Interactive user interfaces for robotic minimally invasive surgical systems

• US 8,398,541 B2
• Filed: 08/11/2008
• Issued: 03/19/2013
• Est. Priority Date: 06/06/2006
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC), Johns Hopkins University
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC), Johns Hopkins University
• Inventors: DiMaio, Simon P., Hasser, Christopher J., Taylor, Russell H., Larkin, David Q., Kazanzides, Peter, Deguet, Anton, Leven, Joshua, Vgvlgyi, Blazs Peter
• Primary Examiner(s): KASZTEJNA, MATTHEW JOHN
• Application Number:
  US12/189,615
• Publication Number:
  US 20090036902A1
• Time in Patent Office: 1,681 Days
• Field of Search: 600/101, 600/111, 600/116, 600/166, 3482111-2114
• US Class Current: 600/111
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 8/00 Diagnosis using ultrasonic, sonic or infrasonic waves imaging of objects using sonar G01S15/00
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4245 involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 30/40 for processing medical images, e.g. editing
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.

Claims

1. A method for a minimally invasive surgical system, the method comprising:

capturing one or more camera images of a surgical site;

displaying the one or more captured camera images of the surgical site on at least one display device at a surgeon console;

switching out of a following mode in which one or more input devices of the surgeon console are used to couple motion into minimally invasive surgical instruments and into a masters-as-mice mode in which the one or more input devices are used to interact with a graphical user interface;

overlaying the graphical user interface including an interactive graphical object onto the one or more captured camera images displayed on the at least one display device at the surgeon console, wherein the interactive graphical object is related to a physical object in the surgical site or a function thereof and is manipulated by the one or more input devices of the surgeon console in the masters-as-mice mode; and

rendering a pointer within the one or more captured camera images displayed on the at least one display device for user interactive control of the interactive graphical object, wherein in the masters-as-mice mode the pointer is manipulated in three dimensions within the one or more captured camera images by at least one of the one or more input devices of the surgeon console having at least three degrees of freedom.

2. The method of claim 1, wherein

the one or more captured camera images are stereo camera images including left images and right images,

the at least one display device is a stereoscopic display device to display the stereo camera images,

the interactive graphical object is overlaid onto the stereo images, and

the pointer appears as a three dimensional pointer in shape and form rendered within the left images and right images of the one or more captured camera images so as to appear within a three dimensional space of a field of view of the surgical site.

3. The method of claim 1, wherein

the interactive graphical object is a menu of control options selectable by the pointer to further control the minimally invasive surgical instrument.

4. The method of claim 1, wherein

the capturing of the one or more camera images of the surgical site includes an image of a minimally invasive surgical instrument in a patient, and

the interactive graphical object is an icon associated with the minimally invasive surgical instrument to identify the minimally invasive surgical instrument.

5. The method of claim 1, wherein

the capturing of the one or more camera images of the surgical site includes an image of a minimally invasive surgical instrument in a patient,

the interactive graphical object is a selectable icon associated with the minimally invasive surgical instrument, and

the selectable icon identifies the minimally invasive surgical instrument and has a selectable menu system selectable by the pointer to further control the minimally invasive surgical instrument.

6. The method of claim 5, wherein

the selectable menu system includes a plurality of selectable menu items to control the minimally invasive surgical instrument to capture intra-operative images including

a first menu item to capture the intra-operative images and selectively overlay and display them in an inset window for a picture in picture display, and

a second menu item to capture the intra-operative images and selectively overlay and display them in a flashlight image window near an end of the minimally invasive surgical instrument.

7. The method of claim 1, wherein

the interactive graphical object is a set of pre-operative images or intra-operative images.

8. The method of claim 1, wherein

the one or more captured camera images of the surgical site are one or more live video images captured by an endoscopic camera,

the minimally invasive surgical instrument is an ultrasound probe and the method further includes

capturing one or more ultrasound images with an ultrasound sensor of the ultrasound probe,

overlaying the one or more ultrasound images onto the one or more captured video images of the surgical site;

and

wherein the interactive graphical object is a menu to control the overlaying of the ultrasound images onto the live video images of the surgical site.

9. The method of claim 1, wherein

the interactive graphical object is a sequence of ultrasound images acquired by an ultrasound sensor,

the sequence of ultrasound images are rendered within an inset window onto the one or more captured images as picture-in-picture displayed images.

10. The method of claim 9, wherein

the sequence of ultrasound images rendered within the inset window have a parallel orientation with the ultrasound sensor, and

the inset window can be panned by manipulating the one or more hand control devices otherwise used to couple motion into minimally invasive surgical instruments.

11. The method of claim 9, wherein

the sequence of ultrasound images rendered within the inset window have a parallel orientation with the one or more captured images, and

the inset window may be resized within extents of the one or more captured images by manipulating the one or more hand control devices otherwise used to couple motion into minimally invasive surgical instruments.

