Please download the dossier by clicking on the dossier button x
×

Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip

  • US 9,516,996 B2
  • Filed: 09/17/2014
  • Issued: 12/13/2016
  • Est. Priority Date: 06/27/2008
  • Status: Active Grant
First Claim
Patent Images

1. A method implemented by a processor for positioning and orienting a distal tip of an articulated image capturing instrument while the distal tip of the articulated image capturing instrument is extending out of an entry guide, the method comprising:

  • determining, by using the processor, a position and orientation of the distal tip of the articulated image capturing instrument;

    generating, by using the processor, an auxiliary view of a portion of the articulated image capturing instrument that is extending out of the entry guide by the processor using the determined position and orientation of the distal tip of the articulated image capturing instrument, wherein the auxiliary view is from a three-dimensional viewing point from which the portion of the articulated image capturing instrument is viewable throughout an available workspace of the portion of the articulated image capturing instrument;

    displaying, by using the processor, the auxiliary view on a display; and

    controlling, by using the processor, positioning and orienting the distal tip of the articulated image capturing instrument in response to movement of an input device by;

    accounting for misalignment between an orientation of the input device with respect to the auxiliary view being displayed on the display and the determined orientation of the distal tip of the articulated image capturing instrument with respect to a control reference frame, and mapping movement of the input device with respect to the auxiliary view being displayed on the display screen to a commanded movement of the distal tip of the articulated image capturing instrument with respect to the control reference frame.

View all claims
  • 0 Assignments
Timeline View
Assignment View
    ×
    ×