WO1992016141A1 - Automated surgical system and apparatus - Google Patents
Automated surgical system and apparatus Download PDFInfo
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- WO1992016141A1 WO1992016141A1 PCT/US1992/002186 US9202186W WO9216141A1 WO 1992016141 A1 WO1992016141 A1 WO 1992016141A1 US 9202186 W US9202186 W US 9202186W WO 9216141 A1 WO9216141 A1 WO 9216141A1
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- WIPO (PCT)
- Prior art keywords
- instrument
- patient
- remote location
- surgical
- telecommunications link
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/043—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances for fluorescence imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
- A61B17/32002—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes with continuously rotating, oscillating or reciprocating cutting instruments
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- A61B17/32—Surgical cutting instruments
- A61B17/3205—Excision instruments
- A61B17/3207—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions
- A61B17/320758—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions with a rotating cutting instrument, e.g. motor driven
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A—HUMAN NECESSITIES
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
- A61B5/0015—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network characterised by features of the telemetry system
- A61B5/0022—Monitoring a patient using a global network, e.g. telephone networks, internet
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B6/48—Diagnostic techniques
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- A61B6/487—Diagnostic techniques involving generating temporal series of image data involving fluoroscopy
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- A—HUMAN NECESSITIES
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- A61B6/50—Clinical applications
- A61B6/504—Clinical applications involving diagnosis of blood vessels, e.g. by angiography
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
- A61B2017/3445—Cannulas used as instrument channel for multiple instruments
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- A—HUMAN NECESSITIES
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00345—Vascular system
- A61B2018/00404—Blood vessels other than those in or around the heart
- A61B2018/00422—Angioplasty
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- A—HUMAN NECESSITIES
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- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00601—Cutting
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- A—HUMAN NECESSITIES
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- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
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- A—HUMAN NECESSITIES
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- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
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- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
- A61F9/008—Methods or devices for eye surgery using laser
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S128/00—Surgery
- Y10S128/903—Radio telemetry
Definitions
- This invention relates to a surgical system and a related method. More particularly, this invention relates to an endoscopic or laparoscopic surgical method and apparatus.
- the surgeon In endoscopic and laparoscopic surgery, the surgeon is provided with visual information through optical fibers extending through the endoscope or laparoscope.
- the visual information is provided to the surgeon and other operating room personnel via video monitors which show images obtained by small video cameras (charge coupled devices) at the distal ends of the endoscopes or laparoscopes.
- video monitors show images obtained by small video cameras (charge coupled devices) at the distal ends of the endoscopes or laparoscopes.
- this video information may be transmitted to other rooms in the hospital or other institutional clinical setting, the surgeon is always present in the operating room to manipulate the surgical instruments and thereby perform the surgical operation in response to the video images on a monitor.
- Another, more particular, object of the present invention is to provide a method and apparatus which facili ⁇ tates the performance of operations by surgeons from all over the world.
- An object of the present invention is to provide a method and apparatus which reduces costs of performing surgery such as endoscopic and laparoscopic and angioscopic surgery.
- a surgical system comprises, in accordance with the present invention, a receiver at a surgical operating station for receiving actuator control signals via a telecommunica ⁇ tions link from a remote location beyond a range of direct visual contact with a patient's body at the surgical operating station.
- a robot actuator mechanism is operatively connected to a surgical instrument at the surgical operating station and to the receiver for actuating the surgical instrument in response to the actuator control signals received by the receiver from the remote location, whereby the surgical instrument is operated to execute a surgical operation on the patient under the control of a surgeon at the remote location.
- the surgical system further comprises (a) an imaging apparatus at the operating station for generating a video image of organic structure inside the patient and (b) a trans ⁇ mitter operatively connected to the imaging apparatus and the telecommunications link for transmitting, over the telecom ⁇ munications link to the remote location, a video signal encod ⁇ ing the video image, whereby a surgeon at the remote location can visualize the organic structure.
- the imaging apparatus includes a fluoroscope.
- the surgical system may further comprise means operatively connected to the instrument and the receiver for injecting a radiographic fluid into the patient via the instrument in response to a signal received by the receiver from the remote location.
- the imaging apparatus includes an electromagnetic imaging apparatus or a camera inserted into the patient.
- the instrument takes the form of an angioplastic operating instrument including a flexible tubular member insertable into a blood vessel of patient and a device for removing a blockage in a blood vessel.