12. The method of claim 1, wherein

the one or more captured camera images of the surgical site are captured by an endoscopic video camera;

the minimally invasive surgical instrument is an ultrasound probe having an ultrasound sensor;

the interactive graphical object is a selectable icon to selectively display one or more ultrasound images within a flashlight image window or an inset window overlaid onto the one or more captured camera images of surgical site;

and the method further includes

capturing one or more ultrasound images with the ultrasound sensor, and

processing the one or more ultrasound images to display them within the flashlight image window or the inset window.

13. A method for a minimally invasive surgical system having a surgeon console with one or more input devices, the method comprising:

activating a graphical user interface (GUI) mode at the surgeon console to overlay graphics of a menu system and a pointer onto one or more images of a surgical site;

switching from a first mode for one or more master input devices used to couple motion into a minimally invasive surgical tool during a surgical procedure to a second mode for the one or more master input devices to control the pointer and interact with the menu system, wherein in the second mode the pointer is manipulated in three dimensions within the one or more images of the surgical site by at least one master input device having at least three degrees of freedom;

with at least one master input device, moving the pointer within the one or more images of the surgical site to be over one of one or more menu buttons of the menu system;

with the pointer over one menu button, selecting the one menu button with the at least one master input device to further control the surgical system; and

minimizing the menu system to avoid obscuring the images of the one or more minimally invasive surgical instruments and the surgical site.

14. The method of claim 13, wherein

the GUI mode is activated to virtually control the pointer by actuating a first combination of one or more foot control devices and one or more hand control devices otherwise used to couple motion into minimally invasive surgical instruments.

15. The method of claim 14, wherein

the GUI mode is activated by depressing a pedal and closing a pair of master grips.

16. The method of claim 15, wherein

the menu system is minimized by releasing the pedal.

17. The method of claim 14, wherein

one of the control devices is a master clutch to deactivate controlling the slave manipulators and to switch a pair of hand control devices to control the pointer in the GUI mode.

18. The method of claim 14, wherein

the GUI mode is deactivated by actuating a second combination of the one or more foot control devices and the one or more hand control devices otherwise used to couple motion into minimally invasive surgical instruments.

19. The method of claim 18, wherein

the GUI mode is activated by depressing a pedal and holding a pair of master grips steady for a first predetermined period of time, and the method further includes

deactivating the GUI mode by holding a pair of master grips steady for a second predetermined period of time.

20. The method of claim 13, further comprising

in response to the GUI mode, overlaying graphics of one or more graphical tool icons onto one or more video images of the surgical site;

wherein the one or more graphical tool icons are associated respectively with images of one or more minimally invasive surgical instruments in the one or more video images of the surgical site.

21. The method of claim 20, further comprising:

tracking a position and an orientation of each tool tip of each respective one or more minimally invasive surgical instruments in the one or more video images, and

wherein in response to the tracking of the position and orientation, the one or more graphical tool icons are overlaid near images of each respective tool tip of each respective one or more minimally invasive surgical instruments in the one or more video images.

22. The method of claim 20, wherein

at least one of the one or more graphical tool icons is a selectable icon associated with its respective minimally invasive surgical instrument, and

the selectable icon to identify the minimally invasive surgical instrument and has a selectable menu system selectable by the pointer to further control the respective minimally invasive surgical instrument.

23. A method for a minimally invasive surgical system, the method comprising:

displaying one or more captured camera images of a surgical site on at least one display device at a first surgeon console, the one or more captured camera images including an image of a first tool;

overlaying a first menu system, a pointer, and a first graphical tool icon onto the one or more captured camera images of the surgical site, the first graphical tool icon associated with the image of the first tool in the one or more video images of the surgical site;

if the pointer is moved to be over a first menu button in the first menu system in response to movement of at least one input device and the first menu button is selected by the at least one input device, overlaying a first pull down menu list of a plurality of menu options each associated with a medical image data set for selection;

if the pointer is moved to be over a second menu button in the first menu system in response to movement of at least one input device and the second menu button is selected by the at least one input device, overlaying a second menu system associated with defining and adjusting virtual fixtures; and

if the pointer is moved to be over the first graphical tool icon in response to movement of at least one input device and the first graphical tool icon is selected by the at least one input device, overlaying a second pull down menu list of a plurality of menu options each associated with the first tool.

24. The method of claim 23, wherein

the second pull down menu list of the plurality of menu options each associated with the first tool include

a first menu option to select to capture intra-operative images with the first tool and overlay them onto the one or more captured camera images of the surgical site in a flashlight image window near the first tool, and

a second menu option to select to capture intra-operative images with the first tool and overlay them onto the one or more captured camera images of the surgical site in a first inset window.

25. The method of claim 24, wherein

the one or more captured camera images include an image of a second tool;

a second graphical tool icon is overlaid onto the one or more captured camera images of the surgical site, the second graphical tool icon is associated with the image of the second tool in the one or more video images of the surgical site; and

if the pointer is moved to be over the second graphical tool icon in response to movement of at least one input device and the second graphical tool icon is selected by the at least one input device, overlaying a third pull down menu list of a plurality of menu options each associated with the second tool.

