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US 11,886,772 B2Granted
Vocally actuated surgical control system
AssigneeAsensus Surgical Europe S.à.R.L.
InventorsGal Atarot, Motti Frimer, Tal Nir, Lior Alpert
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Abstract
A method and system for controlling at least one robotically controlled surgical tool via vocal activation include detecting a vocal command generated by a surgeon, converting said at least one surgeon in said surgical setting via said voice sensor. The vocal command is converted to operative instructions associated with a robotically controlled surgical tool to generate instructions according to a predetermined set of rules including at least one of a no fly zone rule and collision prevention rule.
Claims12
A vocally activated control system for controlling at least one robotically controlled surgical tool, said vocally activated control system comprises:
- at least one apparatus operable to spatially reposition a surgical tool, said apparatus comprising the surgical tool or a robotic arm having the surgical tool thereon;
- a voice sensor configured to detect at least one vocal command generated by at least one surgeon in said surgical setting;
- a signal transmitter operatively connected to said voice sensor, said transmitter is configured to convert said at least one vocal command into at least one transmittable vocal signal and transmit said at least one transmittable vocal signal;
- a processor operatively connected to said signal transmitter configured to receive said at least one transmittable vocal signal, said processor is configured to convert said at least one transmittable vocal signal to at least one predetermined set of operative instructions associated with at said least one apparatus, said at least one predetermined set of operative instructions comprising at least one instruction;
- and
- at least one controller operatively connected to said processor and said at least one apparatus;
- said at least one controller is configured to receive said predetermined set of operative instructions and to cause said at least one apparatus to operate accordingly;
- wherein said conversion of said transmittable vocal signal to said at least one predetermined set of operative instructions is performed to generate instructions according to a set of rules comprising a collision prevention rule and a no fly zone rule,
- said collision prevention rule configured to define a predetermined distance between said at least one surgical tool and an anatomical element within said surgical environment;
- said allowed movement is a movement which is in a range that is larger than said predetermined distance, and said restricted movement is a movement which is in a range that is smaller than said predetermined distance;
- said anatomical element being selected from a group consisting of tissue, organ, another surgical tool and any combination thereof;
- said no fly zone rule comprises a communicable database comprising n 3D spatial positions;
- n is an integer greater than or equal to 2;
- said n 3D spatial positions define a predetermined volume within said surgical environment;
- said no fly zone rule is configured to determine said restricted movement if said movement is within said no fly zone and allowed movement if said movement is outside said no fly zone, such that said restricted movement is a movement in which said at least one of said surgical tool is located substantially in at least one of said n 3D spatial positions, and said allowed movement is a movement in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions.
12 more elements
A method of controlling at least one robotically controlled surgical tool via vocal activation, said method comprises steps of:
- a. providing a vocally activated control system comprising:
- i. a voice sensor configured to detect at least one vocal command generated by at least one surgeon in said surgical setting;
- ii. a signal transmitter operatively connected to said voice sensor, said transmitter is configured to convert said at least one vocal command into at least one transmittable vocal signal and transmit said at least one transmittable vocal signal;
- iii. a processor operatively connected to said signal transmitter configured to receive said at least one digital transmittable vocal signal, said processor is configured to convert said at least one transmittable vocal signal to at least one predetermined set of operative instructions associated with said at least one apparatus, said at least one predetermined set of operative instructions comprising at least one instruction;
- and,
- iv. at least one controller operatively connected to said processor and said at least one apparatus;
- said at least one controller is configured to receive said predetermined set of operative instructions and to cause said at least one apparatus to operate accordingly;
- b. detecting said at least one vocal command generated by said at least one surgeon in said surgical setting via said voice sensor;
- c. converting said at least one vocal command into a transmittable vocal signal via said signal transmitter;
- d. transmitting said transmittable vocal signal using said signal transmitter;
- e. receiving said transmittable vocal signal through said processor operatively connected to said transmitter;
- f. converting said transmittable vocal signal to said at least one predetermined set of operative instructions associated with said at least one robotically controlled surgical tool via said processor, to generate instructions according to a predetermined set of rules, said at least one predetermined set of rules comprising at least one rule selected from a group consisting of:
- no fly zone rule, and collision prevention rule, allowed movement being movements of said surgical tool permitted by said controller and said restricted movement being movements of said surgical tool denied by said controller according to said predetermined set of rules;
- g. receiving said predetermined set of instructions by said at least one controller operatively connected to said processor and said at least one apparatus;
- h. operating said at least one robotically controlled surgical tool according to said predetermined set of instructions using said at least one control mean.
12 more elements
Dependencies are inferred from the claim text.