Surgical cannulas and related systems and methods for identifying surgical cannulas
阅读说明:本技术 外科手术套管以及用于识别外科手术套管的相关系统和方法 (Surgical cannulas and related systems and methods for identifying surgical cannulas ) 是由 B·R·加伯斯 A·汤普森 J·克鲁姆 于 2015-03-17 设计创作,主要内容包括:本发明涉及外科手术套管以及用于识别外科手术套管的相关系统和方法,公开了一种用于外科手术系统的套管可以包括磁铁,该磁铁位于套管被安装到外科手术系统的位置、有待被外科手术系统感测的位置。磁铁的存在和磁铁的极性中的至少一个在套管的安装位置被感测到,以提供与套管相关的识别信息。示例性实施例进一步包括用于遥操作的外科手术系统的患者侧推车,该患者侧推车包括基座、主立柱以及与主立柱连接的臂。臂可以包括用于接收套管的座架以及用于感测套管中的识别装置的磁铁的读取器,以便接收与安装套管相关的识别信息。(A cannula for a surgical system may include a magnet at a location where the cannula is mounted to the surgical system, a location to be sensed by the surgical system. At least one of the presence of the magnet and the polarity of the magnet is sensed at the installed position of the cannula to provide identification information related to the cannula. Exemplary embodiments further include a patient side cart for a teleoperated surgical system, the patient side cart including a base, a main column, and an arm connected with the main column. The arm may comprise a mount for receiving the cannula and a reader for sensing a magnet of the identification means in the cannula in order to receive identification information relating to the mounting of the cannula.)
1. A cannula for a surgical system, comprising:
a magnet located at a position to be sensed by the surgical system where the cannula is mounted to the surgical system; and is
Wherein at least one of a presence of the magnet and a polarity of the magnet is sensed at a mounting location of the cannula, the at least one of the presence and the polarity indicating identification information associated with the cannula.
2. The cannula of claim 1, further comprising an attachment portion engageable with a portion of a surgical system to mount the cannula to the surgical system, wherein the magnet is located in the attachment portion.
3. The cannula of claim 2, wherein the attachment portion connects an arm of the surgical system at a location where the cannula is mounted to the surgical system.
4. The cannula of claim 1, wherein the polarity of the magnet is a predetermined magnetic pole of the magnet.
5. The cannula of claim 1, wherein the magnet is a samarium cobalt magnet.
6. The cannula of claim 1, wherein the magnet is exposed on a surface of the cannula.
7. The cannula of claim 1, wherein the magnet is covered by a portion of the cannula.
8. The cannula of claim 1, wherein the magnet is covered by a cover portion sealed to the cannula.
9. The cannula of claim 8, wherein the cover portion is made of metal.
10. The cannula of claim 1, further comprising an array of magnet locations, wherein the magnet is located at one of the magnet locations.
Technical Field
Aspects of the present disclosure relate to surgical cannulas and related systems and methods for identifying surgical cannulas.
Background
Remotely controlled surgical instruments, which can include teleoperated surgical instruments as well as manually operated (e.g., laparoscopic, thoracoscopic) surgical instruments, are often used for minimally invasive medical procedures. In a surgical procedure, a surgical instrument is extended through a cannula inserted into a patient's body and remotely manipulated to perform a procedure at a surgical site. For example, in teleoperated surgical systems, the cannula and surgical instruments can be mounted at a manipulator arm of a patient side cart and remotely manipulated via teleoperation at a surgeon console. The cannula may have different configurations useful for various types of surgical procedures. While these different cannula configurations are useful and effective for surgical procedures, further improvements to the cannula and surgical systems using the cannula, including improvements for automatically identifying the cannula, may be desired.
Disclosure of Invention
Exemplary embodiments of the present disclosure may address one or more of the above-described problems and/or may exhibit one or more of the above-described desirable features. Other features and/or advantages may become apparent from the following description.
According to at least one example embodiment, a cannula for a surgical system includes a magnet located at a position to be sensed by the surgical system at a location where the cannula is mounted to the surgical system. At least one of the presence of the magnet and the polarity of the magnet is sensed in the installed position of the cannula to provide identification information related to the cannula.
