Patient-side surgeon interface for a teleoperated surgical instrument

摘要

A patient-side surgeon interface provides enhanced capabilities in using a minimally invasive, teleoperated surgical system. The patient-side surgeon interface has components within the sterile surgical field of the surgery. The components allow a surgeon to control teleoperated slave surgical instruments from within the sterile surgical field. The patient-side surgeon interface permits a surgeon to be in the sterile surgical field adjacent a patient undergoing surgery. Controlling minimally invasive slave surgical instruments from within the sterile surgical field permits minimally invasive surgery combined with direct visualization by the surgeon. The proximity to the patient allows the surgeon to control a teleoperated slave surgical instrument in tandem with controlling manually controlled instruments such as a laparoscopic instrument. Also, the surgeon, from within the sterile surgical field, can use the patient-side surgeon interface to control at least one proxy visual in proctoring another surgeon.

主权项

1. A method comprising:
receiving, by a controller, sensed position and orientation information, the sensed position and orientation information being generated by moving a mechanically ungrounded master tool grip, wherein the sensed position and orientation information is in a body-centric reference frame associated with a person operating the mechanically ungrounded master tool grip; and controlling, by the controller, movement of an end effector of a teleoperated slave surgical instrument based on the sensed position and orientation information.