DESC:TECHNICAL FIELD
[0001] The present disclosure generally relates to the field of robotic surgical system for minimally invasive surgery, and more particularly, the disclosure relates to a dual console system for training and assisting surgeons for performing surgery in a modular multi-arm robotic surgical system.
BACKGROUND
[0002] This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present disclosure, which are described below. This disclosure is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these statements are to be read in this light, and not just as an admissions of prior art.
[0003] Robotic assisted surgical systems have been adopted worldwide to gradually replace conventional surgical procedures such as open surgery and laparoscopic surgical procedures. The robotic assisted surgery offers various benefits to a patient during surgery and during post-surgery recovery time. The robotic assisted surgery equally offers numerous benefits to a surgeon in terms of enhancing the surgeon’s ability to precisely perform surgery, less fatigue and a magnified clear three-dimensional (3D) vision of a surgical site. Further, in a robotic assisted surgery, the surgeon typically operates with a hand controller/ master controller/ surgeon input device/joystick at a surgeon console system to seamlessly capture and transfer complex actions performed by him/her giving the perception that he/she himself/herself is directly articulating a surgical tool/ surgical instrument to perform the surgery.
[0004] The robotically assisted surgical systems may comprise of multiple modular robotic arms aiding in conducting robotic assisted surgeries. The surgeon controls the robotic arms and the instruments mounted on it by using the surgeon console. The surgeon console comprises of visualization system to allow the surgeon to perform the surgery. Further, the hand controllers/ the master controllers/ the surgeon input devices are integrated with the surgeon console which the surgeon maneuvers to perform the surgery. The surgeon operating on the surgeon console system may be located at a distance from a surgical site or may be located within an operating theatre where the patient is being operated on.
[0005] The main challenge with the robotic procedures is requirement of some of the laparoscopic instruments and other assistant tools like suction for assisting the main surgeon, which requires the assistant surgeon to be scrub & stand beside the patient bed till the end of entire procedure.
[0006] Another challenge is, unless the surgeon and other side staff get completely familiar and trained with all features and functions of the robotic surgical system, performing live surgery is not desirable. Also, such training requires an ample amount of time investment and the creation of training modules. Further, the existing robotic surgical system comprises of a single surgeon console, which does not allow both the expert surgeon and a trainee surgeon to simultaneously operate the robotic surgical system.
[0007] In the light of the above-mentioned challenges, there is a need for providing a modular robotic surgical system which will solve the above-mentioned problems related to performing robotic surgeries.
SUMMARY OF THE DISCLOSURE
[0008] Some or all of the above-mentioned problems related to providing training to the surgeons and OT staff are proposed to be addressed by certain embodiments of the present disclosure.
[0009] According to an aspect of the invention, there is disclosed a dual console modular multi-arm robotic surgical system comprising: a first console including a 3D monitor, a pair of hand controllers, a plurality of foot switches, a controller, and a graphical user interface having a switch button; a second console including a 3D monitor, a pair of hand controllers, a plurality of foot switches, a controller, and a graphical user interface; and a plurality of robotic arms wherein one of the robotic arms configured to be coupled to an endoscopic camera and the remaining robotic arms each configured to be coupled to a robotic surgical instrument at its distal end; wherein the switch button configured to switch first console from a master console mode to a slave console mode and vice versa by simply pressing the switch button, wherein in the master console mode any number of pre decided arms out of the robotic arm carts are controlled by the master console, wherein in the slave console mode the remaining arms out of the robotic arm carts are controlled by the slave console.
[00010] According to an embodiment of the invention, the pair of hand controllers may be either passive or active.
[00011] According to another embodiment of the invention, the pair of active hand controllers comprises of motorized joints connected with mechanical links.
[00012] According to yet another embodiment of the invention, the camera arm can be controlled by the console in the master console mode.
[00013] According to yet another embodiment of the invention, the reference for all the robotic arm carts can be with respect to the camera arm.
[00014] According to yet another embodiment of the invention, the console in the master console mode can control all the robotic arm carts and the console in the slave control mode can remain idle.
[00015] According to still another embodiment of the invention, the console in the master console mode can be used by an expert surgeon to train an assistant surgeon using the console in the slave console mode.
