INTER-OPERATIVE SWITCHING OF TOOLS IN A ROBOTIC SURGICAL SYSTEM
First Claim
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1. A telesurgical system comprising:
- a plurality of manipulators; and
a controller configured to;
detect mounting of an imaging device to a first manipulator of the plurality of manipulators;
determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator;
control a tool relative to the first reference frame;
detect mounting of the imaging device to a second manipulator of the plurality of manipulators, the second manipulator being different from the first manipulator;
determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator; and
control the tool relative to the second reference frame.
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Abstract
Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.
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Citations
20 Claims
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1. A telesurgical system comprising:
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a plurality of manipulators; and a controller configured to; detect mounting of an imaging device to a first manipulator of the plurality of manipulators; determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator; control a tool relative to the first reference frame; detect mounting of the imaging device to a second manipulator of the plurality of manipulators, the second manipulator being different from the first manipulator; determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator; and control the tool relative to the second reference frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for controlling a telesurgical system, the method comprising:
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detecting, by a controller of the telesurgical system, mounting of an imaging device to a first manipulator of the telesurgical system; determining, by the controller, a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator; controlling, by the controller, a tool relative to the first reference frame; detecting, by the controller, mounting of the imaging device to a second manipulator of the telesurgical system, the second manipulator being different from the first manipulator; determining, by the controller, a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator; and controlling, by the controller, the tool relative to the second reference frame. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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19. A telesurgical system comprising:
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a plurality of manipulators; and a controller configured to; detect mounting of an imaging device to a first manipulator of the plurality of manipulators; determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator; control a tool relative to the first reference frame by maintaining a relative position and orientation of a tip of the tool relative to the imaging device based on a relative position and orientation of a master input control to a user display, wherein the master input control is associated with the tool; detect mounting of the imaging device to a second manipulator of the plurality of manipulators, the second manipulator being different from the first manipulator; determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator; and control the tool relative to the second reference frame. - View Dependent Claims (20)
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Specification