Virtual reality surgical device
Inventors
Sachs, Adam • KHALIFA, Sammy • Greene, Barry Stuart
Assignees
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Publication Number
US-11045269-B2
Publication Date
2021-06-29
Expiration Date
Abstract
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
Core Innovation
The invention provides, to a user, a human-like robotic surgical interaction inside of a body using a robotic surgical system. The method inserts a robotic arm assembly and a camera assembly inside the body and controls the robotic surgical system with a processor coupled to the robotic surgical system. The system positions at least one of the robotic arm assembly and the camera assembly inside the body based on an anatomical relationship between human eyes and human shoulders.
The method maintains a ratio of a horizontal distance across the robotic arm assembly to a height of the camera assembly above the robotic arm assembly between 1 and 4 while positioning inside the body. The method receives data from the camera assembly and creates for the user a representation of at least a portion of the robotic arm assembly inside of the body.
The representation comprises a human-like view-perspective of the at least a portion of the robotic arm assembly inside of the body. The disclosed concept grounds the user’s view-perspective in an anatomical relationship between human eyes and human shoulders by using the maintained horizontal-distance-to-camera-height ratio for the camera and robotic arm assembly inside the body.
Claims Coverage
The provided set includes one independent claim. The inventive features center on anatomical eye/shoulder relationship-based robotic system arrangement, a maintained horizontal-distance-to-camera-height ratio, insertion of robotic arm and camera assemblies, and creating a human-like view-perspective representation from camera data.
Anatomical relationship-based placement of robotic arm and camera
Arranging the robotic surgical system based on an anatomical relationship between human eyes and human shoulders, and positioning at least one of the robotic arm assembly and the camera assembly inside the body using a processor coupled to the robotic surgical system.
Maintained horizontal-distance-to-camera-height ratio
Positioning such that a ratio of a horizontal distance across the robotic arm assembly to a height of the camera assembly above the robotic arm assembly is maintained between 1 and 4.
Human-like view-perspective representation created from camera data
Receiving data from the camera assembly and creating for the user a representation of at least a portion of the robotic arm assembly inside of the body, wherein the representation comprises a human-like view-perspective.
Across the independent claim, the invention combines anatomical eye/shoulder-based arrangement, a specified maintained horizontal-distance-to-camera-height ratio, insertion of a robotic arm assembly and camera assembly, and creation of a human-like view-perspective representation from camera data for the user.
Stated Advantages
Provides a human-like view-perspective of at least a portion of the robotic arm assembly inside of the body to a user.
Documented Applications
Human-like robotic surgical interaction inside of a body using a robotic surgical system arranged based on an anatomical relationship between human eyes and human shoulders.
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