Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide

• US 10,258,425 B2
• Filed: 06/27/2008
• Issued: 04/16/2019
• Est. Priority Date: 06/27/2008
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Mustufa, Tabish, Diolaiti, Nicola, Larkin, David Q.
• Primary Examiner(s): Newton, Alexandra L
• Assistant Examiner(s): Boler, Rynae
• Application Number:
  US12/163,087
• Publication Number:
  US 20090326553A1
• Time in Patent Office: 3,945 Days
• Field of Search: 600424, 600426, 600104, 600102, 600173, 606130, 345427
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point.

Claims

1. A medical system comprising:

an entry guide;

a plurality of instruments extending through and out of a distal end of the entry guide, wherein the plurality of instruments includes an image capturing instrument;

a plurality of sensors adapted to generate state information by sensing states of the plurality of instruments;

a display; and

a processor programmed to;

use the state information to generate a computer model of the plurality of instruments, adjust a view of the computer model to a perspective of a first fixed viewing point which is different than a viewing point for an image presently capturable by the image capturing instrument, calculate a centroid of the plurality of instruments, and cause the centroid to be displayed on the display along with the adjusted view of the computer model so as to provide an indication of whether the entry guide needs to be repositioned.

2. The medical system according to claim 1, wherein the image capturing device comprises a stereo camera;

and wherein the display is a three-dimensional monitor for displaying a three-dimensional image of a surgical site that has been captured by the stereo camera.