Minimally invasive surgical training using robotics and telecollaboration

• US 20050038416A1
• Filed: 09/23/2004
• Published: 02/17/2005
• Est. Priority Date: 01/16/2002
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Computer Motion Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Wright, James, Wang, Yulun, Uecker, Darrin, Mangaser, Amante, Ghodoussi, Modjtaba, Mukherjee, Ranjan
• Granted Patent: US 7,413,565 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 34/75 Manipulators having means for prevention or compensation of hand tremors
• 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 90/361 Image-producing devices, e.g. surgical cameras
• 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 an 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, wherein said feedback device provides a force feedback.

2. The system of claim 1, wherein said force feedback is applied to said first input device.

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

4. 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, wherein said feedback means provides a force feedback.

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

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

7. 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 device; and

,

generating an indication of a difference between the first and second input distances, wherein a force is feedback to the second input device.

8. 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 device; and

,

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

transmitting force feedback data from the first medical device to the second input device through a communication port.