DESC:TECHNICAL FIELD
[0001] The present disclosure generally relates to a multi-arm robotic surgical system for minimally invasive surgery. More particularly, the disclosure relates to a head tracking frame system to track a position of a surgeon’s head while performing surgery in a 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. 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.
[0004] The robotically assisted surgical systems may comprise of multiple robotic arms aiding in conducting robotic assisted surgeries. The surgeon controls the robotic arm 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 has to carefully monitor the visualization system of the surgeon console and then perform the surgery.
[0005] The robotic procedures have a strict requirement of surgeons to be extremely attentive while maneuvering hand controllers till the end of the entire procedure. Thus, existing robotic surgical systems provide tracking of 3D glasses worn by the surgeon while performing the surgical procedure. The main challenge with the existing tracking systems is their dependence on symmetric manual placement of the markers on the 3D glasses, which will not result in precise and accurate positioning of the markers on the 3D glasses. This will lead to inaccurate positioning of the frame. Further, another challenge with the existing head tracking systems with markers on the 3D glasses is that if the surgeon tilts his/her head and then returns the head to the initial position again, then due to the symmetrical placement of the markers will lead to flipping of the frame.
[0006] In light of the aforementioned challenges there is a need to provide a head tracking frame with markers to be used by a surgeon while using a multi-arm robotic surgical system which will solve the above-mentioned problems related to robotic surgeries.
SUMMARY OF THE DISCLOSURE
[0007] Some or all of the above-mentioned problems related to obtaining kinematics of a robotic cart in a multi-arm robotic surgical system are proposed to be addressed by certain embodiments of the present disclosure.
In an aspect, an embodiment of the present disclosure provides a head tracking system for tracking movement of head of a surgeon in a multi-arm robotic surgical system comprising an operating table around which one or more robotic arms are arranged, and a surgeon console having a 3D/2D monitor, a control system, a pair of hand controllers, a plurality of foot switches, and a clutch mechanism, the head tracking system comprising: a 3D trackable glasses having a frame, the 3D trackable glasses to be worn by a surgeon, the frame configured to be removably attached to the 3D glasses, the frame having a plurality of markers; a head tracking device mounted at an angle with respect to a horizontal plane, the head tracking device configured to take 3D images of the plurality of markers; and a processor coupled to the head tracking device, the processor configured to: convert the 3D images into 2D images; obtain a pose information related to the surgeon; and communicate the pose information to the control system; wherein the control system is configured to compare the pose information with a predefined reference range and enable/disable the transfer of inputs given by the surgeon from the surgeon console to the robotic surgical system.
[0008] Optionally, the head tracking device (130) may be a camera.
[0009] Optionally, the head tracking device (130) is mounted at center of the upper edge of the 3D monitor (114).
[00010] Optionally, the horizontal plane (P) joins the frame (132) attached over the 3D glasses (128) to the 3D monitor (114).
[00011] Optionally, the 3D trackable glasses (128) and the frame (132) are replaceable.
[00012] Optionally, the head tracking system (138) is independent of the height of the surgeon (108), and whether the surgeon (108) is wearing specs or not.
[00013] Optionally, the head tracking system (138) uses infrared for the tracking purposes.
[00014] Optionally, a submillimeter level accuracy in tracking the surgeon’s head is obtained.
[00015] 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. It will be appreciated that features of the present disclosure are susceptible to being combined in various combinations without departing from the scope of the present disclosure as defined by the appended claims.
BRIEF DESCRIPTION OF THE DRAWINGS
[00016] 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 multi-arm teleoperated robotic surgical system which can be used with one or more features in accordance with an embodiment of the disclosure;
Figure 2 illustrates a surgeon console in accordance with an embodiment of the disclosure;
Figure 3(a)-3(b) illustrates a head tracking frame in accordance with an embodiment of the disclosure;
Figure 3(c) illustrates a pair of 3D glasses on which the head tracking frame is fitted in accordance with an embodiment of the disclosure;
Figure 4 illustrates another implementation of surgeon console being used by a surgeon with head tracking frame attached to the 3D glasses in accordance with an embodiment of the disclosure; and
Figure 5 illustrates a flow diagram of the method for tracking the head of a surgeon for performing surgery using a multi-arm teleoperated robotic surgical system in accordance with an embodiment of the disclosure.
DETAILED DESCRIPTION OF THE DISCLOSURE
[00017] 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.
[00018] 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.
[00019] 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.
[00020] 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.
[00021] 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.
[00022] 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.
[00023] Embodiments of the disclosure will be described below in detail with reference to the accompanying drawings.
[00024] Figure 1 illustrates an example implementation of a multi-arm teleoperated robotic surgical system which can be used with one or more features in accordance with an embodiment of the disclosure. Specifically, figure 1 illustrates the 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). Further, the multi arm teleoperated surgical system (100) may include a surgeon console (106) for a surgeon (108), a vision cart (110), and a surgical instrument and accessory table.
