Method of automatically monitoring the penetration behavior of a trocar held by a robotic arm and monitoring system

US9936972B2 · kind B2 · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Lutz Blohm · Möhrendorf, DE
• Michael Martens · Folsom, US
• Philip Mewes · Nürnberg, DE

Key dates

• Filing date: Oct 30, 2015
• Grant date: Apr 10, 2018
• Expiry date: Oct 6, 2036

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/3937
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A method for automatically monitoring the penetration behavior of a trocar held by a robotic arm and monitoring system is provided. The method and system automatically monitors the penetration behavior of a trocar held by a robotic arm and/or an instrument guided through the trocar into a body cavity through an incision in the surface of the body of a patient during a surgical procedure. At least one measured value is recorded, by which a change in a force effect on the surface of the body of the patient may be determined, and automatic evaluation of the measured value with regard to a reference measured value is conducted. Comparison of the change in the measured value or the change in the force effect with a threshold value is made, and an indication in the event of the threshold value being exceeded is outputted.