Multi-functional surgical control system and switching interface

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DESCRIPTION

Multifunction surgical control system and switching interface.

Background of the invention

1. - Field of the invention

The present invention relates generally to control systems. More particularly, the present invention relates to an interface that allows multiple surgical devices to be controlled from an input device, such as a foot pedal.

two. - Description of related art

Many surgical procedures are carried out with multiple instruments. For example, some laparoscopic procedures are performed using a robotic arm system produced by Computer Motion, Inc. of Goleta, California, to hold and move an endoscope. The surgeon can also use a laser to cut tissue and an electrocautery device to cauterize the tissue. Each instrument has a unique control panel or pedal to operate the device. The surgeon must therefore depress one pedal to move the robotic arm and endoscope, depress a different pedal to actuate the electrocautery device, and manipulate yet another input device to activate the laser. Managing multiple input devices can distract the surgeon, thus reducing the efficiency and safety of performing the procedure. Therefore, it would be desirable to provide an interface that allows the surgeon to select and control multiple surgical devices from a single input device. Additionally, it is also desirable to provide an interface that allows the surgeon to mutually select and control multiple surgical devices from one input device.

An example of a control system for a prior art foot operated multifunction device is described in US Patent No. US-A5422,521 (Neer, et al.) That describes a foot-operated input device. A pedal operated by an operator's foot to generate select and actuation signals to control a multifunction device.

Summary of the invention

The present invention provides an interface that couples an input device to a first surgical apparatus and a second surgical apparatus, substantially in the manner described hereinafter and set forth in the appended claims.

The interface allows a surgeon to manage multiple surgical devices from a single input device. The input device can be a foot pedal that provides output signals to actuate a number of different surgical devices. Surgical devices can include a robotic arm system, a laser, an electrocautery device, or an operating table. The interface has an input channel that is coupled to the input device and a plurality of output channels that are coupled to the surgical devices. The interface also has a selection channel that can receive input commands and correspondingly switch the input channel between one of the output channels. The selection channel can be coupled to a voice interface that allows the surgeon2 not to select one of the surgical devices with a voice command. The surgeon can then operate a specific device after providing an input or toggle command that switches the input channel to the desired output channel and thus connects the input device to the desired surgical device.

Brief description of the drawings

The objects and advantages of the present invention will be readily apparent to those skilled in the art upon review of the following detailed description and accompanying drawings, in which:

Figure 1 shows a schematic view of a control system and an interface according to the present invention.

Detailed description of the invention

Referring to the drawings, more specifically by reference numerals, Figure 1 shows a surgical system 10 in accordance with the present invention. System 10 allows a surgeon to operate several different surgical devices 12, 14, 16, and 18 from a single input device 20. Providing a single input device reduces the complexity of handling the various devices and improves the efficiency of a surgical procedure performed by a surgeon.

Surgical device 12 can be a robotic arm that can hold and move a surgical instrument. Arm 12 may be a device such as that sold by Computer Motion, Inc. of Goleta, California, under the trademark AESOP. Arm 12 is commonly used to hold and move an endoscope within a patient. The system of the present invention allows the surgeon to control the handling of the robotic arm 12 through the input device 20.

Surgical device 14 may be an electrocautery device. Electrocautery devices typically have a bipolar tip that carries a current that heats and denatures tissue. The device is typically coupled to an on / off switch to operate the device and heat the tissue. The electrocautery device can also receive control signals to vary its power output. The system 10 of the present invention allows the surgeon to control the handling of the electrocautery device through the input device 20.

Surgical device 16 can be a laser. Laser 16 can be operated through an on / off switch. Additionally, the power of laser 16 can be controlled by control signals. The system 10 of the present invention allows the surgeon to control the handling of the laser 16 through the input device 20.

Device 18 can be an operating table. The operating table 18 may contain motors and mechanisms that adjust the position of the table. The present invention allows the surgeon to control the position of table 18 through input device 20. Although four surgical devices 12, 14, 16, and 18 are described, it is understood that other functions in the operating room may be controlled through input device 20. By way of example, system 10 may allow the surgeon to control the lighting and temperature of the operating room through input device 20.

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The input device 20 may be a pedal having a plurality of buttons 22, 24, 26, 28, and 30 that can be depressed by the surgeon. Each button is normally associated with a specific control command of a surgical device. For example, when input device 20 is controlling robotic arm 12, pressing button 22 can move the arm in one direction and pressing button 26 can move the arm in an opposite direction. Similarly, when electrocautery device 14 or laser 16 is coupled to input device 20, pressing button 30 can activate the devices, and so on. Although a pedal is shown and described, it should be understood that the input device 20 may be a hand controller, a voice interface that accepts voice commands from the surgeon, a cantilevered pedal, or other input devices that may be well known in the art. Surgical device control technique.