[00016] According to still another embodiment of the invention, the console in the slave control mode can be used by an assistant surgeon for performing actions like suction, retraction etc.
[00017] Other embodiments, systems, methods, apparatus aspects, and features of the invention will become apparent to those skilled in the art from the following detailed description, the accompanying drawings, and the appended claims.
BRIEF DESCRIPTION OF THE DRAWINGS
[00018] The summary above, as well as the following detailed description of the disclosure, is better understood when read in conjunction with the appended drawings. For the purpose of illustrating the present disclosure, exemplary constructions of the disclosure are shown in the drawings. However, the present disclosure is not limited to specific methods and instrumentalities disclosed herein. Moreover, those skilled in the art will understand that the drawings are not to the scale. Wherever possible, like elements have been indicated by identical numbers.
Embodiments of the present disclosure will now be described, by way of example only, with reference to the following diagrams wherein:
Figure 1 illustrates an example implementation of a modular multi-arm robotic surgical system with separate console for an expert surgeon and assistant surgeon in accordance with an embodiment of the disclosure;
Figure 2 illustrates example implementation of an expert surgeon using a master console and an assistant/trainee surgeon using a slave console in accordance with an embodiment of the disclosure;
Figure 3 illustrates a master console and a slave console having active hand controllers in accordance with an embodiment of the disclosure;
Figure 4 illustrates a master console and a slave console having passive hand controllers in accordance with an embodiment of the disclosure;
Figure 5 illustrates a flowchart of steps followed to assist an expert surgeon in accordance with an embodiment of the disclosure; and
Figure 6 illustrates a flowchart for implementation of providing training to a trainee surgeon in accordance with an embodiment of the disclosure.
DETAILED DESCRIPTION OF THE DISCLOSURE
[00019] For the purpose of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the disclosure is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the disclosure as illustrated therein being contemplated as would normally occur to one skilled in the art to which the disclosure relates.
[00020] It will be understood by those skilled in the art that the foregoing general description and the following detailed description are exemplary and explanatory of the disclosure and are not intended to be restrictive thereof. Throughout the patent specification, a convention employed is that in the appended drawings, like numerals denote like components.
[00021] Reference throughout this specification to “an embodiment”, “another embodiment”, “an implementation”, “another implementation” or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Thus, appearances of the phrase “in an embodiment”, “in another embodiment”, “in one implementation”, “in another implementation”, and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.
[00022] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process or method that comprises a list of steps does not include only those steps but may include other steps not expressly listed or inherent to such process or method. Similarly, one or more devices or sub-systems or elements or structures proceeded by “comprises... a” does not, without more constraints, preclude the existence of other devices or other sub-systems or other elements or other structures or additional devices or additional sub-systems or additional elements or additional structures.
[00023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The device, system, and examples provided herein are illustrative only and not intended to be limiting.
[00024] The terms “a” and “an” herein do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced items. Further, the term sterile barrier and sterile adapter denotes the same meaning and may be used interchangeably throughout the description.
[00025] Embodiments of the disclosure will be described below in detail with reference to the accompanying drawings.
[00026] Figure 1 illustrates an example implementation of a modular multi-arm robotic surgical system with separate console for an expert surgeon and assistant surgeon in accordance with an embodiment of the disclosure. Specifically, figure 1 illustrates the modular multi arm teleoperated surgical system (100) having five robotic arms (102a), (102b), (102c), (102d), (102d), (102e), mounted on five robotic arm carts around an operating table (104). The five-robotic arms (102a), (102b), (102c), (102d), (102e), as depicted in figure 1, are for illustration purposes and the number of robotic arms may vary depending upon the type of surgery. The exemplary five robotic arms (102a), (102b), (102c), (102d), (102e), are arranged along the operating table (104) and may be arranged in different manner but not limited to the robotic arms (102a), (102b), (102c), (102d), (102e), arranged along the operating table (104). The robotic arms (102a), (102b), (102c), (102d), (102e), may be separately mounted on the five robotic arm carts or the robotic arms (102a), (102b), (102c), (102d), (102e), mechanically and/ or operationally connected with each other or the robotic arms (102a), (102b), (102c), (102d), (102e), connected to a central body (not shown) such that the robotic arms (102a), (102b), (102c), (102d), (102e), branch out of a central body (not shown). According to an embodiment, the patient side arm carts are indicated as camera arm cart (CA), primary right robotic arm cart (PR), secondary right robotic arm cart (SR), primary left robotic arm cart (PL), and secondary left robotic arm cart (SL) in figure 1. The right and left position of the patient side arm carts (PSAC) is named with respect to the surgeon’s endoscopic view and not the physical placement of the carts. This is only for identification purposes. An endoscopic camera (C) is coupled to the robotic arm (102a) attached to the camera arm cart (CA). In robotic surgeries, sometimes a surgeon needs to hold a tissue or organ, while performing suturing, clipping, cutting, sealing, and coagulating etc. Then, one robotic arm out of the remaining robotic arms (102b, 102c, 102d, 102e) can be utilized to hold the above-mentioned tissue or organ. Two of the other remaining robotic arms (102b, 102c, 102d, 102e) can be used for other surgical actions. Each of the plurality of surgical instruments is detachably coupled to a robotic arm out of the remaining robotic arms (102b, 102c, 102d, 102e), which in turn is connected to a patient side arm cart out of patient side arm carts (SL, PL, PR, SR).
[00027] According to an embodiment, the modular multi-arm teleoperated surgical system (100) may include a first console (106), a vision cart, and a surgical instrument and accessory table as shown in figure 1. Further, to assist the surgeon a second console (108) is provided, which can be used by the side staff. Anyone out of the first console (106) and second console (108) can act as a master console and the other one as a slave console. This dual console can be used for a modular multi-arm robotic surgical system (100), having any number of arms greater than three.
[00028] The modular multi-arm robotic surgical system can be used to provide training to a trainee surgeon in accordance with an embodiment of the disclosure. One of the first console (106) and second console (108) can be used by the expert surgeon (114) and the other can be used by a trainee/assistant surgeon (116).
[00029] Figure 2 illustrates example implementation of a main surgeon using a master console and a trainee/assistant surgeon using a slave console in accordance with an embodiment of the disclosure. Each of the first console (106) and second console (108) may utilize a portable chair (110) and (112), to accommodate a surgeon (114) and (116) respectively, during a robotic surgical procedure. The essential components for controlling surgical robots are integrated in the surgeon console to ensure a compact and user-friendly design. The first console (106) may be utilized by an expert surgeon (114) and the second console (108) may be utilized by a trainee/assistant surgeon (116). Both the surgeons can sit in the surgical operation theatre.
[00030] Figure 3 illustrates a master console and a slave console having active hand controllers in accordance with an embodiment of the disclosure. The first console (106) comprises of a 3D monitor (118), a pair of hand controllers (122), a plurality of foot switches (126), a controller (146), and a 2D monitor (130). The surgeon (114) may wear a pair of trackable 3D glasses (134) (as shown in figure 3) to use with the first console (106). The surgeon’s pair of trackable 3D glasses (134) are tracked with a head tracking camera (140) which can be secured to the 3D HD monitor (118). Preferably, the head tracking camera (140) can be secured to the top of the 3D HD monitor (118). Similarly, the second console (108) comprises of a 3D monitor (120), a pair of hand controllers (124), a plurality of foot switches (128), a controller (148), and a 2D monitor (132) which is a graphical user interface. The surgeon (116) may wear a pair of trackable 3D glasses (136) (as shown in figure 3) to use with the second console (108) respectively. The surgeon’s pair of trackable 3D glasses (136) are tracked with a head tracking camera (142) which can be secured to the 3D HD monitor (120) respectively. Preferably, the head tracking camera (142) can be secured to the top of the 3D HD monitor (120). This is a safety feature to avoid distracted use of the multi arm robotic surgical system (100) for surgery and unintended motions while the surgeon’s attention is not focused on the 3D HD Monitor (118) and (120). Figure 4 illustrates a master console and a slave console having passive hand controllers (122) and (124) respectively, in accordance with an embodiment of the disclosure.
