Haptic Enabled Robotic Training System and Method
First Claim
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1. A surgical training system comprising:
- a virtual environment including a virtual model of a surgical site;
a trainer'"'"'s haptic device for controlling a surgical tool in the virtual environment;
a trainee'"'"'s haptic device for controlling the surgical tool in the virtual environment, wherein the trainee'"'"'s haptic device applies force feedback in dependence on signals received from the trainer'"'"'s haptic device; and
a controller for scaling the force feedback applied by the trainee'"'"'s haptic device in dependence on a specified scaling value.
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Abstract
A surgical training system comprising: a virtual environment including a virtual model of a surgical site; a trainer'"'"'s haptic device for controlling a surgical tool in the virtual environment; a trainee'"'"'s haptic device for controlling the surgical tool in the virtual environment, wherein the trainee'"'"'s haptic device applies force feedback in dependence on signals received from the trainer'"'"'s haptic device; and a controller for scaling the force feedback applied by the trainee'"'"'s haptic device in dependence on a specified scaling value.
62 Citations
21 Claims
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1. A surgical training system comprising:
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a virtual environment including a virtual model of a surgical site; a trainer'"'"'s haptic device for controlling a surgical tool in the virtual environment; a trainee'"'"'s haptic device for controlling the surgical tool in the virtual environment, wherein the trainee'"'"'s haptic device applies force feedback in dependence on signals received from the trainer'"'"'s haptic device; and a controller for scaling the force feedback applied by the trainee'"'"'s haptic device in dependence on a specified scaling value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of training a trainee to perform surgery comprising:
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displaying a virtual model of a surgical site; providing a trainee haptic input device for use by the trainee to move a virtual surgical tool in the displayed virtual model; receiving force feedback information in dependence on manipulations of an trainer input device used by a trainer at a remote location; scaling the force feedback information based on a specified value; and applying a scaled force feedback to the trainee through the trainee haptic input device in dependence on the scaled force feedback information. - View Dependent Claims (11)
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12. A haptic enabled surgical training system, comprising:
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a master device, including; a master controller for controlling the operation of the master device, a master display responsive to the controller for displaying a representation of a virtual surgical environment, a master electronic storage element coupled to the master controller and having stored thereon attributes for the virtual environment, the virtual surgical environment having regions, wherein each region is associated with a corresponding haptic response, and a master haptic input device coupled to the controller for controlling a corresponding virtual surgical tool in the virtual environment; and a slave device for communication with the master device via a network, having; a slave controller for controlling the operation of the slave device, a slave display responsive to the slave controller for displaying the virtual surgical environment, a slave electronic storage element coupled to the slave controller and having stored thereon attributes of the virtual surgical environment, and a slave haptic input device coupled to the slave controller for controlling the virtual surgical tool in the virtual surgical environment and responsive to the haptic response associated with each region, wherein, an input of the master haptic input device generates a master-to-slave corresponding haptic response onto the slave haptic input device. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A method of training a trainee to perform surgery comprising:
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displaying a virtual model of a surgical site; providing a trainee haptic input device for use by the trainee to move a virtual surgical tool in the displayed virtual model; assigning a zone around an anatomical object displayed in the virtual mode, the zone having a set of associated haptic characteristics; accepting input from a trainer to dynamically adjust the haptic characteristics, including a geometric size, a geometric shape, and haptic feedback force magnitude, of the zone while training a trainee; and varying the force feedback applied to the trainee through the trainee haptic input device in dependence on the relative location of the virtual surgical tool to the assigned zone and the associated haptic characters of the assigned zone.
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21. A method of training a trainee to perform surgery at a trainee station that includes a trainee haptic input device comprising:
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displaying at the trainee station a virtual model of a surgical site; receiving visual and haptic information over a communications network; applying latency compensation to the at least the haptic information; and applying force feedback to the trainee haptic input device in dependance on the compensated haptic information and modifying the displayed virtual model in dependence on the visual information.
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Specification