CANNULA ASSEMBLY FOR ENABLING AUTOMATED TASKS DURING A ROBOTIC SURGICAL PROCEDURE
A robotic surgical system for performing a robotic surgical procedure on a patient. The system includes a cannula assembly including a cannula tube having a distal end portion configured for insertion into a patient. The cannula tube may also have a housing coupled to the cannula tube so as to be positioned within the patient when the distal end of the cannula tube is inserted into the patient. The housing may be movable relative to the cannula tube between a closed position and an open position, the housing including an image sensor configured to provide image data of the surgical site when the housing is in the open position within the patient. The system may also include at least one robotic surgical tool configured to perform a surgical task during the robotic surgical procedure. The system may also include a processor configured to determine, based at least in part upon the image data of the surgical site, that the surgical task is safe to be performed by the robotic surgical tool in an automated mode.
1 . A robotic surgical system for performing a robotic surgical procedure on a patient, comprising:
a cannula assembly including a cannula tube having a longitudinal axis, a proximal end portion and a distal end portion configured for insertion into a patient, the cannula tube having a housing coupled to the cannula tube between the proximal and distal ends of the cannula tube so as to be positioned within the patient when the distal end of the cannula tube is inserted into the patient, the housing movable relative to the cannula tube between a closed position and an open position, the housing including an image sensor configured to provide image data of the surgical site when the housing is in the open position within the patient;
at least one robotic surgical tool configured to perform a surgical task during the robotic surgical procedure; and
a processor configured to determine, based at least in part upon the image data of the surgical site, that the surgical task is safe to be performed by the robotic surgical tool in an automated mode.
2 . The robotic surgical system of claim 1 , further comprising:
an automated control mechanism configured to communicate with robotic surgical tool actuation mechanism to control the operation of the robotic surgical tool.
3 . The robotic surgical system of claim 2 , wherein, upon the processor determining that the surgical task is safe to be performed by the robotic surgical tool in an automated mode, the processor is configured to transmit a signal to the robotic surgical tool actuation mechanism that instructs the robotic surgical tool actuation mechanism to receive its operation instructions for actuating the robotic surgical tool from the automated control mechanism.
4 . The robotic surgical system of claim 3 , further comprising:
a manual control mechanism configured to enable a user to manually operate the robotic surgical tool via the robotic surgical tool actuation mechanism.
5 . The robotic surgical system of claim 4 , further comprising:
a mode selection interface enabling the user to select either a manual mode or the automated mode.
6 . The robotic surgical system of claim 5 , wherein the processor is configured to make the determination that the surgical task is safe to be performed by the robotic surgical tool in an automated mode by processing stored safety data related to at least one of the robotic surgical tool, the surgical procedure, and/or the patient.
7 . The robotic surgical system of claim 6 , wherein the user can only select the automated mode via the mode selection interface after the processor determines, based upon processing the safety data, that the surgical task is safe to be performed by the robotic surgical tool in the automated mode.
8 . The robotic surgical system of claim 7 , wherein the surgical task is moving the robotic surgical tool from a current position to a desired position.
9 . The robotic surgical system of claim 7 , wherein the surgical task is changing the robotic surgical tool from a current operational state to a desired operational state.
10 . The robotic surgical system of claim 1 , further comprising:
a second imaging device configured for insertion into a patient and to provide second image data of the patient's anatomy;
the processor configured to receive the first and second image data and to process the first and second image data so as to generate combined image data of the patient's anatomy;
a display device to display the combined image to a user.
11 . (canceled)
12 . The robotic surgical system of claim 1 , further comprising:
a spatial information processor configured to determine the spatial relationship between an anatomy of the patient and the robotic surgical tool.
13 . A robotic surgical system for performing a robotic surgical procedure on a patient, comprising:
a cannula assembly including a cannula tube having a longitudinal axis, a proximal end portion and a distal end portion configured for insertion into a patient, the cannula tube having a housing coupled to the cannula tube between the proximal and distal ends of the cannula tube so as to be positioned within the patient when the distal end of the cannula tube is inserted into the patient, the housing movable relative to the cannula tube between a closed position and an open position, the housing including a light source and an image sensor configured to provide first image data of the patient's anatomy when the housing is in the open position within the patient;
a second imaging device configured for insertion into a patient and to provide second image data of the patient's anatomy;
an image processor configured to receive the first and second image data and to process the first and second image data so as to generate combined image data of the patient's anatomy;
at least one robotic surgical tool configured to perform a surgical task during the robotic surgical procedure; and
a processor configured to determine, based at least in part on the combined image, that the surgical task is suitable to be performed by the robotic surgical tool in an automated mode.
14 . The robotic surgical system of claim 13 , further comprising:
an automated control mechanism configured to control operation of the robotic surgical tool.
15 . The robotic surgical system of claim 14 , wherein, upon the processor determining that the surgical task is suitable to be performed by the robotic surgical tool in an automated mode, the second processor is configured to transmit a signal for the automated control mechanism to actuate the robotic surgical tool.
16 . The robotic surgical system of claim 15 , further comprising:
a manual control mechanism configured to enable a user to manually operate the robotic surgical tool.
17 . The robotic surgical system of claim 16 , further comprising:
a mode selection interface enabling the user to select either a manual mode or the automated mode.
18 . The robotic surgical system of claim 17 , wherein the processor is configured to make the determination that the surgical task is suitable to be performed by the robotic surgical tool in an automated mode by processing safety data related to the operation of the robotic surgical tool.
19 . The robotic surgical system of claim 18 , wherein the user can only select the automated mode via the mode selection interface after the second processor determines, based upon processing the safety data, that the surgical task is safe to be performed by the robotic surgical tool in the automated mode.
20 . The robotic surgical system of claim 19 , wherein the surgical task is one of moving the robotic surgical tool from a current position to a desired position, or changing the robotic surgical tool from a current operational state to a desired operational state.
21 . (canceled)
22 . The robotic surgical system of claim 13 , further comprising:
a spatial information processor configured to determine the spatial relationship between the patient's anatomy and the robotic surgical tool.