SURGICAL SIMULATION SYSTEM USING FORCE SENSING AND OPTICAL TRACKING AND ROBOTIC SURGERY SYSTEM
A surgical simulation device includes a support structure and animal tissue carried in a tray. A simulated human skeleton is carried by the support structure above the animal tissue and includes simulated human skin. A camera images the animal tissue and an image processor receives images of markers positioned on the ribs and animal tissue and forms a three-dimensional wireframe image. An operating table is adjacent a local robotic surgery station as part of a robotic surgery station and includes at least one patient support configured to support the patient during robotic surgery. At least one patient force/torque sensor is coupled to the at least one patient support and configured to sense at least one of force and torque experienced by the patient during robotic surgery.
1 - 20 . (canceled)
21 . A robotic surgery system comprising:
a local robotic surgery station configured to perform robotic surgery on a patient; and
an operating table adjacent said local robotic surgery station comprising
at least one patient support configured to support the patient during robotic surgery, and
at least one patient force/torque sensor coupled to said at least one patient support and configured to sense at least one of force and torque experienced by the patient during robotic surgery.
22 . The robotic surgery system of claim 21 , comprising a processor coupled to said at least one patient force/torque sensor, and configured to generate an alert indication when a threshold is exceeded
23 . The robotic surgery system of claim 21 , comprising a processor coupled to said at least one patient force/torque sensor, and configured to stop said local robotic surgery station when a threshold is exceeded.
24 . The robotic surgery system of claim 21 , wherein said local robotic surgery station comprises a robotic surgery device, and at least one robot force/torque sensor coupled thereto and configured to sense at least one of force and torque experienced by said robotic surgery device during robotic surgery.
25 . The robotic surgery system of claim 24 , comprising a processor configured to record data from said at least one patient force/torque sensor and said at least one robot force/torque sensor.
26 . The robotic surgery system of claim 21 , comprising a remote robotic surgery station coupled to said local robotic surgery station.
27 . The robotic surgery system of claim 26 , wherein said remote robotic surgery station is configured for use geographically remote from said local robotic surgery station.
28 . The robotic surgery system of claim 21 , wherein said at least one patient force/torque sensor comprises a plurality of semiconductor strain gauges, and circuitry coupled thereto to output multiple components of force and torque.
29 . The robotic surgery system of claim 21 , wherein said operating table comprises a frame; and wherein said at least one patient force/torque sensor is coupled between said frame and said at least one patient support.
30 . An operating table for use with a local robotic surgery station configured to perform robotic surgery on a patient, the operating table comprising:
at least one patient support configured to support the patient during robotic surgery; and
at least one patient force/torque sensor coupled to said at least one patient support and configured to sense at least one of force and torque experienced by the patient during robotic surgery.
31 . The operating table of claim 30 , comprising a processor coupled to said at least one patient force/torque sensor, and configured to generate an alert indication when a threshold is exceeded.
32 . The operating table of claim 30 , comprising a processor coupled to said at least one patient force/torque sensor, and configured to stop the local robotic surgery station when a threshold is exceeded.
33 . The operating table of claim 30 , wherein the local robotic surgery station comprises a robotic surgery device, and at least one robot force/torque sensor coupled thereto; and a processor configured to record data from said at least one patient force/torque sensor and the at least one robot
34 . The operating table of claim 30 , wherein
said at least one patient force/torque sensor comprises a plurality of semiconductor strain gauges, and circuitry coupled thereto to output multiple components of force and torque.
35 . The operating table of claim 30 , comprising a frame; and wherein said at least one patient force/torque sensor is coupled between said frame and said at least one patient support.
36 . A robotic surgery system comprising:
a local robotic surgery station comprising
a robotic surgery device, and
at least one robot force/torque sensor coupled to said robotic surgery device; and
an operating table adjacent said local robotic surgery station comprising
at least one patient support configured to support a patient during robotic surgery,
at least one patient force/torque sensor coupled to said at least one patient support, and
a processor coupled to said at least one robot force/torque sensor and said at least one patient force/torque sensor.
37 . The robotic surgery system of claim 36 , wherein said processor is configured to generate an alert indication when a threshold is exceeded.
38 . The robotic surgery system of claim 36 , wherein said processor is configured to stop said local robotic surgery station when a threshold is exceeded.
39 . The robotic surgery system of claim 36 , comprising a remote robotic surgery station coupled to said local robotic surgery station.
40 . The robotic surgery system of claim 36 , wherein said at least one patient force/torque sensor comprises a plurality of semiconductor strain gauges, and circuitry coupled thereto to output multiple components of force and torque.
41 . The robotic surgery system of claim 36 , wherein said operating table comprises a frame; and wherein said at least one patient force/torque sensor is coupled between said frame and said at least one patient support.