- a surgical method comprises the steps of (a) inserting an endoscopic instrument into a patient's body, (b) obtaining a video image of internal body tissues inside the patient's body via the endoscopic instrument, (c) transmitting, over a telecommunica ⁇ tions link, a video signal encoding the video image to a remote location beyond a range of direct visual contact with the patient's body, (d) receiving actuator control signals from the remote location via the telecommunications link, (e) inserting a surgical instrument into the patient's body, and (f) automatically operating the surgical instrument in response to the received actuator control signals.
- the endoscopic instrument may take the form of a traditional flexible endoscope or a rigid laparoscope.
- a body cavity of the patient is subject to pres ⁇ surized air to inflate the cavity and permit manipulation of instruments so that they can move around unimpeded inside the patient.
- a system and method in accordance with the present invention enables operations to be performed by leading surgeons who are not present in the operating room. Such surgeons may reside at great distances from where the opera ⁇ tions are to be performed and may be unable to travel to reach the locations of the operations. Because travel time can virtually be eliminated, leading surgeons can perform a greater number of operations all over the globe.
- Another surgical method in accordance with the pres ⁇ ent invention is used with an X-ray or fluoroscopic device and an angioplastic instrument including a tubular member and an operating tool for removing a blockage in the blood vessel.
- the method comprises the steps of (a) inserting the instrument into a blood vessel of a patient's body, (b) obtaining a video image of structure inside the blood vessel via the X-ray or fluoroscopic device, (c) transmitting, over a telecommunica ⁇ tions link, a video signal encoding the video image to a remote location beyond a range of direct visual contact with the patient's body, (d) receiving actuator control signals from the remote location via the telecommunications link, and (e) automatically actuating the operating tool in response to the received actuator control signals.
- the operating tool includes a source for generating a laser beam and an optical fiber for guiding the laser beam from the source to a distal end of the instrument.
- the operating tool includes a blade at a distal end of the instrument.
- the operating tool includes an expandable balloon at a distal end of the instrument and pressurized supply for inflating the balloon inside the vessel.
- the step of obtaining the video image includes the step of injecting a radiographic fluid into the vessel via the instrument.
- the step of injecting is performed in response to a signal received from the remote location via the telecommunications link.
- additional control signals are received from the remote location via the telecommunications link for controlling an automatic shifting of the angioplastic operating instrument relative to the blood vessel.
- the imaging device may take the form of a fluoro- scope or X-ray sensing apparatus.
- the system includes a dispenser device for injecting a radiographic fluid into the vessel via the instrument in response to a signal received by the receiver from the remote location.
- a translation drive is operatively connected to the tubular member and to the receiver for automatically shifting the tubular member relative to the blood vessel in response to a signal received by the receiver from the remote location.
- Fig. 1 is a diagram of a remotely controlled operat ⁇ ing system, in accordance with the present invention, for per ⁇ forming laparoscopic surgery
- Fig. 2 is a diagram of another remotely controlled system, in accordance with the present invention, for perform ⁇ ing angioplastic surgery.
- Fig. 3 is a diagram of a modified portion of the system of Fig. 2.
- Fig. 4 is a diagram of a portion of the system of Fig. 2, modified in another way.
- a patient P undergoing laparoscopic surgery for example, removal of a gall bladder GB, has an internal body cavity C pressurized with air to dis ⁇ tend the abdominal wall AW.
- the abdominal wall is pierced with a trocar (not shown) and a plurality of hollow tubes 12 and 14 are inserted through the abdominal wall to provide pas ⁇ sage for the operating instruments.
- One such instrument is an endoscopic type device, namely, a laparoscope 16 which includes an optical fiber (not illustrated) for delivering optical radiation OR from a light source or control component 18 to the surgical site.
- Another instrument takes the form of a forceps instrument 20 or other device for manipulating and/or severing internal body tissues such as gall bladder GW.
- Forceps instrument 20 includes a pair of forceps jaws 21 whose position inside body cavity C is controlled by a computer 22 via a two-axis rotary drive 24 and a translatory drive 26.
- Rotary drive 24 is operatively connected to tube 14 for pivoting the tube at its point of penetration through abdominal wall about two axes of rotation.
- translatory drive 26 slides forceps instrument 20 longitudinally through tube 14.
- forceps jaws 21 The orientation of forceps jaws 21 is controlled by computer 22 via a one- or two-axis rotary drive 28, while for ⁇ ceps jaws 21 are alternately opened and closed by an actuation mechanism 30 in response to control signals from computer 22.
