Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip

摘要

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. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.

主权项

1. A method implemented by a processor for positioning and orienting a distal tip of an articulated image capturing instrument while the distal tip of the articulated image capturing instrument is extending out of an entry guide, the method comprising:
determining, by using the processor, a position and orientation of the distal tip of the articulated image capturing instrument; generating, by using the processor, an auxiliary view of a portion of the articulated image capturing instrument that is extending out of the entry guide by the processor using the determined position and orientation of the distal tip of the articulated image capturing instrument, wherein the auxiliary view is from a three-dimensional viewing point from which the portion of the articulated image capturing instrument is viewable throughout an available workspace of the portion of the articulated image capturing instrument; displaying, by using the processor, the auxiliary view on a display; and controlling, by using the processor, positioning and orienting the distal tip of the articulated image capturing instrument in response to movement of an input device by: accounting for misalignment between an orientation of the input device with respect to the auxiliary view being displayed on the display and the determined orientation of the distal tip of the articulated image capturing instrument with respect to a control reference frame, and mapping movement of the input device with respect to the auxiliary view being displayed on the display screen to a commanded movement of the distal tip of the articulated image capturing instrument with respect to the control reference frame.