Apparatus for performing surgical procedures with a passively flexing robotic assembly
First Claim
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1. A medical robotic system comprising:
- a robotic assembly including a surgical instrument having a proximal end and a distal tip and a linkage movably supporting the proximal end of the instrument relative to a linkage base, the robotic assembly having an associated first coordinate system;
a monitor that can display an image of tissues adjacent the tip in a second coordinate system;
an input device that receives an input command from the surgeon to move the instrument tip with a desired movement, the input command being input in the second coordinate system; and
a controller that is coupled to said input device and said robotic linkage, said controller receives said input command from said input device and transmits an output command to said robotic linkage, said controller configured to transform the input command from the second coordinate system to a movement of said robotic linkage, as constrained by surrounding tissues, in the first coordinate system so that the instrument tip effects the desired movement.
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Abstract
A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals received from the foot pedal.
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Citations
16 Claims
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1. A medical robotic system comprising:
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a robotic assembly including a surgical instrument having a proximal end and a distal tip and a linkage movably supporting the proximal end of the instrument relative to a linkage base, the robotic assembly having an associated first coordinate system;
a monitor that can display an image of tissues adjacent the tip in a second coordinate system;
an input device that receives an input command from the surgeon to move the instrument tip with a desired movement, the input command being input in the second coordinate system; and
a controller that is coupled to said input device and said robotic linkage, said controller receives said input command from said input device and transmits an output command to said robotic linkage, said controller configured to transform the input command from the second coordinate system to a movement of said robotic linkage, as constrained by surrounding tissues, in the first coordinate system so that the instrument tip effects the desired movement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 14)
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10. A method to allow a surgeon to control a tip of a surgical instrument, the method comprising;
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coupling the instrument to a robotic linkage to form a robotic assembly, the robotic assembly having an associated first coordinate system;
viewing tissues adjacent the tip of the instrument in a monitor in a second coordinate system;
inputting, in th second coordinate system, a first input command from a surgeon to move the endoscope tip a desired movement;
transforming the first input command in the second coordinate system to a movement of the robotic assembly, with the instrument constrained by surrounding tissue, in the first coordinate system; and
generating an output command to move the robotic linkage so that the instrument tip effects the desired movement. - View Dependent Claims (11, 12, 13, 15, 16)
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Specification