Device for the remote control of at least one medical device

Abstract

The invention relates to a device (40) for the remote control of at least one medical device to be controlled, comprising: • a communicating portable casing (40) comprising at least one microphone (42), at least one control button and a non-wired signal transmitter (37); and, on a face referred to as the front face, a command input user interface (36, 38) configured to receive commands from a user wearing the casing, this user interface comprising a sensor (36) for sensing movements of the user's hand, the signals transmitted by the transmitter representing the commands received on the user interface, • a communicating portable casing support configured to keep the face of the casing opposite the front face on the front of the user's torso, • a receiver for the signals transmitted by the transmitter of the casing, • a means for recognising voice commands captured by the at least one microphone, • a means for recognising manual commands represented by movements sensed by the movement sensor, and • a means for controlling each medical device to be controlled on the basis of the signals received by this receiver.

Description

[0001] DESCRIPTION

[0002] TITLE OF THE INVENTION: REMOTE CONTROL DEVICE FOR AT LEAST ONE MEDICAL DEVICE

[0003] TECHNICAL FIELD OF THE INVENTION

[0004] The present invention relates to a remote control device for at least one medical device. The present invention applies to the field of healthcare and medical devices and, more particularly, to the remote control of medical devices. It applies, in particular, to the field of robot-assisted surgery and, more specifically, to controlling the display of images captured during a surgical and / or medical imaging procedure, which may include geometric models of surgical instruments and / or surgical implants.

[0005] STATE OF THE ART

[0006] The approaches described in this section are approaches that could be pursued, but not necessarily approaches that have been previously conceived or pursued. Therefore, unless otherwise stated, it should not be assumed that any of the approaches described in this section constitutes prior art simply because of its inclusion in this section.

[0007] As illustrated in [Fig. 1], schematically and in top view, a surgical operating room of the anterior art may include, around an operating table 19 on which a patient 20 is lying, a surgeon 25, a robotic arm 23 mounted on a trolley 22, a viewing screen 24 mounted on a trolley 26 and a navigation camera 27 mounted on a trolley 28.

[0008] The surgeon 25 interacts with and controls the medical devices 23 and 24 he uses via the display screen 24, which may or may not be touchscreen. For example, during computer-assisted surgeries using a navigation system 24 and 27 and / or a robotic aiming system 23, the surgical instruments and / or implants used are represented in medical images (pre- and / or intraoperative) displayed on the display screen 24, by means of digital geometric models of these surgical instruments. These medical images are typically images of the patient's body area 20, obtained by medical scanners, MRI (magnetic resonance imaging) machines, or ultrasound scanners. Furthermore, the position and orientation of the surgical instrument used are updated in real time in the medical images displayed on the screen 24.

[0009] If screen 24 is a touchscreen, the surgeon 25 touches the part of screen 24 corresponding to the command they wish to execute. If screen 24 is not a touchscreen, the surgeon 25 manipulates the graphical interface using a pointing device (not shown), such as a joystick, mouse, rotary knob, touchpad, or gestures, if the interface includes a motion capture system. Then, the surgeon 25 confirms the desired command by pressing a button (not shown) or performing a specific gesture (if motion capture and recognition are integrated into the interface). These various interactions between healthcare professionals and the medical devices they use present the following drawbacks:

[0010] - a reduction in the concentration of healthcare staff on the medical procedure to be performed, - a loss of time related to the movement of healthcare staff to interact with the medical device,

[0011] - congestion of the operating space due to the necessary proximity between healthcare personnel and medical equipment, in order to minimize time lost due to staff movement, and

[0012] - problems with asepsis and cleaning of interfaces with touch interaction or with buttons.

[0013] Some medical devices allow for voice commands, thanks to a voice recognition interface. This type of interaction with healthcare professionals has the advantage of mitigating some of the aforementioned problems, but also has the following drawbacks:

[0014] - Voice command recognition may malfunction if the device enabling the recording of the voice command (which is usually integrated into the device and not external) is too far from the person issuing the voice command and / or if there is too much background noise in the surrounding space,

[0015] - Voice exchanges between medical personnel can be mistakenly interpreted as voice commands, and

[0016] - the congestion of the operating space due to the necessary proximity between healthcare personnel and the voice command recognition interface in order to minimize malfunctions in voice command recognition.

[0017] US2021169605A1 describes a headset controller that receives directional information from the navigation controller and displays a graphical representation of the directional and / or target positioning information of a surgical instrument. US2018303446A1 describes a medical imaging device comprising at least one pair of mixed reality smart glasses, which includes a user interface device for displaying information to the user about an imaging process and / or receiving user-entered data about an imaging process, and a controllable component based on a user command entered using the user interface device. Both systems, comprising a headset or glasses respectively, obstruct the surgeon's view and hinder them by preventing a direct view of the surgical instrument they are manipulating.

[0018] SUMMARY OF THE INVENTION

[0019] The present invention aims to overcome the drawbacks of the prior art by proposing several means of interaction between the user and the remote control device.

[0020] To this end, the present invention relates, according to a first aspect, to a remote control device for at least one medical device to be controlled, which comprises: - a portable communicating unit including at least one microphone, at least one control button and a wireless signal transmitter; and, on a so-called "front" face, a command input user interface configured to receive commands from a user wearing the unit, this user interface including a hand movement sensor for the user, the signals emitted by the transmitter being representative of the commands received on said user interface,

[0021] - a support for the portable communicating device configured to hold the side of the device opposite said front face against the front face of the user's torso,

[0022] - a receiver for the signals emitted by the transmitter in the box,

[0023] - a means of recognizing voice commands captured by at least one microphone,

[0024] - a means of recognizing manual commands represented by movements captured by the motion sensor, and

[0025] - a means of controlling each medical device to be controlled according to the signals received by this receiver.

