# US 11,998,402 B2 · Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,998,402 B2 - Document ID: US11998402B2 - Status: Granted - Kind: B2 - Application number: 17/018,162 - Filed: 2020-09-11 - Published: 2021-02-18 - Granted: 2024-06-04 - Earliest claimed: 2017-08-25 - Assignees: Titan Medical Inc. - Applicants: Titan Medical Inc. - Inventors: Joseph Kralicky - Web page: https://patentgrep.com/patent/US11998402B2 ## CPC - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 34/30: Surgical robots - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - B25J 9/1605: {Simulation of manipulator lay-out, design, modelling of manipulator} - B25J 9/1612: {characterised by the hand, wrist, grip control} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - B25J 13/04: Foot-operated control means - B25J 15/0019: {End effectors other than grippers} - B25J 15/0028: {with movable, e.g. pivoting gripping jaw surfaces} - B25J 15/0066: {with different types of end effectors, e.g. gripper and welding gun (B25J15/0057 and B25J15/0061 take precedence)} - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 90/37: {Surgical systems with images on a monitor during operation} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2090/371: {with simultaneous use of two cameras} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure are disclosed. In some embodiments, the method involves receiving location information at a controller of a surgical robotic system performing the medical procedure, the location information defining a location of at least one tool with respect to a body cavity frame of reference, and in response to receiving an align command signal at the controller, causing the controller to produce positioning signals operable to cause the camera to be positioned within the body cavity frame of reference to capture images of the at least one tool for display to an operator of the surgical robotic system. ## Claims ### Claim 1 A non-transitory computer readable medium comprising instructions that, when executed by a processor of a surgical robotic system, cause the processor to: receive operator input of a desired offset between a center of a field of view of a camera and a reference point of at least one tool of the surgical robotic system being configured to perform a medical procedure; receive an alignment signal being configured to cause movement of the camera of the surgical robotic system based on a location information of the at least one tool of the surgical robotic system being configured to perform a medical procedure; and in response to receiving the alignment signal: receive the location information of the at least one tool, the location information defining a location of the at least one tool with respect to a body cavity frame of reference; and cause movement of the camera within the body cavity frame of reference to position the center of the field of view of the camera to be offset from the reference point of the at least one tool by the desired offset within captured images such that the camera captures images of the at least one tool to be displayed to an operator of the surgical robotic system during the medical procedure. ### Claim 2 (depends on 1) The non-transitory computer readable medium of claim 1, wherein the instructions further cause the processor to cause movement of the at least one tool within a body cavity, wherein movement of the at least one tool is caused by movement signals produced based on kinematic calculations, and wherein receiving location information comprises using results of the kinematic calculations to determine the location of the at least one tool. ### Claim 3 (depends on 1) The non-transitory computer readable medium of claim 1, wherein the location information is indicative of an actual location of the at least one tool within the body cavity frame of reference. ### Claim 4 (depends on 1) The non-transitory computer readable medium of claim 1, wherein the reference point comprises a point on the at least one tool proximate a distal end of the at least one tool. ### Claim 5 (depends on 1) The non-transitory computer readable medium of claim 1, wherein the location information defines locations of a plurality of tools with respect to a body cavity frame of reference, and wherein the reference point comprises a point disposed in-between respective distal ends of the plurality of tools. ### Claim 6 (depends on 1) The non-transitory computer readable medium of claim 1, wherein the instructions further cause the processor to, while the alignment signal is being received and in response to receiving operator input from an input device configured to generate input signals for controlling movement of the at least one tool, cause movement of the at least one tool while simultaneously causing the camera to follow the at least one tool within the body cavity frame of reference. ### Claim 7 (depends on 1) The non-transitory computer readable medium of claim 1, wherein the instructions further cause the processor to determine that the alignment signal has been received in response to determining that a camera align control has been activated by the operator. ### Claim 8 (depends on 7) The non-transitory computer readable medium of claim 7, wherein the camera align control comprises one or more of a finger actuated switch or a foot actuated switch. ### Claim 9 (depends on 1) The non-transitory computer readable medium of claim 1, wherein the instructions further cause the processor to determine that the alignment signal has been received in response to determining at least one of: a pattern of movement of the at least one tool has been received at an input device configured to generate input signals for controlling movement of the at least one tool; or a pattern of movement of an end effector disposed at a distal tip of the at least one tool has been received from an input device configured to generate input signals for controlling movement of the end effector. ### Claim 10 (depends on 1) The non-transitory computer readable medium of claim 1, wherein the instructions further cause the processor to determine that the alignment signal has been received in response to determining at least one of: a reference point associated with the at least one tool is disposed outside of a defined central region within a captured image; or a reference point associated with a currently active one of a plurality of tools is disposed outside of a defined central region within the captured image. ### Claim 11 (depends on 1) The non-transitory computer readable medium of claim 1, wherein the instructions further cause the processor to: cause movement of the camera within the body cavity frame of reference by causing movement of a plurality of joints of the camera to move a plurality of linkages of the camera. ### Claim 12 (depends on 11) The non-transitory computer readable medium of claim 11, wherein the plurality of linkages of the camera comprises a first linkage that controls tilt of the camera, and wherein instructions cause the processor to cause movement of the camera within the body cavity frame of reference by causing movement of the first linkage. ### Claim 13 (depends on 12) The non-transitory computer readable medium of claim 12, wherein the plurality of linkages of the camera comprises a second linkage that controls a pan of the camera and a third linkage that controls an elevation of the camera, and wherein instructions cause the processor to cause movement of the camera within the body cavity frame of reference by causing movement of the second and third linkages.