Systems and methods of communicating thermal information for surgical robotic devices

Abstract

A robotic medical system can include a medical instrument that can include a distal end configured to be inserted into a patient and apply heat to tissue within the patient. The robotic manipulator can be engaged with the medical instrument and configured to operate the medical instrument. The system can further include a temperature sensor configured to take one or more temperature readings of the medical instrument. The system can also include a viewer configured to display an image of the medical instrument and an image overlay conveying information indicative of a temperature of the medical instrument. The information conveyed by the image overlay can be based on the one or more temperature readings taken by the temperature sensor.

What is claimed is: 
     
         1 . A robotic medical system, comprising:
 a medical instrument comprising a distal end configured to be inserted into a patient and apply heat to tissue within the patient;   a robotic manipulator engaged with the medical instrument and configured to operate the medical instrument;   a temperature sensor configured to take one or more temperature readings of the medical instrument; and   a viewer configured to display an image of the medical instrument and an image overlay conveying information indicative of a temperature of the medical instrument,   wherein the information conveyed by the image overlay is based on the one or more temperature readings taken by the temperature sensor.   
     
     
         2 . The robotic medical system of  claim 1 , wherein the image overlay is displayed over at least a portion of the image of the medical instrument. 
     
     
         3 . The robotic medical system of  claim 2 , wherein the medical instrument further comprises a wrist, and wherein the image overlay is displayed over at least the wrist of the medical instrument of the image. 
     
     
         4 . The robotic medical system of  claim 1 , wherein the image overlay is displayed around a second image overlay associated with the medical instrument. 
     
     
         5 . The robotic medical system of  claim 4 , wherein the second image overlay conveys a state or an identity of the medical instrument. 
     
     
         6 . The robotic medical system of  claim 1 , wherein the image overlay comprises a temperature meter indicating a temperature of the medical instrument. 
     
     
         7 . The robotic medical system of  claim 1 , wherein the image overlay is capable of displaying multiple colors. 
     
     
         8 . The robotic medical system of  claim 7 , wherein the multiple colors comprise a first color indicating that the medical instrument is heated, and wherein the multiple colors comprise a second color indicating that the medical instrument is cooled. 
     
     
         9 . The robotic medical system of  claim 8 , wherein the image overlay displays the first color until the medical instrument reaches a temperature threshold, wherein the image overlay displays the second color once the medical instrument reaches the temperature threshold. 
     
     
         10 . The robotic medical system of  claim 1 , wherein the image overlay comprises a number indicating the temperature of the medical instrument. 
     
     
         11 . The robotic medical system of  claim 1 , wherein the information is based on a direct measurement of temperature of the distal end of the medical instrument. 
     
     
         12 . The robotic medical system of  claim 1 , wherein the medical instrument further comprises a wrist, and wherein the information is based on a direct measurement of temperature of the wrist of the medical instrument. 
     
     
         13 . The robotic medical system of  claim 1 , wherein the image overlay conveys information based on known characteristics of the medical instrument including one or more of a firing time, a thermal decay constant, and an external body temperature. 
     
     
         14 . The robotic medical system of  claim 1 , wherein the temperature sensor is located within the medical instrument. 
     
     
         15 . A method of controlling a robotic medical instrument, the method comprising:
 operating the robotic medical instrument with a robotic manipulator engaged with the robotic medical instrument;   measuring a temperature at a distal end of the robotic medical instrument; and   limiting a functionality of the robotic medical instrument based on the measured temperature.   
     
     
         16 . The method of  claim 15 , further comprising displaying an image of the robotic medical instrument and an image overlay that conveys information regarding the measured temperature. 
     
     
         17 . The method of  claim 15 , wherein the functionality is limited until the measured temperature falls below a temperature threshold. 
     
     
         18 . The method of  claim 17 , wherein limiting the functionality comprises limiting a speed of the robotic medical instrument. 
     
     
         19 . The method of  claim 17 , wherein limiting the functionality comprises preventing actuation of the robotic medical instrument. 
     
     
         20 . The method of  claim 15 , further comprising generating one or more of a visual, audible, or haptic alarm to indicate the measured temperature.