[0026] The device that is the subject of the invention is thus structurally different from those described in the prior art, since it is worn on the user's torso. It therefore does not obstruct the surgeon's field of vision and allows them to keep their gaze on the area of ​​the patient's body involved in the surgical operation.

[0027] Thanks to the technical features of the device that is the subject of the invention, its user can remotely control at least one medical device, using a self-contained unit, in a variety of ways, including voice or hand gestures. Depending on the stage of the medical procedure being performed, the user can choose one or the other of these remote control methods. Furthermore, in the event of noise disturbances, such as a very noisy environment, or if their hand is being used to perform the medical procedure, the user can switch between different control methods for the medical device.

[0028] In some embodiments, the user's hand motion sensor includes a touch screen.

[0029] Thus, the user can touch the surface of the touchscreen to control at least one medical device.

[0030] In some embodiments, at least two control buttons have finger support surfaces with different reliefs, the differences of which are perceptible to the touch.

[0031] Thus, the user can recognize the buttons by touch, without needing to look at the case.

[0032] In some embodiments, the user's hand motion sensor includes a light projector and an image sensor configured to capture light projected by the light projector.

[0033] Thanks to these arrangements, the user can interact with each medical device to be controlled by manipulating an image projected in front of him. In some embodiments, the light projector is configured to project a graphical user interface and the image sensor is configured to capture manual interactions of the user wearing the device with this projected graphical interface.

[0034] Thanks to these provisions, the user can interact with each medical device to be ordered via a graphical interface similar to that implemented on a smart phone (“smartphone”).

[0035] In some embodiments, the transmitter of the box is a transceiver and the receiver is a transceiver configured to exchange signals with the transceiver of the box, the communicating portable box further comprising a feedback user interface configured to transmit to at least one of the senses of the user wearing the box, information representative of signals received by the transceiver of the box.

[0036] Thus, the user can remain focused on the medical procedure and, nevertheless, be informed of the processing of orders he has sent to each medical device to be ordered.

[0037] In some embodiments, the feedback user interface includes an electromechanical transducer.

[0038] Thus, at least one mechanical vibration perceived by the user provides him with feedback.

[0039] In some embodiments, the feedback user interface includes an electroacoustic transducer.

[0040] Thus, at least one sound perceived by the user provides feedback.

[0041] In some embodiments, the feedback user interface includes an electro-light transducer.

[0042] Thus, at least one light emitted by the device and perceived by the user provides feedback.

[0043] According to a second aspect, the present invention relates to a robotic surgical system which includes a remote control device which is the subject of the invention and a robotic arm.

[0044] In some embodiments, the control means is configured to control at least movements of the robotic arm, based on signals received by this receiver from the transmitter.

[0045] In some embodiments, the control means is configured to control the display of medical imaging by a viewing screen.

[0046] The advantages, purposes and special characteristics of this surgical system being similar to those of the remote control device which is the subject of the invention, they are not recalled here.

[0047] BRIEF DESCRIPTION OF THE FIGURES

[0048] Other advantages, purposes and particular features of the invention will become apparent from the following non-limiting description of at least one particular embodiment of the portable remote control device for a medical device that is the subject of the present invention, with reference to the accompanying drawings, in which:

[0049] Figure 1 schematically represents, in top view, a surgical operating room of the previous art,

[0050] Figure 2 schematically represents a user wearing a portable communicating device of a particular embodiment of the device that is the subject of the invention.

[0051] Figure 3 schematically represents, in top view, a surgical operating room implementing a device that is the subject of the invention,

[0052] Figure 4 schematically represents, in a front view, a first particular embodiment of a portable communicating box of a device that is the subject of the invention. Figure 5 schematically represents, in a side view, the portable communicating box illustrated in [Fig. 4].

[0053] Figure 6 schematically represents, in a front view, a second particular embodiment of a portable communicating unit of a device that is the subject of the invention. Figure 7 schematically represents, in a side view, the portable communicating unit illustrated in [Fig. 6].

[0054] Figure 8 schematically represents, in a front view, an example of a graphical control interface projected by the housing illustrated in figures 6 and 7.

[0055] Figure 9 schematically represents, in a front view, a third particular embodiment of a communicating portable unit of a device that is the subject of the invention. Figure 10 schematically represents, in a side view, the communicating portable unit illustrated in [Fig. 9].

[0056] Figure 11 represents, in the form of a flowchart, the synchronization steps of a device that is the subject of the invention,

[0057] Figure 12 represents, in the form of a flowchart, the first steps in implementing a device that is the subject of the invention, and

[0058] Figure 13 represents, in the form of a flowchart, other steps in the implementation of a device that is the subject of the invention.

[0059] DESCRIPTION OF IMPLEMENTATION METHODS

[0060] The present description is given by way of non-limiting attribution, each feature of an embodiment being able to be advantageously combined with any other feature of any other embodiment.

[0061] It should be noted from the outset that the figures are not to scale.

[0062] As can be understood from this description, various inventive concepts can be implemented by one or more of the methods or devices described below, several examples of which are provided herein. The actions or steps performed in implementing the method or device can be ordered in any appropriate manner. Consequently, it is possible to construct embodiments in which the actions or steps are performed in a different order than illustrated, which may include performing certain acts simultaneously, even if they are presented as sequential acts in the illustrated embodiments.

[0063] The indefinite articles "un" and "une", as used in the description, should be understood as meaning "at least one", unless clearly stated otherwise.

