US 9,039,681 B2Granted

Minimally invasive surgical training using robotics and telecollaboration

AssigneeIntuitive Surgical Operations, Inc.

InventorsYulun Wang, Modjtaba Ghodoussi, Darrin Uecker, James Wright, Amante Mangaser, Ranjan Mukherjee

Life of this patent

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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.

Claims8

Dependent claims

A medical robotic system, comprising:

a first medical device;
a first input device operable by a first operator to move the first input device a first input distance;
a second input device operable by a second operator to move the second input device a second input distance;
and,
an instrument controller programmed to provide shared control of the first medical device by the first operator and second operator by commanding movement of the first medical device according to a sum of first and second products wherein the first product is 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 of the second input distance and a second factor that is proportional to the user settable parameter value;
and generate and provide a first visual indication so as to be viewable by the first operator wherein the first visual indication indicates a difference between the first and second input distances.

3 more elements

Dependencies are inferred from the claim text.

Facts

Application: 12/173,963Filed 16 Jul 2008 · continuation
Priority: 17 Sep 2002
Published: US 2009/0099576 A116 Apr 2009
Granted: 26 May 2015
Term ends: Not estimatedThe source records don’t support an estimate.

Classification19 codes

G16H 20/40
ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient…:…
A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
A61B 34/35
Surgical robots: for telesurgery
A61B 34/37
Surgical robots: leader-follower robots

Family

Application10/246,236Parent of this division · filed 17 Sep 2002
Application10/948,853Parent of this continuation · filed 23 Sep 2004
US 2009/0099576 A1Pre-grant publication · published 16 Apr 2009
US 2013/0023898 A9Pre-grant publication · published 24 Jan 2013
US 7,413,565 B2Parent of this continuation
US 6,951,535 B2Parent of this division
Application10/948,853Parent of this division
US 2003/0144649 A1Published application
US 2005/0038416 A1Published application
US 9,039,681 B2This patent

From the US filing history. Foreign family members aren’t listed.

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