Systems and methods for interactive user interfaces for robotic minimally invasive surgical systems
First Claim
1. A method for a minimally invasive teleoperated surgical system, the method comprising:
- displaying one or more captured camera images of a surgical site on at least one display device at a first surgeon console, the one or more captured camera images including an image of a first tool;
overlaying a first menu system, a pointer, and a first interactive graphical tool icon onto the one or more captured camera images of the surgical site, the first interactive graphical tool icon associated with the image of the first tool in the one or more captured camera images of the surgical site;
if the pointer is moved to be over a first menu button in the first menu system in response to movement of at least one input device and the first menu button is selected by the at least one input device, overlaying a first pull down menu list of a plurality of menu options each associated with a medical image data set for selection;
if the pointer is moved to be over a second menu button in the first menu system in response to movement of at least one input device and the second menu button is selected by the at least one input device, overlaying a second menu system onto the one or more captured camera images, associated with defining and adjusting virtual fixtures to guide the movement of the first tool;
if the pointer is moved to be over the first interactive graphical tool icon in response to movement of at least one input device and the first interactive graphical tool icon is selected by the at least one input device, overlaying a second pull down menu list of a plurality of menu options each associated with the first tool;
controlling the first tool using the at least one input device to perform a teleoperated surgical procedure; and
implementing virtual fixtures to guide the movement of the first tool if virtual fixtures are selected from the second menu system.
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Abstract
In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
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Citations
14 Claims
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1. A method for a minimally invasive teleoperated surgical system, the method comprising:
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displaying one or more captured camera images of a surgical site on at least one display device at a first surgeon console, the one or more captured camera images including an image of a first tool; overlaying a first menu system, a pointer, and a first interactive graphical tool icon onto the one or more captured camera images of the surgical site, the first interactive graphical tool icon associated with the image of the first tool in the one or more captured camera images of the surgical site; if the pointer is moved to be over a first menu button in the first menu system in response to movement of at least one input device and the first menu button is selected by the at least one input device, overlaying a first pull down menu list of a plurality of menu options each associated with a medical image data set for selection; if the pointer is moved to be over a second menu button in the first menu system in response to movement of at least one input device and the second menu button is selected by the at least one input device, overlaying a second menu system onto the one or more captured camera images, associated with defining and adjusting virtual fixtures to guide the movement of the first tool; if the pointer is moved to be over the first interactive graphical tool icon in response to movement of at least one input device and the first interactive graphical tool icon is selected by the at least one input device, overlaying a second pull down menu list of a plurality of menu options each associated with the first tool; controlling the first tool using the at least one input device to perform a teleoperated surgical procedure; and implementing virtual fixtures to guide the movement of the first tool if virtual fixtures are selected from the second menu system. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A minimally invasive teleoperated surgical system, the system comprising:
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a display device at a first surgeon console to display one or more captured camera images of a surgical site, the one or more captured camera images including an image of a first tool; a first menu system, a pointer, and a first graphical tool icon to overlay onto the one or more captured camera images of the surgical site, the first graphical tool icon associated with the image of the first tool in the one or more captured camera images of the surgical site; a first menu button in the first menu system responsive to a movement of the pointer controlled by at least one input device and the first menu button is selected by the at least one input device to overlay a first pull down menu list of a plurality of menu options each associated with a medical image data set for selection; a second menu button in the first menu system responsive to movement of the pointer controlled by the at least one input device, the second menu button is selected by the at least one input device to overlay, onto the one or more captured camera images of the surgical site, a second menu system associated with defining and adjusting virtual fixtures to guide the movement of the first tool; controlling the first tool using the at least one input device to perform a teleoperated surgical procedure; and implementing virtual fixtures to guide the movement of the first tool if virtual fixtures are selected from the second menu system; wherein if the pointer is moved to be over the first graphical tool icon in response to movement of the at least one input device and the first graphical tool icon is selected by the at least one input device, overlaying a second pull down menu list of a plurality of menu options each associated with the first tool. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification