Method and apparatus for performing minimally invasive cardiac procedures
First Claim
1. A system that allows a user to control a movement of an endoscope, the endoscope being located within an endoscope coordinate system that has a left-right axis and an up-down axis which are orthogonal to each other and to a longitudinal axis of the endoscope, comprising:
- a robotic arm linkage located in a world coordinate system and supporting the endoscope;
a display showing a viewing image taken by the endoscope, the display located in the world coordinate system and the viewing image taken in the endoscope coordinate system;
a first actuator coupled to said robotic arm;
a second actuator that is coupled to said robotic arm, said first and second actuators being capable of moving the endoscope;
an input device that can receive a command from the user to effect a commanded movement of the endoscope along the up-down axis in the endoscope coordinate system;
a controller that receives the user command, the controller computing a transformation of the commanded movement of the endoscope in the endoscope coordinate system to a movement of the endoscope in the world coordinate system, and provides output signals to said first and second actuators to move the endoscope in the world coordinate system so that the endoscope moves along the up-down axis.
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Accused Products
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
21 Claims
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1. A system that allows a user to control a movement of an endoscope, the endoscope being located within an endoscope coordinate system that has a left-right axis and an up-down axis which are orthogonal to each other and to a longitudinal axis of the endoscope, comprising:
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a robotic arm linkage located in a world coordinate system and supporting the endoscope;
a display showing a viewing image taken by the endoscope, the display located in the world coordinate system and the viewing image taken in the endoscope coordinate system;
a first actuator coupled to said robotic arm;
a second actuator that is coupled to said robotic arm, said first and second actuators being capable of moving the endoscope;
an input device that can receive a command from the user to effect a commanded movement of the endoscope along the up-down axis in the endoscope coordinate system;
a controller that receives the user command, the controller computing a transformation of the commanded movement of the endoscope in the endoscope coordinate system to a movement of the endoscope in the world coordinate system, and provides output signals to said first and second actuators to move the endoscope in the world coordinate system so that the endoscope moves along the up-down axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 17, 18, 19, 20, 21)
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9. A medical system that can be controlled by a user, comprising:
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a display showing a viewing image, the display located in a world coordinate system;
a first actuator;
a second actuator;
an endoscope that is coupled to said first and second actuators, said endoscope being located within an endoscope coordinate system that bas an x axis and a y axis which are orthogonal to each other, and to a longitudinal axis of the endoscope, said endoscope capturing the viewing image so that the viewing image shown in the display has the endoscope coordinate system;
an input device that can receive a command from the user to move the endoscope along the y axis in the endoscope coordinate system; and
a controller that receives the user command and computes a transformation of the command from the endoscope coordinate system to a movement of the endoscope in the world coordinate system, and provides output signals to said first and second actuators to move the endoscope in the world coordinate system to that the endoscope moves along the y axis. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification