Minimally invasive surgical training using robotics and tele-collaboration

US6852107B2 · kind B2 · utility

Assignee

• Computer Motion, Inc. · US

Inventors

• Yulun Wang · Midland School, US
• Modjtaba Ghodoussi · Lompoc, US
• Darrin Uecker · San Mateo, US
• James Wright · Lompoc, US
• Amante Mangaser · Goleta, US
• Ranjan Mukherjee · East Lansing, US

Key dates

• Filing date: Jan 16, 2002
• Grant date: Feb 8, 2005
• Expiry date: Jan 23, 2022

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/064
• WIPO field: Medical technology
• WIPO sector: Instruments

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.