[00025] Figure 2 illustrates a surgeon console in accordance with an embodiment of the disclosure. The surgeon console (106) aids the surgeon to remotely operate the patient lying on the operating table (104) by controlling the robotic arms (102b), (102c), (102d), (102e) inside the body of the patient. The surgeon console (106) may utilize a portable chair (112) to accommodate a surgeon (108) as shown in figure 1, during a robotic surgical procedure. The essential components for controlling surgical robots are integrated in the surgeon console (106) to ensure a compact and user-friendly design. The surgeon console (106) may comprise of at least an adjustable viewing means (114, 116) but not limited to 2D/ 3D monitors, wearable viewing means (not shown) and in combination thereof. The surgeon console (106) serves as the interface for a surgeon (108) within the operating theatre. The 3D monitor (114) may be equipped with multiple displays which would not only show 3D high definition (HD) endoscopic view of a surgical site at the operating table (104) but may also show additional information from various medical equipment’s which surgeon may use during the robotic surgery. The 2D monitor (116) may provide various modes of the robotic surgical system (100) but not limited to identification and number of robotic arms attached, current tool type attached, current tool tip position, collision information along with medical data like ECG, ultrasound display, fluoroscopic images, CT, MRI information. The surgeon console (106) may further comprise of mechanism for controlling the robotic arms but not limited to a pair of hand controllers including a left-hand controller (118) and a right-hand controller (120), a plurality of foot switches (122), a clutch mechanism (124), and in combination thereof.
[00026] In figure 2, it can be seen that the surgeon console (106) further comprises of a control system (126). The surgeon (108) has to wear a pair of trackable 3D glasses (128) to use with the surgeon console (106). The surgeon’s pair of trackable 3D glasses (128) are tracked with a sensing device like a head tracking camera (130) which can be secured to the 3D HD monitor (114). Preferably, the head tracking camera (130) can be secured to the top of the 3D HD monitor (114). This is a safety feature to avoid distracted use of the multi-arm robotic surgical system (100) for robotic surgery and unintended motions while the surgeon’s attention is not focused on the 3D HD Monitor (114). The hand controllers (118, 120) at the surgeon console (106) are required to seamlessly capture and transfer complex actions performed by surgeon giving the perception that the surgeon is directly articulating the surgical tools. The different controllers may be required for different purposes during the surgery. In some embodiments, the hand controllers (118, 120) may be one or more manually operated input devices, such as a joystick, exoskeletal glove, a powered and gravity- compensated manipulator, or the like. These hand controllers (118, 120) control teleoperated motors which, in turn, control the movement of the surgical instruments attached to the robotic arms. The chair (112) may be adjustable with means in height, elbow rest and the like according to the ease of the surgeon and also various control means may be provided on the chair (112). Further, the surgeon console (106) may be at a single location inside an operation theatre or may be distributed at any other location in the hospital provided connectivity to the robotics arms is maintained. A data related to movement of hand controllers (118, 120) by the surgeon (108), a data from various foot switches (122), clutch mechanism (124), and any other sensor-based data for robotic surgical instruments are communicated to the control system (126).
[00027] Figure 3(a) illustrates a front view and a perspective view of an example implementation of a head tracking frame in accordance with an embodiment of the disclosure. A head tracking frame (132) as shown in figure 3(a), can be fitted on the 3D glasses (128). A plurality of markers (134) is provided on the head tracking frame (132). The placement of the markers (134) plays a crucial role in providing an accurate tracking information. Especially in figuring out the roll, pitch & yaw information. The problem associated with tracking of 3D glasses in prior art is due to the symmetric placement of markers on the 3D glasses. The symmetric placement of markers causes flickering of the frames (F) and provides wrong information. To avoid this problem, the present disclosure utilizes a head tracking frame (132) which can be fitted on the 3D glasses (128). A plurality of markers (134) is placed at unsymmetric positions on the head tracking frame (132) as shown in figure 3(b). The markers (134) are retro reflective markers. The head tracking device (138) may be any camera like an infrared camera. The tracking consists of using an infrared camera (136) and retro reflective markers (134). The markers (134) are arranged in a unique pattern which helps in creating a rigid body. Thus, a precise and accurate positioning of the markers (134) on the head tracking frame (132) is not required. The placement of the markers plays a crucial role, especially in giving the accurate tracking information. Especially in figuring out the Roll, Pitch & yaw information. Figure 3(c) illustrates a 3D glass on which the head tracking frame is fitted. A frame is attached to the rigid body which gives information regarding the surgeon head based on the pose information. The positioning of the markers (134) must be standardized and must be the same every time so that even in cases of damage it can be reused. The workspace available for the surgeon is defined with respect to the hand control Link length & 3D Monitor. Further, maximum, and minimum range for tracking system i.e., Linear Distance, Roll, and Pitch can be defined.
[00028] Figure 4 illustrates another implementation of surgeon console with the surgeon wearing 3D glasses with head tracking frame in accordance with an embodiment of the disclosure. The surgeon (108) wears the 3D glasses (128) with a fitted head tracking frame (132) having markers (134). Further, the distance between any two markers can be varied so as to avoid the symmetry and flickering of the frames (F).