- the position of a distal tip of laparoscope 16 inside body cavity C is controlled by computer 22 via a two- axis rotary drive 32 mechanically linked to tube 14 and a translatory drive 34 operatively coupled with laparoscope 16.
- Translatory drive 34 varies the degree of insertion of laparo ⁇ scope 16 through tube 12, while rotary drive 32 swings tube 12 about two axes of rotation.
- the intensity and/or the hue of optical radiation OR is controlled by computer 22 via light source or control com ⁇ ponent 18.
- the curvature of the distal end portion of the laparoscope is modifiable by computer 22 via a bend control component 36.
- Laparoscope 16 incorporates a charge coupled device (not illustrated) for converting optical incoming optical radiation, reflected from internal body tissues inside cavity C, to a video signal. That video signal, encoding a video image, is transmitted from laparoscope 16 to a transmitter 38 and optionally to computer 22.
- Transmitter 38 in turn transmits the video signal over a telecommunications link 40 to a remote receiver 42 which relays the video signal to another computer 44.
- Com ⁇ puter 44 uses the incoming video signal to display on a monitor 46 an image of the internal body tissues of patient P.
- input device 48 includes a joy stick 52 for controlling the operation of rotary drive 32, a slide switch 54 for controlling the opera ⁇ tion of translatory drive 34, another slide switch 56 for con ⁇ trolling light source or control component 18 to modify light intensity, and a dial or knob 58 for controlling bend control component 36 to change the angle of inclination of the distal end portion of laparoscope 16.
- Input device 50 includes a joy stick 60 for con ⁇ trolling the operation of rotary drive 24, a dial or knob 62 for controlling rotary drive 28, a slide switch 64 for con ⁇ trolling translatory drive 26, and another slide switch 66 for controlling instrument actuator 30.
- Signals from input devices 48 and 50 are encoded by computer 44 and sent to computer 22 via a transmitter 68, telecommunications link 40, and a receiver 70.
- Computer 22 then uses the incoming signals to provide control signals to the various drives and other components at the site of the surgery.
- surgeons and other personnel are present in the operating room at the time of surgery to oversee and supervise the proper operation of the equipment. These personnel may communicate with the remote surgeon via computers 22 and 44 and telecommunications link 40 and/or through other telecommunications linkages such as the telephone network.
- computer 22 is connected to a local monitor (not shown) for displaying the video images garnished by laparoscope 16 and, for example, for displaying alphanumeric codes indicating the positions and operating statuses of the instruments, e.g., light source or control component 18 and forceps instrument 20.
- Such information may also be transmitted by computer 22 to computer 44 over transmitter 38, link 40 and receiver 42 and displayed on monitor 46.
- patient P may also be automatically sensed, encoded and trans ⁇ mitted to remote computer 44 for providing the lead surgeon in real time with all information necessary for performing the surgery successfully.
- a tubular member 102 of an angioplastic operating instrument 104 is inserted into a blood vessel 106 of a patient.
- instrument 104 includes a rotary blade 108 operatively linked to a drive 110 via a transmission member 112.
- Rotary drive 110 is operated or energized under the control of a computer 114.
- instrument 104 is further pro ⁇ vided with an opening 116 for injecting into vessel 106 a radiographic or radio-imaging fluid from a source 118.
- the injection operation is implemented by a pump 120 in response to actuating signals from computer 114.
- Computer 114 controls the degree that tubular member 102 is inserted into vessel 106 by actuating a translatory drive 122 operative coupled to the tubular member.
- the location of a blockage 124 inside vessel 106 is detectable via an electromagnetic imaging device 126 exemplarily taking the form of an X-ray detector 128 receiving X-rays from a source 130 via that part of the patient includ ⁇ ing vessel 106 and blockage 124.
- Blockage 124 is highlighted through the injection of the radio-imaging fluid from source 118.
- the radio-imaging fluid may be radioac ⁇ tive, electromagnetic imaging device 126 taking the form of a fluoroscope.
- electrical signals encoding video images of structure inside vessel 106 are produced by a signal generator 131 connected at an output of X-ray detector 128.
- the video signals are sent via a transmitter 132 and a telecommunications link 134 to a remote receiver 136 which relays the video signal to a computer 138.
- Computer 138 uses the incoming video signal to display on a monitor 140 an image of structure internal to vessel 106.
- Transmitter 132, telecommunications link 134 and receiver 136 are also used to transmit data from local computer 114 to remote computer 138.