According to at least one exemplary embodiment, a patient side cart for a teleoperated surgical system includes a base, a main column, and an arm connected to the main column. The arm may comprise a mount for receiving the cannula and a reader for sensing a magnet of the identification device in the cannula to receive identification information relating to the mounting of the cannula.
Additional objects, features and/or advantages will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure and/or the claims. At least some of these objects and advantages may be realized and attained by means of the elements and combinations particularly pointed out in the appended claims.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims. Rather, the claims and their equivalents should be accorded their full scope and breadth.
Drawings
The disclosure can be understood in light of the following detailed description (taken alone or in combination with the accompanying drawings). The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification. The drawings illustrate one or more exemplary embodiments of the present teachings and together with the description serve to explain certain principles and operations.
Fig. 1 is a perspective view of a patient side cart according to an exemplary embodiment.
Fig. 2 is a side view of a cannula according to an exemplary embodiment.
FIG. 3 is a side view of a cannula having a curved tube according to an exemplary embodiment.
FIG. 4 is a perspective view of a cannula and an arm to which the cannula is connected according to an exemplary embodiment.
Fig. 5 is a bottom perspective view of a cannula including an identification device according to an exemplary embodiment.
Fig. 6 is a partial side cross-sectional view of a cannula attachment portion connected to a patient side cart manipulator arm according to an exemplary embodiment.
FIG. 7 is a bottom perspective view of a cannula with an identification device according to another exemplary embodiment.
Fig. 8 is a top schematic view of an identification appliance according to an exemplary embodiment.
Fig. 9 is a top schematic view of a reader for use with an identification device according to an exemplary embodiment.
FIG. 10 is a top schematic view of a sensor group including four sensors according to an exemplary embodiment.
FIG. 11 is a voltage versus magnetic flux schematic for a Hall effect device according to an exemplary embodiment.
FIG. 12 is a top schematic view of a sensor group including three sensors according to an exemplary embodiment.
FIG. 13 is a top schematic view of a sensor group including two sensors according to an exemplary embodiment.
FIG. 14 is a top schematic view of a sensor group including one sensor, according to an example embodiment.
Fig. 15 is a perspective view of an identification appliance including an orientation magnet according to an exemplary embodiment.
Fig. 16 is a bottom perspective view of a cannula including an array of a plurality of magnet locations according to an exemplary embodiment.
Detailed Description
The description and drawings illustrating exemplary embodiments should not be taken to be limiting. Various mechanical, compositional, structural, electrical, and operational changes may be made without departing from the scope of the description and claims and their equivalents. In some instances, well-known structures and techniques have not been shown or described in detail to avoid obscuring the present disclosure. The same numbers in two or more drawings identify the same or similar elements. Additionally, elements and their associated features described in detail with reference to one embodiment may, in practice, be included in other embodiments not specifically shown or described. For example, if an element is described in detail with reference to one embodiment and not described with reference to the second embodiment, the element may still be said to be included in the second embodiment.
For the purposes of this specification and the appended claims, unless otherwise indicated, all numbers expressing quantities, percentages or proportions, and other numerical values used in the specification and claims, are to be understood as being modified in all instances by the term "about" to the extent they have not been so modified. Accordingly, unless indicated to the contrary, the numerical parameters set forth in the following specification and attached claims are approximations that may vary depending upon the desired properties sought to be obtained. At the very least, and not as an attempt to limit the application of the doctrine of equivalents to the scope of the claims, each numerical parameter should at least be construed in light of the number of reported significant digits and by applying ordinary rounding techniques.
It is noted that, as used in this specification and the appended claims, the singular forms "a," "an," and "the" and any singular use of any word include plural referents unless expressly and unequivocally limited to one referent. As used herein, the term "include" and grammatical variations thereof are intended to be non-limiting such that items recited in the list are not exclusive of other similar items that can be substituted or added to the listed items.
Additionally, the terminology of the present description is not intended to limit the present disclosure or claims. For example, spatially relative terms, such as "under," "below," "inferior," "above," "upper," "proximal," "distal," and the like, may be used to describe one element or feature's relationship to another element or feature as illustrated in the orientation of the figures. These spatially relative terms are intended to encompass: in addition to the positions and orientations shown in the figures, different positions (i.e., orientations) and orientations (i.e., rotational placements) of the device in use or operation are also encompassed. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "above" the other elements or features. Thus, the exemplary term "below" can encompass both a position and an orientation above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The relative proximal and distal directions of the surgical instrument are labeled in the figures.
