Ergonomic adjustment for physician console

Abstract

A physician console includes a base, a post coupled to the base, and a viewer coupled to the post. The viewer includes a viewer housing, a display within the viewer housing, and a control knob coupled to the viewer housing. Rotation of the control knob causes rotation of the viewer relative to the base.

Description

[0001] priority This application claims priority to U.S. Provisional Application No. 63 / 596,967, filed November 7, 2023, entitled “ERGONOMIC ADJUSTMENTS FOR APHYSICIAN CONSOLE,” the disclosure of which is incorporated herein by reference in its entirety. Background Technology

[0002] Interventional medicine has evolved over decades from purely open, manual surgery to more recent minimally invasive and robot-assisted techniques. These advanced technologies offer several benefits, such as reduced trauma and recovery time, as well as increased flexibility and targeting accuracy. Robotic systems can utilize consoles that provide physicians with an interface to control the surgical robot and observe the surgical site. Physicians can sit at these consoles for extended periods. Attached Figure Description

[0003] The subject matter will be understood by reading a detailed description of certain examples in conjunction with the accompanying drawings, in which: Figure 1 Examples of surgical systems according to some implementation schemes are shown.

[0004] Figure 2 An example of a physician console based on some implementation schemes is shown.

[0005] Figure 3 Examples of ergonomic adjustments to a physician console based on some implementation schemes are shown.

[0006] Figure 4 Examples of ergonomic adjustments to a physician console based on some implementation schemes are shown.

[0007] The accompanying drawings, which are incorporated in and form part of this specification, illustrate several aspects of the subject matter and, together with the specification, serve to explain the principles of the technology. However, it should be understood that the technology is not limited to the precise configuration shown, and various embodiments of the technology can be implemented in many other ways (including those not necessarily depicted in the drawings). Detailed Implementation

[0008] The detailed description below provides a specific configuration of the subject matter, but is not intended to represent the only feasible configuration in which the technique can be practiced. The detailed description, including the accompanying drawings, includes various specific details to aid in understanding the technique; however, it will be clear that the principles of the technique are not limited to all the specific details set forth herein and can be practiced in different configurations. Other features, embodiments, and advantages of the technique will become apparent to those skilled in the art from the following detailed description, and as will be appreciated, the technique described herein can have other different and apparent configurations, all without departing from the principles of the technique and the scope of the teachings provided by this disclosure. Furthermore, the various features and configurations described herein should not be considered isolated from each other, and it will be apparent to those skilled in the art that many of the different features and configurations described herein can be combined with each other in various ways not explicitly set forth below. Therefore, the accompanying drawings and descriptions provided herein should be considered substantially illustrative and not restrictive.

[0009] As described above, robotic surgical systems can employ a console through which a surgeon interacts with the system. The surgeon's console may include one or more input devices, such as hand controls and foot pedals, through which the surgeon can issue commands to control the surgical robot. The surgeon's console may also include a viewer housing a display for the surgeon to view the surgical site. The surgeon can sit at the surgeon's console with their head positioned over the display while manipulating the input devices with their hands and feet. Such systems provide an intuitive interface that allows the surgeon to manipulate the robot to perform surgical tasks while simultaneously observing the surgical site through real-time video feeds provided at the viewer. However, prolonged use of these systems can lead to surgeon discomfort and fatigue, limiting their adoption and impairing patient care.

[0010] Among other things, the systems and methods disclosed herein provide improved ergonomics in a surgeon's console and more intuitive techniques for making ergonomic adjustments within the console. These and other features are discussed in more detail with reference to the examples shown in the illustrations described below. However, those skilled in the art will readily practice the subject matter techniques and innovative concepts disclosed herein in a variety of different configurations. Furthermore, a variety of different problems can be solved, and the advantages of utilizing the subject matter techniques can be obtained. Therefore, the above description and the following detailed description are provided for illustrative purposes and should not be construed as limiting.

[0011] Figure 1 Examples of housing systems according to some embodiments are shown. As illustrated, surgical system 10 includes a robot 200, a physician console 300, and a tower 400. These components can operate together to facilitate surgical procedures and can be physically, communicatively, and / or operatively coupled together.

[0012] Robot 200 can be part of a patient-side system. For example... Figure 1 As shown, robot 200 is configured to interact with patient 212, who can be positioned on workbench 222. Robot 200 may include one or more robotic manipulators 210 capable of manipulating one or more instruments 220. Robotic manipulators 210 may be moved or actuated in response to commands received at physician console 300, tower 400, and / or robot 200 itself. Each robotic manipulator 210 may each include a robotic arm having a series of links connected by a series of joints.

[0013] The physician console 300 may be part of a physician-side system, where the physician interacts with the surgical system 10. The physician console 300 provides an interface for controlling the robot 200 and / or observing information captured by the patient-side system. The physician console 300 may include one or more input devices 310 that can receive input from the physician to control the robot 200. Alternatively or in combination, the physician console 300 may include one or more output devices 320 that can output information captured at the patient-side system. Figure 1 As seen, the physician control console may also include a control knob 375 that can receive input for adjusting the ergonomic positioning of the console. The physician control console 300 may be located in the same operating room as the robot 200, or it may be located at a remote site away from the operating room.

[0014] The tower 400 can provide support for the surgical system. For example, the tower can provide power delivery, fluid dynamics, vision processing, or light to the robot 200 or instrument 220.

[0015] refer to Figure 2 The physician console 300 includes a viewer 350 that can provide imaging feeds for physician viewing. For example, the viewer can be configured to display real-time video captured at a surgical site by an instrument 220 (e.g., an endoscope).

[0016] like Figure 2 As seen, the viewer 350 is coupled to a support column 360, which provides a vertical support structure for securing the viewer. The support column 360 can be coupled to a base 370, which can be configured to rest against the floor and provide a stable base for supporting the console. The base 370 may include wheels 372 to aid in moving and positioning the console as needed.

[0017] like Figure 2As seen, the physician control console 300 also includes an armrest 380, which is also coupled to the support column 360. The console 300 may include one or more hand input devices (HIDs) that can be coupled to the armrest 380 or the support column 360 for support. As illustrated, the console 300 includes a pair of HIDs coupled to the armrest 380, including a left HID 385L and a right HID 385R. The left and right HIDs can be configured to be held and manipulated by the physician's left and right hands to provide control input to the surgical robot 200 for manipulating instruments 220, such as moving or positioning instruments in space, or actuating the functions of instruments, such as grasping or cutting tissue. Figure 2 As seen, the physician control console 300 may also include a foot pedal assembly 390 having one or more foot pedals 395. The foot pedals 395 may be configured to be operated by a physician located at the console to perform additional tasks, such as applying energy, firing a suture device, or selecting different instruments for active control.

[0018] Continue to refer to Figure 2 An enlarged view of the viewer 350 is shown on the left. The viewer 350 includes a housing 352 having a front, rear, left, and right side. The front side of the housing 352 may include a viewing window through which a user can view a display housed within the viewer. The front side of the housing 352 may also include a face region 354 for a physician to place their head within the viewer to view the display. The face region 354 may include a notched area on the front side of the housing, ergonomically shaped to receive the user's head. The face region 354 may include a forehead rest 358, which includes padding for enhancing comfort when the physician's head rests against the viewer. The display may be configured to show images or videos to the physician using any suitable display. In the illustrated example, the display housed within the viewer is a three-dimensional stereoscopic display having a left-eye display 356L and a right-eye display 356R for presenting stereoscopic imaging feeds to the physician.

[0019] like Figure 2 As seen, the viewer housing 352 may include a mounting portion 362 for mounting the viewer to the support column 360. The mounting portion 362 may be positioned on the rear side of the viewer housing and may include a surrounding cutout area to accommodate adjustments in the orientation of the viewer relative to the support column.

[0020] The viewer 350 includes a control knob 375 attached to the viewer housing 350. The control knob 375 can be operated by a physician to adjust the viewer's positioning relative to the base 370 or the support 360. Positioning the control knob 375 on the viewer housing enhances immersion and improves usability by allowing the physician to easily and instinctively control the viewer's ergonomic positioning without requiring the user to remove their head from the viewer. The control knob 375 can be positioned on the left or right side of the viewer housing to facilitate intuitive adjustment by the user's left or right hand; in the illustrated example, the control knob 375 is positioned on the right side of the housing because more users are likely to be right-handed.

[0021] Figure 3 A side profile view of a physician console 300 is shown, in which a physician 301 is seated at the console and his head is positioned in a viewer 350. Figure 3 Various degrees of freedom, according to some implementation schemes, can be employed in the console and controlled by control knob 375 to adjust the ergonomic positioning of the console.

