METHODS OF CONTROLLING A ROBOTIC SURGICAL TOOL WITH A DISPLAY MONITOR

• US 20140323803A1
• Filed: 07/14/2014
• Published: 10/30/2014
• Est. Priority Date: 03/28/2008
• Status: Abandoned Application

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Hoffman, Brian D., Nowlin, William C.
• Application Number:
  US14/330,339
• Publication Number:
  US 20140323803A1
• Time in Patent Office: Days
• US Class Current: 600/109
• CPC Class Codes: A61B 1/00042 for mechanical operation
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/00188 with focusing or zooming features
• CPC Class Codes: A61B 1/045 Control thereof
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00216 with eye tracking or head position tracking control
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

In one embodiment of the invention, a method for controlling a robotic surgical tool is disclosed. The method for controlling a robotic surgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.

Claims

1. A method for controlling a robotic surgical tool, the method comprising:

supporting a monitor with a supporting device;

displaying an image of a robotic surgical tool on the monitor;

moving the monitor displaying the image of the robotic surgical tool;

sensing motion of the monitor; and

translating the sensed motion of the monitor into motion of the robotic surgical tool.

2. The method of claim 1, wherein

the motion of the monitor is sensed by an inertia sensor coupled thereto.

3. The method of claim 1, wherein

the supporting device is a set-up arm;

and

the motion of the monitor is sensed by one or more rotary encoders at one or more joints of the set-up arm supporting the monitor.

4. The method of claim 1, further comprising:

prior to moving the monitor, grasping sides of the monitor with a pair of hands.

16. The method of claim 1, wherein moving the monitor further includes

moving a setup arm coupled to a housing of the monitor, including one or more serial links between the housing and a mechanical ground;

and

sensing the motion of the one or more serial links with one or more motion sensing devices to determine direction and distance of motion of the monitor.

17. The method of claim 16, wherein

the one or more motion sensing devices are one or more rotary encoders at one or more joints of the one or more serial links supporting the monitor.

18. The method of claim 1, wherein

the robotic surgical tool is an ultrasound tool.

19. The method of claim 1, wherein

the robotic surgical tool is an endoscopic camera.

20. The method of claim 19, wherein

the motion of the endoscopic camera mechanically pans a center of a video frame displayed on the monitor.

5-15. -15. (canceled)