Minimally invasive surgical training using robotics and telecollaboration

• US 9,786,203 B2
• Filed: 04/22/2015
• Issued: 10/10/2017
• Est. Priority Date: 01/16/2002
• Status: Expired due to Term

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Wang, Yulun, Ghodoussi, Modjtaba, Uecker, Darrin R., Wright, James W., Mangaser, Amante A., Mukherjee, Ranjan
• Primary Examiner(s): ROANE, AARON F
• Application Number:
  US14/692,862
• Publication Number:
  US 20150248847A1
• Time in Patent Office: 902 Days
• Field of Search: 128898
• 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 method for providing shared control of a first medical device between first and second operators, the method comprising:

detecting movement of a first input device being operated by the first operator so as to define a first input distance;

detecting movement of a second input device being operated by the second operator so as to define a second input distance;

commanding the first medical device to be robotically moved according to a movement command including a sum of first and second products, wherein the first product is a product of the first input distance and a first factor that is proportional to the number one minus a user settable parameter value, and the second product is a product of the second input distance and a second factor that is proportional to the user settable parameter value;

generating a first visual indication that indicates a difference between the first and second input distances; and

providing said first visual indication so as to be viewable by the first operator operating said first input device.

2. The method of claim 1, wherein said providing of the said first visual indication comprises displaying said first visual indication on a first bar graph displayed on a first monitor viewable by said first operator.

3. The method of claim 1, further comprising:

generating a second visual indication that indicates the difference between the first and second input distances; and

providing said second visual indication so as to viewable by the second operator operating said second input device.

4. The method of claim 3, wherein said providing of the second visual indication comprises displaying said second visual indication on a second bar graph displayed on a second monitor viewable by said second operator.