[0064] The expression "and / or," as used in this document, should be understood as meaning 'one or the other or both' of the elements thus joined, that is, elements that are present conjunctively in some cases and disjunctively in others. Multiple elements listed with "and / or" should be interpreted in the same way, that is, "one or more" of the elements thus joined. Other elements may also be present, other than those specifically identified by the "and / or" clause, whether or not they are related to those specifically identified elements.Thus, by way of non-limiting example, a reference to "A and / or B", when used in conjunction with an open language such as "including", may refer, in one embodiment, to A only (possibly including elements other than B); in another embodiment, to B only (possibly including elements other than A); in yet another embodiment, to A and B (possibly including other elements); etc.

[0065] As used here in the description, "or" should be understood inclusively.

[0066] As used in this description, the expression "at least one," when referring to a list of one or more items, should be understood as meaning at least one item chosen from one or more items in the list of items, but not necessarily including at least one of each item specifically listed in the list of items and not excluding any combination of items in the list of items. This definition also allows for the optional presence of items other than those specifically identified in the list of items to which the expression "at least one" refers, whether or not they are related to those specifically identified items.Thus, by way of non-limiting example, "at least one of A and B" (or, equivalently, "at least one of A or B", or, equivalently, "at least one of A and / or B") may refer, in one embodiment, to at least one, possibly including more than one, A, without B present (and possibly including elements other than B); in another embodiment, to at least one, possibly including more than one, B, without A present (and possibly including elements other than A); in yet another embodiment, to at least one, possibly including more than one, A, and at least one, possibly including more than one, B (and possibly including other elements); etc.

[0067] In the description below, all transient expressions such as "comprising," "including," "carrying," "having," "containing," "implying," "holding," "composed of," and others, are to be understood as open-ended, that is, as meaning including, but not limited to. Only the transient expressions "consisting of" and "consisting essentially of" are to be understood as closed or semi-closed transient expressions, respectively. Throughout the description, the terms "upper" and "top" refer to what is at the top when the housing of the device that is the subject of the present invention is in one of the configurations shown in Figures 2 and 4 to 10. The terms "lower" and "bottom" refer to what is at the bottom in these figures. The term "interior" refers to what is inside the housing. The term "exterior" or "face" refers to what is on the surface of the housing.

[0068] A view from the right or left, as shown in Figures 2, 4, 6, or 9, is called a "side view." The front of the device shown in Figures 2, 4, 6, or 9 is called the "front view," and the opposite side is called the "rear view." The rear view of the device, achieved by using a support, is positioned closest to the user's torso, preferably their chest. This allows the graphical user interface to face forward, where the user can interact with it using their hand or finger.

[0069] The figures illustrate an application of the invention to a targeting robot equipped with an anthropomorphic arm. Of course, the present invention also applies to any other type of arm or robot, and more broadly to any type of medical device capable of receiving commands (also called instructions) from a user.

[0070] Figure 2 schematically represents a healthcare professional 25, for example a surgeon, equipped with a portable communicating device 30 of a particular embodiment of the device that is the subject of the invention. It can be seen that the portable communicating device is supported on the front of the user's torso and, preferably, on the front of their thorax.

[0071] As described opposite Figures 4 to 10, the portable communicating device 30 includes at least one microphone, at least one control button, and a wireless signal transmitter. This device 30 also includes, on a so-called "front" face, a command input user interface configured to receive commands from a user wearing the device. This user interface includes a hand motion sensor. A support for the portable communicating device is configured to hold the so-called "rear" face of the device, opposite the front face, against the front of the user's torso 25.

[0072] This portable communicating device 30 support, which holds the device 30 against the front of the user's torso, includes, for example, a cord going around the back of the neck and, possibly, under one of the user's shoulders, a chest harness, a pocket in a garment, such as a gown, preferably allowing direct access to the front of the device, and a shell holding the corners of the device 30 attached to a garment or harness. As described opposite Figure 4, this device 30 support may consist of an attachment means on the back of the device 30 or a sterile cover, allowing the device 30 to be attached to a garment. For example, this attachment means uses a pin, a clip, or two magnets that attract each other on either side of a garment, one of these magnets being attached to the device 30 and the other being removable. The device 30 is thus attached to a gown, sterile or not, at the level of the user's chest 25.Returning to the example of the operating room illustrated in [Fig. 1], in [Fig. 3], the portable communicating box 30 communicates wirelessly with a computer 29 which, in turn, communicates with the display screen 24 and, possibly, with the robotic arm 23.

[0073] In the case where a robot is used, computer 29 is preferably integrated into the robot carriage and is the one that operates the robot. As described below, the control unit 30 can communicate wirelessly with any control or command computer of a medical device. If this computer 29 is not equipped with a wireless communication system, a wireless communication dongle (not shown) is connected to the computer via a port (typically a USB port, acronym for Universal Serial Bus) to enable this wireless communication.

[0074] Computer 29 thus constitutes a means of controlling each medical device to be controlled according to the signals from the control box 30 which are received by the receiver of the communication system.

[0075] Communications between the computer 29 and the display screen 24, on the one hand, and optionally the robotic arm 23, on the other hand, can be wired or wireless. The computer 29 preferably includes at least one wireless communication transceiver 21 for communication with the housing 30. Alternatively, such a transceiver is connected to the computer 29, for example, via a USB port.

[0076] Thus, by interacting with the portable communicating unit 30, the healthcare personnel 25 can control the operation of the display screen, i.e. what it displays and how it displays it and, possibly, of the robotic arm 23. The remote control device of the invention comprises the computer 29 and the portable communicating unit 30, three embodiments of which, 40, 50 and 80, are described opposite Figures 4 to 10.

[0077] In a first embodiment illustrated in [Fig. 4] and [Fig. 5], a portable communicating box 40 of a device of the invention comprises, in a known manner, a microprocessor 31, an electric battery 32, an electromechanical transducer 33, memories 34, and a battery charging module 35 32.

