Controlling a robotic surgical tool with a display monitor
View Patent ↗In one embodiment of the invention, a method for controlling a robotic surgical tool is disclosed. The method for controlling a robotic surgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.
1. A robotic surgical system comprising:
a monitor including
a housing with a window opening;
a touch sensitive display panel coupled to the housing in the window opening, the touch sensitive display panel to display images of a surgical site in the window opening and receive user input; and
one or more motion sensing devices coupled to the housing, the one or more motion sensing devices to generate one or more control signals in response to motion of the monitor;
an arm coupled between the monitor and a surface to support the monitor above the surface;
a processor coupled to the monitor to receive the one or more control signals and the user input, the processor to digitally control the images of the surgical site displayed in the window opening by the touch sensitive display panel; and
an image capturing device coupled to the processor, the image capturing device to capture the images of the surgical site for display by the touch sensitive display panel.
2. The robotic surgical system of claim 1 , wherein
each of the one or more motion sensing devices is an inertia sensor.
3. The robotic surgical system of claim 1 , wherein
the processor further controls movement of the image capturing device in response to the one or more control signals.
4. The robotic surgical system of claim 3 , wherein
the image capturing device is an endoscopic camera.
5. The robotic surgical system of claim 3 , wherein
the image capturing device is an ultrasound tool.
6. A method for controlling an endoscopic camera in a robotic surgical system, the method comprising:
capturing images of a surgical site using an image capturing device;
supporting a monitor over a surface with an arm;
displaying on the monitor a first set of images of the surgical site in a target window corresponding to a first plurality of source pixels from the captured images selected by a source window;
moving the monitor and the arm;
sensing motion of the monitor;
in response to the sensed motion, digitally panning the source window to select a second plurality of source pixels for display in the target window; and
displaying on the monitor a second set of images of the surgical site in the target window corresponding to the second plurality of source pixels selected by the source window.
7. The method of claim 6 , wherein the image capturing device is an endoscopic camera and the method further comprises:
if the sensed motion digitally pans the source window to an edge of a video frame captured by the endoscopic camera, mechanically moving the endoscopic camera to move the source window of selected pixels towards a center of the video frame.
8. The method of claim 6 , wherein
the motion of the monitor is sensed by an inertia sensor coupled thereto.
9. The method of claim 6 , wherein
the motion of the monitor is sensed by one or more rotary encoders at one or more joints of the arm supporting the monitor.
10. The method of claim 6 , further comprising:
prior to moving the monitor, grasping sides of the monitor with a pair of hands.
11. A robotic surgical system comprising:
a monitor including
a housing with a window opening;
a display panel coupled to the housing in the window opening, the display panel to display images of a surgical site in the window opening; and
one or more motion sensing devices coupled to the housing, the one or more motion sensing devices to generate one or more control signals in response to motion of the monitor;
an arm coupled between the monitor and a surface to support the monitor above the surface;
a processor coupled to the monitor, the processor to receive the one or more control signals and digitally control the images of the surgical site displayed in the window opening by the display panel; and
an image capturing device coupled to the processor, the image capturing device to capture the images of the surgical site for display by the display panel,
wherein
the digital control of the images of the surgical site includes
selecting with a source window, a first plurality of source pixels in the captured images to display a first set of images of the surgical site in a target window on the monitor; and
in response to motion sensed by the one or more motion sensing devices, digitally panning the source window to select a second plurality of source pixels in the captured images to display a second set of images of the surgical site in the target window of the monitor.
12. The robotic surgical system of claim 11 , wherein
the display panel is a touch sensitive display panel to receive user input; and
a user selects the source window on the touch sensitive display to select the first plurality of source pixels in the captured images.
13. A robotic surgical system comprising:
a monitor including
a housing with a window opening, and
a display panel coupled to the housing in the window opening, the display panel to display images of a surgical site in the window opening;
an arm having one end coupled to the housing and an opposite end coupled to a surface to support the monitor above the surface, the arm including
one or more serial links between the housing and the surface, and
one or more encoders at one or more joints of the one or more serial links, the one or more encoders to generate one or more control signals in response to motion of the monitor and the arm;
a processor coupled to the display panel and the one or more encoders, the processor to receive the one or more control signals and digitally control the images of the surgical site displayed in the window opening by the display panel; and
an image capturing device coupled to the processor, the image capturing device to capture the images of the surgical site for display by the display panel, wherein
the digital control of the images of the surgical site includes
selecting with a source window a first plurality of source pixels in the captured images to display in a target window on the monitor as a first set of images of the surgical site; and
in response to motion sensed by the one or more motion sensing devices, digitally panning the source window to select a second plurality of source pixels for display in the target window of the monitor as a second set of images of the surgical site.
14. The robotic surgical system of claim 13 , wherein
the display panel is a touch sensitive display panel to receive user input.
15. The robotic surgical system of claim 13 , wherein
the processor further controls movement of the image capturing device in response to the one or more control signals.
16. The robotic surgical system of claim 15 , wherein
the image capturing device is an endoscopic camera.
17. The robotic surgical system of claim 15 , wherein
the image capturing device is an ultrasound tool.
18. The robotic surgical system of claim 13 , wherein
the display panel is a touch sensitive display panel to receive user input; and
a user selects the source window on the touch sensitive display to select the first plurality of source pixels in the captured images.