Robotic surgical systems with mechanisms for scaling camera magnification according to proximity of surgical tool to tissue
A surgical visualization system for use with a robotic surgical system that includes a surgical tool movable with respect to a tissue of a patient in response to an instrument motion control signal is disclosed. The surgical visualization system includes a camera and a control circuit coupled to the camera. The control circuit is configured to determine a distance between the surgical tool and the tissue and adjust a magnification of the camera based on the distance between the surgical tool and the tissue.
1. A surgical visualization system for use with a robotic surgical system that includes a surgical tool movable with respect to a tissue of a patient in response to an instrument motion control signal, wherein the surgical visualization system comprises:
a camera; and
a control circuit coupled to the camera, wherein the control circuit is configured to:
determine a distance between the surgical tool and the tissue;
adjust a magnification of the camera based on the distance between the surgical tool and the tissue;
receive an instrument motion control signal indicative of an applied user input force and an applied user input motion;
automatically select between a gross motion mode and a fine motion mode of the surgical tool based on the adjusted magnification, a direction of motion of the surgical tool, the applied user input force and the applied user input motion, wherein a first determined force associated with the fine motion mode is different from a second determined force associated with the gross motion mode; and
cause the surgical tool to move at a first velocity in response to an application of the first determined force and a second velocity in response to an application of the second determined force, wherein the first velocity is the same as the second velocity.
2. The surgical visualization system of claim 1 , wherein adjusting the magnification of the camera comprises retrieving a magnification value from a memory.
3. The surgical visualization system of claim 1 , wherein determining the distance between the surgical tool and the tissue comprises receiving a signal indicative of a distance value.
4. The surgical visualization system of claim 1 , wherein determining the distance between the surgical tool and the tissue comprises:
causing a transmission of an electromagnetic wave to the tissue; and
calculating a time-of-flight of the electromagnetic wave reflected by the tissue.
5. The surgical visualization system of claim 1 , wherein the magnification is linearly scaled to movement of the surgical tool.
6. The surgical visualization system of claim 1 , wherein the magnification is non-linearly scaled to movement of the surgical tool.
7. The surgical visualization system of claim 1 , further comprising a display configured to switch the surgical visualization system between automatic magnification and manual magnification.
8. The robotic surgical system of claim 1 , wherein the surgical tool comprises at least one of a dissector, a stapler, a grasper, a clip applier, and an energy device, or combinations thereof.
9. The robotic surgical system of claim 8 , wherein the control circuit is further configured to:
receive an input from a user operating within a working volume of the robotic surgical system; and
cause the surgical tool to traverse a distance within an operative space of a patient in response to the received input, wherein the distance traversed by the surgical tool within the operative space of the patient differs based on a scale of motion set by the control circuit.
10. A robotic surgical system, comprising:
a surgical visualization system;
an input control device;
a robotic surgical system component movable with respect to a tissue of a patient in response to an instrument motion control signal generated by the input control device in response to a user input; and
a control circuit configured to:
determine a distance between the robotic surgical system component and the tissue;
set a field of view of the surgical visualization system in accordance with the distance between the robotic surgical system component and the tissue;
receive the instrument motion control signal indicative of an applied user input force and an applied user input motion;
automatically scale a movement of the robotic surgical system component between a gross motion mode and a fine motion mode based on the determined distance, a direction of motion of the surgical system component, the applied user input force, and the applied user input motion, wherein a first determined force associated with the fine motion mode is different from a second determined force associated with the gross motion mode; and
cause the surgical system component to move at a first velocity in response to an application of the first determined force and a second velocity in response to an application of the second determined force, wherein the first velocity is the same as the second velocity.
11. The robotic surgical system of claim 10 , wherein the robotic surgical system component comprises a camera.
12. The robotic surgical system of claim 10 , wherein determining the distance between the robotic surgical system component and the tissue comprises:
causing a transmission of an electromagnetic wave to the tissue; and
calculating a time-of-flight of the electromagnetic wave reflected by the tissue.
13. The robotic surgical system of claim 10 , wherein determining the distance between the robotic surgical system component and the tissue comprises receiving a signal indicative of a distance value.
14. The robotic surgical system of claim 10 , wherein setting the field of view of the surgical visualization system comprises gradually adjusting.
15. The robotic surgical system of claim 10 , wherein setting the field of view of the surgical visualization system comprising selecting between a first field of view and a second field of view.
16. A robotic surgical system, comprising:
a surgical visualization system;
an input control device;
a robotic surgical system component movable with respect to a tissue of a patient in response to an instrument motion control signal generated by the input control device in response to a user input; and
a control circuit configured to:
receive the instrument motion control signal indicative of an applied user input force and an applied user input motion;
determine a distance between the robotic surgical system component and the tissue;
automatically select between a gross motion mode and a fine motion mode of the robotic surgical system component based on the distance between the robotic surgical system component and the tissue, a direction of motion of the robotic surgical system component, the applied user input force, and the applied user input motion, wherein, in the gross motion mode, the robotic surgical system component is configured for a first amount of motion at a first velocity based on the user input, wherein, in the fine motion mode, the robotic surgical system component is configured for a second amount of motion at a second velocity based on the user input, wherein the first amount of motion is different than the second mount of motion, and wherein the first velocity is the same as the second velocity; and
increase a field of view of the surgical visualization system in the gross motion mode.
17. The robotic surgical system of claim 16 , wherein the robotic surgical system component comprises a camera.
18. The robotic surgical system of claim 16 , wherein determining the distance between the robotic surgical system component and the tissue comprises:
causing a transmission of an electromagnetic wave to the tissue; and
calculating a time-of-flight of the electromagnetic wave reflected by the tissue.
19. The robotic surgical system of claim 16 , wherein determining the distance between the robotic surgical system component and the tissue comprises receiving a signal indicative of a distance value.
20. The robotic surgical system of claim 16 , wherein increasing the field of view is a gradual increase.
21. A robotic surgical system, comprising:
a surgical visualization system;
a surgical tool movable with respect to a tissue of a patient; and
a control circuit configured to:
receive a user input signal indicative of an applied user input force, an applied user input motion, and a target location in the tissue;
identify a target zone with respect to the target location;
determine a distance between the surgical tool and the target zone; and
automatically select between a gross motion mode and a fine motion mode of the surgical tool based on the distance between the surgical tool and the target zone, a direction of motion of the surgical tool, the applied user input force, and the applied user input motion, wherein, in the gross motion mode, motion of the surgical tool is scaled differently than the fine motion mode, wherein the surgical tool travels at a first velocity in response to a first user input force in the gross motion mode and a second velocity in response to a second user input force in the fine motion mode, wherein the first velocity is the same as the second velocity.
22. The robotic surgical system of claim 21 , wherein the control circuit is configured to cause the surgical tool to automatically return to the target zone.