- a keyboard 142 and an optional switchboard or con ⁇ sole 144 are connected to computer 138 for enabling a surgeon at a remote location to control the operation of instrument 104. More particularly, console 144 includes a toggle switch 146 for controlling the operation of rotary drive 110, a knob 148 for controlling the operation of pump 120, and a slide switch 150 for determining the distance that tubular member 102 is inserted in vessel 106. The remote surgeon manipulates switches 146 and 150 and knob 148 in response to video images on monitor 140. Those images are themselves changed by the surgeon by shifting tubular member 102 further along vessel 106 and by periodically injecting radio-imaging fluid into the vessel from source 118.
- Fig. 3 illustrates a modification of the system of Fig. 2 wherein the surgical tool in a tubular angioplastic surgical member 102' takes the form of an optical fiber 152 for guiding a laser beam from a source 154 to an exit 156 at the distal end of the tubular member.
- Fig. 4 depicts an alternative modification wherein the blockage removal tool takes the form of an inflatable balloon or bladder 158 dis ⁇ posed at a distal end of an angioplastic surgical member 102".
- Bladder 158 is expanded by pressure released from a pres ⁇ surized gas source 160 by opening a valve 162 in response to signals from computer 114.
- computer 114 operates in response to signals from computer 138.
- surgeons and other personnel are present in the operating room at the time of surgery to oversee and supervise the proper operation of the equipment.
- These per ⁇ sonnel may communicate with the remote surgeon via computers 114 and 138 and transmitters 132 and 164, receivers 136 and 166, and telecommunications link 134 and/or through other telecommunications linkages such as the telephone network.
- computer 114 is connected to a local monitor 168 for displaying the video images obtained by electromagnetic imaging device 126 and, for example, for dis ⁇ playing alphanumeric codes indicating the positions and operating statuses of the instruments.
- Such information may also be transmitted by computer 114 to computer 138 over transmitter 132, link 134 and receiver 136 and displayed on monitor 140.
- Other parameters regarding the condition of patient P such as temperature, heart rate, oxygen consump ⁇ tion, brain wave activity, and blood sugar level, may also be automatically sensed, encoded and transmitted to remote com ⁇ puter 138 for providing the lead surgeon in real time with all information necessary for performing the surgery successfully.
Abstract
A surgical system comprises an endoscopic instrument (16), a camera on the endoscopic instrument for obtaining video images of internal body tissues inside a patient's body via the endoscopic instrument (16), and a transmitter (38) operatively connected to the camera for transmitting, over a telecommunications link (40) to a remote location beyond a range of direct visual contact with the patient's body, a video signal encoding the video image. A receiver (70) is provided for receiving actuator control signals from the remote location via the telecommunications link (40). The receiver (70) feeds the signals to a robot actuator mechanism (30) for controlling that mechanism (30) to operate a surgical instrument (21) insertable into the patient's body.
Description
AUTOMATED SURGICAL SYSTEM AND APPARATUS Background of the Invention
This invention relates to a surgical system and a related method. More particularly, this invention relates to an endoscopic or laparoscopic surgical method and apparatus.
The advantages of laparoscopic and endoscopic surgi¬ cal methods have become increasingly apparent to surgeons and to society at large. Such surgical techniques are minimally invasive, require less operating time, and reduce trauma and convalescence time required after surgery is completed. In general, noninvasive surgery using laparoscopic and endoscopic techniques will be used more and more frequently to reduce hospital and surgical costs.
In endoscopic and laparoscopic surgery, the surgeon is provided with visual information through optical fibers extending through the endoscope or laparoscope. Sometimes, the visual information is provided to the surgeon and other operating room personnel via video monitors which show images obtained by small video cameras (charge coupled devices) at the distal ends of the endoscopes or laparoscopes. Although this video information may be transmitted to other rooms in the hospital or other institutional clinical setting, the surgeon is always present in the operating room to manipulate the surgical instruments and thereby perform the surgical operation in response to the video images on a monitor.
The use of video images provides an opportunity for further reductions in the expense and time required for surgery. Objects of the Invention
Another, more particular, object of the present invention is to provide a method and apparatus which facili¬ tates the performance of operations by surgeons from all over the world.
An object of the present invention is to provide a method and apparatus which reduces costs of performing surgery such as endoscopic and laparoscopic and angioscopic surgery. Summary of the Invention
A surgical system comprises, in accordance with the present invention, a receiver at a surgical operating station for receiving actuator control signals via a telecommunica¬ tions link from a remote location beyond a range of direct
visual contact with a patient's body at the surgical operating station. A robot actuator mechanism is operatively connected to a surgical instrument at the surgical operating station and to the receiver for actuating the surgical instrument in response to the actuator control signals received by the receiver from the remote location, whereby the surgical instrument is operated to execute a surgical operation on the patient under the control of a surgeon at the remote location.
