Virtual reality laparoscopic tools

{
  "publication_number": "US11013559B2",
  "country": "US",
  "kind": "B2",
  "title": "Virtual reality laparoscopic tools",
  "abstract": "A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may simulate a robotic surgical environment in which a user may operate both a robotically-controlled surgical instrument using a handheld controller and a manual laparoscopic surgical instrument while adjacent a patient table. For example, the virtual reality system f may include one or more processors configured to generate a virtual robotic surgical environment comprising at least one virtual robotic arm and at least one virtual manual laparoscopic tool, a first handheld device communicatively coupled to the virtual reality controller for manipulating the at least one virtual robotic arm in the virtual robotic surgical environment, and a second handheld device comprising a handheld portion and a tool feature representative of at least a portion of a manual laparoscopic tool, wherein the second handheld device is communicatively coupled to the virtual reality controller for manipulating the at least one virtual manual laparoscopic tool in the virtual robotic surgical environment.",
  "claims": [
    "1. A virtual reality system for simulating a robotic surgical environment, the system comprising: a processor configured to generate a virtual robotic surgical environment comprising at least one virtual robotic arm and at least one virtual manual laparoscopic tool; and a handheld device communicatively coupled to the processor for manipulating the at least one virtual manual laparoscopic tool in the virtual robotic surgical environment, the handheld device including a handheld portion, and a tool feature that is removable from the handheld portion, the tool feature being representative of at least a portion of a manual laparoscopic tool.",
    "2. The virtual reality system of claim 1, wherein the handheld device is used for manipulation of the at least one virtual robotic arm robotic arm when the tool feature is removed from the handheld portion of the handheld device.",
    "3. The virtual reality system of claim 1, wherein the handheld device is used for manipulation of a virtual robotically-controlled tool when the tool feature is removed from the handheld portion of the handheld device.",
    "4. The virtual reality system of claim 1, wherein the tool feature comprises a tool shaft and a shaft adapter for coupling the tool shaft to the handheld portion of the handheld device.",
    "5. The virtual reality system of claim 4, wherein the shaft adapter comprise s fasteners.",
    "6. The virtual reality system of claim 1, wherein the handheld portion comprises an interactive feature that actuates a function of the virtual manual laparoscopic tool in response to engagement of the interactive feature by a user.",
    "7. The virtual reality system of claim 6, wherein the interactive feature comprises a trigger.",
    "8. The virtual reality system of claim 1, wherein the virtual manual laparoscopic tool is a virtual manual laparoscopic stapler.",
    "9. The virtual reality system of claim 8, wherein a trigger on the handheld portion controls firing of a virtual staple.",
    "10. The virtual reality system of claim 1, further comprising a patient simulator comprising a cannula arranged to receive at least a portion of the tool feature of the handheld device.",
    "11. A computer-implemented method for simulating a robotic surgical environment in a virtual reality system, the method comprising: generating, by one or more processors, a virtual robotic surgical environment comprising at least one virtual robotic arm and a virtual manual laparoscopic tool; coupling a handheld device communicatively to the processors for manipulating the virtual manual laparoscopic tool in the virtual robotic surgical environment, the handheld device including a handheld portion and a tool feature that is removable from the handheld portion, the tool feature being representative of at least a portion of a manual laparoscopic tool; and simulating an over-the-bed surgery in the virtual reality system based on a user's input with the handheld device.",
    "12. The method of claim 11, wherein the handheld device is used for manipulation of the at least one virtual robotic arm robotic arm when the tool feature is removed from the handheld portion of the handheld device.",
    "13. The method of claim 11, wherein the handheld device is used for manipulation of a virtual robotically-controlled tool when the tool feature is removed from the handheld portion of the handheld device.",
    "14. The method of claim 11, wherein the tool feature comprises a tool shaft and a shaft adapter for coupling the tool shaft to the handheld portion of the second handheld device.",
    "15. The method of claim 14, wherein the shaft adapter comprises fasteners.",
    "16. The method of claim 11, wherein the handheld portion comprises an interactive feature that actuates a function of the virtual manual laparoscopic tool in response to engagement of the interactive feature by a user.",
    "17. The method of claim 16, wherein the interactive feature comprises a trigger.",
    "18. The method of claim 11, wherein the virtual manual laparoscopic tool is a virtual manual laparoscopic stapler.",
    "19. The method of claim 18, wherein a trigger on the handheld portion controls firing of a virtual staple.",
    "20. The method of claim 11, further comprising a patient simulator comprising a cannula arranged to receive at least a portion of the tool feature of the handheld device."
  ],
  "description_excerpt": "This invention relates generally to the field of robotic surgery, and more specifically to new and useful systems and methods for providing virtual robotic surgical environments.\n\nMinimally-invasive surgery (MIS), such as laparoscopic surgery, involves techniques intended to reduce tissue damage during a surgical procedure. For example, laparoscopic procedures typically involve creating a number of small incisions in the patient (e.g., in the abdomen), and introducing one or more surgical instruments (e.g., an end effector, at least one camera, etc.) through the incisions into the patient. The surgical procedures may then be performed using the introduced surgical instruments, with the visualization aid provided by the camera.\n\nGenerally, MIS provides multiple benefits, such as reduced patient scarring, less patient pain, shorter patient recovery periods, and lower medical treatment costs associated with patient recovery. In some embodiments, MIS may be performed with robotic systems that include one or more robotic arms for manipulating surgical instruments based on commands from an operator. A robotic arm may, for example, support at its distal end various devices such as surgical end effectors, imaging devices, cannulae for providing access to the patient's body cavity and organs, etc.\n\nRobotic surgical systems are generally complex systems performing complex procedures. Accordingly, a user (e.g., surgeons) generally may require significant training and experience to successfully operate a robotic surgical system.",
  "cpc": [
    "A61B 34/10",
    "A61B 2017/00707",
    "A61B 2034/104",
    "A61B 2034/105",
    "A61B 2034/107",
    "A61B 34/20",
    "A61B 34/35",
    "G06F 3/011",
    "G06F 3/0346",
    "G06F 3/04815",
    "G09B 23/285",
    "G09B 9/00"
  ],
  "ipc": [
    "A61B 34/10",
    "G06F 3/01",
    "G06F 3/0346",
    "G06F 3/0481",
    "G09B 23/28",
    "G09B 9/00"
  ],
  "assignees": [
    "Verb Surgical Inc"
  ],
  "inventors": [
    "Eric Mark JOHNSON",
    "Pablo Eduardo Garcia Kilroy",
    "Bernard Fai Kin SIU",
    "Haoran YU"
  ],
  "filing_date": "2020-02-24",
  "publication_date": "2021-05-25",
  "grant_date": "2021-05-25",
  "priority_date": "2017-06-29",
  "application_number": "US-202016799614-A",
  "family_id": "64741910",
  "cited_by_count": 3,
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}