[0078] The electromechanical transducer 33, also commonly called a "vibrator," is a haptic interface that emits mechanical vibrations under the control of the microprocessor 31. Preferably, the electromechanical transducer 33 is positioned on the lowest part of the rear face of the housing 40, as this part is highly likely to be in contact with the user's 25 chest when the chest is upright. The housing 40 thus has the ability to provide feedback by emitting mechanical vibrations. The intensity, duration, number, and type of vibrations can be configured according to the type of vibration feedback desired by the user 25. For example, if the user wishes to be informed that the housing 40 has acknowledged their command, they can choose an intensity, duration, number, and type of vibration to signal this acknowledgment.It should be noted that this haptic feedback can be redundant with visual or auditory feedback provided directly by the controlled medical device. The memories 34 include a memory for computer programs for the operation of the microprocessor 31 and the housing 40, a memory for parameter values ​​for the configuration of the housing 40, and RAM for storing data captured or received by the housing 40.

[0079] In addition to these first components, the housing 40 includes a surface sensitive to the contact or proximity of at least one finger of the user 36, a wireless transceiver 37, control buttons 38, an electroacoustic transducer 39, an electrolight transducer 41 and a microphone 42.

[0080] As shown in figures 4 and 5, the sensitive surface 36 is on the front face of the housing 40, the control buttons 38 are preferably on the right and left sides of the housing 40, the electroacoustic transducer 39 and the microphone 42 are preferably on the upper part of the housing 40 and the electro-light transducer 41 is preferably on the upper face of the housing 40.

[0081] In a first example, the sensitive surface 36 includes a touch surface, specifically a capacitive type. Preferably, this touch surface 36 is capable of independently tracking two user finger contacts on or near its sensitive surface. Alternatively, this touch surface 36 is integrated into a touchscreen.

[0082] According to a second example, the sensitive surface is sensitive to the proximity of at least one finger of the user, for example by the implementation of capacitive position sensors.

[0083] In both cases, the sensitive surface 36 is associated with a means for recognizing manual commands (not shown), typically a central processing unit with memory containing software for associating the user's hand movements 25 with a command to be executed by a controlled medical device. Note that this means for recognizing manual commands can be located in the housing 40 or in the computer 29.

[0084] The transceiver 37 is configured to exchange messages and data with the computer 29, to control at least one medical device, as described opposite Figures 9 to 12, preferably by transmitting and receiving radio waves. For example, the transceiver 37 implements one of the bidirectional communication protocols BLE (acronym for Bluetooth® Low Energy), WiFi®, or even 4G or 5G, mobile telephony communication protocols.

[0085] The control buttons 38 allow the user of the housing 40 to control certain functions of the housing 40. Preferably, the control buttons 38 have finger-support surfaces with different reliefs, the differences of which are perceptible to the touch. The buttons 38 are thus directly recognizable by touch, thanks to their very different three-dimensional shapes. Figure 5 illustrates such shapes. For example, a button 38 allows the user to activate or deactivate a silent operating mode. When the silent mode is activated, the housing 40 does not emit any sounds. It only emits vibrations to provide feedback on commands to the user 25. The electroacoustic transducer 39, for example a loudspeaker or a buzzer, is configured to emit sounds in the audible range. The intensity, duration, number, and type of pulses (beep, sound, word, etc.) are determined by these parameters.The audible feedback can be configured according to the type of audible feedback desired by user 25. For example, if user 25 wishes to be informed that the control unit 40 or the controlled medical device has acknowledged their command, they can choose the intensity, duration, number, and type of audible pulses that define the desired audible feedback. It should be noted that this audible feedback can operate in redundancy with visual or audible feedback provided directly by the controlled medical device.

[0086] The light-emitting transducer 41, for example, consists of an array of light-emitting diodes configured to emit light beams of different visible colors. The color, intensity, duration, and number of light pulses can be configured according to the type of visual feedback desired by the user 25. For example, if the user 25 wishes to be informed in real time of the operating status of a medical device they are controlling, they can choose a specific color, intensity, duration, and number of light pulses to indicate that the device is functioning correctly, and a different color, intensity, duration, and number of light pulses to indicate a malfunction. It should be noted that this visual feedback can operate in redundancy with visual or audible feedback provided directly by the controlled medical device.

[0087] The microphone 42 is preferably located on the top of the housing 80 to capture the voice coming directly from the mouth of the user 25. A voice command recognition means (not shown), in the housing 40 or in the computer 29, recognizes commands addressed by the user to the remote control device, for the purpose of their execution. This voice command recognition means is typically a central processing unit associated with memory containing voice recognition software. This voice command recognition means can be located in the housing 40 or in the computer 29.

[0088] The short distance (on the order of 10 cm to 20 cm) between the mouth of user 25, emitting voice commands, and the microphone 42 minimizes command recognition problems related to sound disturbances surrounding the housing 40 and user 25. This increases the reliability of the device during voice interactions with user 25.

[0089] The housing 40 has a protection rating of at least IP65 (Ingress Protection 65). The housing 40 can be used in a sterile environment. In this configuration, the housing 40 is encapsulated in a sterile, single-use, or sterilizable cover. The cover's shape conforms to the shape of the housing and, in particular, to the geometric shapes of the action buttons with their different reliefs on the side of the housing 40. The upper surface of the sterile cover is transparent. The rear surface of the sterile cover may have a sterile adhesive surface for attaching the sterile cover containing the housing to a sterile gown. On the rear of the housing 40 or the sterile cover, attachment means, 43 and 44, allow the housing 40 to be attached to clothing.For example, this attachment method uses a pin, a clip, or two magnets 43 and 44 that attract each other on either side of a panel of the garment 45, with magnet 43 being mechanically linked to the device 40 and magnet 44 being removable. The device 40 is thus attached to a sterile or non-sterile gown at the level of the user's 25 chest. The attachment method consists of a support for the portable communicating device 40 configured to hold the rear face of the device, that is, the face opposite the front face on which the graphical user interface is located, against the front of the user's torso, and preferably their chest.