Pursuant to another feature of the present inven¬ tion, the surgical system further comprises (a) an imaging apparatus at the operating station for generating a video image of organic structure inside the patient and (b) a trans¬ mitter operatively connected to the imaging apparatus and the telecommunications link for transmitting, over the telecom¬ munications link to the remote location, a video signal encod¬ ing the video image, whereby a surgeon at the remote location can visualize the organic structure.
According to another feature of the present inven¬ tion, the imaging apparatus includes a fluoroscope. Moreover, the surgical system may further comprise means operatively connected to the instrument and the receiver for injecting a radiographic fluid into the patient via the instrument in response to a signal received by the receiver from the remote location.
Alternatively or supplementally, the imaging apparatus includes an electromagnetic imaging apparatus or a camera inserted into the patient.
Where the surgical system is used in endovascular or angioplastic surgery, the instrument takes the form of an angioplastic operating instrument including a flexible tubular member insertable into a blood vessel of patient and a device for removing a blockage in a blood vessel.
A surgical method, in accordance with the present invention, comprises the steps of (a) inserting an endoscopic instrument into a patient's body, (b) obtaining a video image of internal body tissues inside the patient's body via the endoscopic instrument, (c) transmitting, over a telecommunica¬ tions link, a video signal encoding the video image to a remote location beyond a range of direct visual contact with
the patient's body, (d) receiving actuator control signals from the remote location via the telecommunications link, (e) inserting a surgical instrument into the patient's body, and (f) automatically operating the surgical instrument in response to the received actuator control signals.
It is to be noted that the endoscopic instrument may take the form of a traditional flexible endoscope or a rigid laparoscope. In the latter case, as in all laparoscopic surgery, a body cavity of the patient is subject to pres¬ surized air to inflate the cavity and permit manipulation of instruments so that they can move around unimpeded inside the patient.
A system and method in accordance with the present invention enables operations to be performed by leading surgeons who are not present in the operating room. Such surgeons may reside at great distances from where the opera¬ tions are to be performed and may be unable to travel to reach the locations of the operations. Because travel time can virtually be eliminated, leading surgeons can perform a greater number of operations all over the globe.
Another surgical method in accordance with the pres¬ ent invention is used with an X-ray or fluoroscopic device and an angioplastic instrument including a tubular member and an operating tool for removing a blockage in the blood vessel. The method comprises the steps of (a) inserting the instrument into a blood vessel of a patient's body, (b) obtaining a video image of structure inside the blood vessel via the X-ray or fluoroscopic device, (c) transmitting, over a telecommunica¬ tions link, a video signal encoding the video image to a remote location beyond a range of direct visual contact with the patient's body, (d) receiving actuator control signals from the remote location via the telecommunications link, and (e) automatically actuating the operating tool in response to the received actuator control signals.
Pursuant to another feature of the present inven¬ tion, the operating tool includes a source for generating a laser beam and an optical fiber for guiding the laser beam from the source to a distal end of the instrument. Alterna¬ tively, the operating tool includes a blade at a distal end of
the instrument. As another alternative embodiment of the invention, the operating tool includes an expandable balloon at a distal end of the instrument and pressurized supply for inflating the balloon inside the vessel.
Pursuant to another feature of the present inven¬ tion, the step of obtaining the video image includes the step of injecting a radiographic fluid into the vessel via the instrument. Preferably, the step of injecting is performed in response to a signal received from the remote location via the telecommunications link.
Pursuant to another feature of the present inven¬ tion, additional control signals are received from the remote location via the telecommunications link for controlling an automatic shifting of the angioplastic operating instrument relative to the blood vessel.
The imaging device may take the form of a fluoro- scope or X-ray sensing apparatus.
Pursuant to a further feature of the present inven¬ tion, the system includes a dispenser device for injecting a radiographic fluid into the vessel via the instrument in response to a signal received by the receiver from the remote location.
Pursuant to yet a further feature of the present invention, a translation drive is operatively connected to the tubular member and to the receiver for automatically shifting the tubular member relative to the blood vessel in response to a signal received by the receiver from the remote location. Brief Description of the Drawing;
Fig. 1 is a diagram of a remotely controlled operat¬ ing system, in accordance with the present invention, for per¬ forming laparoscopic surgery
Fig. 2 is a diagram of another remotely controlled system, in accordance with the present invention, for perform¬ ing angioplastic surgery.
