Medical robotic system with image referenced camera control using partitionable orientational and translational modes
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.
1. A method comprising:
constraining, by a control system coupled to an input device and to a camera, movement of a focal point of the camera to only motion on a curved virtual surface as the camera is moved in response to commanded movement from the input device, the control system, the input device, and the camera being included in a medical system, and the input device including orientational and translational degrees of freedom;
detecting, by the control system, an operator commanded release of the constrained movement; and
releasing, by the control system, the constrained movement in response to the detecting of the operator commanded release of the constrained movement.
2. The method according to claim 1 , wherein the constraining the movement of the focal point of the camera comprises:
actuating, by the control system, at least one actuator of a camera manipulator of the medical system in response to the commanded movement from the input device so that a tip of the camera is rotated about a virtual pivot of the camera.
3. The method according to claim 1 , further comprising:
allowing, by the control system, translational movement of the camera in a three-dimensional space following the releasing the constrained movement.
4. The method according to claim 3 , wherein the allowing translational movement of the camera comprises:
allowing, by the control system, actuation of a plurality of actuators of a camera manipulator in response to the commanded movement from the input device so that a virtual pivot of the camera is positionable in the three-dimensional space.
5. The method according to claim 1 , wherein the detecting the operator commanded release of the constrained movement comprises: detecting, by the control system, operator interaction with the medical system.
6. The method according to claim 5 , wherein the detecting operator interaction with the medical system comprises: detecting, by the control system, operator manipulation of the input device.
7. The method according to claim 1 , wherein the detecting the operator commanded release of the constrained movement comprises:
determining, by the control system, that a force exerted by an operator while manipulating the input device exceeds a threshold value.
8. The method according to claim 1 , wherein the detecting the operator commanded release of the constrained movement comprises:
determining, by the control system, that a velocity of operator manipulated movement of the input device exceeds a threshold value.
9. The method according to claim 1 , wherein the detecting the operator commanded release of the constrained movement comprises:
determining, by the control system, that a magnitude of operator manipulated movement of the input device exceeds a threshold value.
10. The method according to claim 1 , wherein the detecting the operator commanded release of the constrained movement comprises: detecting, by the control system, a voice command provided by an operator of the medical system.
11. The method according to claim 1 , wherein the detecting the operator commanded release of the constrained movement comprises:
detecting, by the control system, operator interaction with a graphical user interface of the medical system.