ROBOTIC SURGICAL SYSTEM WITH FORWARD-ORIENTED FIELD OF VIEW GUIDE INSTRUMENT NAVIGATION
First Claim
1. A robotic surgical system, comprising:
- an instrument driver;
an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly, the instrument assembly components including an elongate flexible guide instrument and an image capture device, wherein the image capture device is configured to capture images of a forward-oriented field of view; and
a controller operatively coupled to the instrument driver and configured to operate the instrument driver mechanisms in a manner so as to control advancement of the instrument assembly toward a target along a trajectory that maintains the target in the forward-oriented field of view of the image capture device.
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Accused Products
Abstract
A robotic surgical system includes an instrument driver and an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly. The instrument assembly components include an elongate flexible guide instrument and an image capture device, wherein the image capture device is configured to capture images of a forward-oriented field of view. The system further comprises a controller operatively coupled to the instrument driver and configured to operate the instrument driver mechanisms in a manner so as to control advancement of the instrument assembly toward a target along a trajectory that maintains the target in the forward-oriented field of view of the image capture device.
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Citations
18 Claims
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1. A robotic surgical system, comprising:
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an instrument driver;
an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly, the instrument assembly components including an elongate flexible guide instrument and an image capture device, wherein the image capture device is configured to capture images of a forward-oriented field of view; and
a controller operatively coupled to the instrument driver and configured to operate the instrument driver mechanisms in a manner so as to control advancement of the instrument assembly toward a target along a trajectory that maintains the target in the forward-oriented field of view of the image capture device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18)
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14. A robotic surgical system, comprising:
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an instrument driver;
an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly, the instrument assembly components including an elongate flexible guide instrument and an image capture device, wherein the image capture device is configured to capture images of a forward-oriented field of view; and
a controller operatively coupled to the instrument driver, wherein the controller utilizes a software-implemented pattern recognition algorithm for identifying target objects or target features in images acquired by the image capture device, and wherein the controller is further configured for operating the instrument driver mechanisms so as to control movement of the guide instrument while maintaining the identified target objects or target features in the forward-oriented field of view of the image capture device. - View Dependent Claims (15, 16, 17)
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Specification