Surgical equipment control input visualization field

Patent metadata

Field	Value
Publication number	US-10542908-B2
Application number	US-201414785726-A
Country	US
Kind code	B2
Filing date	Apr 24, 2014
Priority date	Apr 25, 2013
Publication date	Jan 28, 2020
Grant date	Jan 28, 2020

Abstract

A teleoperated medical device includes a sensor that senses information that represents a position of a control input out of an operator's field of view and displays the information to the operator. The displayed information may be combined with an image of a surgical site, so that the operator can locate and operate the control input while continuously viewing the image of the surgical site.

First claim

What is claimed is:

1. A medical device comprising:
a slave manipulator;
a controller operatively coupled to the slave manipulator; and
a master console operatively coupled to the controller and to the slave manipulator, the master console comprising:
a master control component operable by an operator and outside of a field of view of the operator;
a second control component operable by the operator and outside of the field of view of the operator;

a display within the field of view of the operators; and
a first image capture device operatively coupled to the display;
wherein the first image capture device acquires a first image of a physical environment surrounding at least one of the master control component and the second control component, the first image comprising an image of at least a part of the master control component or a part of the second control component; and
wherein the first image is output on the display.

2. The medical device of claim 1 , wherein the first image further comprises an image of at least a part of a body part of the operator used to operate at least one of the master control component or the second control component.

3. The medical device of claim 1 , wherein the first image capture device comprises a stereoscopic image capture device.

4. The medical device of claim 1 , wherein the first image further comprises an image of a body part of the operator.

5. The medical device of claim 1 , further comprising a third control component operable by the operator and outside of the field of view of the operator, wherein the first image further comprises an image of the third control component.

6. The medical device of claim 1 , further comprising a second image capture device coupled to the display, wherein the second image capture device captures a second image of at least part of a surgical site.

7. The medical device of claim 6 , wherein the display outputs at a same time the first image and the second image.

8. The medical device of claim 7 , wherein the second image capture device comprises a stereoscopic image capture device and the display comprises a stereoscopic display.

9. The medical device of claim further comprising:
a second display within the field of view of the operator; and
a second image capture device coupled to the second displays;
wherein the second image capture device captures an image of at least part of a surgical site; and
wherein the second image of at least part of the surgical site is output on the second display.

10. The medical device of claim 1 , wherein the display comprises a stereoscopic display.

11. The medical device of claim 1 , wherein the second control component comprises an electrosurgical energy control component.

12. A method comprising:
acquiring a first image of a physical environment surrounding at least one of a master control component operable by an operator and outside of a field of view of the operator and a second control component operable by the operator and outside of the field of view of the operator, the first image comprising an image of at least a part of the master control component or a part of the second control component;
visually outputting the first image to the operator; and
receiving an input from the operator via at least one of the master control component and the second control component.

13. The method of claim 12 , wherein the visually outputting comprises displaying the first image on a stereoscopic display.

14. The method of claim 12 , further comprising changing a state of a slave manipulator operatively coupled to the master control component.

15. The method of claim 12 , wherein the first image further comprises an image of a part of a body part of the operator used to operate at least one of the master control component or the second control component.

16. The method of claim 12 , wherein the first image further comprises an image of a third control component.

17. The method of claim 16 , further comprising receiving an input from the operator via the third control component.

18. The method of claim 12 , further comprising:
acquiring information about a physical environment of a surgical site; and
visually outputting to the operator the information about the physical environment of the surgical site.

19. The method of claim 18 ,
wherein acquiring information about the physical environment of the surgical site comprises capturing a second image of at least part of the surgical site; and
wherein visually outputting to the operator the information about the physical environment of the surgical site comprises visually outputting to the operator the second image of at least part of the surgical site.

20. The method of claim 18 , wherein the visually outputting of information about the physical environment of the surgical site takes place at a same time as the visually outputting of the first image.

21. The method of claim 18 , wherein the visually outputting of information about the physical environment of the surgical site and the visually outputting of the first image take place on a single display.

Assignees

• Intuitive Surgical Operations

Inventors

• Mei Yiming
• Ikeda Michael

Classifications

• G05B2219/40195

  Tele-operation, computer assisted manual operation · CPC title

• G05B2219/40169

  Display of actual situation at the remote site · CPC title

• A61B2090/371

  with simultaneous use of two cameras · CPC title

• A61B90/361

  Image-producing devices, e.g. surgical cameras · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title