Preventing instrument/tissue collisions
First Claim
Patent Images
1. A method comprising:
- defining a first allowable volume within a patient, wherein a boundary of the first allowable volume is coincident with a boundary of a first field of view of an image capture component located at a first position, the image capture component being part of a camera instrument;
recording motion of a teleoperated instrument inside the first allowable volume as the teleoperated instrument is teleoperatively moved inside the first allowable volume while the image capture component has the first field of view, wherein the teleoperated instrument is different from the camera instrument, and wherein motion of the teleoperated instrument within the first allowable volume does not move the camera instrument;
defining an instrument volume using the recorded motion, the instrument volume being a volume within the first allowable volume in which instruments can be moved without colliding with tissue;
defining a second allowable volume within the patient after the image capture component is moved from the first position to a second position, wherein a boundary of the second allowable volume is coincident with a boundary of a second field of view of the image capture component at the second position; and
controlling, with the image capture component located at the second position, the teleoperated instrument to stay within a combined volume of the instrument volume and the second allowable volume as the teleoperated instrument is teleoperatively moved within and outside the second allowable volume, wherein a portion of the combined volume is outside the second allowable volume, the portion of the combined volume outside the second allowable volume being within the instrument volume.
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Abstract
A volume is defined in which a control system permits an instrument to move, and the volume is a sum of one volume that is defined by previous movements of the instrument and another volume that is defined by the boundaries of an image capture component.
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Citations
20 Claims
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1. A method comprising:
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defining a first allowable volume within a patient, wherein a boundary of the first allowable volume is coincident with a boundary of a first field of view of an image capture component located at a first position, the image capture component being part of a camera instrument; recording motion of a teleoperated instrument inside the first allowable volume as the teleoperated instrument is teleoperatively moved inside the first allowable volume while the image capture component has the first field of view, wherein the teleoperated instrument is different from the camera instrument, and wherein motion of the teleoperated instrument within the first allowable volume does not move the camera instrument; defining an instrument volume using the recorded motion, the instrument volume being a volume within the first allowable volume in which instruments can be moved without colliding with tissue; defining a second allowable volume within the patient after the image capture component is moved from the first position to a second position, wherein a boundary of the second allowable volume is coincident with a boundary of a second field of view of the image capture component at the second position; and controlling, with the image capture component located at the second position, the teleoperated instrument to stay within a combined volume of the instrument volume and the second allowable volume as the teleoperated instrument is teleoperatively moved within and outside the second allowable volume, wherein a portion of the combined volume is outside the second allowable volume, the portion of the combined volume outside the second allowable volume being within the instrument volume. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method comprising:
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recording motion of a teleoperated instrument within a patient as the teleoperated instrument traces boundaries of a first range of motion of the teleoperated instrument within a first field of view of an imaging device while the imaging device has the first field of view, the first range of motion being limited to motion within the first field of view and to motion in which the teleoperated instrument does not collide with tissue, wherein the teleoperated instrument is different from the imaging device, and wherein motion of the teleoperated instrument within the first range of motion does not move the imaging device; defining an instrument volume using the recorded motion, the instrument volume being a volume in which instruments can be moved within the patient without colliding with tissue; changing the first field of view of the imaging device to a second field of view; and controlling, with the imaging device having the second field of view, the teleoperated instrument to stay within a combined volume as the teleoperated instrument is moved inside and outside the second field of view, the combined volume being a combination of the instrument volume and a volume defined based on the second field of view, wherein a portion of the combined volume is outside the volume defined based on the second field of view, the portion of the combined volume outside the volume defined based on the second field of view being within the instrument volume. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A teleoperated system comprising:
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an imaging system; a teleoperated instrument; and a control system connected to the imaging system and to the teleoperated instrument; the control system being configured to command movement of the teleoperated instrument in response to input received from a master device; the control system being configured to record motion of the teleoperated instrument within a patient as the teleoperated instrument traces boundaries of a range of motion of the teleoperated instrument within a first field of view of the imaging system, while the imaging system has the first field of view; the control system being configured to define an instrument volume using the recorded motion, the instrument volume being a volume in which the teleoperated instrument can be moved, within the patient and within the first field of view, without colliding with tissue; the control system being configured to define a combined volume when the first field of view of the imaging system changes to a second field of view, the combined volume being a combination of the instrument volume and a volume defined by a second field of view boundary, wherein a portion of the combined volume is outside the volume defined by the second field of view boundary, the portion of the combined volume outside the volume defined by the second field of view boundary being within the instrument volume; and the control system being configured to constrain motion of the teleoperated instrument to within the combined volume as the teleoperated instrument is moved inside and outside the second field of view boundary when the imaging system has the second field of view. - View Dependent Claims (18, 19, 20)
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Specification