[00029] Figure 5 illustrates a flow diagram of the method for tracking the head of a surgeon in a robotic surgery using a multi-arm teleoperated robotic surgical system in accordance with an embodiment of the disclosure. At step (502), the surgeon (108) wears 3D glasses (128) fitted with head tracking frame (134) and markers (134). The surgeon (108) starts to perform the desired surgical procedure. At step (504), the movement of the head of the surgeon (108) with respect to a frame (F), is captured by the head tracking camera (130) by scanning the markers (134) connected on the head tracking frame (132) of the 3D glasses (128). The collected pose information data related to the movement of head of the surgeon (108) is stored in a processor of the head tracking camera (130). The processor derives a rotation angle of head of the surgeon (108) with respect to a reference frame (F). At step (506), the processor of the head tracking camera (130) compares the pose information data with values of a preferred range. If the pose information data is within the preferred range, then the inputs from the surgeon (108), provided by hand controllers (118, 120), foot pedal (122), and switch (124) etc., are conveyed to the control system (126) of the surgeon command center (106) in step (508). Then in step (510), the inputs from the surgeon (108) stored in the control system (126) are translated into inputs to be provided to the robotic surgical instruments. If the pose information data is not within the preferred range, then the inputs from the surgeon (108) are disabled in the step (512). At each time instant the movement of the head of the surgeon (108) with respect to a frame (F) is captured and compared with values of the preferred range. This helps in any unintended motion of the robotic surgical instrument. That is if the surgeon (108) is not paying attention to the 3D visualization of the surgical procedure being performed at the surgical site, then the inputs provided from the surgeon (108) are disabled.
[00030] The head tracking system (138) of the present disclosure is advantageous, as it can be effectively used to track the head movement of a surgeon and thus ensures patient safety while performing robotic surgeries. The frame (132) of the head tracking system (138) has many advantages over the prior art: independent of user variables like height, weight, wearing specs or not. Further, the head tracking frame (132) is replaceable, uses infra-red light for the tracking purposes, is free from human errors, and provides submillimeter level accuracy in tracking. The Head Tracking system is a safety application to ensure the safety of the patient during the robotic surgery if the surgeon is not in focus.
[00031] The foregoing description of exemplary embodiments of the present disclosure has 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.
[00032] 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.
[00033] 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.

List of reference numerals:
Sr. No.
Component Reference Numeral(s)
1 Multi-arm robotic surgical system 100
2 Horizontal plane P
3 Robotic arms 102a, 102b, 102c, 102d, 102e
4 Surgeon console 106
5 Operating table 104
6 Vision cart 110
7 Surgeon 108
8 Master controller 106
9 Chair for surgeon console 112
10 Head tracking device 130
11 Processor of head tracking device 136
12 Control system 126
13 Left-hand & Right-hand Controllers 118, 120
14 Plurality of foot switches 122
15 Clutch mechanism 124
16 3D monitor 114
17 2D monitor 116
18 3D glasses 128
19 Markers 134
20 Head tracking frame 132 ,CLAIMS:1. A head tracking system (138) for tracking movement of head of a surgeon in a multi-arm robotic surgical system (100) comprising an operating table (104) around which one or more robotic arms (102a), (102b), (102c), (102d), (102e) are arranged, and a surgeon console (106) having a 3D/2D monitor (114, 116), a control system (126), a pair of hand controllers (118), a plurality of foot switches (122), and a clutch mechanism (124), the head tracking system (138) comprising:
a 3D trackable glasses (128) having a frame (132), the 3D trackable glasses (128) to be worn by a surgeon (108), the frame (132) configured to be removably attached to the 3D glasses (128), the frame (132) having a plurality of markers (134);
a head tracking device (130) mounted at an angle with respect to a horizontal plane (P), the head tracking device (130) configured to take 3D images of the plurality of markers (134); and
a processor (136) coupled to the head tracking device (130), the processor (136) configured to:
convert the 3D images into 2D images;
obtain a pose information related to the surgeon (108); and
communicate the pose information to the control system (126);
wherein the control system (126) is configured to compare the pose information with a predefined reference range and enable/disable the transfer of inputs given by the surgeon (108) from the surgeon console (106) to the robotic surgical system (100).
2. The head tracking system (138) as claimed in claim 1, wherein the head tracking device (130) may be a camera.
3. The head tracking system (138) as claimed in claim 1, wherein the head tracking device (130) is mounted at center of the upper edge of the 3D monitor (114).
4. The head tracking system (138) as claimed in claim 1, wherein the horizontal plane (P) joins the frame (132) attached over the 3D glasses (128) to the 3D monitor (114).
5. The head tracking system (138) as claimed in claim 1, wherein the 3D trackable glasses (128) and the frame (132) are replaceable.
6. The head tracking system (138) as claimed in claim 1, wherein the head tracking system (138) is independent of height of the surgeon (108), and whether the surgeon (108) is wearing specs or not.
7. The head tracking system (138) as claimed in claim 1, wherein the head tracking system (138) uses infrared for the tracking purposes.
8. The head tracking system (138) as claimed in claim 1, wherein a submillimetre level accuracy in tracking the surgeon’s head is obtained.