Method and system for minimally-invasive surgery training using tracking data

Patent metadata

Field	Value
Publication number	US-9595207-B2
Application number	US-201113806891-A
Country	US
Kind code	B2
Filing date	May 26, 2011
Priority date	May 26, 2010
Publication date	Mar 14, 2017
Grant date	Mar 14, 2017

Abstract

A system and method for training a person in minimally-invasive surgery (“MIS”) utilizing a video of the MIS. The system comprises a processor, a display, and a first interaction device. The processor programmed to receive the video and to obtain tracking data. The tracking data may correspond to the motion of a tool controller. The tracking data may correspond to motion of a first surgical tool in the video. The processor programmed to calculate motion of the first interaction device corresponding to the tracking data, to display the video, and to cause the first interaction device to move according to the calculated motion. The method comprises receiving the video, obtaining the tracking data, calculating a motion of a first interaction device corresponding to the tracking data, displaying the video, and causing the first interaction device to move according to the calculated motion.

First claim

What is claimed is:

1. A system for minimally-invasive surgery training utilizing a video, the video showing a first surgical tool, the first surgical tool controlled by a surgeon using a first tool controller, the system comprising:
(a) a processor;
(b) a display in communication with the processor;
(c) a first interaction device in communication with the processor; and
(d) wherein the processor is programmed to:
(1) receive the video;
(2) obtain tracking data, wherein the tracking data is synchronized to the video;
(3) calculate motion of the first interaction device corresponding to the tracking data;
(4) display the video on the display; and
(5) cause the first interaction device to move according to the calculated motion; and

wherein the processor obtains the tracking data by processing the video to calculate motion of the first surgical tool.

2. The system of claim 1 , wherein the processor obtains the tracking data by receiving data corresponding to motion of the first tool controller, the motion caused by the surgeon.

3. The system of claim 1 , wherein the first interaction device has an equal number of degrees of freedom as the first tool controller.

4. The system of claim 1 , wherein the first interaction device has fewer degrees of freedom than the first tool controller.

5. The system of claim 1 , wherein the first interaction device is a PHANTOM® Omni®.

6. The system of claim 1 , wherein the processor causes the first interaction device to move by causing an affirmative movement of the first interaction device.

7. The system of claim 1 , wherein the processor causes the first interaction device to move thereby guiding the hand of a user grasping the first interaction device.

8. The system of claim 1 , further comprising a second interaction device in communication with the processor, and wherein the processor is further programmed to:
(a) calculate motion of the second interaction device corresponding to the tracking data; and
(b) cause the second interaction device to move according to the calculated motion of the second interaction device.

9. The system of claim 1 , wherein the display is a stereoscopic display.

10. A computer-based method of minimally-invasive surgery training utilizing a video, the video showing a first surgical tool, the first surgical tool controlled by a surgeon using a first tool controller, the method comprising the steps of:
(a) receiving the video;
(b) obtaining tracking data, wherein the tracking data is synchronized to the video;
(c) calculating motion of a first interaction device corresponding to the tracking data;
(d) displaying the video on a display; and
(e) causing the first interaction device to move according to the calculated motion; and
wherein the tracking data is obtained by processing the video to calculate motion of the first surgical tool.

11. The system of claim 10 , wherein the tracking data is obtained by receiving data corresponding to motion of the first tool controller, the motion caused by the surgeon.

12. The method of claim 10 , wherein calculating motion of a first interaction device comprises using a predetermined transformation matrix.

13. A system for training a trainee to operate remotely operated equipment, the system utilizing a video showing the equipment from a point of view of an operator of the equipment, the equipment controlled by the operator using a first tool controller, the system comprising:
(a) a processor;
(b) a display in communication with the processor;
(c) a first interaction device in communication with the processor; and
(d) wherein the processor is programmed to:
(1) receive the video;
(2) obtain tracking data, wherein the tracking data is synchronized to the video;
(3) calculate motion of the first interaction device corresponding to the tracking data;
(4) display the video on the display; and
(5) cause the first interaction device to move according to the calculated motion; and

wherein the tracking data is obtained by processing the video to calculate motion of the equipment.

14. The system of claim 13 , wherein the tracking data is obtained by receiving data corresponding to motion of the first tool controller, the motion caused by the operator.

15. The system of claim 13 , further comprising one or more additional interaction devices.

16. The system of claim 15 , wherein the number of interaction devices is equal to the number of tool controllers.

17. The system of claim 15 , wherein the number of interaction devices is less than the number of tool controllers.

18. The system of claim 17 , further comprising a switch for causing one of the interaction devices to simulate another of the tool controllers.

19. The system of claim 18 , wherein the switch is a push-button, a throw switch, a lever, or a foot pedal.

Assignees

• Kesavadas Thenkurussi
• Guru Khurshid
• Health Research Inc
• Univ New York State Res Found

Inventors

• Kesavadas Thenkurussi
• Guru Khurshid

Classifications

• G09B23/28 Primary

  for medicine · CPC title

• G09B5/02 Primary

  with visual presentation of the material to be studied, e.g. using film strip · CPC title

• A61B17/00

  Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) · CPC title

• G09B9/00

  Simulators for teaching or training purposes (for the use of weapons F41; computing aspects G06; {protocols for games, networked simulations or virtual reality H04L67/131}) · CPC title