# US 12,599,448 B2 · Operation enabling control system and robot-assisted surgical device having the system

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- Number: US 12,599,448 B2
- Document ID: US12599448B2
- Status: Granted
- Kind: B2
- Application number: 17/417,824
- Filed: 2019-12-27
- Published: 2022-02-24
- Granted: 2026-04-14
- Earliest claimed: 2018-12-27
- Assignees: Beijing Surgerii Robotics Company Limited
- Applicants: Beijing Surgerii Robotics Company Limited
- Inventors: Kai Xu; Aolin Tang
- Web page: https://patentgrep.com/patent/US12599448B2

## CPC

- A61B 34/35: for telesurgery
- G05B 19/0426: {Programming the control sequence}
- A61B 34/25: {User interfaces for surgical systems}
- A61B 34/32: operating autonomously
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/74: {Manipulators with manual electric input means}
- G16H 40/63: for local operation
- H03K 19/20: characterised by logic function, e.g. AND, OR, NOR, NOT circuits (H03K19/003 - H03K19/01 take precedence)
- A61B 2017/00123: {and automatic shutdown}
- A61B 2017/00199: {with a console, e.g. a control panel with a display}
- A61B 2017/00212: {using remote controls}
- G05B 2219/45117: Medical, radio surgery manipulator
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- H03K: PULSE TECHNIQUE (measuring pulse characteristics G01R; modulating sinusoidal oscillations with pulses H03C; transmission of digital information H04L; discriminator circuits detecting phase difference between two signals by counting or integrating cycles of oscillation H03D3/04; automatic control, starting, synchronisation or stabilisation of generators of electronic oscillations or pulses where the type of generator is irrelevant or unspecified H03L; coding, decoding or code conversion, in general H03M)

## Abstract

An operation enabling control system and a robot-assisted surgical device having the operation enabling control system are disclosed. The operation enabling control system includes a switch element and a logic AND circuit. A first terminal of the switch element is connected with a power supply. A second terminal of the switch element is connected with an automated driving system of a robot-assisted surgical system. The logic AND circuit comprises a first input terminal and a second input terminal. The first input terminal is configured to receive a sensor status of the robot-assisted surgical system. The second input terminal is configured to receive a control signal. An output terminal of the logic AND circuit is connected with a control terminal of the switch element.

## Claims

### Claim 1

A robot-assisted surgical device, comprising:
a console, wherein the console comprises a sensor system configured to detect whether an operator is ready for conducting an operation; and
an automated surgical device, comprising:
a surgical device power supply unit;
a surgical control unit;
an operation enabling control system; and
an automated driving system,
wherein:
the operation enabling control system is arranged between the surgical device power supply unit and the automated driving system;
the operation enabling control system comprises a control device, a switch element and a logical AND circuit;
the switch element comprises a first terminal connected with the surgical device power supply unit;
the switch element comprises a second terminal connected with the automated driving system;
the control device comprises an input terminal connected with the surgical control unit to receive an operation instruction that corresponds to an operation by an operator, and the control device is configured to generate a control signal based on the operation instruction;
the control device comprises an output terminal configured to output the control signal;
the logic AND circuit comprises a first input terminal configured to receive a sensor status from the sensor system, wherein the sensor status is used to indicate whether the operator is ready to operate;
the logic AND circuit comprises a second input terminal connected with the output terminal of the control device to receive the control signal; and
the logic AND circuit comprises an output terminal connected with a control terminal of the switch element.

### Claim 2 (depends on 1)

The robot-assisted surgery device according to claim 1, wherein the first input terminal of the logical AND circuit is connected with one or more sensors of the sensor system.

### Claim 3 (depends on 1)

The robot-assisted surgery device according to claim 1, wherein the console further comprises a second logical AND circuit comprising:
an input terminal connected with one or more sensors of the sensor system; and
an output terminal connected with the first input terminal of the logic AND circuit.

### Claim 4 (depends on 1)

The robot-assisted surgical device according to claim 1, further comprising:
a feedback circuit connected between the switch element and the control device, the feedback circuit being configured to detect whether the switch element provides a supply voltage to the automated driving system.

### Claim 5 (depends on 1)

The robot-assisted surgical device according to claim 1, wherein the console further comprises:
a console power supply unit, a switch, a button, a manipulator, a console control unit, a display, a microphone, and a speaker,
wherein:
the console power supply unit is connected with an external power supply network;
the console control unit comprises input terminals connected with one or more sensors of the sensor system; and
the switch, the button, the manipulator, the microphone, and an output terminal of the console control unit are respectively connected with the corresponding display and speaker to assist the operator to interact with the console.

### Claim 6 (depends on 5)

The robot-assisted surgical device according to claim 5, wherein the automated surgical device further comprises:
a switch, a button, a display, a microphone, a speaker, and a corresponding surgical tool,
wherein:
the surgical control unit is connected bidirectionally with the console control unit, the control device, and the automated driving system to perform interactive communication;
the surgical control unit is configured to control a corresponding electrical driven motion through the automated driving system to drive the corresponding surgical tool to move;
the surgical control unit comprises input terminals connected with the corresponding switch, button, and microphone of the automated surgical device; and
the surgical control unit comprises an output terminal connected with the corresponding display and speaker of the automated surgical device to assist the operator to interact with the automated driving system.

### Claim 7

An operation enabling control system, comprising:
a control device comprising an input terminal and an output terminal;
a switch element comprising a control terminal, a first terminal, and a second terminal; and
a logic AND circuit comprising a first input terminal, a second input terminal, and an output terminal;
wherein:
the first terminal of the switch element is connected with a power supply;
the second terminal of the switch element is connected with an automated driving system of a robot-assisted surgical system;
the input terminal of the control device is connected with the robot-assisted surgical system to receive an operation instruction that corresponds to an operation by an operator, and the control device is configured to generate a control signal based on the operation instruction;
the first input terminal of the logic AND circuit is configured to receive a sensor status of the robot-assisted surgical system, wherein the sensor status is used to indicate whether the operator is ready to operate;
the second input terminal of the logic AND circuit is connected with the output terminal of the control device to receive the control signal; and
the output terminal of the logic AND circuit is connected with the control terminal of the switch element.

### Claim 8 (depends on 7)

The operation enabling control system according to claim 7, further comprising:
a feedback circuit connected between the switch element and the control device, the feedback circuit being configured to detect whether the switch element provides a supply voltage to the automated driving system.

### Claim 9 (depends on 8)

The operation enabling control system according to claim 8, wherein the feedback circuit comprises a level detection circuit.