SURGICAL ROBOT

Abstract

A surgical robot system including: at least one slave manipulator for handling a surgical instrument within a body of a patient; and a control console, including: at least one master operating unit configured to be manually operated by an operating person to at least control the at least one slave manipulator; a display for displaying information; and at least one switch configured to: couple the at least one master operating unit with the at least one slave manipulator; decouple the at least one master operating unit from the at least one slave manipulator, and when the at least one master operating unit is decoupled from the at least one slave manipulator, couple the at least one master operating unit with the display.

Claims

1. A surgical robot system comprising: at least one slave manipulator for handling a surgical instrument within a body of a patient; a control console, comprising: at least one master operating unit configured to be manually operated by an operating person to at least control the at least one slave manipulator; a display for displaying information; and at least one switch configured to: couple the at least one master operating unit with the at least one slave manipulator; decouple the at least one master operating unit from the at least one slave manipulator, and when the at least one master operating unit is decoupled from the at least one slave manipulator, couple the at least one master operating unit with the display.

2. The surgical robot system according to claim 1, wherein, when the at least one master operating unit is coupled with the display, a display element on the display is activated by actuating the at least one master operating unit.

3. The surgical robot system according to claim 1, wherein the at least one switch is configured as one of a foot pedal or a button.

4. The surgical robot system according to claim 1, wherein the at least one switch is configured such that, at a first switching point, the at least one master operating unit is coupled with the at least one slave manipulator and the at least one master operating unit is decoupled from the display and at a second switching point, the at least one master operating unit is decoupled from the at least one slave manipulator and the at least one master operating unit is coupled with the display.

5. The surgical robot system according to claim 1, wherein, before the at least one switch is actuated, the at least one master operating unit is decoupled from the display and/or during or after actuation of the at least one switch, the at least one master operating unit is decoupled from the at least one manipulator.

6. The surgical robot system according to claim 1, wherein the decoupling and the coupling are one of executed at a same time or executed temporally one after another.

7. The surgical robot system according to claim 1, wherein the at least one switch comprises a gaze sensor, wherein the gaze sensor is configured to couple the at least one master operating unit with the display when the gaze sensor detects that a gaze of the operating person is oriented toward the display.

8. The surgical robot system according to claim 1, wherein the at least one switch comprises a speech recognition device, wherein the speech recognition device is configured to couple the at least one master operating unit with the display when the speech recognition device detects a speech utterance of the operating person.

9. The surgical robot system according to claim 8, wherein the speech utterance is a predetermined speech command.

10. The surgical robot system according to claim 1, wherein the at least one switch comprises an electromyography receiver for receiving electromyography signals of the operating person, wherein the electromyography receiver is configured to couple the at least one master operating unit with the display when the electromyography receiver detects electromyography signals of the operating person.

11. The surgical robot system according to claim 1, at least one switch comprises an electroencephalography receiver for receiving electroencephalography signals of the operating person, wherein the electroencephalography receiver is configured to couple the at least one master operating unit with the display when the electroencephalography receiver detects encephalography signals of the operating person.

12. The surgical robot system according to claim 1, wherein the display is configured as one of an operating panel or as an external, screen of a video panel.

13. The surgical robot system according to claim 2, wherein: the at least one master operating unit comprises a manually actuatable operating element for the display, and the manually actuatable operating element is configured to execute or enable a control of a portion of the at least one slave manipulator when the at least one master operating unit is coupled with the at least one slave manipulator and to execute or enable a control of a portion of the display when the at least one master operating unit is coupled with the display.

14. The surgical robot system according to claim 13, wherein the manually actuatable operating element is configured as one of a button or ball.

15. A method for operating a surgical robot system, the method comprising: coupling at least one master operating unit with the least one slave manipulator; decoupling the at least one master operating unit from the at least one slave manipulator, and when the at least one master operating unit is decoupled from the at least one slave manipulator, coupling the at least one master operating unit with a display.