[0090] This spatial configuration between user 25 and device 40 facilitates their physical interactions:

[0091] - the short distance (for example, on the order of 15 cm to 25 cm) between the ear of the user 25 and the electroacoustic transducer 39 allows the user 25 to better hear the sound feedback from the device,

[0092] - The user 25 has easy access, by hand, to the sides of the housing 40 in order to operate the control buttons 38 and to the front of the housing 40 to perform touch commands on the sensitive surface 36,

[0093] - User 25 easily sees the visual feedback provided by the electro-light transducer 41; for example, this feedback signals a request for validation or confirmation of an order, the status of an order or the operating state of a medical device, - User easily perceives the haptic feedback provided, in the form of vibrations, by the electromechanical transducer 33.

[0094] Note that the 40-unit housing allows for redundancy of feedback between visual, auditory, and haptic feedback. This improves communication and feedback between the device and the user 25.

[0095] Optionally, the front face of the housing 40 has at least one light-emitting transducer, functioning as a beacon displaying the operating status of the housing 40 and, possibly, of the sensors it contains. This display signals to people in front of the user 25 that the housing 40 is in operation.

[0096] User 25 can interact in several ways with the remote control unit 40 to communicate commands that the unit 40 transmits wirelessly to the computer 29, which in turn transmits them to a medical device to be controlled. These touch interactions include:

[0097] - User 25 can press the buttons 38 on the unit 40 to activate, configure, confirm, or deactivate commands. As described opposite [Fig. 9], user 25 can configure the actions associated with the various buttons 38 using configuration software.

[0098] - User 25 can touch the touch-sensitive surface 36 to activate, configure, confirm, or deactivate commands. The type of touch (quick tap, long tap, double tap, horizontal or vertical swipe on the touch-sensitive surface 36, finger spacing on the touch-sensitive surface 36, etc.) and the associated command are configurable via the device's configuration software.

[0099] As illustrated in Figures 11 and 12, once the control unit 40 is synchronized with the computer 29 and configured, it can be used during a medical procedure to remotely control at least one medical device. The control unit 40 then records the command (or requests confirmation of the command before recording it) and transmits it wirelessly to the computer 29. The computer 29 then receives the command and proceeds to the command recognition / identification stage. Once the command is recognized / identified, it is validated by the computer 29. After validation, the command is processed by the computer 29. Then, an operation request corresponding to the command is sent to the software and / or electromechanical system of the controlled medical device so that the operation can be performed.In parallel, confirmation that the order has been taken into account by the medical device is transmitted to a visual or audible feedback system for the user, integrated into the medical device as well as to the box 40 which provides feedback to the user by audible, visual and / or haptic means.

[0100] As can be understood from the preceding description, in its first embodiment, the device, 29 and 40, for remotely controlling at least one medical device to be controlled, 23 and / or 24, comprises:

[0101] - a portable communicating box 40 comprising a user interface, 36, 38 and 42, for command input configured to receive commands from a user 25 wearing the box 40, and a wireless transmitter 37 of signals representative of the commands made on this interface by this user,

[0102] - a receiver 21 of the signals emitted by the transmitter of the box,

[0103] - a means of recognizing voice commands captured by at least one microphone,

[0104] - a means of recognizing manual commands represented by movements captured by the motion sensor, and

[0105] - a means 29 of controlling each medical device to be controlled according to the signals received by this receiver.

[0106] The user interface includes at least one microphone 42, at least one control button 38, and a hand motion sensor. In this first embodiment, the motion sensor includes the sensitive surface 36.

[0107] In a second embodiment illustrated in [Fig. 6] and [Fig. 7], we find a portable communicating box 50 which includes the microprocessor 31, the electric battery 32, the electromechanical transducer 33, the memories 34, the battery charging module 35 32, the transceiver 37, the control buttons 38, the electroacoustic transducer 39, the electro-light transducer 41 and the microphone 42.

[0108] In addition to these components, the housing 50 includes a light projector 51 and a light ray sensor 52. As illustrated in [Fig. 7], the light projector 51 emits light into an optical field 54 in front of the housing 50. Similarly, the light ray sensor 52 captures light rays into an optical field 55 in front of the housing 50. The optical fields 54 and 55 are practically superimposed. When an object 53, for example the palm of the user's hand 25 or a sheet of paper, is located in the common area of ​​the optical fields 54 and 55, the processing of the captured light rays makes it possible to determine any movement of at least one finger 56 of the user 25.

[0109] In the case where the light projector 51 projects a regular pattern or structured light onto the object 53, the recognition and processing of the movements of at least one finger 56 of the user are equivalent to the use of a sensitive surface described in the first embodiment. They also allow the recognition and processing of hand gestures of the user (hand moving within the optical field 55, finger snaps, finger pinching or spreading, etc.), these gestures being associated with commands transmitted to at least one medical device.

[0110] However, preferably, the light projector 51 projects a graphical user interface 60 (GUI, acronym for Graphical User Interface) onto the object 53. The graphical interface 60 can be projected by a laser beam or by a micro-video projector.

[0111] This graphical interface 60 includes, for example, representations of the operating parameters and components of each remotely controlled medical device. In the example shown in [Fig. 8], this graphical interface 60 has a section 61, on the left, dedicated to controlling the robotic arm 23, and another section 66, on the right, dedicated to controlling the display screen 24.