[0022] refer to Figure 3 The console 300 may include one or more of height degree of freedom 333, depth degree of freedom 336, and rotational degree of freedom 339. One or more of these degrees of freedom can be controlled by a control knob 375 to adjust the viewer's positioning in the corresponding degree of freedom. It is conceivable that any grouping of one or more of these degrees of freedom can be controlled by any grouping of movements or inputs to one or more control knobs. In some configurations, a single control knob can be operated via different movements to control all degrees of freedom.

[0023] Continue to refer to Figure 3 The height freedom 333 can be controlled by a height connector 373. The height connector 373 can be positioned within the vertical portion of the support column 360 and connects the upper vertical portion 361 of the support column to the lower vertical portion 363. Operation of the control knob along the vertical axis 433 actuates the height connector 373 to vertically translate the viewer. For example, pushing or moving the control knob 375 upward provides a signal that causes an actuator (e.g., a motor) to raise the upper vertical portion 361 relative to the lower vertical portion 363. Pushing or moving the control knob 375 in the opposite direction (downward) provides a signal that causes an actuator (e.g., a motor) to move the upper vertical portion 361 (lower the upper vertical portion 361) relative to the lower vertical portion 363 in the opposite direction. When the viewer 350 is mounted to the support column, this movement can correspondingly raise or lower the viewer's position relative to the base.

[0024] Depth freedom 336 can be controlled by depth connector 376. Depth connector 376 can be positioned in the horizontal portion of the support 360 and can connect the proximal horizontal portion 461 of the support to the distal horizontal portion 463 of the support. Operation of the control knob along the horizontal axis 434 actuates the depth connector 376 to horizontally translate the viewer. For example, pushing or moving the control knob 375 backward (relative to physician positioning) provides a signal that causes an actuator (e.g., a motor) to retract the proximal horizontal portion 461 relative to the distal horizontal portion 463. Pushing or moving the control knob 375 in the opposite direction (forward) provides a signal that causes an actuator (e.g., a motor) to move the proximal horizontal portion 461 in the opposite direction relative to the distal horizontal portion 463 (advancing the proximal horizontal portion 461 forward). When the viewer 350 is mounted to the support, this movement can correspondingly advance or retract the viewer's position relative to the support.

[0025] Rotational degree of freedom 339 (orientation) can be controlled by a rotary joint 379. The rotary joint 379 can be positioned in the horizontal portion of the support column 360 and can connect the viewer housing to the support column. Operation (rotation) of the control knob along the rotation axis 435 can actuate the rotary joint 379 to rotate the viewer's orientation. For example, rotating the control knob 375 counterclockwise can provide a signal causing an actuator (e.g., a motor) to rotate the viewer housing clockwise relative to the base 370 or relative to the support column 360. Rotating the control knob 375 in the opposite direction (clockwise) can provide a signal causing an actuator (e.g., a motor) to rotate the viewer housing in the opposite direction (clockwise).

[0026] In some configurations, rotating the control knob causes the viewer to rotate independently. In other configurations, rotating the control knob causes a corresponding translation of the viewer, taking into account the ergonomics of a physician sitting at the console.

[0027] Figure 4 An example of rotation adjustment is shown, where, consistent with the rotation adjustment, a corresponding translation (position adjustment) of the viewer is actuated to maintain the virtual pelvic position 623 of the physician 301. Solid lines show the physician 301 and console 300 before the rotation adjustment is applied, while dashed lines show the physician and console after the rotation adjustment is applied. When the physician operates the rotation adjustment (e.g., rotates the control knob 375), the console automatically applies a corresponding translation of the viewer to move the viewer around the virtual pelvic position 623. This allows the physician to more intuitively remain seated at the console and adjust the viewer's orientation without having to readjust their seating position.

[0028] The following examples illustrate various non-exhaustive ways in which the teachings herein can be combined or applied. It should be understood that the following examples are not intended to limit the scope of any claims that may be provided at any time in this patent application or a subsequent filing thereof. No disclaimer is intended. The following examples are provided merely for illustrative purposes. It is contemplated that the various teachings herein may be arranged and applied in a variety of other ways. It is also contemplated that some variations may omit certain features mentioned in the following examples. Therefore, none of the aspects or features mentioned below should be considered definitive unless otherwise expressly indicated by the inventor or a successor with an interest in the inventor at a later date. If any claim set forth in this patent application or a subsequent filing related to this patent application includes additional features beyond those mentioned below, such additional features should not be presumed to have been added for any reason related to patentability.