16. The method according to claim 15, wherein, further comprising, when the at least one master operating unit is coupled with the display, activating a display element on the display by actuating the at least one master operating unit.

17. A control apparatus for controlling surgical robot system, the control apparatus comprising: a controller comprising hardware, the controller being configured to: couple at least one master operating unit with at least one slave manipulator; decouple the at least one master operating unit from the at least one slave manipulator; and when the at least one master operating unit is decoupled from the at least one slave manipulator, couple the at least one master operating unit with a display.

18. The surgical robot system according to claim 1, wherein, wherein, the controller is further configured to, when the at least one master operating unit is coupled with the display, activate a display element on the display by actuating the at least one master operating unit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Further features of the embodiments will become evident from the description of embodiments, together with the claims and the appended drawings. Embodiments can fulfill individual features or a combination of several features.

[0035] The embodiments are described below, without restricting the general idea of the invention, based on exemplary embodiments in reference to the drawings, whereby we expressly refer to the drawings with regard to the disclosure of all details that are not explained in greater detail in the text. In the figures:

[0036] FIG. 1 schematically illustrates a surgical robot system in a simplified diagram, and

[0037] FIG. 2 schematically illustrates a diagram of a surgical robot system according to another embodiment.

[0038] In the drawings, the same or similar elements and/or parts are, in each case, provided with the same reference numerals such that they are not introduced again in each case.

DETAILED DESCRIPTION

[0039] FIG. 1 schematically shows an embodiment of a surgical robot system 1. The surgical robot system 1 has two manipulators (slave devices) 11, 12 for examining and/or treating a person on a table 15, wherein the manipulators 11, 12 can be configured as multi-jointed robot arms.

[0040] The manipulators 11, 12 have exchangeable medical instruments 111, 112 on their free ends to examine or operate on persons accordingly. For example, one of the medical instruments 111, 112 can be configured as an endoscope.

[0041] The table 15 is provided for the examination of a person so that the person lies on the table 15, for example, for a medical examination of a person. The manipulators 11, 12 can be moved relative to the table 15 with their end-side medical instruments 111 or respectively 112.

[0042] Furthermore, the surgical robot system 1 has an operating console 20 with two operating units (master devices) 21, 22 that are manually operable by an operating person. The operating units 21, 22 are connected to a control unit 30 (a controller comprising hardware or a combination of software and hardware) so that, when the operating unit 21 is actuated via the control unit 30, the manipulator 11 connected to the control unit 30 is moved when the operating unit 22 is coupled with the manipulator 12. Furthermore, the second operating unit 21 is connected to the control unit 30 so that, when the operating unit 22 is manually actuated, the manipulator 12 connected to the control unit 30 is actuated when the operating unit 22 is coupled with the manipulator 12.

[0043] For example, the operating units 21, 22 are freely movable in all three dimensions so that the manipulators 11, 12 are correspondingly controlled by, for example, an advancement or by a change in angle of the operating units 21, 22.

[0044] In addition, the operating console 20 has an operating panel 24 (display), wherein the operating panel 24 has a display field on which a variety of graphical information is displayed, for example in the form of a menu, to display or respectively select corresponding operating modes or the like.

[0045] Furthermore, in the exemplary embodiment shown in FIG. 1, a foot button 26 is provided in the region of the operating console 20 and is connected to the control unit 30. When the foot button 26 is actuated, the operating units 21, 22 are each coupled with the manipulators 11, 12 accordingly. In the case of an interruption of the medical examination, the foot button 26, for example, is actuated again by an operating person so that the operating units 21, 22 are decoupled from the manipulators 11, 12 so that, when the operating units 21, 22 are actuated in the decoupled mode, the manipulators 11, 12 are not moved.

[0046] The control unit 30 is furthermore connected to a monitor 32 (display) in order to, for example, display the images taken by an endoscope of an examination or operating field for the operating person or the medical personnel.

