# US 9,039,681 B2 · Minimally invasive surgical training using robotics and telecollaboration > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,039,681 B2 - Document ID: US9039681B2 - Status: Granted - Kind: B2 - Application number: 12/173,963 - Filed: 2008-07-16 - Published: 2009-04-16 - Granted: 2015-05-26 - Earliest claimed: 2002-09-17 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Yulun Wang; Modjtaba Ghodoussi; Darrin Uecker; James Wright; Amante Mangaser; Ranjan Mukherjee - Inventors: Yulun Wang; Modjtaba Ghodoussi; Darrin Uecker; James Wright; Amante Mangaser; Ranjan Mukherjee - Web page: https://patentgrep.com/patent/US9039681B2 ## CPC - G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture - A61B 34/30: Surgical robots - A61B 34/35: for telesurgery - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - A61B 34/77: {Manipulators with motion or force scaling} - A61B 90/06: {Measuring instruments not otherwise provided for} - G05B 15/02: electric - G09B 23/28: for medicine - G16H 40/67: for remote operation - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 2017/00707: {Dummies, phantoms; Devices simulating patient or parts of patient} - A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B) ## 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 ### Claim 1 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. ### Claim 2 (depends on 1) The system of claim 1, wherein the first visual indication is provided on a first bar graph viewable by the first operator. ### Claim 3 (depends on 1) The system of claim 1, wherein the instrument controller is programmed to generate and provide a second visual indication so as to be viewable by the second operator, wherein the second visual indication indicates the difference between the first and second input distances. ### Claim 4 (depends on 3) The system of claim 3, wherein the second visual indication is provided on a second bar graph viewable by the second operator. ### Claim 5 A medical robotic system, comprising: a first medical device; first input means operable by a first operator to move the first input means a first input distance; second input means operable by a second operator to move the second input means a second input distance; and controller means for providing shared control of the first medical device by the first operator and the 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 generating and providing a first visual indication so as to be viewed by the first operator wherein the first visual indication indicates a difference between the first and second input distances. ### Claim 6 (depends on 5) The system of claim 5, wherein the first visual indication is provided on a first bar graph viewable by the first operator. ### Claim 7 (depends on 5) The system of claim 5, wherein the controller means generates and provides a second visual indication so as to be viewable by the second operator, wherein the second visual indication indicates the difference between the first and second input distances. ### Claim 8 (depends on 7) The system of claim 7, wherein the second visual indication is provided on a second bar graph viewable by the second operator.