Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
First Claim
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1. A robotic surgical system comprising:
- a master controller with an input handle movable in a plurality of degrees of freedom;
a robotic manipulator assembly including a surgical end effector movable in a plurality of degrees of freedom;
a control system coupling the master controller to the manipulator assembly, the control system having first and second modes, the control system in the first mode configured to effect corresponding movement of the end effector in response to movement of the handle, the control system configured to allow independent repositioning of the handle or the end effector in at least one of the degrees of freedom and to inhibit independent repositioning in at least one of the other degrees of freedom when the control system is in the second mode.
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Abstract
The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient'"'"'s side.
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Citations
19 Claims
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1. A robotic surgical system comprising:
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a master controller with an input handle movable in a plurality of degrees of freedom;
a robotic manipulator assembly including a surgical end effector movable in a plurality of degrees of freedom;
a control system coupling the master controller to the manipulator assembly, the control system having first and second modes, the control system in the first mode configured to effect corresponding movement of the end effector in response to movement of the handle, the control system configured to allow independent repositioning of the handle or the end effector in at least one of the degrees of freedom and to inhibit independent repositioning in at least one of the other degrees of freedom when the control system is in the second mode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A robotic surgical system comprising:
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a surgical manipulator system having an image capture device for capturing an image of a surgical site and at least one medical instrument having at least one rotational degree of freedom of movement and at least one translational degree of freedom of movement;
a workstation having a display operatively connected to the image capture device to display the surgical site and at least one master control device operatively associated with the medical instrument to cause selective rotational and translational movement of the instrument in response to inputs to the master control device; and
a selectively activatable repositioning system configured to interrupt the operative association between the master control device and the medical instrument so as to permit the master control device to be repositioned in the at least one translational degree of freedom of movement relative to the medical instrument while the medical instrument is caused to remain in a stationary position and, to reestablish the operative association after the master control device has been repositioned, wherein the repositioning system moves the master control device prior to reestablishing the operative association so as to inhibit repositioning of the master control device in the at least one rotational degree of freedom.
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12. A robotic surgical system comprising:
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a master controller movable in a plurality of degrees of freedom;
a surgical instrument movable in a plurality of degrees of freedom; and
a control system coupling the master controller to the surgical instrument, the control system having a first mode and a second mode;
wherein the control system in the first mode is configured to effect movement of the surgical instrument in response to movement of the master controller, and wherein the control system in the second mode is configured to allow repositioning of one of the master controller and surgical instrument in at least one degree of freedom and inhibit repositioning in at least one of the other degrees of freedom while substantially maintaining the position of the other of the master controller and surgical instrument. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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Specification