[0047] In addition, the surgical robot system 1 can also be configured with a video processor (comprising hardware or a combination of software and hardware), a light source, an insufflator, a high-frequency surgery device, and/or an ultrasonic surgery device. Furthermore, the surgical system can also be configured with operation lights for illuminating an external operation field, a control for the table 15.

[0048] In addition, the surgical robot system 1 can also be configured with a video recorder and/or a video distributor for multiple display screens.

[0049] To display and to modify the settings of the surgical robot system, the operating panel 24 is provided, which is embodied, for example, as a touchscreen. In order to change the settings of the surgical robot system, it is possible to control or respectively move a cursor on the surface of the operating panel 24 via another (external) input device, such as, for example, a computer mouse or via a touch pen.

[0050] According to this embodiment, it is possible that the operating units 21, 22 are coupled with the operating panel 24 by the actuation of the foot button 26 after a decoupling of the operating units 21, 22 for the manipulators 11, 12, so that, when the decoupling of the operating units 21, 22 from the manipulators 11, 12 takes place and when the coupling of the operating units 21, 22 with the operating panel 24 takes place, for example, by the movement of one of the operating units 21, 22, the cursor or a display element is moved on the operating panel 24.

[0051] For example, after the operating units 21, 22 have been decoupled from the manipulators 11, 12 by pressing the foot button 26, one of the operating units 21, 22 can be coupled with the display element, such as, for example, a cursor, on the operating panel 24 when an operating element on one of the operating units 21, 22 is actuated. As a result, it is no longer necessary that, for example, an operating person must manually actuate an external input device, such as, for example, a computer mouse, since now the operating person can actuate the display element on the operating panel 24, for example, via one of the operating units 21, 22. In addition, addi-tional operating elements of the operating units 21, 22 can also be coupled with the control of the operating panel 24 such that it is possible, for example, to select specific operating menus.

[0052] For example, the operating units 21, 22 have manually actuatable buttons or sliders or other manually actuatable operating elements in order to control the corresponding graphical display elements or menus when the operating units 21, 22 are coupled with the control for the operating panel 24.

[0053] In another embodiment, it can be provided that the foot button 26 is configured such that, in a first operating mode, the foot button 26 couples the operating units 21, 22 with the manipulators 11, 12 at a first pressure point, wherein, at a second pressure point of the foot button 26, the operating units 21, 22 are decoupled from the manipulators 11, 12 and at the same time the operating units 21, 22 are coupled with the control for the operating panel 24. When the foot button 26 is actuated, the operating units 21, 22 are hereby alternatingly coupled with the manipulators 11, 12 or with the operating panel 24.

[0054] In another embodiment, it can be provided that, for the coupling of the operating units 21, 22 with the operating panel 24 or respectively the control of the operating panel 24, a sensor device is provided which is configured to detect the gaze of an operating person toward the operating panel 24 in order to couple the operating units 21, 22 with the operating panel 24 or respectively its control when the operating units 21, 22 are decoupled from the manipulators 11, 12 and when a gaze detected by the sensor device is directed at the operating panel 24.

[0055] In addition, it can be provided that in another embodiment that, after a decoupling between the operating units 21, 22 and the manipulators 11, 12 has taken place, a speech command is detected by a microphone or the like so that, after a corresponding speech command has been detected, the operating units 21, 22 are coupled with the control of the operating panel 24.

[0056] Alternatively, in other embodiments, sensor devices for detecting and evaluating electromyogram signals or electroencephalogram signals of an operating person on the control console 20 control a coupling of the operating units 21, 22 with the control of the operating panel 24.

[0057] If one of the operating units 21, 22 is coupled with the control of the operating panel 24, it is possible that an indicator element is visible on the visible field of the operating panel 24, which can be controlled, i.e., positioned on the display field, via an operating element of the operating unit. The indicator element can be embodied, for example, as a pointer, such as, for example, a mouse pointer or the like. Alternatively, the indicator element can be configured as a graphical marking. Depending on the movement of the operating unit or respectively of an operating element of the operating unit, an icon or a tile, for example, on the surface of the operating panel 24 is emphasized.