[0112] In this example, the commands for the robotic arm 23 offered to user 25 include:

[0113] - a zone 62 for selecting the operating mode of the robotic arm, giving the choice between a cooperative operating mode and an automatic mode,

[0114] - a slider 63 for adjusting the resistance of the robotic arm 23, in cooperative mode, or the speed of the free end of the robotic arm 23, in automatic operating mode, depending on the operating mode selected by pressing on area 62,

[0115] - a control zone 64 for recentering the end of the robotic arm 23 towards a predetermined point of interest, for example, an entry point of a surgical tool into the patient's body 20, selectable only when the robotic arm 23 is in automatic operating mode, and

[0116] - a zone 65 for selecting a trajectory, between previously memorized trajectories, selectable only when the robotic arm 23 is in automatic operating mode.

[0117] Continuing with the example in [Fig. 8], the controls on the display screen 24 offered to the user 25 include: - a slider 67 for adjusting the horizontal coordinate of the viewing angle of the displayed image,

[0118] - a slider 68 for adjusting the vertical coordinate of the viewing angle of the displayed image, - a slider 69 for adjusting a magnification factor of the displayed image,

[0119] - a slider (70) for adjusting the contrast of the displayed image,

[0120] - a dial 71 for horizontal and / or vertical shift of the displayed image, to center it on a part of interest to the user 25, and

[0121] - a 72 area for selecting false colors displayed, for example to represent in different colors blood vessels, soft tissues and areas of the organ subject to surgery, for example the brain of patient 20.

[0122] A means for recognizing manual commands (not shown), which processes images captured by image sensor 52, typically comprises a central processing unit with memory containing software for associating the user's hand gestures 25 with a command to be executed by a controlled medical device. This means for recognizing manual commands can be located in the housing 50 or in the computer 29.

[0123] Thus, the graphical interface 60 allows users to adjust the operating parameters of at least one medical device or to control its operation. The graphical interface 60 enables the monitoring of the operation of at least one medical device. Naturally, the graphical interface 60 allows navigation, in a familiar manner, for example with drop-down menus, between several pages, for instance, pages dedicated to specific commands or operating parameters of a particular medical device.

[0124] The 50 case has the same attachment means and protection features as the 40 case.

[0125] The 50 case offers other advantages:

[0126] - it can scan objects placed by the user 25 in front of its front face, and model them in three dimensions, following the principle of photogrammetry, thanks to the image sensor 52, and

[0127] - it can scan objects placed by the user 25 in front of its front face and model them in three dimensions following the principle of laser scanning (line or laser point scanning) or light network projection (structured light principle) thanks to the light projector 51, by scanning and / or projection of light networks, and the image sensor 52.

[0128] As illustrated in Figures 11 and 12, once the unit 50 is synchronized with the computer 29 and configured, it can be used during a medical procedure to remotely control at least one medical device.

[0129] As can be understood from the preceding description, in its second embodiment, the device, 29 and 50, for remotely controlling at least one medical device to be controlled, 23 and / or 24, comprises: - a portable communicating box 50 comprising a user interface, 38, 42, 51 and 52, for command input configured to receive commands from a user 25 wearing the box 50, and a wireless transmitter 37 of signals representative of the commands made on this interface by this user,

[0130] - a receiver 21 of the signals emitted by the transmitter of the box,

[0131] - a means of recognizing voice commands captured by at least one microphone,

[0132] - a means of recognizing manual commands represented by movements captured by the motion sensor, and

[0133] - a means 29 of controlling each medical device to be controlled according to the signals received by this receiver.

[0134] The user interface includes at least one microphone 42, at least one control button 38, and a hand motion sensor. In this second embodiment, the motion sensor includes the light projector 51 and the image sensor 52.

[0135] In a third embodiment illustrated in [Fig. 9] and [Fig. 10], a portable communicating unit 80 is included, comprising the microprocessor 31, the electric battery 32, the electromechanical transducer 33, the memories 34, the battery charging module 35, the transceiver 37, the control buttons 38, the electroacoustic transducer 39, the electro-light transducer 41, and the microphone 42. The portable communicating unit 80 also includes a user hand motion sensor (not shown) such as one of those described with the first or second embodiment.

[0136] In addition to these components, the housing 80 includes an image sensor 82, a spatial tracking module 83 and a witness 84 for storing images and / or sounds.

[0137] The image sensor 82, for example a camera similar to that of a smartphone, is preferably positioned on the front of the housing 80 to capture images of the operation performed by the user. These images are taken upon voice command from the user 25. This command can trigger the capture of a single image, a sequence of images taken at regular time intervals, or a video.

[0138] The spatial tracking module 83 allows the location of the unit 80 in case of loss or theft. It is, for example, a geolocation tracker using satellite signals.

[0139] The image and / or sound storage indicator 84 is preferably positioned on the front of the housing 80. It emits a light signal indicating any image or sound recording made with the remote control device. This allows people other than the user 25 to know that such a recording is in progress. The user 25 is informed of this recording by means of light signals emitted by the electro-light transducer 41 and / or the electromechanical transducer 33. The housing 80 has the same attachment means and protective features as the housings 40 and 50.

[0140] In this third embodiment, the user 25 controls, either vocally or by pressing the control buttons 38, the setting and operation of at least one medical device, as well as the setting and operation of the remote control device, including the recording of images or sounds.

[0141] Of course, the different components of the three embodiments of the housings 40, 50 and 80, described above, are intended to be combined in other ways in other embodiments of the remote control housing 30 of at least one medical device.

[0142] Cloud-based and / or local (stored in computer memory 29 and / or in device memory 30) software applications allow the configuration of device operating parameters, the synchronization of communications and remote control interactions of at least one medical device.

