Camera referenced control in a minimally invasive surgical apparatus
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Accused Products
Abstract
Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator'"'"'s control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.
190 Citations
39 Claims
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1-9. -9. (canceled)
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10. A medical robotic system comprising:
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a master controller having a display, and an input device movable in a a slave robotic mechanism including a slave arm adapted to movably support a tool, and at least one actuator operatively couplable to an end effector of the tool so as to move the end effector in a surgical workspace in response to slave actuator signals;
an imaging system including an image capture device having a field of view in the surgical workspace and a linkage including joints for movably supporting the image capture device, the imaging system generating state variable signals including joint measurements indicating the field of view; and
a processor coupling the master controller to the at least one actuator of the slave robotic mechanism, the processor generating the slave actuator signals by mapping the input device in the controller workspace with the end effector in the surgical workspace according to a transformation determined at system startup using the state variable signals of the imaging system so that an image of the end effector in the display of the master controller appears substantially connected to the input device in the controller workspace. - View Dependent Claims (11, 14, 15, 16, 17)
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18. A medical robotic system comprising:
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a master controller having a display, and an input device movable in a controller workspace;
a slave robotic mechanism supported by a slave base and including a slave arm movably supporting an end effector, a slave setup arm having setup joints whose positions are indicative of the position of the slave arm relative to the slave base, and at least one actuator operatively coupled to the end effector so as to move the end effector in a surgical workspace in response to slave actuator signals;
an imaging system including an image capture device having a field of view in the surgical workspace, the imaging system generating state variable signals indicating the field of view; and
a processor coupling the master controller to the at least one actuator of the slave robotic mechanism, the processor generating the slave actuator signals by mapping the input device in the controller workspace with the end effector in the surgical workspace according to a transformation determined by the processor using the state variable signals of the imaging system and the positions of the setup joints of the slave setup arm such that movement of an image of the end effector in the display of the master controller appears substantially connected to the input device in the controller workspace;
wherein if one or more of the setup joints of the slave setup arm are moved to a new position, the input device is re-mapped with the end effector according to another transformation determined by the processor using the new position. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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26. A medical robotic system comprising:
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a master controller having a display, and an input device movable in a controller workspace;
a slave robotic mechanism including a slave arm adapted to movably support a tool, and at least one actuator operatively couplable to an end effector of the tool so as to move the end effector in a surgical workspace in response to slave actuator signals;
an imaging system including an image capture device having a field of view in the surgical workspace and a linkage including joints for movably supporting the image capture device, the imaging system generating state variable signals including information received from magnetic sensors indicating the field of view; and
a processor coupling the master controller to the at least one actuator of the slave robotic mechanism, the processor generating the slave actuator signals by mapping the input device in the controller workspace with the end effector in the surgical workspace according to a transformation determined using the state variable signals of the imaging system so that an image of the end effector in the display of the master controller appears substantially connected to the input device in the controller workspace. - View Dependent Claims (27, 28, 29, 30, 31, 32)
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33. A medical robotic system comprising:
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a master controller having a display, and an input device movable in a controller workspace;
a slave robotic mechanism including a slave arm adapted to movably support a tool, and at least one actuator operatively couplable to an end effector of the tool so as to move the end effector in a surgical workspace in response to slave actuator signals;
an imaging system including an image capture device having a field of view in the surgical workspace and a linkage including joints for movably supporting the image capture device, the imaging system generating state variable signals including image recognition-derived information indicating the field of view; and
a processor coupling the master controller to the at least one actuator of the slave robotic mechanism, the processor generating the slave actuator signals by mapping the input device in the controller workspace with the end effector in the surgical workspace according to a transformation determined using the state variable signals of the imaging system so that an image of the end effector in the display of the master controller appears substantially connected to the input device in the controller workspace. - View Dependent Claims (34, 35, 36, 37, 38, 39)
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Specification