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1. WO2019218081 - A VIRTUAL REALITY SURGICAL SYSTEM INCLUDING A SURGICAL TOOL ASSEMBLY WITH HAPTIC FEEDBACK

Publication Number WO/2019/218081
Publication Date 21.11.2019
International Application No. PCT/CA2019/050675
International Filing Date 17.05.2019
IPC
G09B 9/00 2006.1
GPHYSICS
09EDUCATING; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
9Simulators for teaching or training purposes
A61B 34/10 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
10Computer-aided planning, simulation or modelling of surgical operations
A61B 34/30 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
CPC
A61B 1/307
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
307for the urinary organs, e.g. urethroscopes, cystoscopes
A61B 2034/2055
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2055Optical tracking systems
A61B 2034/2059
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2059Mechanical position encoders
A61B 2034/301
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
301for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
A61B 2090/365
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
36Image-producing devices or illumination devices not otherwise provided for
364Correlation of different images or relation of image positions in respect to the body
365augmented reality, i.e. correlating a live optical image with another image
A61B 2090/368
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
36Image-producing devices or illumination devices not otherwise provided for
364Correlation of different images or relation of image positions in respect to the body
368changing the image on a display according to the operator's position
Applicants
  • MARION SURGICAL INC. [CA]/[CA]
Inventors
  • SAINSBURY, Benjamin
  • HENRY, Jessica
  • FILIPPOV, Mihail
  • LA, Ryan
Agents
  • ORSI, Tony
Priority Data
62/673,65218.05.2018US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) A VIRTUAL REALITY SURGICAL SYSTEM INCLUDING A SURGICAL TOOL ASSEMBLY WITH HAPTIC FEEDBACK
(FR) SYSTÈME CHIRURGICAL DE RÉALITÉ VIRTUELLE COMPRENANT UN ENSEMBLE OUTIL CHIRURGICAL À RÉTROACTION HAPTIQUE
Abstract
(EN) Virtual reality (VR) surgical systems with haptic feedback are described herein that can be used to simulate several instruments and surgeries. The instruments can include a tool assembly; first and second brackets each having first shafts that are rotatably coupled at first and second end regions of the tool assembly and second shafts that are rotatably coupled to first and second robotic arms; a surgical tool assembly coupled to an end portion of the tool assembly and having an elongated member that extends within the tool assembly; an elongated member position sensor assembly configured to provide position information of a position of the elongated member to a computing unit; and an elongated member force feedback assembly housed within the cavity and coupled to the elongated member. The elongated member force feedback assembly is configured to provide haptic feedback to the user of the instrument.
(FR) L'invention concerne des systèmes chirurgicaux de réalité virtuelle (VR) à rétroaction haptique qui peuvent être utilisés pour simuler plusieurs instruments et interventions chirurgicales. Les instruments peuvent comprendre un ensemble outil ; des premier et second supports comportant chacun des premiers arbres qui sont couplés en rotation au niveau de première et seconde régions d'extrémité de l'ensemble outil et des seconds arbres qui sont couplés en rotation à des premier et second bras robotiques ; un ensemble outil chirurgical couplé à une partie d'extrémité de l'ensemble outil et comportant un élément allongé qui se prolonge à l'intérieur de l'ensemble outil ; un ensemble capteur de position d'élément allongé conçu pour fournir des informations de position concernant la position de l'élément allongé à une unité de calcul ; et un ensemble de rétroaction de force d'élément allongé situé à l'intérieur de la cavité et couplé à l'élément allongé. L'ensemble de rétroaction de force d'élément allongé est conçu pour fournir une rétroaction haptique à l'utilisateur de l'instrument.
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