[0029] Example 1: A physician console includes: a base; a support column coupled to the base; and a viewer coupled to the support column, the viewer including: a viewer housing; a display screen within the viewer housing; and a control knob coupled to the viewer housing, wherein rotation of the control knob causes rotation of the viewer relative to the base.

[0030] Example 2: According to the physician control console described in Example 1, rotation of the control knob in a clockwise direction causes rotation of the viewer in a clockwise direction, and rotation of the control knob in a counterclockwise direction causes rotation of the viewer in a counterclockwise direction.

[0031] Example 3: The physician control console according to Example 1 or Example 2, wherein the control knob is also operable to cause the viewer to translate relative to the base.

[0032] Example 4: A physician control console according to any one of Examples 1 to 3, wherein pushing the control knob in the forward direction advances the viewer relative to the support, and pushing the control knob in the rearward direction retracts the viewer relative to the support.

[0033] Example 5: A physician control console according to any one of Examples 1 to 4, wherein pushing the control knob in the upward direction raises the viewer relative to the base, and pushing the control knob in the downward direction lowers the viewer relative to the base.

[0034] Example 6: A physician console according to any one of Examples 1 to 5, wherein the support includes a height connector operable to raise or lower the viewer relative to the base, and wherein the control knob is operable to actuate the height connector of the support.

[0035] Example 7: A physician console according to any one of Examples 1 to 6, wherein the support includes a depth connector operable to advance or retract the viewer relative to the support, and wherein the control knob is operable to actuate the depth connector of the support.

[0036] Example 8: A physician control console according to any one of Examples 1 to 7, wherein the viewer is coupled to the support at a rotary joint, wherein rotation of the control knob causes actuation of the rotary joint.

[0037] Example 9: A physician console according to any one of Examples 1 to 8, wherein rotation of the control knob also causes translation of the viewer relative to the base, so that the viewer moves around a virtual pelvis.

[0038] Example 10: A physician console according to any one of Examples 1 to 9, wherein the viewer housing includes a front side, a left side adjacent to the front side, and a right side adjacent to and opposite to the front side, wherein the front side includes a viewing window for the display, and the control knob is positioned on the left side or the right side.

[0039] Example 11: A physician console includes: a base; a support column coupled to the base; and a viewer coupled to the support column, the viewer including: a viewer housing; a display screen within the viewer housing; and a control knob coupled to the viewer housing, wherein the control knob is operable to advance or retract the viewer relative to the support column.

[0040] Example 12: According to the physician control console described in Example 11, rotation of the control knob in a clockwise direction causes rotation of the viewer in a clockwise direction, and rotation of the control knob in a counterclockwise direction causes rotation of the viewer in a counterclockwise direction.

[0041] Example 13: The physician console according to Example 11 or Example 12, wherein the control knob is also operable to cause translation of the viewer relative to the base.

[0042] Example 14: A physician control console according to any one of Examples 11 to 13, wherein pushing the control knob in the forward direction advances the viewer relative to the support, and pushing the control knob in the rearward direction retracts the viewer relative to the support.

[0043] Example 15: A physician control console according to any one of Examples 11 to 14, wherein pushing the control knob in the upward direction raises the viewer relative to the base, and pushing the control knob in the downward direction lowers the viewer relative to the base.

[0044] Example 16: A physician console according to any one of Examples 11 to 15, wherein the support includes a height joint operable to raise or lower the viewer relative to the base, and wherein the control knob is operable to actuate the height joint of the support.

[0045] Example 17: A physician console according to any one of Examples 11 to 16, wherein the support includes a depth connector operable to advance or retract the viewer relative to the support, and wherein the control knob is operable to actuate the depth connector of the support.

[0046] Example 18: A physician control console according to any one of Examples 11 to 17, wherein the viewer is coupled to the support at a rotary joint, wherein rotation of the control knob causes actuation of the rotary joint.

[0047] Example 19: A physician console according to any one of Examples 11 to 18, wherein rotation of the control knob also causes translation of the viewer relative to the base, so that the viewer moves around a virtual pelvis.

