Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
DC CAFCFirst Claim
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1. A method of performing a surgical procedure on a patient, the method comprising:
- positioning a surgical work station of a robotically controlled surgical system and a patient on which a surgical procedure is to be performed in close proximity relative to each other;
directing a field of view of an image caprute device of the surgical work station at a surgical site on the patient, at which site the surgical procedure is to be performed;
introducing at least one robotically controlled surgical instrument on the surgical work station to the surgical site so that an end effector of the surgical instrument is within the field of view of the image capture device;
displaying an image of the surgical site and the end effector on a display area of an image display at an operator control station of the surgical system, the image display being operatively connected to the image capture device so as to display on the display area the image of the surgical site and the end effector captured by the image capture device;
permitting an operator of the surgical system to effect a manipulation of a linkage of a master control in three dimensions at the operator control station whilst viewing the image of the surgical site on the image display, the master control being operatively associated with the surgical instrument thereby to cause the end effector to move in response to the manipulation of the linkage of the master control so as to perform at least part of the surgical procedure on the patient at the surgical site;
operatively linking the image display to a source of selectively accessible auxiliary information related to the surgical procedure to be performed;
enabling the operator selecibely to access the source of auxiliary information from the operator control station so as to forward the auxiliary information to the image display;
causing the auxiliary information to be displayed across the display area of the image display in response to the operator selectively accessing the source of auxiliary information at the operator control station; and
enabling the operator selectively to move the auxiliary information when displayed on the image display relative to the image of the surgical site displayed on the image display;
wherein the master control is operatively linked with the source of auxiliatry information, said enabling the operator selectively to access the source of auxiliary information comprising permitting toe operator selectively to disassociate the master control from the surgical instrument and to use the master control to access the source of auxiliary information in response to the manipulation of the linkage so as to enable the auxiliary information to be displayed on the display area of the image display.
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Abstract
Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.
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Citations
53 Claims
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1. A method of performing a surgical procedure on a patient, the method comprising:
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positioning a surgical work station of a robotically controlled surgical system and a patient on which a surgical procedure is to be performed in close proximity relative to each other;
directing a field of view of an image caprute device of the surgical work station at a surgical site on the patient, at which site the surgical procedure is to be performed;
introducing at least one robotically controlled surgical instrument on the surgical work station to the surgical site so that an end effector of the surgical instrument is within the field of view of the image capture device;
displaying an image of the surgical site and the end effector on a display area of an image display at an operator control station of the surgical system, the image display being operatively connected to the image capture device so as to display on the display area the image of the surgical site and the end effector captured by the image capture device;
permitting an operator of the surgical system to effect a manipulation of a linkage of a master control in three dimensions at the operator control station whilst viewing the image of the surgical site on the image display, the master control being operatively associated with the surgical instrument thereby to cause the end effector to move in response to the manipulation of the linkage of the master control so as to perform at least part of the surgical procedure on the patient at the surgical site;
operatively linking the image display to a source of selectively accessible auxiliary information related to the surgical procedure to be performed;
enabling the operator selecibely to access the source of auxiliary information from the operator control station so as to forward the auxiliary information to the image display;
causing the auxiliary information to be displayed across the display area of the image display in response to the operator selectively accessing the source of auxiliary information at the operator control station; and
enabling the operator selectively to move the auxiliary information when displayed on the image display relative to the image of the surgical site displayed on the image display;
wherein the master control is operatively linked with the source of auxiliatry information, said enabling the operator selectively to access the source of auxiliary information comprising permitting toe operator selectively to disassociate the master control from the surgical instrument and to use the master control to access the source of auxiliary information in response to the manipulation of the linkage so as to enable the auxiliary information to be displayed on the display area of the image display. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 29, 30, 31, 32, 33, 34)
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16. A method of performing a surgical procedure on a patient, the method comprising:
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manipulating a linkage of a master control in three dimensions whilst viewing a real time image of a surgical site on an image display;
moving an end effector in response to the manipulation of the linkage of the master control, said end effector visible on said image display, so as to perform at least part of a surgical procedure at the surgical site;
selectively accessing a source of auxiliary information in response to the manipulation of the linkage of the master control; and
displaying the auxiliary information on the image display, wherein the master control is operatively associated with the end effector to cause the end effector to move in response to the manipulating of the master control, and wherein the selectively accessing the source of auxiliary information comprises disassociating the master control from the end effector. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
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51. A method for preparing for or performing a robotic surgical procedure at a surgical site on a patient, the method comprising:
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displaying information relevant to the surgical procedure on an image display of the robotic surgical system;
manipulating a linkage of a master control of the robotic surgical system in three dimensions while viewing the image display;
moving an end effector of the robotic surgical system in response to the manipulation of the linkage of the master control so as to prepare for or perform at least part of a surgical procedure at the surgical site when the robotic surgical system is in a first operating mode; and
changing the displayed information on the image display of the robotic surgical system in response to the manipulation of the linkage of the master control when the robotic surgical system is in a second operating mode. - View Dependent Claims (52)
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53. A system for performing a surgical procedure at a surgical site on a patient, the system comprising:
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a master having an input device, a linkage of the input device configured for manipulation by a hand of a system operator so as to define a manipulation in three dimensions;
a surgical end effector;
an image display for displaying information relevant to the surgical procedure; and
a processor coupling the input device to the end effector and the image display, the processor having first and second operating modes, the processor in the first operating mode effecting movement of the end effector in response to the manipulation of the input device, the processor in the second operating mode changing the displayed information in response to the manipulation of the input device.
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Specification