Fig. 3 is a diagram of a modified portion of the system of Fig. 2.
Fig. 4 is a diagram of a portion of the system of Fig. 2, modified in another way. Detailed Description
As illustrated in Fig. 1, a patient P undergoing laparoscopic surgery, for example, removal of a gall bladder GB, has an internal body cavity C pressurized with air to dis¬ tend the abdominal wall AW. The abdominal wall is pierced with a trocar (not shown) and a plurality of hollow tubes 12 and 14 are inserted through the abdominal wall to provide pas¬ sage for the operating instruments. One such instrument is an endoscopic type device, namely, a laparoscope 16 which includes an optical fiber (not illustrated) for delivering optical radiation OR from a light source or control component 18 to the surgical site. Another instrument takes the form of a forceps instrument 20 or other device for manipulating and/or severing internal body tissues such as gall bladder GW.
Forceps instrument 20 includes a pair of forceps jaws 21 whose position inside body cavity C is controlled by a computer 22 via a two-axis rotary drive 24 and a translatory drive 26. Rotary drive 24 is operatively connected to tube 14 for pivoting the tube at its point of penetration through abdominal wall about two axes of rotation. In response to signals from computer 22, translatory drive 26 slides forceps instrument 20 longitudinally through tube 14.
The orientation of forceps jaws 21 is controlled by computer 22 via a one- or two-axis rotary drive 28, while for¬ ceps jaws 21 are alternately opened and closed by an actuation mechanism 30 in response to control signals from computer 22.
The position of a distal tip of laparoscope 16 inside body cavity C is controlled by computer 22 via a two- axis rotary drive 32 mechanically linked to tube 14 and a translatory drive 34 operatively coupled with laparoscope 16. Translatory drive 34 varies the degree of insertion of laparo¬ scope 16 through tube 12, while rotary drive 32 swings tube 12 about two axes of rotation.
The intensity and/or the hue of optical radiation OR is controlled by computer 22 via light source or control com¬ ponent 18. In addition, in the event that laparoscope 16 is flexible, the curvature of the distal end portion of the laparoscope is modifiable by computer 22 via a bend control component 36.
Laparoscope 16 incorporates a charge coupled device
(not illustrated) for converting optical incoming optical radiation, reflected from internal body tissues inside cavity C, to a video signal. That video signal, encoding a video image, is transmitted from laparoscope 16 to a transmitter 38 and optionally to computer 22.
Transmitter 38 in turn transmits the video signal over a telecommunications link 40 to a remote receiver 42 which relays the video signal to another computer 44. Com¬ puter 44 uses the incoming video signal to display on a monitor 46 an image of the internal body tissues of patient P.
Connected to computer 44 are at least two sets of input devices 48 and 50 operated by a surgeon to remotely con¬ trol a surgical procedure. More specifically, input device 48 includes a joy stick 52 for controlling the operation of rotary drive 32, a slide switch 54 for controlling the opera¬ tion of translatory drive 34, another slide switch 56 for con¬ trolling light source or control component 18 to modify light intensity, and a dial or knob 58 for controlling bend control component 36 to change the angle of inclination of the distal end portion of laparoscope 16.
Input device 50 includes a joy stick 60 for con¬ trolling the operation of rotary drive 24, a dial or knob 62 for controlling rotary drive 28, a slide switch 64 for con¬ trolling translatory drive 26, and another slide switch 66 for controlling instrument actuator 30.
Signals from input devices 48 and 50 are encoded by computer 44 and sent to computer 22 via a transmitter 68, telecommunications link 40, and a receiver 70. Computer 22 then uses the incoming signals to provide control signals to the various drives and other components at the site of the surgery.
It is to be understood, of course, that surgeons and other personnel are present in the operating room at the time of surgery to oversee and supervise the proper operation of the equipment. These personnel may communicate with the remote surgeon via computers 22 and 44 and telecommunications link 40 and/or through other telecommunications linkages such as the telephone network. To facilitate local supervision, computer 22 is connected to a local monitor (not shown) for
displaying the video images garnished by laparoscope 16 and, for example, for displaying alphanumeric codes indicating the positions and operating statuses of the instruments, e.g., light source or control component 18 and forceps instrument 20. Such information may also be transmitted by computer 22 to computer 44 over transmitter 38, link 40 and receiver 42 and displayed on monitor 46. Other parameters regarding the condition of patient P, such as temperature, heart rate, oxygen consumption, brain wave activity, and blood sugar level, may also be automatically sensed, encoded and trans¬ mitted to remote computer 44 for providing the lead surgeon in real time with all information necessary for performing the surgery successfully.
