Articulate and swapable endoscope for a surgical robot
First Claim
1. A system comprising:
- a single manual input device movable along a master horizontal axis by an operator;
a slave movable in pitch and yaw in response to movement of the single manual input device, the slave comprising an articulate endoscope having a flexible wrist, said endoscope further comprising a camera configured to acquire an image, the camera coupled to the distal end of the flexible wrist;
a display configured to show the acquired image; and
a processor coupling the single manual input device to the slave, the processor programmed to map movement along the master horizontal axis to slave movement in pitch according to a first transformation corresponding to a world-reference frame, the processor further programmed to map movement along the master horizontal axis to slave movement in yaw according to a second transformation corresponding to a camera-reference frame.
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Accused Products
Abstract
The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.
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Citations
17 Claims
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1. A system comprising:
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a single manual input device movable along a master horizontal axis by an operator; a slave movable in pitch and yaw in response to movement of the single manual input device, the slave comprising an articulate endoscope having a flexible wrist, said endoscope further comprising a camera configured to acquire an image, the camera coupled to the distal end of the flexible wrist; a display configured to show the acquired image; and a processor coupling the single manual input device to the slave, the processor programmed to map movement along the master horizontal axis to slave movement in pitch according to a first transformation corresponding to a world-reference frame, the processor further programmed to map movement along the master horizontal axis to slave movement in yaw according to a second transformation corresponding to a camera-reference frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification