Robotized surgery system with improved control
A robotized surgery system ( 10 ) comprises at least one robot arm ( 11 ) which acts under the control of a control console ( 12 ) intended for the surgeon. The console ( 12 ) comprises an eye tracking system ( 21 ) for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console ( 22 ) comprises advantageously a screen ( 23 ) with at least one zone ( 23 ) for viewing the operating field and, among the commands which can be performed depending on the gaze directions, there is advantageously an automatic command for enabling or disabling the movement of the robot arm ( 11 ) when a gaze direction which falls within or outside of said zone ( 23 ) of the screen is detected.
1. A method of controlling a robotic surgery system, comprising:
providing a surgical system comprising a robotic arm, an endoscopic camera moveable by the robotic arm, a surgeon console including a screen displaying an image from the endoscopic camera and an eye tracking system configured to determine a zone of a surgeon's gaze on an image on the screen and to determine a distance of the surgeon's eyes from the screen;
detecting movement of a surgeon's eyes towards or away from the screen using the eye tracking system, and
causing the robotic arm to move the camera to enlarge or diminish the image on the screen in response to the detected eye movement.
2. The method of claim 1 , further including:
determining a zone of the surgeon's gaze on the image on the screen using the eye tracking system, and
causing the robotic arm to move the camera in response such that the zone is repositioned on the screen.
3. The method of claim 2 , wherein the robotic arm is caused to move the camera such that the zone is centered on the screen.
4. The method of claim 1 , wherein the system allows the robotic arm to move the camera in response to the eye tracking system only in the presence of a manual command from a manual input device.
5. The method of claim 1 , further including disabling movement of the robotic arm when the eye tracking system determines that the surgeon's gaze falls outside of an area of the screen.
6. A robotic surgery system comprising:
a robotic arm adapted to carry an endoscopic camera;
a surgeon console including a screen operable to display an image from the endoscopic camera;
an eye tracking system configured to determine a zone of a surgeon's gaze on the image on the screen and to determine a distance of the surgeon's eyes from the screen,
wherein the surgery system is responsive to the eye tracking system to cause the robotic arm to move the camera in response to the determined zone of the surgeon's gaze to pan the image on the screen, and to cause the robotic arm to move the camera to enlarge or diminish the image on the screen in response to detected movement of the surgeon's eyes towards or away from the screen.
7. The system of claim 6 , wherein the surgeon console further includes a manual input device, wherein the surgery system is not responsive to the eye tracking system to cause the robotic arm to move the camera in response to input from the eye tracking system in the absence of a manual command from the manual input device.
8. The system of claim 7 , wherein the system includes a second robotic arm carrying a surgical instrument, and wherein the surgeon console includes a manipulator operable by the surgeon to generate input to move the second robotic arm, wherein the manual input device is on the manipulator.
9. The system of claim 6 , wherein the system is configured to disable movement of the robotic arm when the surgeon's gaze falls outside of an area of the screen.