Minimally invasive surgical training using robotics and tele-collaboration

• US 20030135203A1
• Filed: 01/16/2002
• Published: 07/17/2003
• Est. Priority Date: 01/16/2002
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Wright, James, Wang, Yulun, Uecker, Darrin, Mangaser, Amante, Ghodoussi, Modjtaba, Mukherjee, Ranjan
• Granted Patent: US 6,852,107 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 2017/00707 Dummies, phantoms; Devices simulating patient or parts of patient
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/06 Measuring instruments not otherwise provided for
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G09B 23/28 for medicine
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/67 for remote operation

Abstract

A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil'"'"'s hand to correspond with the mentor'"'"'s handle movement. The force feedback will also push the mentor'"'"'s hand to provide information to the mentor on pupil'"'"'s movements. The mentor is thus able to guide the pupil'"'"'s hands through force feedback of the pupil handles to teach the pupil how to use the system.

Claims

1. A medical robotic system, comprising:

a first medical device;

a first input device that can be moved a first input distance to move said first medical device;

a second input device that can be moved a second input distance to move said first medical device; and

,

a feedback device that provides an indication of a difference between the first and second input distances.

2. The system of claim 1, wherein said feedback device provides a force feedback.

3. The system of claim 1, wherein said feedback device includes a visual feedback.

4. The system of claim 2, wherein said force feedback is applied to said first input device.

5. The system of claim 4, wherein said force feedback is applied to said second input device.

6. The system of claim 1, wherein said first input device includes a handle and said second input device includes a handle.

7. The system of claim 1, further comprising a communication interface that couples said first and second input devices to said first medical device.

8. The system of claim 7, wherein said first medical device includes a robotic arm coupled to a medical instrument.

9. The system of claim 1, wherein said first input device includes a switch that allows said first input device to assume sole control of said first medical device.

10. The system of claim 1, further comprising an arbritator that is coupled to said first medical device, said first input device and said second input device.

11. A medical robotic system, comprising:

a first medical device;

first input means that can be moved a first input distance for moving said first medical device;

second input means that can be moved a second input distance for moving said first medical device; and

,

feedback means for providing an indication of a difference between the first and second input distances.

12. The system of claim 11, wherein said feedback means provides a force feedback.

13. The system of claim 11, wherein said feedback means includes a visual feedback.

14. The system of claim 12, wherein said force feedback is applied to said first input means.

15. The system of claim 14, wherein said force feedback is applied to said second input means.

16. The system of claim 11, wherein said first input means includes a handle and said second input means includes a handle.

17. The system of claim 11, further comprising a communication means for remotely coupling said first and second input devices to said first medical device.

18. The system of claim 17, wherein said first medical device includes a robotic arm coupled to a medical instrument.

19. The system of claim 11, wherein said first input means includes a switch that allows said first input means to assume sole control of said first medical device.

20. The system of claim 11, further comprising arbritator means for arbitrating control of said first medical device between said first input means and said second input means.

21. A method for controlling a first medical device, comprising:

moving a first input device a first input distance to move a first medical device;

moving a second input device a second input distance to move the first medical instrument; and

,

generating an indication of a difference between the first and second input distances.

22. The method of claim 21, wherein a force is feedback to the second input device.

23. The method of claim 22, further comprising transmitting force feedback data from the first medical device to the second input device through a communication port.

24. A medical robotic system, comprising:

a first medical device;

a controller coupled to said first medical device;

a first pair of handles coupled to said controller to control said first medical device; and

,

a second pair of handles coupled to said controller to control said first medical device simultaneously with said first pair of handles.

25. The system of claim 24, wherein said second pair of handles receives a force feedback as a function of movement of said first pair of handles.

26. The system of claim 25, wherein said force feedback is variable.

27. The system of claim 24, wherein said first pair of handles include a switch that allows said first pair of handles to assume sole control of at least one medical device.

28. The system of claim 24, further comprising a network port to allow data to be transferred from said first pair of handles to said first medical device.

29. A medical robotic system, comprising:

a first medical device;

a controller coupled to said first medical device;

first handle means for controlling said first medical device; and

,

second handle means for controlling said first medical device simultaneously with said first pair of handles.

30. The system of claim 29, wherein said second handle means receives a force feedback as a function of movement of said first handle means.

31. The system of claim 30, wherein said force feedback is variable.

32. The system of claim 29, wherein said first handle means include a switch that allows said first handle means to assume sole control of at least one medical device.

33. The system of claim 29, further comprising a network port to allow data to be transferred from said first handle means to said first, second and third medical devices.

34. A method for controlling a plurality of medical devices, comprising:

moving a first handle;

moving a first medical device in response to movement of said first handle; and

,

moving a second handle simultaneously with said first handle to move said first medical device.

35. The method of claim 34, wherein the first handle assumes sole control of the first medical device.