Hand eye coordination system for robotic surgical system

A robotic surgical system comprising:

• a surgical robot including a first arm supporting a camera and a second arm supporting a tool, the camera defining a camera frame and configured to capture real-time images of a surgical site, the second arm defining a tool frame and configured to manipulate the tool within the tool frame, the surgical robot defining a world frame;
• a user console including an input handle and a display, the input handle moveable within a master frame defined by the user console, the display configured to display real-time images of a surgical site provided by the camera;
• and
• a processing unit configured to:
• receive movement of the input handle in the master frame;
• translate the movement of the input handle in the master frame to movement of the tool in the camera frame;
• translate the movement of the tool in the camera frame to movement of the tool in the world frame;
• translate the movement of the tool in the world frame to movement of the tool in the tool frame;
• and
• transmit control commands to the second arm such that the tool follows movement of the input handle.

A computer-readable medium having stored thereon sequences of instructions that, when executed by a processor, cause the processor to:

• receive movement of an input handle in a master frame of a user console;
• translate the movement of the input handle in the master frame into movement of a tool in a camera frame of a camera providing real-time images of a surgical site;
• translate the movement of the tool in the camera frame to movement of the tool in a world frame defined in a surgical theater;
• translate the movement of the tool in the world frame to movement of the tool in a tool frame which is defined by an arm supporting the tool;
• and
• transmit control commands to a motor controlling the tool such that the tool follows movement of the input handle.