[00031] The 2D monitor (130) of the first console (106) is a graphical user interface. Initially the first console (106) acts as a master console and second console (108) acts as a slave console. The master console is configured to control any three pre decided robotic arms out of the robotic arms (102b, 102c, 102d, 102e) which may have the surgical instruments to be utilized in the robotic surgery. If the first console (106) acts as a master console, then the expert surgeon (114) sitting on the first console (106) performs the main surgical procedure by using the three pre decided arms of the surgical robotic system (100). The controller (146) controls the transmission of inputs provided by the expert surgeon (114) using the pair of hand controllers (122) to these three pre decided robotic arms out of the robotic arms (102b, 102c, 102d, 102e). A switch button (144) is provided on the graphical user interface (130). The first console (106) can be switched from a master console mode to a slave console mode by simply pressing the switch button (144). Then, the control is transferred from the controller (146) of the first console (106) to controller (148) of the second console (108). The second console (108) is configured to control the remaining two robotic arms out of the robotic arms (102b, 102c, 102d, 102e) which may be used to for some predefined functions, to be utilized in the robotic surgery.
[00032] Further, the robotic procedures require usage of some laparoscopic instruments and other assistant tools like suction for assisting the main surgeon (114), which requires the assistant surgeon (116) to be scrub & stand beside the operating table (104) till the end of entire procedure. The remaining arms of the surgical robotic system (100) can be configured to hold the assistant tools like suction, retraction, etc.
[00033] To assist the expert surgeon (114), anytime the switch button (144) can be pressed, and the master console relinquishes the control to slave console. In this scenario, the assistant surgeon (116) gets the control and can use the second console (108) to control the remaining arms of the surgical robotic system (100). Thus, the actions which were earlier performed by the assistant surgeon/staff using laparoscopic tools, can now be performed robotically. During the course of the surgery, the control can be transferred again from the second console (108) to the first console (106) by pressing the switch button (144) on 2D monitor (130).
[00034] Figure 5 illustrates a flowchart (500) of steps followed to assist a main surgeon in accordance with an embodiment of the disclosure. In step (502), the first console (106) is in master console mode. The surgeon (114) utilizes the features of the first console (106) to control the main three arms (102a), (102b), and (102c) of the surgical robotic system (100). In step (504), by pressing the switch button (144) on the 2D monitor (130), the control is given to the second console (108). The assistant surgeon (116) then controls the remaining arms containing assist tools for suction and retraction, of the robotic surgical system (100) in step (506). The control is transferred from the second console (108) to the first console (106) by pressing the switch button (144) on graphical user interface (130) again in step (508). Then in step (510), again, the arms of the surgical robotic system (100) can be controlled by the expert surgeon (114) using the first console (106).
[00035] Figure 6 illustrates a flowchart (600) for implementation of providing training to a trainee surgeon in accordance with an embodiment of the disclosure. The expert surgeon (114) using the first console (106) wants to provide training to an assistant surgeon (116) using a second console (108). At step (602), the expert surgeon (114) controls the arms of the surgical robotic system (100) using first console (106) which is in master console mode and shows some surgical action to the trainee surgeon (116). Now, the expert surgeon (114) can ask the trainee surgeon (116) to try performing that surgical action which was shown by the expert surgeon (114). At step (604) the control from first console (106) is transferred to the second console (108) using the switch button (114) provided on the graphical user interface (130). Now, the trainee surgeon (116) takes control of the robotic surgical instruments initially controlled by the expert surgeon (114). Thus, the grip of hands of the trainee surgeon (116) has to be matched with the grip of hands of the expert surgeon (114) in step (606). This grip matching will help in mapping of the orientation of the instrument with the hand controllers of the trainee surgeon (116). Now, in step (608), the trainee surgeon (116) can control the arms having surgical instruments using second console (108) which is now in master console mode. After the practice of the particular surgical action by the trainee surgeon (116), in step (610), the control is transferred from the second console (108) to the first console (106) using the switch button (114) on the graphical user interface (130), which will change the mode of first console (106) to master console mode and mode of second console (108) to slave console mode again. Again, the grip of hands of the expert surgeon (114) has to be matched with the grip of hands of the trainee surgeon (116) in step (612). Now, the expert surgeon (114) can control the surgical instrument using the first console (106) which is in master console mode in step (614).