[0048] Example 20: A physician console according to any one of Examples 11 to 19, wherein the viewer housing includes a front side, a left side adjacent to the front side, and a right side adjacent to and opposite to the front side, wherein the front side includes a viewing window for the display, and the control knob is positioned on the left side or the right side.

[0049] The foregoing description provides numerous specific configurations and details to aid in understanding the principles of the technology described herein; however, it should be understood that the technology can be practiced in a variety of configurations. Therefore, the claims are not intended to be limited to the specific details and configurations described herein, but are given their full scope consistent with their language and all legal equivalents.

Claims

1. A physician control console, comprising: Base; A support column, which is connected to the base; and A viewer, the viewer being coupled to the support, the viewer comprising: Viewer housing; The display, located within the viewer housing, and A control knob is attached to the viewer housing, wherein rotation of the control knob causes the viewer to rotate relative to the base.

2. The physician control console according to claim 1, wherein, Rotating the control knob clockwise causes the viewer to rotate clockwise, and rotating the control knob counterclockwise causes the viewer to rotate counterclockwise.

3. The physician control console according to claim 1 or claim 2, wherein, The control knob can also be operated to cause the viewer to translate relative to the base.

4. The physician control console according to any one of claims 1-3, wherein, Pushing the control knob forward advances the viewer relative to the support, and pushing the control knob backward retracts the viewer relative to the support.

5. The physician control console according to any one of claims 1-4, wherein, Pushing the control knob upward raises the viewer relative to the base, and pushing the control knob downward lowers the viewer relative to the base.

6. The physician control console according to any one of claims 1-5, wherein, The support column includes a height connector operable to raise or lower the viewer relative to the base, and wherein the control knob is operable to actuate the height connector of the support column.

7. The physician control console according to any one of claims 1-6, wherein, The support includes a depth connector operable to advance or retract the viewer relative to the support, and wherein the control knob is operable to actuate the depth connector of the support.

8. The physician control console according to any one of claims 1-7, wherein, The viewer is connected to the support at a rotary joint, wherein rotation of the control knob actuates the rotary joint.

9. The physician control console according to any one of claims 1-8, wherein, Rotation of the control knob also causes the viewer to translate relative to the base, so that the viewer moves around the virtual pelvis.

10. The physician control console according to any one of claims 1-9, wherein, The viewer housing includes a front side, a left side adjacent to the front side, and a right side adjacent to and opposite to the front side, wherein the front side includes a viewing window for the display, and the control knob is positioned on the left side or the right side.

11. A physician control console, comprising: Base; A support column, which is connected to the base; and A viewer, the viewer being coupled to the support, the viewer comprising: Viewer housing; The display, located within the viewer housing, and A control knob is attached to the viewer housing, wherein the control knob is operable to advance or retract the viewer relative to the support.

12. The physician control console according to claim 11, wherein, Rotating the control knob clockwise causes the viewer to rotate clockwise, and rotating the control knob counterclockwise causes the viewer to rotate counterclockwise.

13. The physician control console according to claim 11 or claim 12, wherein, The control knob can also be operated to cause the viewer to translate relative to the base.

14. The physician control console according to any one of claims 11-13, wherein, Pushing the control knob forward advances the viewer relative to the support, and pushing the control knob backward retracts the viewer relative to the support.

15. The physician control console according to any one of claims 11-14, wherein, Pushing the control knob upward raises the viewer relative to the base, and pushing the control knob downward lowers the viewer relative to the base.

16. The physician control console according to any one of claims 11-15, wherein, The support column includes a height connector operable to raise or lower the viewer relative to the base, and wherein the control knob is operable to actuate the height connector of the support column.

17. The physician control console according to any one of claims 11-16, wherein, The support includes a depth connector operable to advance or retract the viewer relative to the support, and wherein the control knob is operable to actuate the depth connector of the support.

18. The physician control console according to any one of claims 11-17, wherein, The viewer is connected to the support at a rotary joint, wherein rotation of the control knob actuates the rotary joint.

19. The physician control console according to any one of claims 11-18, wherein, Rotation of the control knob also causes the viewer to translate relative to the base, so that the viewer moves around the virtual pelvis.

20. The physician control console according to any one of claims 11-19, wherein, The viewer housing includes a front side, a left side adjacent to the front side, and a right side adjacent to and opposite to the front side, wherein the front side includes a viewing window for the display, and the control knob is positioned on the left side or the right side.

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