Surgical puncture device insertion systems and related methods
A medical puncture device system includes a puncture device, a sensor, and an indicator system. The puncture device is configured to create a puncture through patient tissue and into an internal patient cavity to enable a medical tool to be inserted through the puncture into the cavity. The sensor is configured to generate a signal indicative of motion of the puncture device through the tissue into the cavity. The indicator system is operable by a controller to produce human-perceptible feedback in response to the signal generated by the sensor.
1. A medical puncture system comprising:
a controllable manipulator comprising:
a holder configured to support a puncture device and configured to support a medical tool, the puncture device configured to create a puncture through patient tissue and into an internal patient cavity to enable an end effector of the medical tool to be inserted through the puncture into the cavity, wherein the controllable manipulator comprises one or more joints and a sensor configured to generate signals indicative of a parameter associated with a joint of the one or more joints;
a drive system configured to drive the one or more joints of the controllable manipulator to control motion of the puncture device when the puncture device is supported by the controllable manipulator, and to control motion of the medical tool when the medical tool is supported by the controllable manipulator; and
a controller operably coupled to the sensor and the drive system, the controller configured to:
receive information indicative of a keepout volume,
when the puncture device is supported by the holder of the controllable manipulator, operate the drive system, based on at least one signal generated by the sensor as the puncture device is moved through the patient tissue into the cavity and the information indicative of the keepout volume, to cause the controllable manipulator to guide creation of the puncture by the puncture device and to cause the controllable manipulator to inhibit movement of the puncture device into the keepout volume, the at least one signal being indicative of motion of the puncture device from a first layer of the patient tissue to a second layer of the patient tissue or indicative of the puncture device being in the cavity, and
when the medical tool is supported by the holder of the controllable manipulator and the end effector is inserted through the puncture into the cavity, operate the drive system to cause the controllable manipulator to control movement of the end effector in the cavity.
2. The medical puncture system of claim 1 , wherein the medical puncture system further comprises an indicator system, and wherein the indicator system is operable by the controller to produce human-perceptible feedback based on the at least one signal in combination with patient information.
3. The medical puncture system of claim 2 , wherein the patient information is indicative of a location of an insertion site for the puncture.
4. The medical puncture system of claim 2 , wherein the patient information is indicative of a physical characteristic of a patient.
5. The medical puncture system of claim 4 , wherein the physical characteristic comprises a size of the patient or a thickness of the patient tissue.
6. The medical puncture system of claim 1 , wherein the information indicative of the keepout volume is indicative of one or more anatomical features to be avoided by the puncture device.
7. The medical puncture system of claim 1 , wherein the keepout volume comprises an operator-selected keepout volume.
8. The medical puncture system of claim 1 , wherein the parameter associated with the joint comprises at least one parameter selected from the group consisting of: a force applied to the joint, a torque applied to the joint, a motion of the joint, and an electrical current or voltage associated with the joint.
9. The medical puncture system of claim 1 , wherein the sensor comprises at least one sensor selected from the group consisting of: an encoder, an accelerometer, a force sensor, and a torque sensor.
10. The medical puncture system of claim 1 , wherein the at least one signal comprises:
a first signal indicative of the motion of the puncture device from the first layer of the patient tissue to the second layer of the patient tissue; and
a second signal indicative of the puncture device being in the cavity.
11. The medical puncture system of claim 1 , wherein the at least one signal being indicative of the motion of the puncture device from the first layer of the patient tissue to the second layer of the patient tissue or indicative of the puncture device being in the cavity is indicative of a change in the parameter associated with the joint.
12. The medical puncture system of claim 1 , wherein the controller is configured to operate the drive system based on the at least one signal to cause the controllable manipulator to guide the creation of the puncture by:
operating the drive system to inhibit movement of the puncture device in response to the at least one signal.
13. The medical puncture system of claim 12 , wherein operating the drive system to inhibit the movement of the puncture device comprises:
inhibiting a range of motion of the puncture device.
14. The medical puncture system of claim 13 , wherein inhibiting the range of motion of the puncture device comprises:
inhibiting translational motion of the puncture device to within a distance of an initial position of the puncture device.
15. The medical puncture system of claim 13 , wherein inhibiting the range of motion of the puncture device comprises:
inhibiting movement of the puncture device such that an angle of an insertion axis of the puncture device relative to the patient tissue is within a predefined range.
16. The medical puncture system of claim 1 , wherein the at least one signal is indicative of motion of the puncture device from the patient tissue into the cavity.
17. The medical puncture system of claim 1 , wherein the sensor is a first sensor, and the medical puncture system further comprises a second sensor configured to generate a signal indicative of motion of the puncture device through the patient tissue or into the cavity, the second sensor comprising at least one sensor selected from the group consisting of:
a compressible device configured to compress relative to a stiffness of the patient tissue surrounding the compressible device, and the signal is indicative of the stiffness of the patient tissue; or
an optical sensor configured to emit light and detect a reflection of the light to generate the signal; or
an audible signal sensor configured to generate the signal in response to an audible signal indicative of the puncture device moving through the patient tissue or moving into the cavity; or
a force sensor configured to generate the signal in response to a force on the puncture device; or
an electrical characteristic sensor configured to detect at least one electrical characteristic selected from the group consisting of: an electrical capacitance associated with the patient tissue, an electrical impedance associated with the patient tissue, an electrical inductance associated with the patient tissue; or
a pressure sensor to generate the signal in response to a pressure proximate a distal portion of the puncture device.