As illustrated in Fig. 2, a tubular member 102 of an angioplastic operating instrument 104 is inserted into a blood vessel 106 of a patient. At a distal end, instrument 104 includes a rotary blade 108 operatively linked to a drive 110 via a transmission member 112. Rotary drive 110 is operated or energized under the control of a computer 114.
At its distal end, instrument 104 is further pro¬ vided with an opening 116 for injecting into vessel 106 a radiographic or radio-imaging fluid from a source 118. The injection operation is implemented by a pump 120 in response to actuating signals from computer 114.
Computer 114 controls the degree that tubular member 102 is inserted into vessel 106 by actuating a translatory drive 122 operative coupled to the tubular member.
The location of a blockage 124 inside vessel 106 is detectable via an electromagnetic imaging device 126 exemplarily taking the form of an X-ray detector 128 receiving X-rays from a source 130 via that part of the patient includ¬ ing vessel 106 and blockage 124. Blockage 124 is highlighted through the injection of the radio-imaging fluid from source 118. Alternatively, the radio-imaging fluid may be radioac¬ tive, electromagnetic imaging device 126 taking the form of a fluoroscope.
Upon the insertion of tubular member 102 into vessel 106, electrical signals encoding video images of structure inside vessel 106, such as blockage 124, are produced by a
signal generator 131 connected at an output of X-ray detector 128. The video signals are sent via a transmitter 132 and a telecommunications link 134 to a remote receiver 136 which relays the video signal to a computer 138. Computer 138 uses the incoming video signal to display on a monitor 140 an image of structure internal to vessel 106. Transmitter 132, telecommunications link 134 and receiver 136 are also used to transmit data from local computer 114 to remote computer 138. A keyboard 142 and an optional switchboard or con¬ sole 144 are connected to computer 138 for enabling a surgeon at a remote location to control the operation of instrument 104. More particularly, console 144 includes a toggle switch 146 for controlling the operation of rotary drive 110, a knob 148 for controlling the operation of pump 120, and a slide switch 150 for determining the distance that tubular member 102 is inserted in vessel 106. The remote surgeon manipulates switches 146 and 150 and knob 148 in response to video images on monitor 140. Those images are themselves changed by the surgeon by shifting tubular member 102 further along vessel 106 and by periodically injecting radio-imaging fluid into the vessel from source 118.
Fig. 3 illustrates a modification of the system of Fig. 2 wherein the surgical tool in a tubular angioplastic surgical member 102' takes the form of an optical fiber 152 for guiding a laser beam from a source 154 to an exit 156 at the distal end of the tubular member. Fig. 4 depicts an alternative modification wherein the blockage removal tool takes the form of an inflatable balloon or bladder 158 dis¬ posed at a distal end of an angioplastic surgical member 102". Bladder 158 is expanded by pressure released from a pres¬ surized gas source 160 by opening a valve 162 in response to signals from computer 114. Of course, computer 114 operates in response to signals from computer 138.
As discussed hereinabove with reference to Fig. 1, it is understood that surgeons and other personnel are present in the operating room at the time of surgery to oversee and supervise the proper operation of the equipment. These per¬ sonnel may communicate with the remote surgeon via computers 114 and 138 and transmitters 132 and 164, receivers 136 and
166, and telecommunications link 134 and/or through other telecommunications linkages such as the telephone network. To facilitate local supervision, computer 114 is connected to a local monitor 168 for displaying the video images obtained by electromagnetic imaging device 126 and, for example, for dis¬ playing alphanumeric codes indicating the positions and operating statuses of the instruments. Such information may also be transmitted by computer 114 to computer 138 over transmitter 132, link 134 and receiver 136 and displayed on monitor 140. Other parameters regarding the condition of patient P, such as temperature, heart rate, oxygen consump¬ tion, brain wave activity, and blood sugar level, may also be automatically sensed, encoded and transmitted to remote com¬ puter 138 for providing the lead surgeon in real time with all information necessary for performing the surgery successfully.
