Articulate and swappable endoscope for a surgical robot
First Claim
1. A system comprising:
- an input device movable in at least one degree of freedom by an operator;
at least one slave movable in at least one degree of freedom in response to movement of the input device, the at least one 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 input device to the at least one slave, the processor programmed to map the at least one degree of freedom of the input device to the at least one degree of movement of the at least one slave according to a transformation selectable from either a world-reference frame or 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.
302 Citations
17 Claims
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1. A system comprising:
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an input device movable in at least one degree of freedom by an operator; at least one slave movable in at least one degree of freedom in response to movement of the input device, the at least one 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 input device to the at least one slave, the processor programmed to map the at least one degree of freedom of the input device to the at least one degree of movement of the at least one slave according to a transformation selectable from either a world-reference frame or 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