System for moveable element position indication
Systems and methods for moveable element indication include a system. The system includes a robotic assembly configured to support an instrument and a processor. The instrument includes an end effector and a moveable element. The end effector includes a first jaw and a second jaw. The moveable element is moveable from a first position to a second position. The processor is configured to display, on a user interface display, an image of the instrument clamping a material using the first jaw and the second jaw; and superimpose, on the image, a visual indicator of a position of the moveable element relative to the end effector.
1. A system comprising:
a robotic assembly configured to support an instrument, the instrument comprising an end effector and a moveable element, the end effector comprising a first jaw and a second jaw, the moveable element being moveable from a first position to a second position; and
a processor configured to:
display, on a user interface display, an image of the instrument clamping a material using the first jaw and the second jaw; and
superimpose, on the image, a visual indicator of a position of the moveable element relative to the end effector.
2. The system of claim 1 , wherein the moveable element is a knife or a blade.
3. The system of claim 2 , wherein:
the first position is a pre-cut position; and
the second position is a cut-complete position.
4. The system of claim 1 , wherein the second position is distal to the first position.
5. The system of claim 1 , wherein the visual indicator comprises a synthetic representation of the moveable element.
6. The system of claim 1 , wherein to display the visual indicator, the processor is configured to display the visual indicator in response to a trigger condition.
7. The system of claim 6 , wherein the trigger condition comprises the moveable element stopping at an intermediate position during a movement between the first position and the second position.
8. The system of claim 1 , wherein the visual indicator of the position of the moveable element shows at least one of a location of the moveable element or an orientation of the moveable element.
9. The system of claim 1 , wherein the processor is further configured to detect the position of the moveable element based on sensor data from one or more pressure sensors or based on light emitted by a green optical fiber.
10. The system of claim 1 , wherein the moveable element is rotated to extend beyond a grasping surface of the first jaw when the moveable element is between the first position and the second position.
11. A method comprising:
displaying, by a processor on a user interface display, an image of an instrument clamping a material, the instrument comprising an end effector and a moveable element, the end effector comprising a first jaw and a second jaw for clamping the material therebetween, the moveable element being moveable from a first position to a second position; and
superimposing, by the processor on the image, a visual indicator of a position of the moveable element relative to the end effector.
12. The method of claim 11 , wherein the moveable element is a knife or a blade.
13. The method of claim 12 , wherein:
the first position is a pre-cut position; and
the second position is a cut-complete position.
14. The method of claim 13 , wherein the visual indicator comprises a synthetic representation of the moveable element.
15. The method of claim 11 , wherein the second position is distal to the first position.
16. The method of claim 11 , wherein displaying the visual indicator comprises displaying the visual indicator in response to a trigger condition.
17. The method of claim 16 , wherein the trigger condition comprises the moveable element stopping at an intermediate position during a movement between the first position and the second position.
18. The method of claim 11 , wherein the visual indicator of the position of the moveable element shows at least one of a location of the moveable element or an orientation of the moveable element.
19. The method of claim 11 , further comprising detecting the position of the moveable element based on sensor data from one or more pressure sensors or based on light emitted by a green optical fiber.
20. The method of claim 11 , wherein the moveable element is rotated to extend beyond a grasping surface of the first jaw when the moveable element is between the first position and the second position.