakov, IL); Tal Nir (Haifa, IL); Lior Alpert (Haifa, IL)

Assignee: Asensus Surgical Europe S.a.r.l

G06F3/167A41D13/11A61B34/30G10L15/22G10L15/28A61B2017/00017A61B2017/00119A61B2017/00132A61B2017/00203A61B2017/00221A61B2017/00225A61B2034/2048A61B2034/2065

Abstract

Claims (43)

1. A vocally activated control system for controlling at least one robotically controlled surgical tool, said vocally activated control system comprises:

at least one apparatus operable to spatially reposition a surgical tool, said apparatus comprising the surgical tool or a robotic arm having the surgical tool thereon;

a voice sensor configured to detect at least one vocal command generated by at least one surgeon in said surgical setting;

a signal transmitter operatively connected to said voice sensor, said transmitter is configured to convert said at least one vocal command into at least one transmittable vocal signal and transmit said at least one transmittable vocal signal;

a processor operatively connected to said signal transmitter configured to receive said at least one transmittable vocal signal, said processor is configured to convert said at least one transmittable vocal signal to at least one predetermined set of operative instructions associated with at said least one apparatus, said at least one predetermined set of operative instructions comprising at least one instruction; and

at least one controller operatively connected to said processor and said at least one apparatus; said at least one controller is configured to receive said predetermined set of operative instructions and to cause said at least one apparatus to operate accordingly;

wherein said conversion of said transmittable vocal signal to said at least one predetermined set of operative instructions is performed to generate instructions according to a set of rules comprising a collision prevention rule and a no fly zone rule,

said collision prevention rule configured to define a predetermined distance between said at least one surgical tool and an anatomical element within said surgical environment; said allowed movement is a movement which is in a range that is larger than said predetermined distance, and said restricted movement is a movement which is in a range that is smaller than said predetermined distance; said anatomical element being selected from a group consisting of tissue, organ, another surgical tool and any combination thereof;

said no fly zone rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; said n 3D spatial positions define a predetermined volume within said surgical environment; said no fly zone rule is configured to determine said restricted movement if said movement is within said no fly zone and allowed movement if said movement is outside said no fly zone, such that said restricted movement is a movement in which said at least one of said surgical tool is located substantially in at least one of said n 3D spatial positions, and said allowed movement is a movement in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions.

2. The vocally activated control system according to claim 1 , wherein at least one response to at least one said at least one vocal command is a smart response, said smart response being configured to take into account at least one feature of the an environment surrounding said robotically controlled surgical tool, said feature selected from a group consisting of a hazard or obstacle, an interference with a second surgical tool, an interference between two parts of an apparatus, interference between two apparatus, possibility of damage to a portion of a patient, and any combination thereof.

3. The vocally activated control system according to claim 1 , wherein said at least one vocal command comprises at least one complex sentence; said voice sensor further comprising a context recognition unit configured to recognize said at least one vocal command from said complex sentence.

4. The vocally activated control system according to claim 1 , wherein said vocal command can be unqualified or can comprise at least one qualifier, said at least one qualifier configured to modify at least one component of a response, and wherein at least one of the following:

said qualifier is selected from a group consisting of an amount, a surgical tool, an apparatus, and any combination thereof; and

said amount is either a fixed-term value or a fractional value.

5. The vocally activated control system according to claim 4 , wherein said unqualified command is configured to comprise a predetermined qualifier or to continue a process until stopped.

6. The vocally activated control system according to claim 5 , wherein at least one of the following:

a. said predetermined qualifier is an amount, said amount being either a fixed-term value or a fractional value;

b. said vocal command is configured to reversibly select a member of a group consisting of an apparatus, a surgical tool, at least a portion of a patient, and any combination thereof; a duration of said selection is selected from a group consisting of: for a predetermined time, or until reception of a change command;

c. said vocal command is configured to change a member of a group consisting of: a predetermined amount; a value, a type of value and any combination thereof.

7. The vocally activated control system according to claim 1 , wherein said system is configured to provide an alert of said restricted movement of said at least one surgical tool.

8. The vocally activated control system according to claim 1 , wherein said allowed movement is permitted by said controller and said restricted movement is denied by said controller.

9. The vocally activated control system according to claim 1 , wherein at least one of the following: (a) said system additionally comprises an endoscope; said endoscope is configured to provide real-time image of said surgical environment; (b) at least one of said surgical tools is an endoscope configured to provide real-time image of said surgical environment.

10. The vocally activated control system according to claim 1 , additionally comprising at least one location estimator, wherein said at least one location estimator comprises at least one endoscope configured to acquire real-time images of said surgical environment within said human body; and at least one surgical instrument spatial location software configured to receive said real-time images of said surgical environment and to estimate a 3D spatial position of said at least one surgical tool.

11. The vocally activated control system of claim 10 , wherein at least one of the following:

a. said at least one location estimator comprises (a) at least one element selected from a group consisting of optical imaging means, radio frequency transmitting and receiving means, at least one mark on said at least one surgical tool and any combination thereof; and, (b) at least one surgical instrument spatial location software configured to estimate said 3D spatial position of said at least one surgical tool by means of said element;

b. said at least one location estimator is an interface subsystem between a surgeon and the at least one surgical tool, the interface subsystem comprises:

i. at least one array comprising N regular or pattern light sources, where N is a positive integer;

ii. at least one array comprising M cameras, each of the M cameras, where M is a positive integer;

iii. optional optical markers and means for attaching the optical marker to the at least one surgical tool; and;

iv. a computerized algorithm operable via the controller, the computerized algorithm configured to record images received by each camera of each of the M cameras and to calculate therefrom the position of each of the tools, and further configured to provide automatically the results of the calculation to the human operator of the interface.

12. A method of controlling at least one robotically controlled surgical tool via vocal activation, said method comprises steps of:

a. providing a vocally activated control system comprising:

i. a voice sensor configured to detect at least one vocal command generated by at least one surgeon in said surgical setting;

ii. a signal transmitter operatively connected to said voice sensor, said transmitter is configured to convert said at least one vocal command into at least one transmittable vocal signal and transmit said at least one transmittable vocal signal;

iii. a processor operatively connected to said signal transmitter configured to receive said at least one digital transmittable vocal signal, said processor is configured to convert said at least one transmittable vocal signal to at least one predetermined set of operative instructions associated with said at least one apparatus, said at least one predetermined set of operative instructions comprising at least one instruction; and,

iv. at least one controller operatively connected to said processor and said at least one apparatus; said at least one controller is configured to receive said predetermined set of operative instructions and to cause said at least one apparatus to operate accordingly;

b. detecting said at least one vocal command generated by said at least one surgeon in said surgical setting via said voice sensor;

c. converting said at least one vocal command into a transmittable vocal signal via said signal transmitter;

d. transmitting said transmittable vocal signal using said signal transmitter;

e. receiving said transmittable vocal signal through said processor operatively connected to said transmitter;

f. converting said transmittable vocal signal to said at least one predetermined set of operative instructions associated with said at least one robotically controlled surgical tool via said processor, to generate instructions according to a predetermined set of rules, said at least one predetermined set of rules comprising at least one rule selected from a group consisting of: no fly zone rule, and collision prevention rule, allowed movement being movements of said surgical tool permitted by said controller and said restricted movement being movements of said surgical tool denied by said controller according to said predetermined set of rules;

g. receiving said predetermined set of instructions by said at least one controller operatively connected to said processor and said at least one apparatus;

h. operating said at least one robotically controlled surgical tool according to said predetermined set of instructions using said at least one control mean.

Assignments (4)

Continuity (29)