Automated endoscope system for optimal positioning
First Claim
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1. A method for moving an endoscope that is inserted into a patient, comprising the steps of:
- a) attaching the endoscope to an end effector of a robotic arm assembly located within a first coordinate system having a first x axis, a first y axis and a first z axis, said robotic arm assembly being adapted to move said end effector relative to the patient in response to an input command from the user, said end effector being located within a second coordinate system having a second x axis, a second y axis and a second z axis;
b) inserting the endoscope into the patient, wherein the end of the endoscope is located within a third coordinate system having a third x axis, a third y axis and a third z axis;
c) inputting a command to move the end of the endoscope an incremental distance in the third coordinate system;
d) computing an incremental moving distance of said end effector in the second coordinate system from the incremental distance of the end of the endoscope in the third coordinate system;
e) computing an incremental moving distance of said end effector within the first coordinate system from the incremental moving distance of said end effector in the second coordinate system; and
,moving said robotic arm assembly until said end effector has moved the computed incremental moving distance in the first coordinate system.
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Abstract
A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals received from the foot pedal.
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Citations
7 Claims
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1. A method for moving an endoscope that is inserted into a patient, comprising the steps of:
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a) attaching the endoscope to an end effector of a robotic arm assembly located within a first coordinate system having a first x axis, a first y axis and a first z axis, said robotic arm assembly being adapted to move said end effector relative to the patient in response to an input command from the user, said end effector being located within a second coordinate system having a second x axis, a second y axis and a second z axis; b) inserting the endoscope into the patient, wherein the end of the endoscope is located within a third coordinate system having a third x axis, a third y axis and a third z axis; c) inputting a command to move the end of the endoscope an incremental distance in the third coordinate system; d) computing an incremental moving distance of said end effector in the second coordinate system from the incremental distance of the end of the endoscope in the third coordinate system; e) computing an incremental moving distance of said end effector within the first coordinate system from the incremental moving distance of said end effector in the second coordinate system; and
,moving said robotic arm assembly until said end effector has moved the computed incremental moving distance in the first coordinate system. - View Dependent Claims (2, 3)
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4. A method for moving an endoscope that is inserted into a patient, comprising the steps of:
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a) attaching the endoscope to an end effector of a robotic arm assembly located within a first coordinate system having a first x axis, a first y axis and a first z axis, said robotic arm assembly having an end effector that is located within a second coordinate system having a second x axis, a second y axis and a second z axis, said robotic arm assembly having a first actuator coupled to said end effector by a first linkage arm, a second actuator coupled to said first actuator by a second linkage arm and a third actuator coupled to said second actuator by a third linkage arm, said actuators being adapted to move said end effector in a plane perpendicular to the first z axis, said robotic assembly further having a linear actuator coupled to said third actuator to move said third actuator along the first z axis; b) inserting the endoscope into the patient, wherein the end of the endoscope is located within third coordinate system having a third x axis, a third y axis and a third z axis; c) inputting a command to move the end of the endoscope an incremental distance in the third coordinate system; d) computing an incremental moving distance of said end effector within the second coordinate system from the incremental moving distance of the end of the endoscope in the third coordinate system; e) computing an incremental moving distance of said end effector within the first coordinate system from the incremental moving distance of said end effector in the second coordinate system; f) moving said robotic arm assembly until said end effector has moved the incremental moving distance in the first coordinate system. - View Dependent Claims (5, 6, 7)
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Specification