System 10 has a switch interface 40 that couples input device 20 to surgical devices 12, 14, 16, and 18. Interface 40 has an input channel 42 that is connected to input device 20 via bus 44. Interface 40 also has a plurality of output channels 46, 48, 50, and 52 that are coupled to surgical devices via buses 54, 56, 58, 60, 94, 96, 98 and that may have adapters or controllers arranged in electrical communication with them and with each other. Such adapters and drivers will be discussed in more detail hereinafter.

Since each device 12, 14, 16, 18 may require specifically configured control signals for proper handling, intermediate adapters 90, 92 or a controller 88 can be placed in electrical communication with a specific output channel and a specific surgical device. In the case of the robot arm system 12, no adapter is necessary, and as such, the robot arm system 13 can be directly connected to a specific outlet channel. Interface 40 couples input channel 42 to one of output channels 46, 48, 50, and 52.

Interface 40 has a select channel 62 that can switch input channel 42 to a different output channel 46, 48, 50, or 52 so that input device 20 can control any of the surgical devices. The interface 40 can be a multiplexer circuit constructed as an integrated circuit and placed on a CIAE. Alternatively, interface 40 may be a plurality of solenoid-actuated relays coupled to the select channel via logic circuitry. Interface 40 switches to a specific output channel in response to an input signal or a switch signal on select channel 62.

As depicted in FIG. 1, there may be multiple inputs to select channel 62. Such inputs come from pedal 20, voice interface 70, and CPU 72. Interface 40 may have a multiplexing unit such that only a single switching signal can be received on select channel 62 at any one time, thus ensuring that there are no substantial hardware conflicts. Prioritizing the input devices can be configured so that the pedal has the highest priority, followed by the voice interface and the CPU. This is intended as an example as the prioritization scheme can be used to ensure the most efficient system. As such, other priority ordering schemes may be employed. Select channel 62 may sequentially connect the input channel to one of the output channels each time a switch signal is provided to select channel 62. Alternatively, select channel 62 may be addressable such that interface 40 connects the input channel to a specific output channel when selecting channel 62 is provided with an address. Such addressing is known in the electrical switch art.

Select channel 62 can be connected via line 64 to a dedicated button 66 on pedal 20. The surgeon can switch surgical devices by pressing button 66. Alternatively, select channel 62 can be coupled via line 68 to interface 70 of voice that allows the surgeon to switch surgical devices with voice commands.

System 10 may have a central processing unit (CPU) 72 that receives input signals from input device 20 through interface 40 and bus 55. CPU 72 receives input signals, and can guarantee that they are not enter erroneous commands in the controller. If this happens, the CPU 72 can respond accordingly, either by sending a different switch signal to select channel 62 or by alerting the surgeon through a video monitor or speaker.

CPU 72 may also provide output commands for select channel 62 on a bus 76 and receive input commands from voice interface 70 on the same bidirectional bus 76. CPU 72 can be coupled to monitor 80 and / or speaker 82 via buses 84 and 86, respectively. Monitor 80 can provide a visual indication of which surgical device is coupled to input device 20. The monitor may also provide a menu of commands that can be selected by the surgeon either through voice interface 70 or button 66. Alternatively, the surgeon could toggle to a surgical device by selecting an command through a graphical interface of Username. Monitor 80 may also provide information on inappropriate control signals sent to a specific surgical device 12, 14, 16, 18 and recognized by CPU 72. Each device 12, 14, 16, 18 has a specific suitable operating range that is well known to one of ordinary skill in the art. As such, CPU 72 can be programmed to recognize when the required operation of input device 20 is inappropriate and will then alert the surgeon either visually via monitor 80 or acoustically via speaker 82. Speaker 82 may also provide an acoustic indication of which surgical device is coupled to input device 20.

System 10 may include a controller 88 that receives input signals from input device 20 and provides corresponding output signals to control operating table 18. Similarly, the system may have adapters 90 and 92 that provide an interface between the input device 20 and the specific surgical instruments connected to the system.

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During operation, interface 40 initially couples input device 20 to one of the surgical devices. The surgeon can control a different surgical device by generating an input command that is provided to the selection channel 62. The input command switches interface 40 so that input device 20 is coupled to a different output channel and its corresponding surgical device or adapter. What is thus provided is an interface 40 that allows the surgeon to select, operate and control a plurality of different surgical devices through a common input device 20.

Although certain exemplary embodiments have been described and shown in the accompanying drawings, it should be understood that such embodiments are merely illustrative and not restrictive of the general invention, and that this invention is not limited to the specific constructions and arrangements shown and described, as various other modifications may occur to those skilled in the art.