[0143] The configuration software provides a graphical interface, displayed on a computer screen 29 and / or on a screen of the control unit 30, allowing the user to easily and intuitively configure their profile containing specific usage parameters. The graphical interface allows, in particular, the configuration of the following functionalities:

[0144] a. Functionalities for using the remote control device via sound (voice) interactions:

[0145] - User authentication and user profile association: For this, the user records data relating to the four physical parameters of their voice (pitch, duration, timbre, and intensity). This recording serves as the software's basic data for identifying the user and associating them with their user profile. Since each user has a different voice profile, this feature is used to secure and control access to the remote control device, restricting it to only those users who have registered their voice data.

[0146] - Recognition of user voice commands: The user records voice commands and associates them with a command to be executed by the medical device in response to the received voice command. For example, if the user wants a surgical assistance robot to switch from automatic movement mode to collaborative movement mode, they record a voice command such as "switch to cooperative mode" and associate it with the command to change the movement mode to cooperative mode. A predefined list of configurable commands is provided to the user based on the medical device being controlled.

[0147] b. Functionalities for using the remote control device via contact interactions:

[0148] - Interactions with the mechanical buttons on the control unit: The user associates a contact interaction type (single press, double press, long press, quick press, etc.) with each button and assigns it a command. For example, if the user wants the robot to move from one trajectory to another (trajectories defined during surgical procedure planning), the user associates a contact interaction (e.g., single press) with one of the buttons and then assigns the "next trajectory" command to that interaction. Predefined lists of contact interaction types and configurable commands are available to the user depending on the medical device being controlled.

[0149] - Interactions with a touch-sensitive surface on the front of the device: the user associates a type of contact interaction (single press, double press, long press, quick press, left-to-right or right-to-left swipe, etc.) with a command. For example, if the user wants the robot to move from one trajectory to a second (trajectories defined during surgical planning), the user associates a contact interaction (e.g., left-to-right swipe) with the "next trajectory" command. Predefined lists of contact interaction types and configurable commands are available to the user depending on the medical device being ordered.

[0150] c. Functionalities for using the contactless gesture recognition remote control device:

[0151] - Interactions with capacitive sensors on the front of the device: To do this, the user selects the type of sensor to use (here, capacitive sensors) and then associates a type of contactless gesture interaction (hand moving from left to right, up and down, etc.) with a command. For example, if the user wants the robot to move from one path to another, the user associates a contactless gesture interaction with a capacitive sensor (for example, hand moving from left to right) with the command "next path". Predefined lists of sensor types, contactless gesture interactions, and configurable commands are offered to the user depending on the medical device being ordered.

[0152] - Interactions with image sensors on the front of the device: To do this, the user selects the type of sensor to use (here, the image sensor) and then associates a type of contactless gesture interaction (hand moving from left to right, finger snap, finger pinch, etc.) with a command. For example, if the user wants the robot to move from one trajectory to another, the user associates a contactless gesture interaction with the image sensor (for example, hand moving from left to right) with the command "next trajectory". Predefined lists of sensor types, contactless gesture interactions, and configurable commands are offered to the user depending on the medical device being ordered.

[0153] d. Visual Feedback Functionality: The remote control device has the ability to provide visual feedback via at least one light source, preferably located on the top of the housing so that the user can see it continuously. The color, intensity, duration, and number of light pulses can be configured according to the type of visual feedback desired by the user. For example, if the user wishes to be informed in real time of the operating status of the medical device they wish to control, they can choose a specific color, intensity, duration, and number of light pulses to indicate proper operation and a different color, intensity, duration, and number of light pulses to indicate a malfunction.A predefined list of visual feedback options (operating status, order confirmation, etc.) is offered to the user depending on the medical device being ordered. As described above, this visual feedback can operate in redundancy with visual or audible feedback provided directly by the medical device being ordered.

[0154] e. Audible Feedback Functionality: The remote control device can provide audible feedback via at least one sound emitter. The intensity, duration, number, and type of sound pulses can be configured according to the type of audible feedback desired by the user. For example, if the user wishes to be notified that the remote control device has acknowledged their command, they can select the intensity, duration, number, and type of pulses to define the desired audible feedback. A predefined list of audible feedback types (operating status, command confirmation, etc.) is available to the user depending on the medical device being controlled.As described above, this audible feedback can operate in redundancy with visual or audible feedback provided directly by the medical device being controlled.

[0155] f. Haptic Feedback Features: The remote control device can provide haptic feedback through the emission of mechanical vibrations. The intensity, duration, number, and type of vibrations can be configured according to the user's desired level of haptic feedback. For example, if the user wishes to be notified that the remote control device has acknowledged their command, they can select the intensity, duration, number, and type of vibrations to define the desired feedback. A predefined list of haptic feedback types (operating status, command confirmation, etc.) is available to the user based on the medical device being controlled.As described above, this haptic feedback can be redundant with visual or auditory feedback provided directly by the medical device being controlled.

[0156] Once the control device is configured, it can be used during a medical procedure to remotely control a medical device by voice, touch, or manual gestures.

[0157] [Fig. 11] represents, in the form of a logic diagram, the steps of a method 90 for synchronizing the parts of a device that is the object of the invention, that is to say the computer 29 and the case 30.

[0158] At the beginning of the medical procedure (step 91), the medical device (step 92) and the components of the remote control device (step 93) are powered on. Once both devices are operational, in step 94, their wireless communication is synchronized using a synchronization procedure that depends on each medical device being controlled and the wireless communication protocol used. The communication protocol used is secure to minimize the risk of cyberattacks. Once the devices are synchronized, in step 95, a synchronization confirmation is issued by the remote control device (audible confirmation 96, visual confirmation 97, and / or haptic confirmation 98) to inform the user that the synchronization has been validated. The remote control device is then ready to receive commands from the user and transmit them to each medical device for execution (step 99).

