Systems and methods for onscreen identification of instruments in a teleoperational medical system
A system comprises a teleoperational assembly including an operator control system and a plurality of manipulators configured for teleoperation by the operator control system. A first manipulator of the plurality of manipulators is configured to control movement of a first medical instrument in a surgical environment. The system further comprises a processing unit configured to display an image of a field of view of the surgical environment; determine first association information for the first medical instrument, the first association information including information about at least one of the first manipulator or the operator control system; display a first badge proximate to an image of the first medical instrument in the image of the field of view, the first badge including the first association information; and adjust a size of the first badge as the first medical instrument changes depth relative to an imaging instrument capturing the field of view.
1. A system comprising:
a teleoperational assembly including an operator control system and a plurality of manipulators configured for teleoperation by the operator control system, wherein a first manipulator of the plurality of manipulators is configured to control movement of a first medical instrument in a surgical environment; and
a processing unit including one or more processors, wherein the processing unit is configured to:
display an image of a field of view of the surgical environment;
determine first association information for the first medical instrument, the first association information including information about at least one of the first manipulator or the operator control system;
display a first badge proximate to an image of the first medical instrument in the image of the field of view, the first badge including the first association information; and
adjust a size of the first badge as the first medical instrument changes depth relative to an imaging instrument, the imaging instrument capturing the field of view of the surgical environment.
2. The system of claim 1 wherein the first association information includes an identifier for the first manipulator controlling the movement of the first medical instrument.
3. The system of claim 1 wherein the operator control system includes a control device and the first association information includes an identifier for the control device.
4. The system of claim 3 wherein the first badge includes a central portion and an orbiting portion circumferentially positioned about the central portion based upon an orientation of the control device.
5. The system of claim 1 wherein the processing unit is configured to display the first badge superimposed on an image of a distal end portion of the first medical instrument.
6. The system of claim 1 wherein the processing unit is configured to terminate the displaying of the first badge in the image of the field of view when the operator control system transitions from a first state to a second state.
7. The system of claim 1 wherein a second manipulator of the plurality of manipulators is configured to control the movement of a second medical instrument in the surgical environment, and wherein the processing unit is further configured to:
determine second association information for the second medical instrument, the second association information including information about at least one of the second manipulator or the operator control system;
display a second badge proximate to an image of the second medical instrument in the image of the field of view, the second badge including the second association information;
determine a distance between the first and second badges; and
if the determined distance is less than a predetermined interference distance, shift the first badge in a linear direction aligned with a shaft of the first medical instrument.
8. The system of claim 1 wherein the processing unit is further configured to:
determine a tip position of the first medical instrument;
determine a position error associated with the tip position;
determine at least one bounding volume based upon the position error;
determine if the at least one bounding volume is within the field of view; and
if the at least one bounding volume is within the field of view, display the first badge in the image of the field of view proximate to the at least one bounding volume.
9. The system of claim 8 wherein the processing unit is further configured to, if the at least one bounding volume is not within the field of view, terminate display of the first badge in the image of the field of view and generate an out-of-view instrument indicator for display with the image of the field of view.
10. The system of claim 1 wherein adjusting the size of the first badge includes adjusting the size of the first badge so that when the first badge is displayed in the image of the field of view, the first badge appears to be located at a same depth in the image of the field of view as the first medical instrument.
11. A method comprising:
displaying an image of a field of view of a surgical environment, wherein a first medical instrument in the field of view is coupled to a first manipulator of a plurality of manipulators in a teleoperational assembly;
determining first association information for the first medical instrument, the first association information including information about at least one of the first manipulator or an operator control device;
displaying a first badge proximate to an image of the first medical instrument in the image of the field of view, the first badge including the first association information; and
adjusting a size of the first badge as the first medical instrument changes depth relative to an imaging instrument, the imaging instrument capturing the field of view of the surgical environment.
12. The method of claim 11 wherein the first association information includes an identifier for the first manipulator coupled to the first medical instrument.
13. The method of claim 11 wherein the first association information includes an identifier for the operator control device.
14. The method of claim 13 wherein the first badge includes a central portion and an orbiting portion radially positioned about the central portion based upon an orientation of the operator control device.
15. The method of claim 11 , further comprising displaying the first badge superimposed on an image of a distal end portion of the first medical instrument.
16. The method of claim 11 , further comprising terminating the displaying of the first badge in the image of the field of view when the teleoperational assembly transitions from a first state to a second state.
17. The method of claim 11 , further comprising:
determining second association information for a second medical instrument, the second association information including information about at least one of a second manipulator or the operator control device;
displaying a second badge proximate to an image of the second medical instrument in the image of the field of view, the second badge including the second association information;
determining a distance between the first and second badges; and
if the determined distance is less than a predetermined interference distance, shifting the first badge in a linear direction aligned with a shaft of the first medical instrument.
18. The method of claim 11 , further comprising:
determining a tip position of the first medical instrument;
determining a position error associated with the tip position;
determining at least one bounding volume based upon the position error;
determining if the at least one bounding volume is within the field of view; and
if the at least one bounding volume is within the field of view, displaying the first badge in the image of the field of view proximate to the at least one bounding volume.
19. The method of claim 18 , further comprising, if the at least one bounding volume is not within the field of view, terminating display of the first badge in the image of the field of view and generating an out-of-view instrument indicator for display with the image of the field of view.
20. The method of claim 11 wherein adjusting the size of the first badge includes adjusting the size of the first badge so that when the first badge is displayed in the image of the field of view, the first badge appears to be located at a same depth in the image of the field of view as the first medical instrument.