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US 9,949,798 B2Granted
Methods, systems, and devices for controlling movement of a robotic surgical system
AssigneeEthicon Endo-Surgery, Inc.
InventorMichael P. Weir
Life of this patent
Estimating the term…
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.
Claims18
A surgical system, comprising:
- an electromechanical arm configured to removably couple to a surgical instrument, the electromechanical arm being configured to move so as to move the surgical instrument removably coupled thereto relative to a patient on which a surgical procedure is being performed;
- a camera having a field of view;
- and
- a controller configured to
- receive an instruction from a user requesting movement of the surgical instrument from a start location outside of the field of view,
- determine a trajectory of the surgical instrument at the start location, the trajectory defined by a longitudinal axis of the surgical instrument,
- move the surgical instrument in accordance with the instruction,
- repeatedly determine the trajectory of the surgical instrument during the movement of the surgical instrument,
- provide a constant cue during the movement of the surgical instrument based on an intersection of the field of view with the determined trajectory of the surgical instrument, the cue changing during the movement of the surgical instrument in relation to a location of the surgical instrument relative to the field of view, and
- stop the cue when the surgical instrument moves into the field of view.
7 more elements
A surgical method, comprising:
- displaying an image on a display device showing a field of view of a camera visualizing a surgical area within a patient;
- providing a constant cue to a user positioning a distal working end of a surgical instrument relative to the patient using a robotic surgical system to which the surgical instrument is removably coupled, the distal working end of a surgical instrument starting its movement from outside the field of view, the cue changing over time in relation to a location of the distal working end of the surgical instrument relative to the field of view displayed on the display device, the cue being based on a repeatedly determined intersection of the field of view with a trajectory line defined by a longitudinal axis of the surgical instrument;
- and
- stopping provision of the cue in response to the distal working end of the surgical instrument entering the field of view displayed on the display device.
1 more element
A surgical method, comprising:
- receiving, at a controller, an input from an input device controlled by a user indicating that the user desires to move a surgical instrument currently out of a field of view of a camera visualizing a surgical area of a patient, the surgical instrument being coupled to an electromechanical arm of a robotic surgical system that moves the surgical instrument relative to the patient;
- calculating, by the controller, a bearing of a trajectory line between a trocar, through which the surgical instrument is advanced, and a point in the surgical area being visualized in the field of view;
- repeatedly determining, by the controller, a current bearing of a longitudinal axis of the surgical instrument as the surgical instrument is moved by movement of the electromechanical arm;
- providing, by the controller, a cue indicative of a difference between the bearing of the trajectory line and the current bearing of the longitudinal axis, the cue changing over time based on an amount of the difference as the surgical instrument moves;
- and
- stopping, by the controller, provision of the cue when the difference becomes substantially zero.
3 more elements
Dependencies are inferred from the claim text.