Remote surgical mentoring

Patent metadata

Field	Value
Publication number	US-11769302-B2
Application number	US-202016894515-A
Country	US
Kind code	B2
Filing date	Jun 5, 2020
Priority date	Jun 5, 2020
Publication date	Sep 26, 2023
Grant date	Sep 26, 2023

Abstract

A virtual representation of an operating room is generated based on robot information and sensing of the OR with depth cameras. One of the depth cameras is integrated with a portable electronic device, operated by a local user in the operating room. The virtual representation of the OR is communicated to the virtual reality headset, with three-dimensional point cloud data. A virtual reality environment is rendered to a display of the virtual reality headset, operated by a remote user. A virtual representation of the remote user is rendered in augmented reality to a display of the portable electronic device.

First claim

What is claimed is:

1. A method for remote mentoring with a surgical robotic system, comprising:
receiving, during a surgical robotic procedure of a patient within an operating room (OR), 1) surgical robotic information that indicates a position of a surgical robotic arm in the OR and 2) sensor data captured by a first depth camera integrated within a portable electronic device operated by a local user in the OR and by a second depth camera arranged within the OR;
generating, using the surgical robotic information and the sensor data, a virtual OR that includes a virtual patient and a virtual surgical robotic arm;
generating three-dimensional (3D) point cloud data based on the sensor data, the 3D point cloud data representing at least a portion of the OR that includes the patient and the surgical robotic arm:
transmitting the virtual OR and the 3D point cloud data to a virtual reality headset used to render a virtual reality environment to a display of the virtual reality headset, operated by a remote user;
receiving input from the remote user indicating one or more recommended surgical ports of entry on the patient and a position of a virtual remote user within the virtual OR, wherein the position of the virtual remote user shares a common coordinate system that is common to 1) positions of the virtual patient and the virtual surgical robotic arm within the virtual OR and 2) a position of the portable electronic device within the OR; and
rendering, in augmented reality, the one or more recommended surgical ports of entry over the patient and the virtual remote user at the position within the virtual OR to a display of the portable electronic device.

2. The method of claim 1 , wherein the augmented reality is rendered on the display over a stream of images of the OR that include the patient and the surgical robotic arm captured by the portable device such that the display shows the virtual remote user, the patient, and the surgical robotic arm in a shared space within the OR.

3. The method of claim 1 , wherein the input from the remote user includes audio data captured at the virtual reality headset.

4. The method of claim 1 , wherein the input from the remote user includes at least one of: virtual annotations generated by a digital tool remotely, anatomical segmentation data, trocar placement, and previous surgical set up, to be rendered in the augmented reality at the portable electronic device.

5. The method of claim 1 , wherein the portable electronic device of the local user is a tablet computer and the augmented reality is rendered on the display over a stream of images captured by the tablet computer.

6. The method of claim 1 , wherein the portable electronic device of the local user is a head worn device with a transparent display worn in front of eyes, onto which the augmented reality is rendered over.

7. The method of claim 1 , wherein the robot information includes at least one of: joint angles of one or more surgical robotic arms, tool types, tool grasp status, active tool energy, position and orientation of a surgical table, and an error code of the surgical robotic system.

8. The method of claim 1 , wherein simultaneous localization and mapping (SLAM) is performed upon data generated by the at least one depth camera integrated with the portable electronic device, to localize the position and orientation of the portable electronic device within the common coordinate system.

9. The method of claim 1 , wherein the position and orientation of the portable electronic device is communicated to the virtual reality headset, used to render a virtual representation of the portable electronic device or a virtual representation of the local user in the virtual reality environment of the remote user.

10. The method of claim 1 , wherein the one or more depth cameras include RGBD cameras.

11. The method of claim 1 , wherein the virtual remote user includes at least one of: a) a virtual representation of the virtual reality headset, b) virtual hands indicating hand movement or hand location of the remote user, or c) a virtual avatar resembling part of or a whole human.

12. A surgical robotic system, comprising:
a plurality of depth cameras, including a depth camera integrated with a portable electronic device operated by a local user in an operating room (OR), and a stationary depth camera arranged in the OR;
a surgical robot and controller; and
a processor, configured to perform the following:
receiving, during a surgical robotic procedure of a patient in the OR, 1) surgical robotic information that indicates a position of the surgical robot in the OR and 2) sensor data captured by the depth camera and by the stationary depth camera;
generating, using the surgical robotic information and sensor data, a virtual OR that includes a virtual patient and a virtual surgical robot;
generating three-dimensional (3D) point cloud data based on the sensor data, the 3D point cloud data representing at least a portion of the OR that includes the patient and the surgical robot
transmitting the virtual OR and the 3D point cloud data to a virtual reality headset worn by a remote user, causing the virtual reality headset to render a virtual reality environment to a display of the virtual reality headset worn by the remote user; and
transmitting, to the portable electronic device of the local user and from the remote user, input indicating one or more recommended surgical ports of entry on the patient and a position of a virtual remote user within the virtual OR, wherein the position of the virtual remote user shares a common coordinate system that is common to 1) positions of the virtual patient and the virtual surgical robot within the virtual OR and 2) a position of the portable electronic device within the OR,

wherein the portable device of the local user is to render, in augmented reality, the received one or more recommended surgical ports of entry over the patient and the a virtual representation of the remote user at the position within the virtual OR.

13. The surgical robotic system of claim 12 , wherein the augmented reality is rendered on the display over a stream of images of the OR that include the patient and the surgical robot captured by the portable device such that the display shows the virtual remote user, the patient, and the surgical robot in a shared space within the OR.

14. The surgical robotic system of claim 12 , wherein the positions of the virtual patient and the virtual surgical robot within the virtual OR match positions of the patient and surgical robot within the OR, respectively, in the common coordinate system.

15. The surgical robotic system of claim 12 , wherein the input from the remote user includes at least one of: virtual annotations generated by a digital tool remotely, anatomical segmentation data, trocar placement, and previous surgical set up, to be rendered in the augmented reality at the portable electronic device.

16. The surgical robotic system of claim 12 , wherein the portable electronic device of the local user is a tablet computer and the augmented reality is rendered over a stream of images captured by the tablet computer and displayed on a screen of the tablet computer.

17. The surgical robotic system of claim 12 , wherein the portable electronic device of the local user is a head worn display with a transparent display area onto which the augmented reality is rendered over.

18. The surgical robotic system of claim 12 , wherein the robot information includes at least one of: joint angles of one or more surgical robotic a

Assignees

• Verb Surgical Inc

Inventors

• Olson Blade
• Fuerst Bernhard A

Classifications

• G06T19/006 Primary

  Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00) · CPC title

• A61B34/35

  for telesurgery · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• G02B27/017

  Head mounted · CPC title

• G06F3/011

  Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00) · CPC title