18. The medical puncture system of claim 1 , wherein the holder is positioned on a distal portion of the controllable manipulator.
19. The medical puncture system of claim 1 , wherein the controller is configured to operate the drive system to cause the controllable manipulator to control movement of the end effector in the cavity when the medical tool is supported by the holder of the controllable manipulator and the end effector is inserted through the puncture into the cavity by:
operating the drive system to cause the controllable manipulator to control movement of the end effector in the cavity when the end effector is inserted through a port device in the puncture forming an access port to the cavity, wherein the puncture device comprises the port device or the port device is inserted into the puncture after the puncture device creates the puncture.
20. The medical puncture system of claim 1 , wherein the at least one signal is indicative of motion of the puncture device from the first layer of the patient tissue to the second layer of the patient tissue.
21. A puncture device insertion system comprising:
a controllable manipulator comprising:
a holder configured to support a puncture device and configured to support a medical tool, the puncture device configured to create a puncture through patient tissue into an internal patient cavity, thereby enabling the medical tool to be inserted through the puncture into the cavity, wherein the controllable manipulator comprises one or more joints and a sensor configured to generate signals indicative of a parameter associated with a joint of the one or more joints;
a drive system configured to drive the one or more joints of the controllable manipulator to control motion of the puncture device when the puncture device is supported by the controllable manipulator, and to control motion of the medical tool when the medical tool is supported by the controllable manipulator; and
a controller operably coupled to the sensor and the drive system, the controller configured to:
receive information indicative of a keepout volume,
when the puncture device is supported by the holder of the controllable manipulator, operate the drive system, based on at least one signal generated by the sensor as the puncture device is moved through the patient tissue into the cavity and the information indicative of the keepout volume, to cause the controllable manipulator to guide creation of the puncture by the puncture device and to cause the controllable manipulator to inhibit movement of the puncture device into the keepout volume, the at least one signal being indicative of motion of the puncture device from a first layer of the patient tissue to a second layer of the patient tissue or indicative of the puncture device being in the cavity, and
when the medical tool is supported by the holder of the controllable manipulator, operate the drive system to cause the controllable manipulator to control movement of the medical tool.
22. The puncture device insertion system of claim 21 , wherein the controller is configured to operate the drive system based on the at least one signal to cause the controllable manipulator to guide the creation of the puncture by:
operating the drive system to inhibit movement of the puncture device in response to the at least one signal.
23. The puncture device insertion system of claim 22 , wherein operating the drive system to inhibit the movement of the puncture device comprises:
inhibiting a range of motion of the puncture device.
24. The puncture device insertion system of claim 23 , wherein inhibiting the range of motion of the puncture device comprises:
inhibiting translational motion of the puncture device to within a distance of an initial position of the puncture device.
25. The puncture device insertion system of claim 23 , wherein inhibiting the range of motion of the puncture device comprises:
inhibiting movement of the puncture device such that an angle of an insertion axis of the puncture device relative to the patient tissue is within a predefined range.
26. The puncture device insertion system of claim 21 , wherein the controller is configured to operate the drive system based on the at least one signal to cause the controllable manipulator to guide the creation of the puncture by:
receiving patient information, the patient information comprising information selected from the group consisting of: a location of an insertion site for the puncture, a physical characteristic of a patient, and data representing an image of the patient tissue and the cavity; and
adjusting a guidance provided for the creation of the puncture based on the patient information.
27. A method of operating a controllable manipulator, the method comprising:
receiving information indicative of a keepout volume;
detecting, based on at least one signal generated by a sensor of the controllable manipulator and indicative of a parameter associated with a joint of one or more joints of the controllable manipulator, motion of a puncture device supported by a holder of the controllable manipulator through patient tissue into an internal patient cavity or from a first layer of the patient tissue to a second layer of the patient tissue and causing the controllable manipulator, based on the detected motion and the information indicative of the keepout volume, to guide insertion of the puncture device through the patient tissue into the cavity and to inhibit movement of the puncture device into the keepout volume; and
causing the controllable manipulator to control a medical tool supported by the holder of the controllable manipulator.
28. The method of claim 27 , wherein causing the controllable manipulator to guide insertion of the puncture device comprises:
inhibiting movement of the puncture device in response to detecting the motion of the puncture device through the patient tissue into the cavity.
29. The method of claim 27 , wherein causing the controllable manipulator to guide insertion of the puncture device comprise:
inhibiting a range of motion of the puncture device.
30. The method of claim 27 , wherein causing the controllable manipulator to guide insertion of the puncture device comprises:
inhibiting translational motion of the puncture device to within a distance of an initial position of the puncture device; or
inhibiting movement of the puncture device such that an angle of an insertion axis of the puncture device relative to the patient tissue is within a predefined range.