[0058] In addition, a program, the icon of which is displayed on the display field of the operating panel, can be selected by actuating the operating units or respectively one of the operating elements of the operating unit, such as, for example, a button.

[0059] General functions and settings of the devices, such as, for example, a camera control unit, light source, HF generator, ultrasonic generator, insufflator, video recorder, video router, operation illumination, control of the operating table, etc. used in combination with the surgical robot system 1 can be controlled via the operating panel 24.

[0060] It is also possible in another embodiment that, after the operating units 21, 22 have been decoupled from the manipulators 11, 12, the operating units 21, 22 are connected to the monitor 32 or respectively the control of the monitor 32 (in-stead of to the control for the operating panel 24). Accordingly, the interactions described above with the operating panel 24 by the operating units 21, 22 can also be executed for the interactions with the monitor 32. For example, after at least one of the operating units 21, 22 is coupled with the monitor 32, one or more functions or programs or the like can be selected and/or controlled via a menu on the display of the monitor 32.

[0061] Visual diagrams of a detected operation or examination area can be displayed on the monitor 32. For example, after one or more image processing functions or the like are activated, it is possible to emphasize image processing of mark-ings, such as, for example, landmarks or pathologies or the like. In doing so, it is possible to activate and/or deactivate the display of information and to control the amount of displayed information which is based on one or more functions that are provided using image, device, or instrument information.

[0062] In addition, it is possible to graphically emphasize selected or specific points of images on the monitor 32, for example, by plotting points or lines, by actuating the operating units 21, 22 coupled with the monitor 32 and, if applicable, by actuating operating elements of the operating units 21, 22. In addition, it is also possible to determine an evaluation using the plotted points or lines, for example, by de-termining geometric dimensions such as length or surface areas.

[0063] Furthermore, it is possible in one embodiment to overlay image data, such as, for example, pre-operative image data in the form of sectional images or 3D models, on the monitor 32 and to control them by the operating units 21, 22 coupled with the monitor 32. Here, for example, corresponding data sets or image planes and displayed model elements as well as the rotation or enlargement or the position and the transparency with which the image data are overlaid into the image can be checked by actuating the operating units or operating elements of the operating units 21, 22.

[0064] It is also possible in one embodiment that the surgical robot system 1 is used using a surgical navigation system, wherein the displayed pre-operative image data can be selected by coupling the operating elements of the operating units 21, 22 with the monitor 32, configured as a video panel, or alternatively with an operating panel of the surgical navigation system. In this case, the selection of a corresponding data set, the displayed model elements, and the position or the transparency with which the image data are overlaid into the image can be checked, by the operating units 21, 22. In addition, it is also possible, using the operating units 21, 22, to plot or select reference points on a pre-operative model as well as a video image displayed on the monitor 32.

[0065] FIG. 2 schematically shows another exemplary embodiment of a surgical robot system 1, wherein, in contrast to the exemplary embodiment shown in FIG. 1, another foot button 27 is provided for coupling the operating units 21, 22 to the operating panel 24, after the manipulators 11, 12 are decoupled, in the region of the operating console 20 in addition to the foot button 26 for coupling/decoupling the operating units 21, 22 with/from the manipulators 11, 12.

[0066] While there has been shown and described what is considered to be embodiments of the invention, it will, of course, be understood that various modifications and changes in form or detail could readily be made without departing from the spirit of the invention. It is therefore intended that the invention be not limited to the exact forms described and illustrated, but should be constructed to cover all modifications that may fall within the scope of the appended claims.

LIST OF REFERENCE NUMBERS

[0067] 1 Surgical robot [0068] 11 Manipulator [0069] 12 Manipulator [0070] 15 Table [0071] 20 Operating console [0072] 21 Operating unit [0073] 22 Operating unit [0074] 24 Operating panel [0075] 26 Foot button [0076] 27 Foot button [0077] 30 Control unit [0078] 32 Monitor [0079] 111 Medical instrument [0080] 112 Medical instrument