It may be desirable to provide a cannula identification system and method in which a cannula is automatically detected (e.g., determination of the presence of a cannula) and identified (e.g., determination of the type of cannula). For example, the surgical system may include a sensor that automatically detects identification information about the cannula when the cannula is used with the surgical system (such as when the cannula is attached to a component of the surgical system for use during a surgical procedure). The cannula may include means that allow for various numbers of unique combinations of identification information to be provided such that the identification information includes information about various aspects of the cannula. The device may include identification in a format that is mechanically automatically detected by the reader.
Various exemplary embodiments of the present disclosure contemplate identification devices, systems, and methods for identifying cannulas of a surgical system. The cannula may include a bowl portion forming a proximal end, a tube forming a distal end, and an attachment portion configured to connect to an arm of a patient side cart to connect the cannula to the patient side cart. The cannula may include an identification device that includes identification information about the cannula in a format that is automatically obtained (such as by a reader). According to one example, the identification means is located at the attachment portion. The identification means may comprise a magnet representing the identification information by a predetermined parameter of the magnet. The magnets may be samarium cobalt magnets or other permanent magnet materials known to those of ordinary skill in the art. The identification device may comprise a plurality of magnet locations and a magnet located in at least one of the magnet locations. The identification information may be represented by the presence or absence of a magnet in the magnet position and the polarity of the magnetic field of the magnet. The identification information may include at least one of a length of the tube, a diameter of the tube, a material of the cannula, whether the tube is straight or includes a curved portion, and/or whether the cannula is configured for use with a surgical instrument having an end effector or for use with an imaging instrument.
Various exemplary embodiments of the present disclosure also contemplate a patient side cart of a surgical system that includes a reader for obtaining identification information from an identification device of a cannula. The patient side cart includes a base, a main column, and an arm to which the cannula may be connected. The reader may be located in a patient side cart. The reader includes, for example, at least one sensor configured to detect a magnet, such as, for example, a hall effect device.
The reader may comprise at least one sensor group, wherein each sensor group comprises a plurality of sensors. In one example, each sensor group includes a full polarity sensor to detect the polarity of the magnet in the corresponding magnet position of the identification device. In another example, the sensor groups each include a presence sensor to detect the presence of a magnet in a corresponding magnet position of the identification device, and a polarity sensor to detect a selectively predetermined magnetic pole of the magnet. The sensor groups may each comprise a plurality of presence sensors and two polarity sensors, wherein one polarity sensor detects a north polarity magnetic field and one polarity sensor detects a south polarity magnetic field. The presence sensor may be a full polarity sensor and the polarity sensor may be a single polarity sensor. In another example, the sensor includes a magnetic field direction sensor configured to detect an angular orientation of a magnetic field of a magnet of the identification device.
While the readers of the exemplary embodiments described herein may be described as part of a surgical system (such as, for example, a manipulator arm of a patient side cart), the readers of the exemplary embodiments described herein may also be used as manual devices. For example, the reader is a handheld device that a user quickly identifies various cannulas without using a surgical system. For example, a user may want to identify cannulae before or after a surgical procedure in order to classify cannulae by type.
Referring now to fig. 1, an exemplary embodiment of a
The
According to an exemplary embodiment,
For ease of viewing, while the exemplary embodiment of fig. 1 shows the
The cannula may have a number of different configurations useful for various types of surgical procedures. For example, the cannula may have different lengths, diameters, materials, curvatures, and configurations of other parameters based on the type of instrument used. Thus, many different configurations of the bushing are possible, especially when considering the possible combinations of various parameters of the bushing that may vary. In view of this consideration, it would be desirable to provide a system that is capable of automatically identifying different casing types. For example, it may be desirable to provide a teleoperated surgical system that is capable of automatically identifying different cannula types, such as when the cannula is mounted on an arm of a patient side cart. Additionally, it may be desirable for the identification means of the cannula to be durable and to withstand repeated use, including cleaning procedures.
Turning to fig. 2, a side view of an exemplary embodiment of a
According to an exemplary embodiment, the
Turning to fig. 4, an exemplary embodiment of a portion of an
According to an exemplary embodiment, the
As discussed above, various parameters of the configuration of the casing may be varied, allowing for various possible combinations of parameters of the casing. Accordingly, it may be desirable for the cannula to include an identification device so that the cannula may be automatically identified by the surgical system, such as when the cannula is connected to the surgical system. The identification means comprises information about the configuration of the cannula, such that the information allows the mechanical reader to automatically obtain the information. For example, the identifying information may include information regarding the length, diameter, and material of the cannula, whether the cannula is straight or curved, whether the cannula is used with a surgical instrument having an end effector or with an imaging instrument, and/or other parameters. Turning to fig. 5, a perspective view of the
According to an exemplary embodiment, the identification means of the cannula interacts with a reader of the surgical system. For example, when the attachment portion of the cannula is attached to an arm of the surgical system, a reader located in the arm interacts with an identification device in the attachment portion and identification information about the cannula is automatically obtained from the identification device. Thus, when the
Fig. 6 depicts a partial cross-sectional view showing the
As shown in fig. 6, the
An identification device according to an exemplary embodiment may provide identification information, such as in a format that is automatically read by a machine in various ways. According to an exemplary embodiment, the identification means comprises a magnet sensed by the reader, wherein a magnetic pole sensed by the reader is used as the identification information. For example, the magnet may be positioned in the sleeve such that a predetermined magnetic pole of the magnet faces the reader. According to an exemplary embodiment, the end of a magnet having a desired polarity (i.e., north or south) may be positioned on the sleeve to face the reader. As shown in the exemplary embodiment of fig. 7, the sleeve 700 includes a magnet 714 as an identification device 714. In fig. 7, the magnet 714 protrudes from a surface 716 of the attachment portion 710 such that when the attachment portion 710 is connected to an arm of a patient side cart, a predetermined pole of the magnet 714 faces a reader, such as the
In the exemplary embodiment of fig. 7, the identification device 714 is exposed. However, the exemplary embodiments described herein are not limited to exposed identification devices and may instead include identification devices that are not exposed. For example, the
The type of magnet used for the identification means can be selected according to various parameters. According to an exemplary embodiment, in a cannula including an array of magnets and a reader including a reader configured to detect each magnet, the magnets may be selected such that the magnetic field strength is sufficient for detection by a particular reader configured and positioned for the purpose of detecting the magnet, but insufficient for detection by another reader configured and positioned for the purpose of detecting a different magnet. Thus, the magnets of the various exemplary embodiments described herein may have a magnetic field strength of, for example, about 17 to about 19 gauss. According to an exemplary embodiment, the magnet may be selected to withstand repeated use in the cannula, including repeated sterilization procedures. The sterilization process may include autoclaving, which may subject the magnet to high temperatures, which may even exceed the curie temperature of the magnet. In view of this consideration, the magnets may be permanent magnets made of samarium cobalt alloy, neodymium alloy, or other permanent magnet iron materials known to those of ordinary skill in the art. An example of a permanent magnet is a samarium cobalt grade 1-5 magnet sold by McMaster-Carr corporation of Princeton, NJ.
As discussed above, the magnet may be used as an identification device to provide identification information for the cannula carrying the magnet. To provide a desired number of variable combinations corresponding to various parameters that may be included in the identification information for uniquely identifying a particular cannula type (such as, for example, cannula length, diameter, material, whether the cannula is straight or curved, whether the cannula is for a surgical instrument with an end effector or for an imaging instrument, and other parameters), a plurality of magnets may be used for the identification means of the exemplary embodiments described herein. For example, the identification device may include an array of magnets that are detected by a reader. Thus, not only can the magnetic polarity of the magnets used as identification devices be selectively predetermined to represent items of identification information, but the position of a particular magnet in the array can also be selectively predetermined so that the position of the magnet within the array also represents an item of information. When an array of magnets is present, the reader may be configured to determine not only whether a magnet is present in a particular orientation of the array, but also what the polarity of the magnet is. Thus, the presence or absence of a magnet at a particular location of the array of magnets and the polarity of the magnets may be associated with different parameters representing the identification information in a format that is detected by the reader. In this manner, the predetermined parameters of the one or more magnets may represent identification information for the cannula. For example, many combinations of presence, location, and polarity in the array may be implemented to provide multiple sets of unique identification information for different types of cannulae.
According to an exemplary embodiment, the presence or absence of a magnet at a given magnet position and the polarity of the magnet at the given magnet position can be used for unique identification information of the cannula (e.g., cannula material, cannula length, etc.), wherein the presence or absence of a magnet and the polarity of the magnet represent different values of a parameter of the identification information. According to another exemplary embodiment, the various values for the presence or absence of a magnet and the polarity of the magnet at various magnet positions of the identification device may be varied to provide various unique identifiers for different cannulas corresponding to a particular cannula. For example, rather than assigning a particular parameter of cannula identification information to a particular magnet position (e.g., changing the presence or absence at a particular location to indicate, for example, whether the cannula is made of metal or plastic), various values for the presence or absence and polarity of the magnet at various magnet positions of the identification device may be changed to provide a unique identifier that is similar to a unique serial number corresponding to a particular type of cannula. For example, a first unique combination of presence/absence and polarity (when present) of magnets at various magnet positions corresponds to a first sleeve type, a second unique combination of presence/absence and polarity (when present) of magnets at various magnet positions corresponds to a second sleeve type, and so on.
The array of magnets used in the identification devices of the example embodiments described herein may have a different number of magnets. Turning to fig. 8, an exemplary embodiment of an array 800 of four magnet positions 810 and 813 is shown for use with identification devices, such as, for example, the
According to an exemplary embodiment, each magnet position 810- "813 indicates a specific parameter that provides a portion of the identification information. Additionally, the presence or absence of a magnet at a particular magnet location may indicate a particular parameter that provides identifying information for the cannula. While a total of four magnets 820 & 823 are shown in the array 800 of the exemplary embodiment in FIG. 8, with the magnets 820 & 823 at respective magnet locations 810 & 813, the exemplary embodiments described herein are not limited to this embodiment. For example, various numbers of magnets may be located in an array comprising a plurality of magnet locations to indicate a parameter of the identification information using the presence or absence of a magnet at a particular magnet location. For example, a total of (n), (n-1), (n-2), (n-3), (n-4), (n-5) magnets, etc. may be used. According to an exemplary embodiment, the array of magnet locations comprises at least one magnet.
Additionally, the polarity of the magnet at each magnet location (when a magnet is present) may be predetermined to indicate a parameter of the identification information. For example, magnets 820 and 823, located at magnet positions 810 and 813, respectively, are all predetermined to have either a north or south polarity to be detected by the reader. According to an exemplary embodiment, when the reader detects the presence of north or south polarity for a particular magnet position, the reader thus also detects the presence of a magnet at the particular magnet position.
By varying the presence or absence of magnets and the polarity of the magnets at specific magnet locations in the array, various combinations of selection parameters can be generated to provide overall identification information of the cannula. For example, one magnet position may be used to indicate how many magnets are present in the array of magnets so that a surgical system including a reader can determine whether the correct number of magnets is detected. According to another example, various combinations of the presence/absence and polarity of the magnet may be used to provide a unique identifier similar to serial numbers of different cannula types. For example, in the arrangement of the exemplary embodiment of fig. 8, when considering four magnet positions 810 and 813 and three magnet states (e.g., magnet present in north polarity, magnet present in south polarity, or no magnet present), there are 81 possible unique combinations. The number of possible unique combinations may be modified according to the desired design. For example, it may be desirable to have a magnet present at all times so that at least one magnet can be detected to determine the presence of a cannula, which reduces the possible number of combinations by one because the combination of zero magnets present has been deleted.
