Systems and methods for controlling a camera position in a surgical robotic system
AssigneeCovidien LP
InventorWilliam Peine
Life of this patent
Estimating the term…
Abstract
The present disclosure is directed to a robotic surgical system. The robotic surgical system includes at least one robot arm, a camera, and a console. The console includes a first handle, a second handle, and a selector switch configured to select between a robotic control mode and a camera control mode. In the system the first handle or the second handle control the at least one robot arm in the robotic control mode and the first handle and the second handle control the camera in the camera control mode.
Claims16
A method for controlling a camera in a robotic surgical system having a console with a first handle, a second handle, a selector switch, and a controller, the method comprising:
- activating the selector switch to transition the robotic surgical system from a robotic control mode to a camera control mode;
- receiving input signals from the camera, the first handle, the second handle, and the selector switch;
- transmitting output signals to the camera, a first motor, and a second motor;
- recording the axial orientation and positioning of the first handle as a first set point, wherein the first motor is operably coupled to the first handle and automatically moves the first handle back to the first set point when the first handle is shifted away from the first set point;
- recording the axial orientation and positioning of the second handle as a second set point, wherein the second motor is operably coupled to the second handle and automatically moves the second handle back to the second set point when the second handle is shifted away from the second set point;
- repositioning the first handle to create a minimum separation between the first handle and the first set point;
- repositioning the second handle to create a minimum separation between the second handle and the second set point;
- and
- performing a camera function while the first handle maintains the minimum separation from the first set point and the second handle maintains the minimum separation from the second set point.
A method for controlling a camera in a robotic surgical system having a console with a first handle, a second handle, a selector switch, and a controller, the method comprising:
- activating the selector switch to transition the robotic surgical system from a robotic control mode to a camera control mode;
- receiving input signals from the camera, the first handle, the second handle, and the selector switch;
- transmitting output signals to the camera, a first motor, and a second motor;
- recording the axial orientation and positioning of the first handle as a first set point, wherein the first motor is operably coupled to the first handle;
- tethering the first handle to the first set point, such that the first handle will automatically return to the first set point after being displaced from the first set point;
- recording the axial orientation and positioning of the second handle as a second set point, wherein the second motor is operably coupled to the second handle;
- tethering the second handle to the second set point, such that the second handle will automatically return to the second set point after being displaced from the second set point;
- repositioning the first handle to create a minimum separation between the first handle and the first set point;
- repositioning the second handle to create a minimum separation between the second handle and the second set point;
- and
- performing a camera function while the first handle maintains the minimum separation from the first set point and the second handle maintains the minimum separation from the second set point.
A method for controlling a camera in a robotic surgical system having a console with a first handle, a second handle, a selector switch, and a controller, the method comprising:
- activating the selector switch to transition the robotic surgical system from a robotic control mode to a camera control mode;
- receiving input signals from the camera, the first handle, the second handle, and the selector switch;
- transmitting output signals to the camera, a first motor, and a second motor;
- recording the axial orientation and positioning of the first handle as a first set point, wherein the first motor is operably coupled to the first handle and automatically moves the first handle back to the first set point when the first handle is shifted away from the first set point;
- recording the axial orientation and positioning of the second handle as a second set point, wherein the second motor is operably coupled to the second handle and automatically moves the second handle back to the second set point when the second handle is shifted away from the second set point;
- defining a first dead zone around the first set point, such that no camera function can be performed while the first handle remains within the first dead zone;
- defining a second dead zone around the second set point, such that no camera function can be performed while the second handle remains within the second dead zone;
- and
- performing a camera function when both the first handle is moved past the first dead zone and the second handle is moved past the second dead zone.
Dependencies are inferred from the claim text.