Medical robotic system with image referenced camera control using partitionable orientational and translational modes

摘要

A medical robotic system includes an entry guide with articulatable instruments such as surgical tools and a camera extending out of its distal end. The camera instrument is manipulatable by a camera manipulator, which has a first mechanism for pivoting a focal point of the camera instrument about a pivot of the camera instrument and a second mechanism for positioning the pivot within a three-dimensional space in response to translational commands received from one or a coupled pair of input devices. The system also includes a controller which is configured to receive sensed movement of the input devices, and cause actuation of the first mechanism in response to the sensed movement if the system is in an orientational mode and cause actuation of the second mechanism in response to the sensed movement if the system is in a translational mode.

主权项

1. A surgical system comprising:
a camera instrument comprising:
a first assembly comprising a joggle joint assembly, the joggle joint assembly having a first link, a second link, a third link, a first joint, and a second joint, the first joint being coupled to a distal end of the first link and to a proximal end of the second link, the second joint being coupled to a distal end of the second link and to a proximal end of the third link, the first and third links being always constrained to be maintained with a lengthwise axis of the first link in a parallel relationship with a lengthwise axis of the third link as the second link rotates about the first joint, and each of the first and second joints being rotatable in two orthogonal directions,a second assembly, anda viewing tip coupled to the second assembly, a portion of the second assembly being positioned between the first assembly and the viewing tip, and the viewing tip being coupled to a distal end of the third link; an input device; and a controller coupled to the input device and coupled to the camera instrument, the controller including a translational mode and an orientational mode, wherein in the translational mode, the controller is configured to command the first assembly to be actuated for moving the viewing tip translationally in at least two orthogonal translational degrees of freedom in response to movement of the input device commanding the moving of the viewing tip translationally, wherein the translational degrees of freedom in the translational mode are different from orientational degrees of freedom in the orientational mode, wherein the orientational degrees of freedom include pitch, yaw, and roll, and wherein in the orientational mode, the controller is configured to command the second assembly to be actuated for moving the viewing tip orientationally in at least one of pitch and yaw in response to movement of the input device commanding the moving of the viewing tip orientationally.