By way of non-limiting example only, a possible explanation of how the magnet of fig. 8 can be similarly used for serial numbers to identify unique cannula types is provided below. In an exemplary embodiment, the array is designated to correspond to a standard disposable cannula when the magnet 821 is present at magnet location 811 and has a south polarity field and no magnet is located at any of the magnet locations 810, 812, or 813. The disposable sleeve may be made, for example, of plastic or other disposable sleeve materials known to those of ordinary skill in the art. For example, in one exemplary embodiment, the
In another example, the array may be designated to correspond to a standard non-disposable sleeve when magnet 820 is present at magnet location 810 and has a south polarity field, magnet 821 is present at magnet location 811 and has a south polarity field, magnet 822 is present at magnet location 812 and has a south polarity field and no magnet is present at magnet location 813. In another example, the array is designated to correspond to a non-disposable sleeve having a long tube when magnet 820 is present at magnet location 810 and has a south polarity field, magnet 821 is present at magnet location 811 and has a north polarity field, magnet 822 is present at magnet location 812 and has a south polarity field and no magnet is present at magnet location 813. In another example, the array is designated to correspond to a standard non-disposable sleeve when magnet 820 is present at magnet location 810 and has a south polarity field, no magnet is present at the magnet location, magnet 822 is present at magnet location 812 and has a south polarity field, and magnet 823 is present at magnet location 813 and has a south polarity field.
Table 1 below provides the foregoing examples and additional examples where the magnet orientations correspond to the magnet orientations 810 and 813 of the exemplary embodiment of fig. 8. Table 1 includes examples of sensor signals from exemplary embodiments of readers that include sensors for detecting the presence/absence and polarity of magnets at each magnet. Thus, "N" in table 1 indicates the presence of a magnet having a north polarity, and "S" in table 1 indicates the presence of a magnet having a south polarity. "- - -" indicates the presence of no magnet.
TABLE 1
The configuration of the magnets in the array may be selected to minimize or eliminate interference. According to an exemplary embodiment, the page of FIG. 8 represents
Turning to fig. 9, an exemplary embodiment of a
The
According to an exemplary embodiment, the
The reader may include one or more sensors in each sensor group of the reader. Although the sensor groups of various exemplary embodiments described herein may include a single sensor (including a single sensor to accomplish the various sensor functions described herein), each sensor group may instead include multiple sensors. As shown in the exemplary embodiment of FIG. 9, each sensor group 910-913 can include four sensors 920-923, although the exemplary embodiments described herein are not limited to readers that each include a sensor group having four sensors. Rather, each sensor group may include, for example, one, two, three, four, or more sensors. Turning to FIG. 10, an exemplary embodiment of a
Because multiple types of identification information may be obtained from components of the identification device, the sensor group may include multiple sensors that perform multiple functions to obtain different types of identification information. For example, in the exemplary embodiment of FIG. 8, the presence or absence of the magnet 820-.
Accordingly, a sensor of a sensor group may be configured to detect whether a magnet is present at a magnet location, and other sensors of the sensor group may be configured to detect the polarity of the magnet present. For example,
One type of sensor that may be used in a reader to detect a magnet is a hall effect device, as is well known to those of ordinary skill in the art. The hall effect device may be, for example, a hall effect sensor that may be configured to detect not only the presence of a magnet but also the polarity of a magnetic field. Hall effect sensors may include, for example, charge carriers (i.e., electrons and holes) flowing through a semiconductor (or conductor) that are deflected by an existing magnetic field, which deflection results in a potential difference that may be detected. Although various exemplary embodiments are described herein as using hall effect sensors, embodiments may use other hall effect devices and magnet sensors, such as, for example, magnetic loop sensors or hall effect switches configured to only detect the presence of a magnet, as well as other sensors known to those skilled in the art.
