Systems and techniques for providing multiple perspectives during medical procedures
Provided are systems and techniques for providing multiple perspectives during medical procedures. In one aspect, a method includes positioning a plurality of cannulas in a plurality of anatomical quadrants of a patient, inserting first and second surgical tools coupled to corresponding robotic arms into the respective cannulas. The method may include inserting an articulatable camera coupled to another robotic arm into another of the cannulas, where the articulatable camera is capable of showing a first view including the first surgical tool in a first anatomical quadrant and articulating to show a second view including the second surgical tool in a second anatomical quadrant. The method may further involve performing a surgical procedure in at least one of the first anatomical quadrant or the second anatomical quadrant.
1. A system, comprising:
a first robotic arm configured to be coupled to a first cannula positioned in a first anatomical location of a patient and drive an articulatable camera, the articulatable camera configured to be driven in a first number of degrees-of-freedom (DoFs);
a second robotic arm configured to be coupled to a second cannula positioned in a second anatomical location of the patient and drive a first tool;
a user input device configured to be manipulated by a user in a second number of DoFs;
one or more processors; and
memory storing computer-executable instructions to cause the one or more processors to:
receive an image from the articulatable camera including a view of a target site in the patient,
receive, via the user input device, a user command to drive the articulatable camera, and
determine instructions to robotically drive the articulatable camera via the first robotic arm based on the user command, wherein at least one of the DoFs of the user input device is constrained so as to maintain orientation alignment between the first tool and the user input device,
wherein, upon the user command to drive the articulatable camera, movement of a first handle of the user input device is mapped to translation and orientation of the articulatable camera, and the movement of the first handle is aligned with orientation of the first tool while being clutched off translation of the first tool.
2. The system of claim 1 , wherein:
wherein the memory further has stored thereon computer-executable instructions to cause the one or more processors to toggle between a first modality in which motion of the user input device is mapped to driving of the first tool via the second robotic arm and a second modality in which motion of the user input device is mapped to driving of the articulatable camera via the first robotic arm.
3. The system of claim 1 , wherein the user input device comprises a pair of input arms configured to be manipulated by the user and generate master controller output data.
4. The system of claim 3 , wherein the memory further has stored thereon computer-executable instructions to cause the one or more processors to:
display a virtual object within the view received from the articulatable camera, the virtual object aligning with an object in the view.
5. The system of claim 4 , wherein the memory further has stored thereon computer-executable instructions to cause the one or more processors to:
constrain differential translation between the pair of input arms to simulate a virtual bar connecting the pair of input arms as a rigid bar.
6. The system of claim 1 , further comprising:
a third robotic arm configured to be connected to a third cannula positioned in a third anatomical location of the patient and drive a second tool,
wherein to determine the instructions to drive the articulatable camera via the first robotic arm, the computer-executable instructions further cause the one or more processors to maintain a relative orientation of the first tool and the second tool within the view of the articulatable camera by constraining one or more of the DoFs of the user input device.
7. The system of claim 1 , wherein the memory further has stored thereon computer-executable instructions to cause the one or more processors to:
display a virtual object within the view received from the articulatable camera, wherein the virtual object is overlaid on the view, and wherein the user command includes a user command to drive motion of the virtual object within the view.
8. The system of claim 1 , wherein the second number of DoFs are greater than or equal to the first number of DoFs.
9. The system of claim 1 , wherein in a plane, the articulatable camera has a viewing angle of greater than or equal to 180 degrees.
10. The system of claim 1 , wherein the articulatable camera is configured to view a 4π spatial angle with a combination of articulation motion and field of view of the articulatable camera.
11. The system of claim 1 , wherein the articulatable camera is configured to view greater than or equal to a 2π spatial angle with a combination of articulation motion and field of view of the articulatable camera.
12. The system of claim 1 , wherein the view comprises at least one of: a front view, a side view, and a back view of the target site.
13. A surgical method, comprising:
receiving an image from an articulatable camera including a view of a target site in a patient, the articulatable camera configured to be driven in a first number of degrees-of-freedom (DoFs) via a first robotic arm configured to be coupled to a first cannula positioned in a first anatomical location of the patient;
receiving, via a user input device, a user command to drive the articulatable camera, the user input device configured to be manipulated by a user in a second number of DoFs; and
determining instructions to robotically drive the articulatable camera via the first robotic arm based on the user command, wherein at least one of the DoFs of the user input device is constrained so as to maintain orientation alignment between the user input device and a first tool configured to be driven via a second robotic arm configured to be coupled to a second cannula positioned in a second anatomical location of the patient,
wherein, upon the user command to drive the articulatable camera, movement of a first handle of the user input device is mapped to translation and orientation of the articulatable camera, and the movement of the first handle is aligned with orientation of the first tool while being clutched off translation of the first tool.
14. The method of claim 13 , wherein the method further comprises:
toggling between a first modality in which motion of the user input device is mapped to driving of the first tool via the second robotic arm and a second modality in which motion of the user input device is mapped to driving of the articulatable camera via the first robotic arm.
15. The method of claim 13 , wherein the user input device comprises a pair of input arms configured to be manipulated by the user and generate master controller output data.
16. The method of claim 15 , further comprising:
displaying a virtual object within the view received from the articulatable camera, the virtual object aligning with an object in the view.
17. The method of claim 13 , wherein:
determining the instructions to drive the articulatable camera via the first robotic arm comprises maintaining a relative orientation of the first tool and a second tool within the view of the articulatable camera by constraining one or more of the DoFs of the user input device, and
the second tool is configured to be driven by a third robotic arm configured to be connected to a third cannula positioned in a third anatomical location of the patient.
18. The method of claim 13 , further comprising:
displaying a virtual object within the view received from the articulatable camera, a position of the virtual object being based on the user command to drive the articulatable camera, wherein the user command includes a user command to drive motion of the virtual object within the view.
19. A system, comprising:
a first robotic arm configured to drive an articulatable camera, the articulatable camera configured to be driven in a first number of degrees-of-freedom (DoFs);
a second robotic arm configured to drive a first tool;
a user input device configured to be manipulated by a user in a second number of DoFs, wherein the user input device comprises a pair of handles, the pair of handles comprising a first handle and a second handle;
one or more processors; and
memory storing computer-executable instructions to cause the one or more processors to:
receive an image from the articulatable camera including a view of a portion of an anatomy of a patient,
receive, via the user input device, a user command to drive the articulatable camera, and
robotically drive the articulatable camera via the first robotic arm based on the user command, wherein at least one of the DoFs of the user input device is constrained to maintain orientation alignment between the first tool and the user input device, and wherein the articulatable camera is driven from a first quadrant of the patient to a second quadrant of the patient without undocking the first robotic arm from a cannula placed in the patient,
wherein, upon the user command to drive the articulatable camera, movement of the first handle is mapped to translation and orientation of the articulatable camera, and the movement of the first handle is aligned with orientation of the first tool while being clutched off translation of the first tool.