US 12,102,403 B2
Robotic surgical systems with user engagement monitoring
William J. Peine, Ashland, MA (US); Steven J. Levine, Framingham, MA (US); Albert Dvornik, Somerville, MA (US); Mantena V. Raju, Medford, MA (US); and Chen Chen, Malden, MA (US)
Assigned to Coviden LP, Mansfield, MA (US)
Appl. No. 17/777,761
Filed by Covidien LP, Mansfield, MA (US)
PCT Filed Dec. 17, 2019, PCT No. PCT/US2019/006735
§ 371(c)(1), (2) Date May 18, 2022,
PCT Pub. No. WO2021/126163, PCT Pub. Date Jun. 24, 2021.
Application 17/777,761 is a continuation in part of application No. 16/966,666, previously published as PCT/US2019/016241, filed on Feb. 1, 2019.
Claims priority of provisional application 62/625,714, filed on Feb. 2, 2018.
Prior Publication US 2023/0010350 A1, Jan. 12, 2023
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); G06F 3/01 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 34/74 (2016.02); A61B 90/06 (2016.02); A61B 2034/2046 (2016.02); A61B 2034/305 (2016.02); G06F 3/013 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robotic surgical system with user engagement monitoring, comprising:
a robot assembly including a robotic arm coupled to a surgical instrument;
a surgeon console including:
a handle assembly communicatively coupled to at least one of the robot assembly, the robotic arm, or the surgical instrument, the handle assembly including a body portion having a proximal end portion and a distal end portion, the body portion including a first actuator movable between an open position and a closed position;
a hand detection system including a first sensor disposed within the first actuator of the handle assembly for detecting finger presence on the first actuator, a second sensor disposed on the proximal end portion of the handle assembly for detecting palm presence about the proximal end portion, and a third sensor disposed within the body portion of the handle assembly for detecting position of the first actuator relative to the body portion;
a display device; and
a processing unit electrically coupled to the first, second, and third sensors for receiving and processing data from the first, second, and third sensors;
a tracking device including an image capture device configured to capture an image of a user position reference point; and
a computing device,
wherein at least one of the surgeon console, the hand detection system or the tracking device is configured to:
compute, based on the captured image, a position of the user position reference point relative to the display device,
determine whether a user is engaged with or disengaged from the surgeon console based on the computed position,
determine whether a hand of the user is engaged with or disengaged from at least one of the first, second or third sensors of the hand detection system, and
in response to a determination that the user is disengaged from the surgeon console or the hand of the user is disengaged from at least one of the first, second or third sensors of the hand detection system, cause the robotic surgical system to operate in a safe mode,
wherein at least one of the surgeon console, the hand detection system or the tracking device is further configured to, at a time when the robotic surgical system operates in the safe mode:
restrict movement of the handle assembly from a previous position of the handle assembly, and
transmit, to the computing device, instructions to restrict movement of at least one of the robot assembly, the robotic arm, or the surgical instrument;
wherein the computing device is configured to:
receive the instructions, and
transmit the instructions to the at least one of the robot assembly, the robotic arm, or the surgical instrument; and
wherein at least one of the robotic arm, the robot assembly, or the surgical instrument is configured to:
receive the instructions, and
restrict movement of at least one of the robot assembly, the robotic arm, or the surgical instrument in response to the instructions.