Synthetic representation of a surgical instrument
First Claim
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1. A method for operatively coupling an end effector to an input device, the method comprising:
- displaying an image of an object in a first window on a display screen;
displaying a synthetic representation of the end effector at a location in a second window on the display screen, wherein the location indicates a position of the end effector relative to a position of the object in a common reference frame;
operatively coupling an input device to a synthetic rendering of a pointing device, the synthetic rendering of the pointing device being displayed in the first window on the display screen along with one or more user interface selection devices, the synthetic rendering of the pointing device being an icon appearing as a smaller version of the synthetic representation of the end effector on the display screen;
receiving an indication that a user has interactively selected the synthetic representation of the end effector being displayed on the display screen by the user interacting with the input device so that the synthetic rendering of the pointing device selects the synthetic representation of the end effector from the one or more user interface selection devices; and
operatively decoupling the input device from the synthetic rendering of the pointing device and operatively coupling the input device to the end effector in response to the received indication.
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Abstract
A synthetic representation of a tool for display on a user interface of a robotic system. The synthetic representation may be used to show force on the tool, an actual position of the tool, or to show the location of the tool when out of a field of view. A three-dimensional pointer is also provided for a viewer in the surgeon console of a telesurgical system.
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Citations
5 Claims
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1. A method for operatively coupling an end effector to an input device, the method comprising:
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displaying an image of an object in a first window on a display screen; displaying a synthetic representation of the end effector at a location in a second window on the display screen, wherein the location indicates a position of the end effector relative to a position of the object in a common reference frame; operatively coupling an input device to a synthetic rendering of a pointing device, the synthetic rendering of the pointing device being displayed in the first window on the display screen along with one or more user interface selection devices, the synthetic rendering of the pointing device being an icon appearing as a smaller version of the synthetic representation of the end effector on the display screen; receiving an indication that a user has interactively selected the synthetic representation of the end effector being displayed on the display screen by the user interacting with the input device so that the synthetic rendering of the pointing device selects the synthetic representation of the end effector from the one or more user interface selection devices; and operatively decoupling the input device from the synthetic rendering of the pointing device and operatively coupling the input device to the end effector in response to the received indication. - View Dependent Claims (2, 3, 4, 5)
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Specification