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Virtual reality training, simulation, and collaboration in a robotic surgical system

A surgical operation and virtual reality technology, applied in surgical navigation system, surgical system user interface, surgical robot, etc., can solve the problems of accumulating expensive and time-consuming

Active Publication Date: 2019-05-21
VERB SURGICAL INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Such loop prototyping and testing is often cumulatively expensive and time-consuming

Method used

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  • Virtual reality training, simulation, and collaboration in a robotic surgical system
  • Virtual reality training, simulation, and collaboration in a robotic surgical system
  • Virtual reality training, simulation, and collaboration in a robotic surgical system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0164] Example 1 - Cross bed

[0165] A user may use the virtual reality system to simulate a bed crossing scenario where the user is adjacent to a hospital bed or table and operates a robotic surgical system and manual laparoscopic tools. Such simulations may be used for training, surgical planning, and the like. For example, a user may use virtual robotic tools and virtual hand tools to suture tissue in a targeted segment of a virtual patient's bowel.

[0166] In this example, a user wears a head-mounted display that provides an immersive view of a virtual reality environment, and can use a handheld controller to navigate within the virtual reality environment to be adjacent to a virtual operating table on which a virtual patient lies. The proximal end of the virtual robotic arm is attached to the virtual operating table, and the distal end of the virtual robotic arm supports a virtual tool driver that actuates a virtual gripper positioned within the virtual patient's abd...

Embodiment 2

[0168] Example 2 - Collision Resolution from User Console

[0169] When using a virtual reality system, a user may desire to resolve collisions between virtual components of a virtual robotic surgery system, even though the user may not be adjacent to the colliding virtual components (e.g., the user may be seated at a distance away from the virtual operating table , such as at the virtual user console). In this example, a user wears a head-mounted display that provides an immersive view provided by a virtual endoscope placed inside a virtual patient's abdomen. The proximal ends of the two virtual robotic arms are attached to separate locations on the virtual operating table on which the virtual patient lies. The distal end of the virtual robotic arm supports a corresponding tool driver that actuates a virtual gripper positioned within the virtual patient's abdomen. The user manipulates the handheld controller to manipulate two robotically controlled virtual grippers that m...

Embodiment 3

[0172] Example 3 - Coordinated Repositioning of Multiple Surgical Instruments from a User Console

[0173]When using a virtual reality system, the user may find that essentially staying in the endoscopic view and repositioning multiple virtual surgical instruments (e.g., end effectors, cameras) as a group rather than individually within the virtual patient Local repositioning is useful, saving time and making it easier for the user to maintain contextual awareness of the instrument relative to the virtual patient's anatomy. In this example, a user wears a head-mounted display that provides an immersive view provided by a virtual endoscope placed inside a virtual patient's abdomen. The proximal ends of the two virtual robotic arms are attached to separate locations on the virtual operating table on which the virtual patient lies. The distal end of the virtual robotic arm supports a corresponding tool driver that actuates a virtual gripper positioned in the pelvic region of t...

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PUM

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Abstract

The issue of the invention is virtual reality training, simulation, and collaboration in a robotic surgical system. A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. Within the virtual reality system, various user modes enable different kinds of interactions between a user and the virtual robotic surgical environment. For example, one variation of a method for facilitating navigation of a virtual robotic surgical environment includes displaying a first-person perspective view of the virtual roboticsurgical environment from a first vantage point, displaying a first window view of the virtual robotic surgical environment from a second vantage point and displaying a second window view of the virtual robotic surgical environment from a third vantage point. Additionally, in response to a user input associating the first and second window views, a trajectory between the second and third vantagepoints can be generated sequentially linking the first and second window views.

Description

[0001] Cross References and Related Applications [0002] This application claims priority to US Provisional Patent Application Serial No. 62 / 526,919 filed June 29, 2017, which is hereby incorporated by reference in its entirety. technical field [0003] The present invention relates generally to the field of robotic surgery, and more particularly to new and useful systems and methods for providing a virtual robotic surgery environment. Background technique [0004] Minimally invasive surgery (MIS), such as laparoscopic surgery, involves techniques aimed at reducing tissue damage during surgical procedures. For example, laparoscopic procedures typically involve making multiple small incisions in the patient (e.g., in the abdominal cavity) and introducing one or more surgical instruments (e.g., an end effector, at least one video camera, etc.) patients. Surgical procedures can then be performed using the introduced surgical instruments with visual assistance provided by the...

Claims

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Application Information

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IPC IPC(8): G16H20/40G16H40/67A61B34/00
CPCG16H40/67G16H20/40G09B23/285A61B2034/107A61B2034/2048A61B2090/365A61B34/10G09B23/28A61B1/00048A61B1/00149A61B1/313A61B34/20A61B34/25A61B34/30A61B34/35A61B34/37A61B34/76A61B2017/00216A61B2034/102A61B2034/2055A61B2034/2074A61B2034/256A61B2034/258A61B2034/302A61B2090/367A61B2090/372A61B2090/374A61B2090/376A61B2090/3762A61B2090/378A61B2090/502A61B1/00042G16H40/20G16H50/50G06T11/00G06T3/20G06T3/40A61B34/00A61B2034/104A61B2034/105
Inventor P.E.加西亚克鲁伊E.M.约翰逊B.F.K.萧H.于
Owner VERB SURGICAL INC
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