According to an exemplary embodiment, a Hall effect device for a reader (such as the
Referring to fig. 11, when a magnet is not present in the hall effect device, the
As the distance between the hall effect device and the magnetic pole increases, the
The exemplary embodiment of fig. 11 may be used for magnet presence sensors (such as
According to an exemplary embodiment, the hall effect devices used to detect the presence of a magnet (such as
The release point value for the sensor may be selected to minimize or prevent interference from magnetic fields that do not originate from the magnet to be detected by the sensor. According to an exemplary embodiment, the presence sensor has a
According to an exemplary embodiment, the presence sensors and polarity sensors of the exemplary embodiments discussed herein have
The detection signal from the sensor may be transmitted to and interpreted by a controller (such as by
The following table provides an example of sensor signals from an exemplary embodiment of a reader that includes four sensors, two of which are all-polar hall effect presence devices ("P/a" in table 2), such as
TABLE 2
P/A
P/A
Arctic sensor
Antarctic sensor
Results
1
1
X
X
Absence of
0
0
1
0
The magnet being present in the
0
0
0
1
The magnet being present at the north pole
1
0
X
X
Error:
0
1
X
X
Error:
0
0
1
1
Error:
0
0
0
0
Error: bad polarity sensor
According to an exemplary embodiment, feedback is provided to the user, such as by displaying the identification of the cannula to the user. According to an exemplary embodiment, the controller is programmed to expect a cannula having a particular identification for a surgical procedure, and if the identification information determined from the sensor signal does not match the programmed identification information, feedback may be provided to the user, such as by visual and/or audio feedback to inform the user of the unmatched identification information. According to an exemplary embodiment, the surgical system prevents use of the patient side cart, including the arm and the instrument connected to the arm of the patient side cart, when the determined identification information does not match the programmed identification information.
The various exemplary embodiments described herein include other uses for identification information for cannulas, including but not limited to, for example, verifying that a cannula is made of metal (e.g., such as when an electrosurgical instrument is used with a cannula), verifying that a cannula matches a cannula type to be used with a particular instrument, notifying a surgical system of the length of a cannula (e.g., notifying a surgical system of the cannula length), notifying a surgical system of the presence of a cannula so that safety features (e.g., patient side cart stabilization features and features for stabilizing a patient side cart) can be engaged, as well as other features related to cannulas used with a surgical system.
While the exemplary embodiments of fig. 8-10 have been discussed with respect to readers that include sensor groups that each include four sensors (such as sensors 920-923 of fig. 9 and
In fig. 12, an exemplary embodiment of a
In fig. 13, an exemplary embodiment of a
While identification and reader embodiments have been discussed above in terms of the use of magnets and sensors for detecting magnets, other types of identification devices and sensors may be used with the exemplary embodiments described herein. According to an exemplary embodiment, the identification means comprises a magnet having a predetermined orientation, the predetermined orientation representing identification information, the identification information being detected by the reader. Turning to fig. 15, an exemplary embodiment of a
Another type of identification device that may be used in the exemplary embodiments described herein is a Radio Frequency Identification (RFID) device. According to an exemplary embodiment, the RFID device comprises a device located within the cannula, wherein the device comprises electronically stored identification information obtained by the reader. For example, the reader may emit an electromagnetic field that activates a device in the casing that in turn emits identification information to be detected by the reader.
Although the exemplary embodiments herein have been described for identifying a casing, the exemplary embodiments are used for identification of other objects than a casing. For example, the exemplary embodiments described herein are used to identify other surgical and non-surgical devices, such as, for example, devices that may be matched to a corresponding system in which the device is used.
While the readers of the exemplary embodiments described herein may be described as part of a surgical system, such as, for example, a robotic arm of a patient side cart, the readers of the exemplary embodiments described herein may also be used as manual devices. For example, the reader may be a handheld device that the user uses to quickly identify various cannulas without using the surgical system.
By providing the identification means with a cannula for a surgical system, the cannula is accurately identified, including a plurality of unique features of the particular cannula. The identification means identifies the bushing without using electronic parts on the bushing, so that the identification means is low in complexity and low in cost. In addition, the identification device is durable and can be used over the useful life of the cannula, even when the cannula is cleaned, such as by autoclaving.
Further modifications and alternative embodiments will become apparent to those skilled in the art in view of this disclosure. For example, the systems and methods may include additional components or steps that have been omitted from the figures and description for clarity of operation. Accordingly, this description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the general manner of carrying out the present teachings. It should be understood that the various embodiments shown and described herein are to be considered exemplary. Elements and materials, and arrangements of such elements and materials, may be substituted for those illustrated and described herein, parts and processes may be reversed, and certain features of the present teachings may be utilized independently, all as would be apparent to one skilled in the art after having the benefit of the description herein. Changes may be made in the elements described herein without departing from the spirit and scope of the disclosure and the following claims.
It is understood that the specific examples and embodiments set forth herein are not limiting and that modifications in structure, size, materials, and method may be made without departing from the scope of the disclosure.
Other embodiments in accordance with the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a full scope of the claims and their equivalents being granted.
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