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PATIENT-SIDE SURGEON INTERFACE FOR A MINIMALLY INVASIVE, TELEOPERATED SURGICAL INSTRUMENT

  • US 20110118748A1
  • Filed: 11/13/2009
  • Published: 05/19/2011
  • Est. Priority Date: 11/13/2009
  • Status: Active Grant
First Claim
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1. A minimally invasive surgical system comprising:

  • a patient-side surgeon interface comprising;

    a) a display device mounted in an operating room; and

    b) a master interface including;

    a mechanically ungrounded master tool grip positioned within a sterile surgical field within said operating room; and

    a hand-tracking transmitter separated and removed from the mechanically ungrounded master tool grip wherein said mechanically ungrounded master tool grip in combination with the hand-tracking transmitter provides sensed position and orientation information in a reference frame associated with a person operating the mechanically ungrounded master tool grip;

    a teleoperated slave surgical instrument comprising a surgical end effector positioned within the sterile surgical field; and

    a control system coupled to the mechanically ungrounded master tool grip, to the hand-tracking transmitter, to the display device and to the teleoperated slave surgical instrument, whereinsaid control system receives said sensed position and orientation information in said reference frame, generates a control command using said sensed position and orientation information, and sends said control command to move the surgical end effector with respect to a reference frame associated with an image displayed on the display device.

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