[0159] Figures 12 and 13 represent, in the form of flowcharts, the implementation steps of a device that is the subject of the invention. They concern an example of a workflow during the use of the remote control device. Once the device is configured and synchronized with each medical device it is to control remotely, the unit 30 can receive several types of control interaction, step 101 (voice 102, buttons 103, touch-sensitive surface 104, and / or contactless 105). The remote control unit then records the command (possibly after a request for confirmation and confirmation by the user) during a step 106.

[0160] The control unit then transmits this command, via the wireless connection, to the remote control device's computer in step 107. This computer receives the command and performs step 108, which recognizes and identifies it. Once the command is recognized and identified, the computer validates it in step 109. The command is then processed in step 110, and a request 111 for the corresponding operation is sent to the software and / or electromechanical system of the controlled medical device. This medical device then performs the commanded operation in step 112. Optionally, in step 113, the user receives visual or audible confirmation that the medical device has accepted the command.

[0161] In parallel with step 112, during step 114, confirmation that the medical device has received the command is transmitted to the remote control device's computer. During step 115, this confirmation is transmitted from the computer to the remote control device's control unit. Then, during step 116, this control unit transmits this confirmation to the user audibly (step 117), visually (step 118), and / or haptically (step 119).

[0162] The preceding description mainly concerns the remote control of robots, for which the control may involve:

[0163] - The path to follow,

[0164] - Translation along a tool,

[0165] - The operating mode (cooperative or automatic),

[0166] - The constraints, in speed, resistance, rotation, orientation towards a point or an axis, maintenance along an axis or in a plane (or other predefined surface), the working envelope.

[0167] However, the present invention is not limited to this type of medical device. For example, it also applies to the remote control of medical imaging equipment, such as an X-ray machine, a medical scanner, or a magnetic resonance imaging (MRI) machine. For these devices, the present invention can enable the remote control of movements, activation, pause, or deactivation.

[0168] The advantages of the present invention include the following:

[0169] - It allows remote control of at least one medical device.

[0170] - It improves the user experience related to the use of at least one medical device. - It promotes the concentration of healthcare staff for performing medical procedures. - It reduces the time wasted by healthcare staff moving around to interact with each ordered medical device.

[0171] - It reduces the clutter in the operating space related to the need for proximity between healthcare personnel and each medical device ordered.

[0172] - It reduces aseptic problems with touch interaction interfaces or with buttons on each controlled medical device.

[0173] - It improves voice interactions thanks to the spatial proximity between the remote control unit and the user.

[0174] - It allows for the customization of interactions and associated commands based on the user.

[0175] - It allows the creation of profiles specific to each user.

[0176] - It ensures the security of access and use of each medical device controlled by voice analysis of the user.

Claims

DEMANDS 1. Device (29, 30, 40, 50, 80) for remotely controlling at least one medical device (23, 24) to be controlled, characterized in that it comprises: - a portable communicating unit (30, 40, 50, 80) comprising at least one microphone (42), at least one control button and a wireless signal transmitter (37); and, on a so-called "front" face, a command input user interface (36, 38, 51, 52, 60, 42) configured to receive commands from a user (25) wearing the unit, this user interface comprising a hand movement sensor (36, 51, 52), the signals emitted by the transmitter being representative of the commands received on said user interface, - a support (43, 44) for the portable communicating unit configured to hold the face of the unit opposite said front face on the front face of the user's torso, - a receiver (21) of the signals emitted by the transmitter of the box, - a means of recognizing voice commands captured by at least one microphone, - a means of recognizing manual commands represented by movements captured by the motion sensor, and - a means (29) of controlling each medical device to be controlled according to the signals received by this receiver.

2. Device (29, 40) according to claim 1, wherein the user's hand movement sensor comprises a touch screen.

3. Device (29, 40, 50, 80) according to any one of claims 1 or 2, wherein at least two control buttons (38) have finger support surfaces of different reliefs, the differences of which are perceptible to the touch.

4. Device (29, 50) according to any one of claims 1 to 3, wherein the user's hand movement sensor comprises a light projector (51) and an image sensor (52) configured to capture light projected by the light projector.

5. Device (29, 50) according to claim 4, wherein the light projector (51) is configured to project a graphical user interface (60) and the image sensor (52) is configured to capture manual interactions of the user wearing the case with this projected graphical interface.

6. Device (29, 50) according to any one of claims 1 to 5, wherein the transmitter (37) of the case (30, 40, 50, 80) is a transceiver and the receiver (21) is a transceiver configured to exchange signals with the transceiver of the case, the communicating portable case (30, 40, 50, 80) further comprising a feedback user interface (33, 39, 41, 60, 84) configured to transmit to at least one of the senses of the user wearing the case, information representative of signals received by the transceiver of the case.

7. Device (29, 50) according to claim 6, wherein the feedback user interface (33) comprises an electromechanical transducer.

8. Device (29, 50) according to any one of claims 6 or 7, wherein the feedback user interface (39) comprises an electroacoustic transducer.

9. Device (29, 50) according to any one of claims 6 to 8, wherein the feedback user interface (41) comprises an electro-light transducer.

10. Robotic surgical system (22, 23) comprising a remote control device (29, 30, 40, 50, 80) according to any one of claims 1 to 9 and a robotic arm (23).

11. Robotic surgical system (22, 23) according to claim 10, wherein the control means (29) is configured to control at least movements of the robotic arm (23), according to signals received by receiver (21) from transmitter (37).

12. Robotic surgical system (22, 23) according to any one of claims 10 or 11, wherein the control means (29) is configured to control the medical imaging display by a viewing screen (24).

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