26. The method of claim 25, wherein

the third pull down menu list of the plurality of menu options each associated with the second tool include

a first menu option to select to capture intra-operative images with the second tool and overlay them onto the one or more captured camera images of the surgical site in a flashlight image window near the second tool, and

a second menu option to select to capture intra-operative images with the second tool and overlay them onto the one or more captured camera images of the surgical site in a second inset window.

27. The method of claim 24, wherein

if the pointer is moved to be over a fourth menu button in the first menu system in response to movement of at least one input device and the fourth menu button is selected by the at least one input device, overlaying a fourth menu system indicating menu options associated with a plurality of slave robots controllable by the first surgeon console.

28. The method of claim 27, further comprising:

selecting a first menu option associated with a first slave robot controllable by the first surgeon console; and

adapting the first surgeon console to control the first slave robot.

29. The method of claim 28, further comprising:

selecting a second menu option associated with a second slave robot controllable by the first surgeon console; and

adapting the first surgeon console to control the second slave robot.

30. A method for a minimally invasive surgical system, the method comprising:

displaying one or more captured camera images of a surgical site on at least one display device at a first surgeon console, the one or more captured camera images including an image of a first tool;

overlaying a first menu system and a pointer onto the one or more captured camera images of the surgical site,

receiving a signal moving the pointer over the first menu system and overlaying a plurality of first menu buttons onto the one or more captured camera images of the surgical site;

receiving a signal selecting a first menu button in the first menu system;

in response to the selection of the first menu button, overlaying a second menu system onto the one or more captured camera images of the surgical site, the second menu system including a plurality of second menu buttons associated with a context of the first menu button to further control the minimally invasive surgical system or provide further information regarding the surgical procedure.

31. The method of claim 30, further comprising:

receiving a signal selecting a second menu button in the first menu system; and

in response to the selection of the second menu button, overlaying a third menu system onto the one or more captured camera images of the surgical site, the third menu system including a plurality of third menu buttons associated with a context of the second menu button to further control the minimally invasive surgical system or to display further information regarding the surgical procedure.

32. The method of claim 30, further comprising:

receiving a signal selecting a first menu button in the second menu system; and

in response to the selection of the first menu button in the second menu system, controlling the minimally invasive surgical system in accordance with the context of the first menu button.

33. The method of claim 30, further comprising:

receiving a signal selecting a first menu button in the second menu system; and

in response to the selection of the first menu button in the second menu system, displaying information regarding the surgical procedure overlaid onto the one or more captured camera images of the surgical site in accordance with the context of the first menu button.

34. A method for a minimally invasive surgical system, the method comprising:

displaying one or more captured camera images of a surgical site onto a stereoscopic display device at a first surgeon console, the one or more captured camera images appearing to be three dimensional (3D) to a user and including an image of a first tool;

overlaying a first tool icon and a pointer onto the one or more captured camera images of the surgical site to appear to be 3D to a user, the first tool icon located near an image of the first tool in the one or more captured camera images, wherein the pointer is manipulated in three dimensions within the one or more captured camera images by at least one input device of a surgeon console having at least three degrees of freedom;

receiving a signal moving the pointer over the first tool icon;

receiving a signal selecting the first tool icon;

in response to the selection of the first tool icon, overlaying a first menu system onto the one or more captured camera images of the surgical site, the first menu system including a plurality of first menu buttons associated with a context of the first tool to further control the first tool or provide information associated with the first tool.

35. The method of claim 34, further comprising:

tracking a position of the first tool in the surgical site, and

wherein in response to the tracking of the position of the first tool, the first tool icon is overlaid near images of the first tool in the one or more captured camera images.

36. The method of claim 35, further comprising:

adjusting a size of the first tool icon in response to a change in depth of the first tool in the surgical site.

37. The method of claim 34, further comprising:

receiving a signal selecting a first menu button in the first menu system; and

in response to the selection of the first menu button, overlaying intra-operative images captured by the first tool within an inset window onto the one or more captured camera images of the surgical site.

38. The method of claim 34, further comprising:

receiving a signal selecting a second menu button in the first menu system; and

in response to the selection of the second menu button, overlaying intra-operative images captured by the first tool within a flashlight image window onto the one or more captured camera images of the surgical site.

39. The method of claim 34, wherein

the one or more captured camera images further include an image of a second tool;

and the method further includes

overlaying a second tool icon onto the one or more captured camera images of the surgical site, the second tool icon located near the second tool,

receiving a signal moving the pointer over the second tool icon;

receiving a signal selecting the second tool icon;

in response to the selection of the second tool icon, overlaying a second menu system onto the one or more captured camera images of the surgical site, the second menu system including a plurality of second menu buttons associated with a context of the second tool to further control the second tool or provide information associated with the second tool.