Patent•
Virtual reality laparoscopic tools
25 Jun 2018-
TL;DR: In this paper, a virtual reality system providing a virtual robotic surgical environment, and methods for using such a system, are described, where 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.
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.
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Patent•
26 Jun 2018
TL;DR: In this article, a virtual reality system providing a virtual robotic surgical environment, and methods for using the VR system, and various user modes enable different kinds of interactions between a user and the VRS environment.
Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. Within the virtual reality system, various user modes enable different kinds of interactions between a user and the virtual robotic surgical environment. For example, one variation of a method for facilitating navigation of a virtual robotic surgical environment includes displaying a first-person perspective view of the virtual robotic surgical environment from a first vantage point, displaying a first window view of the virtual robotic surgical environment from a second vantage point and displaying a second window view of the virtual robotic surgical environment from a third vantage point. Additionally, in response to a user input associating the first and second window views, a trajectory between the second and third vantage points can be generated sequentially linking the first and second window views.
8 citations
Patent•
17 Jun 2021
TL;DR: In this paper, a handheld controller is used to map a real-world object into a reference frame of the VR environment, which is then simulated in the 3D VR environment as rendered by the VR HMD.
Abstract: A virtual reality (VR) system comprising a head-mounted display (HMD) and handheld controller set is enhanced to provide a more realistic end user VR experience, e.g., for boxing or other interactive training. In this approach, and in lieu of simply establishing a boundary area for the VR experience, the user also maps a position of a real-world object into a reference frame of the VR environment. This mapping is facilitated using the handheld controller itself, e.g., as positioned in a backwards-facing manner on the user's forearm. The real-world object is then simulated in the 3D VR environment as rendered by the VR HMD, and the user interacts with the real-world object (or its simulation) to provide a more enjoyable and useful interactive experience.
Patent•
01 Mar 2018TL;DR: In this article, a control device adapted to control an electronic apparatus includes a position detection section adapted to repeatedly detect a position on an operation area pointed with a pointer, a moving velocity identification Section adapted to identify the moving velocity of the pointer based on the plurality of positions detected.
Abstract: A control device adapted to control an electronic apparatus includes a position detection section adapted to repeatedly detect a position on an operation area pointed with a pointer, a moving velocity identification section adapted to identify a moving velocity of the pointer based on the plurality of positions detected, and a command transmission section adapted to transmit a predetermined command used to control the electronic apparatus to the electronic apparatus at a frequency corresponding to the moving velocity identified.
Patent•
20 Aug 2020
TL;DR: In this article, a viewpoint optimization system identifies a condition associated with an operating session during which a computer-assisted operation system performs a plurality of operations with respect to a body while an imaging device included within the computer assisted operation system provides, for display on a display device during the operating session, imagery of the body from a first viewpoint.
Abstract: A viewpoint optimization system identifies a condition associated with an operating session during which a computer-assisted operation system performs a plurality of operations with respect to a body while an imaging device included within the computer-assisted operation system provides, for display on a display device during the operating session, imagery of the body from a first viewpoint. The viewpoint optimization system defines, based on the identified condition, a second viewpoint for the imaging device that is more optimal than the first viewpoint for an operation included in the plurality of operations. Additionally, the viewpoint optimization system directs the display device to display an indication of the second viewpoint. Corresponding systems and methods are also disclosed.
Patent•
PARC1
TL;DR: In this article, the authors present a method for facilitating real-world interaction with virtual reality, where a computing device from a virtual reality device associated with a user receives instructions to configure physical components, where for a first physical component at a first location, the instructions indicate a type and an orientation, and for a second physical component located at a second location, they indicate a length of extension and an angle.
Abstract: One embodiment provides a method for facilitating real-world interaction with virtual reality. During operation, the system receives, by a computing device from a virtual reality device associated with a user, instructions to configure physical components, wherein for a first physical component at a first location, the instructions indicate a type and an orientation, and wherein for a second physical component located at a second location, the instructions indicate a type, a length of extension, and an angle. The system executes, by a pose-adjusting unit, the instructions, which involves: physically moving the first physical component to the indicated orientation at the first location; physically extending the second physical component from the second location by the indicated length; and physically rotating the extended second physical component by the indicated angle. The system renders, on the virtual reality device, the configured physical components.
References
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Patent•
12 Dec 2003
TL;DR: In this paper, a virtual control system for an operating room establishes virtual control devices to control surgical equipment and patient monitoring equipment and display control, status and functionality information concerning the surgical equipment, and condition information of the patient.
Abstract: A virtual control system for an operating room establishes virtual control devices to control surgical equipment and patient monitoring equipment and to display control, status and functionality information concerning the surgical equipment and condition information of the patient. The virtual control devices permit direct interaction by the surgeon while maintaining a sterile field, and avoid the use of actual physical devices and electrical cables connecting them to the surgical equipment.
282 citations
Patent•
28 Mar 2012TL;DR: In this article, the authors proposed a method to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria.
Abstract: Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus, and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions diffusion or hazardous waste handling.
251 citations
Patent•
26 Jan 2016TL;DR: In this article, a multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slaves command for the first slaves.
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
212 citations
Patent•
30 Sep 2007TL;DR: In this paper, a tool tracking system for image guided surgery is described. But it does not provide a state-space model of a sequence of states of corrected kinematics for accurate pose information of the robotic instrument.
Abstract: In one embodiment of the invention, a tool tracking system is disclosed including a computer usable medium having computer readable program code to receive images of video frames from at least one camera and to perform image matching of a robotic instrument to determine video pose information of the robotic instrument within the images. The tool tracking system further includes computer readable program code to provide a state-space model of a sequence of states of corrected kinematics information for accurate pose information of the robotic instrument. The state-space model receives raw kinematics information of mechanical pose information and adaptively fuses the mechanical pose information and the video pose information together to generate the sequence of states of the corrected kinematics information for the robotic instrument. Additionally disclosed are methods for image guided surgery.
148 citations