Robotic surgery system with user interfacing
A system for tracking an end effector of a robot in computer-assisted surgery, may have: a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: obtaining referential tracking data for a first part of a robot using optical tracking relative to a frame of reference, and concurrently obtaining tool tracking data for an end effector of the robot arm in the frame of reference; and continuously tracking and outputting the position and orientation of the end effector in the frame of reference, using the tool tracking data, and concurrently adjusting the position and orientation of the end effector in the frame of reference when the referential tracking data indicates a movement of the first part of the robot and/of the optical tracking, in the frame of reference.
1 . A system for operating a robotic surgery system, comprising:
a processing unit; and
a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for:
obtaining tool tracking data for a robot using optical tracking of optically-detected trackers on the robot;
continuously tracking and outputting a position and orientation of an end effector in a frame of reference, using the tool tracking data; and
identifying, from the optical tracking, a signalling interaction from an operator to interact with an operating system of the robotic surgery system by visually detecting a temporary disappearance of a first predetermined tracker from the optically-detected trackers on the robot, irrespective of a position of an end effector of the robot; and
causing a command entry in the operating system in response to the signalling interaction identified.
2 . The system according to claim 1 , wherein the computer-readable program instructions are executable by the processing unit for obtaining object tracking data for an object.
3 . The system according to claim 2 , wherein the computer-readable program instructions are executable by the processing unit for continuously tracking and outputting a position and orientation of the object in the frame of reference, using the object tracking data, concurrently with tracking the tool in the frame of reference.
4 . The system according to claim 3 , wherein the computer-readable program instructions are executable by the processing unit for controlling the robot as a function of the position and orientation of the object.
5 . The system according to claim 1 , wherein the first predetermined tracker is separated from the optical tracking by a surgical drape, the system obtaining the tool tracking data of the robot and identifying the signalling interaction by using the optical tracking through the surgical drape.
6 . The system according to claim 1 , wherein the computer-readable program instructions are executable by the processing unit for identifying, from the optical tracking, a signalling interaction from the operator to interact with the operating system of the robotic surgery system by visually detecting a temporary disappearance of a second predetermined tracker from the optically-detected trackers on the robot.
7 . The system according to claim 1 , wherein the computer-readable program instructions are executable by the processing unit for causing another command entry in the operating system in response to the signalling interaction identified from a second predetermined tracker, the command entry associated with the second predetermined tracker differing from the command entry associated with the first predetermined tracker.