Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
First Claim
1. A method for providing a computer-generated view of at least a first articulatable instrument extending out of a distal end of an entry guide, the first articulatable instrument having a most proximal joint and a most distal joint, the most distal joint disposed beyond the distal end of the entry guide, the method comprising:
- receiving information of states of the entry guide and the first articulatable instrument;
generating the computer-generated view to include a graphical representation of the most distal joint of the first articulatable instrument and a graphical representation of a spatial boundary for the first articulatable instrument, the spatial boundary being a function of a position of the most distal joint relative to the distal end of the entry guide, and the graphical representations being positioned in the computer-generated view by using the received information and by using forward kinematics of the entry guide and the first articulatable instrument; and
displaying the computer-generated view on a display screen.
3 Assignments
0 Petitions
Accused Products
Abstract
A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.
242 Citations
17 Claims
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1. A method for providing a computer-generated view of at least a first articulatable instrument extending out of a distal end of an entry guide, the first articulatable instrument having a most proximal joint and a most distal joint, the most distal joint disposed beyond the distal end of the entry guide, the method comprising:
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receiving information of states of the entry guide and the first articulatable instrument; generating the computer-generated view to include a graphical representation of the most distal joint of the first articulatable instrument and a graphical representation of a spatial boundary for the first articulatable instrument, the spatial boundary being a function of a position of the most distal joint relative to the distal end of the entry guide, and the graphical representations being positioned in the computer-generated view by using the received information and by using forward kinematics of the entry guide and the first articulatable instrument; and displaying the computer-generated view on a display screen. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification