Haptic augmented and virtual reality system for simulation of surgical procedures

Patent metadata

Field	Value
Publication number	US-9563266-B2
Application number	US-201213628841-A
Country	US
Kind code	B2
Filing date	Sep 27, 2012
Priority date	Sep 27, 2012
Publication date	Feb 7, 2017
Grant date	Feb 7, 2017

Abstract

The present technology relates to systems, methods and devices for haptically-enabled virtual reality simulation of cerebral aneurysm clipping, wherein a user uses two physical stations during the simulation. The first station is a haptic and augmented reality station, and the second station is a haptic and virtual reality station.

First claim

What is claimed is:

1. A haptic augmented and virtual reality system for performing simulated surgical procedures that include open surgery steps and microsurgery steps, the system comprising:
A) an open surgery station comprising:
a first haptic device comprising a hand-held stylus and driven by haptics rendering logic, wherein the first haptic device tracks a user's hand movements and provides force feedback to the user;
a first display system driven by graphics logic, wherein the first display system comprises a display screen and a head tracking system, and provides a dynamic user-centered perspective of open surgical views of a portion of a virtual patient's anatomy and at least a first virtual surgical instrument, wherein the virtual instrument is visually superimposed over the hand-held stylus of the haptic device, permitting the user to see both the virtual instrument and the user's hands, and moves as the stylus moves based on data received from the first haptic device; and
open surgery station logic that integrates the haptics rendering logic and the graphics logic and provides real-time simulation of the open surgery steps of the surgical procedure, including updating the open surgical views in real time in response to user operations performed with the first haptic device and according to the position and orientation of the user's head given by the head tracking system; and

B) a microsurgery station comprising:
a second haptic device driven by haptics rendering logic, wherein the second haptic device tracks the user's hand movements and provides force feedback to the user;
a second display system driven by graphics logic, wherein the second display system comprises a binocular surgical microscope eyepiece and display screens configured to allow the user to acquire depth perception, and provides microsurgical views of a portion of the virtual patient's anatomy and at least a second virtual surgical instrument whose position is simulated based on data received from the second haptic device; and
microsurgery station logic that integrates the haptics rendering logic and the graphics logic and provides real-time simulation of the microsurgery steps of the surgical procedure including updating the microsurgical surgical views in real time in response to user operations performed with the second haptic device.

2. The system of claim 1 , wherein the first haptic device comprises a pinch attachment that measures the angle between a user's thumb and index fingers to simulate both discrete or gradual opening and closing of a virtual surgical instrument.

3. The system of claim 1 , wherein the open surgery station logic comprises an instrument library that includes a plurality of virtual surgical instruments that can each be selected by a user and displayed by the first display system.

4. The system of claim 3 , wherein the virtual surgical instruments include a burr tool, a craniotome, and micro-scissors.

5. The system of claim 1 , wherein the microsurgery station logic comprises an instrument library that includes a plurality of virtual surgical instruments that can each be selected by a user and displayed by the first display system.

6. The system of claim 5 , wherein the virtual surgical instruments include bipolar forceps, an arachnoid knife, a brain retractor, a suction tip, a clip holder, an ultrasound blood flow probe, a dissection tool, and micro-scissors.

7. The system of claim 5 , wherein the microsurgery station further comprises at least one foot pedal that activates at least one of the virtual surgical instruments that can be selected from the second instrument library.

8. The system of claim 1 , wherein the binocular surgical microscope eyepiece is movable with respect to the display system.

9. The system of claim 1 , wherein the binocular surgical microscope eyepiece is mounted on a height adjustable mounting frame.

Assignees

• Immersive Touch Inc
• Immersivetouch Inc
• Univ Illinois

Inventors

• Banerjee P Pat
• Luciano Cristian J

Classifications

• A61B34/30

  Surgical robots · CPC title

• G06F3/011 Primary

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

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title

• G06F3/016

  Input arrangements with force or tactile feedback as computer generated output to the user · CPC title

• A61B2017/00216

  with eye tracking or head position tracking control · CPC title