Surgical simulation system using force sensing and optical tracking and robotic surgery system

Abstract

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.