Robotic surgical system with mechanomyography feedback

摘要

A robotic surgical system for performing a surgical procedure within the body of a subject includes an elongate surgical instrument, a robotic controller configured to control the motion of the distal end portion of the surgical instrument, and a mechanomyography feedback system in communication with the robotic controller. The mechanomyography feedback system includes an elongate sphincter contraction sensor configured to monitor a physical response of a sphincter of the subject and to provide a mechanomyography signal corresponding to the monitored response. Additionally, the feedback system includes a processor configured to receive the mechanomyography signal, to determine if the received signal is indicative of an induced sphincter response, and to provide a control signal to the robotic controller if an induced sphincter response is detected.

主权项

1. A robotic surgical system for performing a surgical procedure within the body of a subject, the robotic surgical system comprising:
an elongate surgical instrument having a proximal end portion and a distal end portion; a robotic controller configured to control the motion of the distal end portion of the surgical instrument; and a mechanomyography feedback system in communication with the robotic controller, the mechanomyography feedback system including:
an elongate sphincter contraction sensor including:
an elongate device body configured to be inserted within a sphincter of the subject; anda force sensor in mechanical communication with the elongate device body and configured to provide a mechanomyography output signal in response to a contact force applied against the elongate device body by the sphincter;a processor configured to:
receive the mechanomyography output signal;determine if the received mechanomyography output signal is indicative of an induced sphincter response that is attributable to the elongated surgical instrument; andprovide a control signal to the robotic controller if an induced sphincter response is detected.