Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures

• US 9,636,186 B2
• Filed: 01/26/2016
• Issued: 05/02/2017
• Est. Priority Date: 11/20/1998
• Status: Expired due to Fees

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Kumar, Rajesh, Hoffman, Brian David, Prisco, Giuseppe Maria, Larkin, David Q., Nowlin, William C., Moll, Frederic H., Blumenkranz, Stephen J., Niemeyer, Gunter D., Wang, Yulun, Ghodoussi, Modjtaba, Uecker, Darrin R., Wright, James W., Mangaser, Amante A., Mauherjee, Ranjan, Salisbury, Jr., J. Kenneth
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/006,549
• Publication Number:
  US 20160166345A1
• Time in Patent Office: 462 Days
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 34/30 Surgical robots
• 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 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• 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 40/63 for local operation
• CPC Class Codes: G16H 80/00 ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
• CPC Class Codes: Y10S 901/16 Cartesian, three degrees of freedom

Abstract

A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

Claims

1. A surgeon training medical robotic system comprising:

a first slave robotic mechanism configured to manipulate a first surgery-related device according to a first slave command;

a first trainee master control station operated by a first trainee, the first trainee master control station configured to generate a first trainee command indicative of a first desired position for the first surgery-related device according to a first trainee input;

a second trainee master control station operated by a second trainee, the second trainee master control station configured to generate a second trainee command indicative of a second desired position for the first surgery-related device according to a second trainee input; and

a mentor master control station operated by a mentor, the mentor master control station configured to;

facilitate the mentor to define routing information;

generate the first slave command by associating at least one of the first and the second trainee master control stations with the first robotic slave robotic mechanism according to the routing information, and by using a first sensed position of the first surgery-related device, and

provide the first slave command to the first slave robotic mechanism.

2. The surgeon training robotic medical system according to claim 1, wherein the mentor master control station is further configured to over-ride the first slave command generated by associating at least one of the first and the second trainee master control stations with the first robotic slave robotic mechanism according to the routing information, and generate the first slave command by using a mentor command indicative of a mentor desired position for the first surgery-related device, and by using the first sensed position of the first surgery-related device.

3. The surgeon training robotic medical system according to claim 1, further comprising:

a slave cart having a plurality of slave robotic mechanisms including the first slave robotic mechanism and another slave robotic mechanism configured to manipulate an endoscope according to an endoscope positioning command, wherein images captured by the endoscope are concurrently provided to said first trainee master control station, said second trainee master control station, and said mentor master control station for viewing by their respective operators.

4. The surgeon training robotic medical system according to claim 1, further comprising:

an audio system configured for audio communication between the first trainee, the second trainee, and the mentor.

5. The surgeon training robotic medical system according to claim 1, wherein the mentor master control station is configured with a routing table, and the routing information is provided in the routing table.

6. The surgeon training robotic medical system according to claim 1, wherein the mentor master control station includes a display configured with a user interface to facilitate defining of the routing information by the mentor operator.

7. The surgeon training robotic medical system according to claim 6, wherein the display includes a display screen displaying a plurality of icons indicating the routing information to the mentor operator.

8. The surgeon training robotic medical system according to claim 6, wherein the display includes a plurality of light-emitting-diodes indicating the routing information to the mentor operator.

9. The surgeon training robotic medical system according to claim 1, wherein the mentor master control station includes a manipulator and the mentor master control station is configured such that the routing information may be defined by the mentor operator using the manipulator.

10. The surgeon training robotic medical system according to claim 1, wherein the mentor master control station includes a foot pedal and the mentor master control station is configured such that the routing information may be defined by the mentor operator using the foot pedal.

11. The surgeon training robotic medical system according to claim 1, wherein the mentor master control station is provided with shared command information, and the mentor master control station is configured to generate the first slave command by using the shared command information.

12. The surgeon training robotic medical system according to claim 11, wherein the mentor master control station is configured with a shared command filter, and the shared command information is provided as parameters for the shared command filter.