Guided tool change

A method of performing minimally invasive robotic surgery in a body cavity of a patient, the method comprising:

• recording an operating position at which the first robotic surgical tool is disposed inside the cavity, the first robotic surgical tool being configured to effect a treatment of a tissue in the cavity;
• decoupling the first robotic surgical tool from a slave manipulator and removing the first robotic surgical tool from the cavity;
• determining the desired position within the body cavity of a second robotic tool based on the recorded position of the first robotic tool;
• coupling the second robotic surgical tool with the slave manipulator;
• introducing the second robotic surgical tool into the cavity;
• and
• guiding the second robotic surgical tool to the desired position in close proximity to the operating position.

A surgical robotic system comprising:

• a slave manipulator for coupling with and actuating a robotic surgical tool inside a body cavity of a patient;
• a controller configured to control movement of the slave manipulator and the robotic tool;
• at least one sensor coupled with the slave manipulator and the controller for sensing an operating position of the robotic surgical tool coupled with the slave manipulator;
• said controller comprising a computer, said computer having a first set of computer instructions for controlling the slave manipulator, after the first robotic surgical tool is removed from the cavity and decoupled from the slave manipulator, to automatically position the slave manipulator so that the second robotic surgical tool can be guided to a location in close proximity to the sensed operating position, the first robotic surgical tool being configured to effect a treatment of a tissue in the cavity.