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US 11,259,886 B2Granted
Methods, systems, and devices for controlling movement of a robotic surgical system
AssigneeCilag GmbH International
InventorMichael P. Weir
Life of this patent
Estimating the term…
Abstract
Various exemplary methods, systems, and devices for controlling movement of a robotic surgical system are provided. In general, a plurality of surgical instruments can be simultaneously in use during performance of a surgical procedure. One or more of the plurality of instruments can be coupled to a robotic surgical system, which can be configured to control movement of the one or more of the plurality of instruments.
Claims21
A surgical method, comprising:
- displaying on a display device an image of a surgical area visualized by a camera, the camera having a field of view defining a perimeter of the visualized surgical area;
- a robotic surgical system calculating a bearing error based on a current angular offset of a longitudinal axis of a surgical instrument from a reference point in the field of view, the surgical instrument being located outside the perimeter of the visualized surgical area, and the surgical instrument being coupled to an electromechanical arm of the robotic surgical system;
- the robotic surgical system causing a signal to be provided to a user of the robotic surgical system, the signal being indicative of the bearing error;
- with the surgical instrument still being outside the perimeter of the visualized surgical area, the robotic surgical system calculating a second bearing error based on a current angular offset of the longitudinal axis of the surgical instrument from the reference point in the field of view;
- and
- the robotic surgical system causing the signal to change in real time with movement of the electromechanical arm and the surgical instrument coupled thereto relative to the visualized surgical area based on the second bearing error.
3 more elements
A surgical method, comprising:
- displaying on a display device an image of a surgical area visualized by a camera, the camera having a field of view defining a perimeter of the visualized surgical area;
- a robotic surgical system calculating a bearing error based on a current angular offset of a longitudinal axis of a trocar from a reference point in the field of view, a surgical instrument being positioned within the trocar, being located outside the perimeter of the visualized surgical area, and being coupled to an electromechanical arm of the robotic surgical system;
- the robotic surgical system causing a signal to be provided to a user of the robotic surgical system, the signal being indicative of the bearing error;
- with the surgical instrument still being outside the perimeter of the visualized surgical area, the robotic surgical system calculating a second bearing error based on a current angular offset of the longitudinal axis of the trocar from the reference point in the field of view;
- and
- the robotic surgical system causing the signal to change in real time with movement of the electromechanical arm and the surgical instrument coupled thereto relative to the visualized surgical area based on the second bearing error.
3 more elements
Dependencies are inferred from the claim text.