[00036] The present disclosure has the following advantages: The dual surgeon consoles of the present disclosure are portable and have an ergonomic design. Further, these dual consoles can be used for training a trainee surgeon. Both the consoles are provided with exactly the same features. When an expert surgeon trains an assistant surgeon, he/she demonstrates the surgical procedure to the assistant surgeon and then he/she asks the assistant surgeon to perform the taught surgical action. If while the assistant surgeon is trying the surgical action and fails to perform the action correctly, then the main surgeon can again take the control of the main robotic arms by pressing the switch button provided on the 2D monitor of the main surgeon console. Further, the dual consoles can be used for providing assistance to the expert surgeon.
[00037] The foregoing descriptions of exemplary embodiments of the present disclosure have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiment was chosen and described in order to best explain the principles of the disclosure and its practical application, to thereby enable others skilled in the art to best utilize the disclosure and various embodiments with various modifications as are suited to the particular use contemplated. It is understood that various omissions, substitutions of equivalents are contemplated as circumstance may suggest or render expedient but is intended to cover the application or implementation without departing from the spirit or scope of the claims of the present disclosure.
[00038] Benefits, other advantages, and solutions to problems have been described above with regard to specific embodiments. However, the benefits, advantages, solutions to problems, and any component(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential feature or component of any or all the claims.
[00039] While specific language has been used to describe the disclosure, any limitations arising on account of the same are not intended. As would be apparent to a person in the art, various working modifications may be made to the apparatus in order to implement the inventive concept as taught herein.
,CLAIMS:1. A dual console modular multi-arm robotic surgical system (100) comprising:
a first console (106) including a 3D monitor (118), a pair of hand controllers (122), a plurality of foot switches (126), a controller (146), and a graphical user interface (130) having a switch button (144);
a second console (108) including a 3D monitor (120), a pair of hand controllers (124), a plurality of foot switches (128), a controller (148), and a graphical user interface (132); and
a plurality of robotic arms (102a), (102b), (102c), (102d), (102e) wherein one of the robotic arms (102a) configured to be coupled to an endoscopic camera and the remaining robotic arms (102b), (102c), (102d), (102e) each configured to be coupled to a robotic surgical instrument at its distal end;
wherein the switch button (144) configured to switch first console (106) from a master console mode to a slave console mode and vice versa by simply pressing the switch button (144),
wherein in the master console mode any number of pre decided arms out of the robotic arm carts (102a), (102b), (102c), (102d), (102e) are controlled by the master console,
wherein in the slave console mode the remaining arms out of the robotic arm carts (102b), (102c), (102d), (102e) are controlled by the slave console.
2. The dual console modular multi-arm robotic surgical system (100) as claimed in claim 1, wherein the pair of hand controllers (122) (124) may be either passive or active.
3. The dual console modular multi-arm robotic surgical system (100) as claimed in claim 2, wherein the pair of active hand controllers (122) (124) comprises of motorized joints connected with mechanical links.
4. The dual console modular multi-arm robotic surgical system (100) as claimed in claim 1, wherein the camera arm (102a) can be controlled by the console in the master console mode.
5. The dual console modular multi-arm robotic surgical system (100) as claimed in claim 1, wherein the reference for all the robotic arm carts (102b), (102c), (102d), (102e) can be with respect to the camera arm (102a).
6. The dual console modular multi-arm robotic surgical system (100) as claimed in claim 1, wherein the console in the master console mode can control all the robotic arm carts (102a), (102b), (102c), (102d), (102e) and the console in the slave control mode can remain idle.
7. The dual console modular multi-arm robotic surgical system (100) as claimed in claim 1, wherein the console in the master console mode can be used by an expert surgeon to train an assistant surgeon using the console in the slave console mode.
8. The dual console modular multi-arm robotic surgical system (100) as claimed in claim 1, wherein the console in the slave control mode can be used by an assistant surgeon for performing actions like suction, retraction etc.