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US 2017/0189131 A1Published application
Methods, Systems, And Devices For Controlling Movement Of A Robotic Surgical System
AssigneeEthicon Endo-Surgery, Inc.
InventorMichael P. Weir
Life of this patent
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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.
Claims20
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;
- providing a signal indicative of a current position of a surgical instrument, which is located outside the perimeter of the visualized surgical area, relative to the visualized surgical area, the surgical instrument being coupled to an electromechanical arm of a robotic surgical system;
- and
- changing the signal in real time with movement of the electromechanical arm and the surgical instrument coupled thereto relative to the visualized surgical area based on the current position of the surgical instrument relative to the surgical area.
1 more element
A surgical method, comprising:
- receiving a user input at a robotic surgical system, the user input requesting movement of a surgical instrument removably and replaceably coupled to a first electrosurgical arm of the robotic surgical system;
- causing movement of the first electrosurgical arm in response to the received user input, thereby causing movement of the surgical instrument removably and replaceably coupled to the first electrosurgical arm;
- determining in real time with the movement of the first electrosurgical arm whether the first electrosurgical arm is within a threshold minimum distance of another portion of the robotic surgical system;
- and
- in response to determining that the first electrosurgical arm is within the threshold minimum distance, triggering performance of a remedial action to reduce a chance of a collision between the moving first electrosurgical arm and the other portion of the robotic surgical system.
2 more elements
A surgical method, comprising:
- receiving a first user input at a robotic surgical system, the first user input requesting movement of a first surgical instrument coupled to a first electromechanical arm of the robotic surgical system;
- in response to the received first user input, moving the first electromechanical arm in a first mode of the robotic surgical system in which the first electromechanical arm moves relative to a second electromechanical arm of the robotic surgical system such that a relative position of the first and second electromechanical arms changes;
- receiving a second user input at the robotic surgical system, the second user input requesting another movement of the first surgical instrument;
- and
- in response to the received second user input, moving the first electromechanical arm in a second mode of the robotic surgical system in which the other movement of the first electromechanical arm causes corresponding movement of the second electromechanical arm such that the relative position of the first and second electromechanical arms is maintained.
2 more elements
Dependencies are inferred from the claim text.