Indicator for knife location in a stapling or vessel sealing instrument
Systems and methods are provided for displaying an image of a tracked tool on a user interface, wherein at least a portion of the tool is hidden from view in any image on a user interface at any point during a procedure. The tool may include a cutting tool having jaws for clamping a material and a knife for cutting the clamped material, and superimposing an indicator of a knife position on the display during and/or after cutting. The knife position may include a location and/or orientation of the knife, including any or all of a pre-cut, cut-complete, cut-incomplete and an exposed position. The disclosed systems and methods allows a user to view the knife position in applications where the knife may not be visible to a user, which is particularly useful for clamping and cutting a body tissue with a robotic surgical system in minimally invasive procedures.
1. A method of operating a surgical device comprising:
tracking a kinematic chain of a moveable element within an end effector of the surgical device by:
determining a displacement of a drive element comprising a motor, the drive element being drivingly coupled with the moveable element via a mechanism; and
determining a displacement of the mechanism;
determining a position of the moveable element relative to the surgical end effector using the tracking of the kinematic chain of the moveable element, the position being determined from among a pre-cut position, a cut-complete position, and any position between the pre-cut position and the cut-complete position; and
displaying, on a user interface an indicator of the position of the moveable element relative to the surgical end effector.
2. The method of claim 1 , wherein determining the position of the moveable element comprises determining at least one of a location and an orientation of the moveable element.
3. The method of claim 1 , wherein the moveable element is disposed within a body cavity inside of a patient.
4. The method of claim 1 , wherein the moveable element comprises a cutting blade.
5. The method of claim 1 , wherein the indicator of the position of the moveable element shows at least one of a location of the moveable element and an orientation of the moveable element.
6. The method of claim 1 , wherein displaying on the user interface the indicator of the position of the moveable element comprises displaying the indicator on the user interface substantially continuously.
7. The method of claim 1 , wherein displaying on the user interface the indicator of the position of the moveable element comprises displaying the indicator on the user interface in response to a trigger condition.
8. The method of claim 7 , wherein the trigger condition comprises the moveable element stopping at an intermediate position during a movement between the pre-cut position and the cut-complete position.
9. The method of claim 1 , wherein displaying on the user interface the indicator of the position of the moveable element comprises displaying a video image showing at least a portion of a body cavity inside of a patient.
10. The method of claim 9 , wherein displaying on the user interface the indicator of the position of the moveable element comprises displaying on the user interface the indicator of the position of the moveable element superimposed on the video image of at least a portion of a body cavity inside of a patient.
11. The method of claim 1 , wherein determining the position of the moveable element further comprises receiving information from a sensor.
12. The method of claim 11 , wherein the sensor comprises an electromagnetic position sensor.
13. The method of claim 11 , wherein the sensor comprises a pressure sensitive sensor.
14. The method of claim 1 , wherein the indicator of the position of the moveable element comprises a synthetic representation, the synthetic representation being superimposed on an image of the surgical end effector.
15. The method of claim 14 , wherein the synthetic representation is being displayed relative to the surgical end effector based on a kinematically adjusted position of the surgical end effector.
16. The method of claim 1 , wherein the mechanism comprises a lead screw.
17. The method of claim 1 , further comprising displaying, on the user interface an indicator of an orientation of the moveable element.
18. The method of claim 1 , wherein the moveable element is rotated to extend beyond a grasping surface of a jaw of the end effector between the pre-cut position and the cut-complete position.
19. A method of communicating a position of a moveable element of an end effector of a surgical tool to an operator of the surgical tool, the method comprising:
capturing an image comprising at least a portion of the end effector;
tracking a kinematic chain of the moveable element by:
determining a displacement of a drive element comprising a motor, the drive element being drivingly coupled with the moveable element via a mechanism; and
determining a displacement of the mechanism;
determining a position of the moveable element relative to the end effector based on the tracking of the kinematic chain of the moveable element, the position being determined from among a pre-cut position, a cut-complete position, and any position between the pre-cut position and the cut-complete position; and
displaying an indicator of the position of the moveable element relative to the end effector on a user interface.
20. The method of claim 19 ,
wherein the image captured further comprises at least a portion of a marker of the end effector;
wherein the method further comprises processing the image to determine a position of the marker; and
wherein the position of the moveable element is further determined from at least the position of the marker.
21. The method of claim 19 , wherein the indicator of the position of the moveable element comprises a synthetic representation, the synthetic representation being superimposed on the image of the surgical end effector.
22. The method of claim 21 , wherein the synthetic representation is being displayed relative to the end effector based on a kinematically adjusted position of the end effector.
23. The method of claim 19 , wherein the mechanism further comprises a lead screw.
24. The method of claim 19 , further comprising displaying, on the user interface an indicator of an orientation of the moveable element.
25. The method of claim 19 , wherein the moveable element is rotated to extend beyond surfaces of jaws of the end effector between the pre-cut position and the cut-complete position.