Display of computer generated image of an out-of-view portion of a medical device adjacent a real-time image of an in-view portion of the medical device

• US 10,271,909 B2
• Filed: 07/09/2015
• Issued: 04/30/2019
• Est. Priority Date: 04/07/1999
• Status: Expired due to Fees

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Guthart, Gary S., Mintz, David S., Niemeyer, Gunter D., Salisbury, Jr., J. Kenneth, Younge, Robert G.
• Primary Examiner(s): Roane, Aaron F
• Application Number:
  US14/794,946
• Publication Number:
  US 20180168742A1
• Time in Patent Office: 1,391 Days
• Field of Search: 606 1
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/031 torque limiting
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/066 for measuring torque
• CPC Class Codes: A61B 2090/0807 Indication means
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4218 : characterised by articulated arms
• CPC Class Codes: A61B 8/4245 : involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/67 : for remote operation
• CPC Class Codes: G16H 80/00 : ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring

Abstract

Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

Claims

1. A medical system comprising:

a medical instrument having a shaft and an end effector, the end effector coupled to a distal end of the shaft;

an endoscope disposed relative to the medical instrument so as to capture real-time images of the end effector and the distal end of the shaft, but not a proximal end of the shaft;

a viewer displaying the real-time images; and

a processor configured to cause a computer generated image of the proximal end of the shaft to be displayed adjacent the displayed real-time images on the viewer so that the displayed computer generated image of the proximal end of the shaft appears to be connected to the real-time image of the distal end of the shaft.

2. The medical system of claim 1, wherein the processor is configured to display the computer generated image of the proximal end of the shaft on the viewer so that the position of the displayed computer generated image of the proximal end of the shaft relative to the position and orientation of the distal end of the shaft seen in the displayed real-time images on the viewer corresponds to a position and orientation of the proximal end of the shaft that would be seen in a panoramic view of the medical instrument.

3. The medical system of claim 1, wherein the processor is configured to register the computer generated image of the proximal end of the shaft to the real-time images of the distal end of the shaft so that the position and orientation of the displayed computer generated image of the proximal end of the shaft relative to the position and orientation of the distal end of the shaft as seen in the displayed real-time images on the viewer indicates the position and orientation of the proximal end of the shaft relative to the distal end of the shaft.