Although the invention has been described in terms of particular embodiments and applications, one of ordinary skill in the art, in light of this teaching, can generate additional embodiments and modifications without departing from the spirit of or exceeding the scope of the claimed invention. For example, other kinds of optically guided surgery may be performed from a remote location via the com¬ puter aided automation of the instant invention, Accordingly, it is to be understood that the drawings and descriptions herein are proferred by way of example to facilitate com¬ prehension of the invention and should not be construed to limit the scope thereof.
Claims
1. A surgical system comprising: receiver means at a surgical operating station for receiving actuator control signals via a telecommunications link from a remote location beyond a range of direct visual contact with a patient's body at the surgical operating sta¬ tion; a surgical instrument insertable into the patient's body; and robot actuator means operatively connected to said surgical instrument and said receiver means for actuating said surgical instrument in response to the actuator control sig¬ nals received by said receiver means from said remote loca¬ tion, whereby the surgical instrument is operated to execute a surgical operation on the patient under the control of a surgeon at said remote location.
2. The system defined in claim 1, further compris¬ ing: imaging means at said operating station for generat¬ ing a video image of organic structure inside the patient; and transmission means operatively connected to said imaging means and said telecommunications link for transmit¬ ting, over said telecommunications link to said remote loca¬ tion, a video signal encoding said video image, whereby a surgeon at said remote location can visualize said organic structure.
3. The system recited in claim 2 wherein said imag¬ ing means includes a fluoroscope.
4. The system recited in claim 2 , further comprising means operatively connected to said instrument and said receiver means for injecting a radiographic fluid into the patient via said instrument in response to a signal received by said receiver means from said remote location.
5. The system recited in claim 2 wherein said imag¬ ing means includes an electromagnetic imaging apparatus.
6. The system recited in claim 2 wherein said imag¬ ing means includes a camera inserted into the patient.
7. The system recited in claim 1 wherein said surgi¬ cal instrument is an angioplastic operating instrument includ¬ ing a flexible tubular member insertable into a blood vessel of patient, said instrument further including means for remov¬ ing a blockage in said blood vessel.
8. The system recited in claim 7, further comprising means operatively connected to said instrument and said receiver means for automatically shifting said tubular member relative to said blood vessel in response to a signal received by said receiver means from said remote location.
9. A surgical method, comprising the steps of: inserting an endoscopic instrument into a patient's body; obtaining a video image of internal body tissues inside said patient's body via said endoscopic instrument; transmitting, over a telecommunications link, a video signal encoding said video image to a remote location beyond a range of direct visual contact with said patient's body; receiving actuator control signals from said remote location via said telecommunications link; inserting a surgical instrument into the patient's body; and automatically operating said surgical instrument in response to the received actuator control signals.
10. The method recited in claim 9 wherein said endo¬ scopic instrument includes a laparoscope, further comprising the step of inflating a body cavity of the patient.
11. A surgical method, comprising the steps of: inserting a flexible tubular instrument into a blood vessel of a patient's body, said tubular instrument being pro- vided with operating means for removing a blockage in said blood vessel; obtaining a video image of structure inside said blood vessel; transmitting, over a telecommunications link, a video signal encoding said video image to a remote location beyond a range of direct visual contact with said patient's body; receiving actuator control signals from said remote location via said telecommunications link; and automatically actuating said operating means in response to the received actuator control signals.
12. The method recited in claim 11 wherein said operating means includes source means for generating a laser beam and an optical fiber for guiding said laser beam from said source means to a distal end of said instrument.
13. The method recited in claim 11 wherein said operating means includes a blade at a distal end of said instrumen .
14. The method recited in claim 11 wherein said operating means includes an expandable balloon at a distal end of said instrument and means for inflating said balloon inside said vessel.
15. The method recited in claim 11 wherein said step of obtaining includes the steps of injecting a radiographic fluid into said vessel via said instrument and generating an image via an X-ray or fluoroscopic device.
16. The method recited in claim 15 wherein said step of injecting is performed in response to a signal received from said remote location via said telecommunications link.
17. The method recited in claim 11, further compris¬ ing the steps of receiving additional control signals from said remote location via said telecommunications link and automatically shifting said instrument relative to said blood vessel in response to said additional control signals.
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US07/682,002 US5217453A (en) | 1991-03-18 | 1991-04-08 | Automated surgical system and apparatus |
US682,002 | 1991-04-08 |
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Also Published As
Publication number | Publication date |
---|---|
AU1675392A (en) | 1992-10-21 |
US5368015A (en) | 1994-11-29 |
US5217453A (en) | 1993-06-08 |
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