Systems and methods for providing vibration feedback in robotic systems

• US 9,990,856 B2
• Filed: 03/15/2013
• Issued: 06/05/2018
• Est. Priority Date: 02/08/2011
• Status: Active Grant

• Current Assignee: Trustees Of The University Of Pennsylvania (University of Pennsylvania)
• Original Assignee: Trustees Of The University Of Pennsylvania (University of Pennsylvania)
• Inventors: Kuchenbecker, Katherine J., McMahan, Will, Gomez, Ernest D., Bark, Karlin
• Primary Examiner(s): Hong, Thomas
• Application Number:
  US13/833,122
• Publication Number:
  US 20130209980A1
• Time in Patent Office: 1,908 Days
• Field of Search: 434161, 434262
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
• CPC Class Codes: G09B 5/00 Electrically-operated educational appliances working with questions and answers G09B7/00; simulators G09B9/00; advertising or displaying in general G09F

Abstract

Systems and methods for training an operator of a robotic surgery system are disclosed. One such method includes enabling the operator to perform a test procedure, recording vibrations of a surgical tool of the robotic surgery system during the test procedure, and generating a score for the operator based at least in part on the recorded vibrations of the surgical tool.

Claims

1. A method for training an operator of a robotic surgery system comprising a left hand armature and a right hand armature, the method comprising:

enabling the operator to perform a test procedure;

separately recording vibrations of the left hand armature and the right hand armature of the robotic surgery system during the test procedure; and

generating a score for the operator by multiplyinq the recorded vibrations of the left hand armature by the recorded vibrations of the right hand armature in a same time step.

2. The method of claim 1, wherein the test procedure is a simulated surgical procedure.

3. The method of claim 1, further comprising:

recording video of a surgical tool of the robotic surgery system during the test procedure, and

generating another score for the operator based on the recorded video of the surgical tool.

4. The method of claim 1, wherein the step of generating the score comprises automatically generating the score.

5. The method of claim 1, further comprising:

generating another score based on the number of vibration events occurring in the recorded vibrations.

6. The method of claim 1, further comprising:

comparing the recorded vibrations to one or more stored vibrations; and

generating another score based on differences between the recorded vibrations and the one or more stored vibrations.

7. The method of claim 1, further comprising the step of:

providing vibrations corresponding to the vibrations of the surgical tool to the operator during the test procedure.

8. The method of claim 1, further comprising the step of:

providing the score to the operator following the test procedure.

9. The method of claim 8, further comprising the step of:

enabling the operator to repeat the test procedure; and

recording vibrations during the repeat test procedure.

10. The method of claim 9, further comprising:

generating a score for the operator during the repeat test procedure;

comparing the score for the repeat test procedure to the score for the test procedure;

identifying a trend in scores for the operator.

11. A robotic surgery system comprising:

a left hand armature configured for manipulating a surgical tool;

a right hand armature configured to manipulating a surgical tool;

a control station, positioned remote from the armature, having a control handle configured for operating the left hand armature and the right hand armature;

a first sensor positioned to sense vibrations of the left hand armature;

a second sensor positioned to sense vibrations of the right hand armature; and

a controller in communication with the sensor, the controller being configured to separately record the vibrations of the left hand armature and the right hand armature during a test procedure performed by an operator, and generate a score for the operator by multiplying the recorded vibrations of the left hand armature by the recorded vibrations of the right hand armature in a same time step.

12. The system of claim 11,

further comprising at least one camera having a field of view including the surgical tool,

wherein the controller is further configured to record video of the surgical tool during the test procedure, and generate another score for the operator based on the recorded video of the surgical tool.

13. The system of claim 11, wherein the controller is configured to automatically generate the score.

14. The system of claim 11, wherein the controller is configured to generate another score based on the number of vibration events occurring in the recorded vibrations.

15. The system of claim 11, wherein the controller is configured to compare the recorded vibrations to one or more stored vibrations, and generate another score based on differences between the recorded vibrations and the one or more stored vibrations.

16. The system of claim 11, further comprising an actuator positioned to provide a vibration to the control handle of the control station,

wherein the controller is further configured to provide vibrations corresponding to the vibrations of left hand armature and/or the right hand armature to the operator during the test procedure using the actuator.

17. The system of claim 11, further comprising an output device in communication with the controller,

wherein the controller is further configured to provide the score to the operator following the test procedure.