Granted Patent B2

US 12,419,698 · App. 18/646,112 · Granted Sep 23, 2025

Inventor: Gabriel F. Brisson (Livermore, CA)

Assignee: INTUITIVE SURGICAL OPERATIONS, INC.

A61B34/20A61B1/00193A61B90/37A61B2034/2048A61B2034/2055A61B2090/376A61B2090/378

Abstract

Claims (69)

1. A computer-assisted device comprising:

a display device; and

one or more processors coupled to the display device, the one or more processors being configured to:

track movement of an imaging device;

determine a display-device-to-imaging-window transform based on the tracked movement of the imaging device; and

display an image from the imaging device on the display device, a position and an orientation of the image on the display device being based on the display-device-to-imaging-window transform;

wherein the position and the orientation of the image on the display device provides one or more cues to an operator regarding at least one of:

an inability of the imaging device to follow a command to move the imaging device,

a range of motion limit of the imaging device, or

a mismatch in degrees of freedom between the imaging device and the display device.

2. The computer-assisted device of claim 1 , wherein the one or more processors are further configured to:

position an imaging window on the display device, a position and an orientation of the imaging window being based on the display-device-to-imaging-window transform; and

render the image in the imaging window.

3. The computer-assisted device of claim 2 , wherein the one or more processors are further configured to:

project the image onto the imaging window.

4. The computer-assisted device of claim 1 , wherein to determine the display-device-to-imaging-window transform, the one or more processors are configured to determine at least one of:

a difference between an actual position of the imaging device and a position of the imaging device indicated by the command; or

a difference between an actual orientation of the imaging device and an orientation of the imaging device indicated by the command.

5. The computer-assisted device of claim 1 , wherein the one or more processors are further configured to:

determine the command to move the imaging device based on detected motion of the display device.

6. The computer-assisted device of claim 5 , wherein to determine the display-device-to-imaging-window transform, the one or processors are configured to determine a display device transform based on the detected motion of the display device.

7. The computer-assisted device of claim 5 , further comprising:

a tracking system comprising a sensor selected from the group consisting of: an optical fiducial sensor, a magnetic fiducial sensor, an inertial sensor, a position sensor configured to provide position information of a kinematic chain associated with the display device, and a velocity sensor configured to provide velocity information of the kinematic chain;

wherein the one or more processors are further configured to:

use the tracking system to acquire the detected motion of the display device.

8. The computer-assisted device of claim 1 , wherein to determine the display-device-to-imaging-window transform, the one or more processors are configured to determine an imaging device transform based on a position and an orientation of a view plane of the imaging device.

9. The computer-assisted device of claim 1 , wherein the one or more processors are further configured to:

determine a display device transform based on detected movement of the display device;

determine an imaging device transform based on the tracked movement of the imaging device; and

determine the display-device-to-imaging-window transform based on the display device transform and the imaging device transform.

10. The computer-assisted device of claim 1 , wherein a direction of view of the imaging device is at an angle relative to an insertion axis of the imaging device into a workspace.

11. The computer-assisted device of claim 1 , wherein the display device comprises a tablet, a smart phone, or a head-mounted display.

12. The computer-assisted device of claim 1 , wherein:

the display device is a stereoscopic device; and

the imaging device is a stereoscopic device; and

to display the image from the imaging device, the one or more processors are configured to display left and right images received from the imaging device.

13. The computer-assisted device of claim 1 , wherein:

the display device has six degrees of freedom; and

the imaging device has four degrees of freedom.

14. A method comprising:

tracking, by a control unit of a computer-assisted device, movement of an imaging device;

determining, by the control unit, a display-device-to-imaging-window transform based on the tracked movement of the imaging device; and

displaying, by the control unit, an image captured by the imaging device on a display device, a position and an orientation of the image on the display device being based on the display-device-to-imaging-window transform;

wherein the position and the orientation of the image on the display device provides one or more cues to an operator regarding at least one of:

an inability of the imaging device to follow a command to move the imaging device,

a range of motion limit of the imaging device, or

a mismatch in degrees of freedom between the imaging device and the display device.

15. The method of claim 14 , further comprising:

positioning, by the control unit, an imaging window on the display device, a position and an orientation of the imaging window being based on the display-device-to-imaging-window transform; and

rendering, by the control unit, the image in the imaging window.

16. The method of claim 15 , further comprising:

projecting, by the control unit, the image onto the imaging window.

17. The method of claim 14 , wherein determining the display-device-to-imaging-window transform comprises at least one of:

determining a difference between an actual position of the imaging device and a position of the imaging device indicated by the command; or

determining a difference between an actual orientation of the imaging device and an orientation of the imaging device indicated by the command.

18. The method of claim 14 , further comprising:

determining, by the control unit, the command to move the imaging device based on detected motion of the display device.

19. The method of claim 14 , further comprising:

determining, by the control unit, a display device transform based on detected movement of the display device;

determining, by the control unit, an imaging device transform based on the tracked movement of the imaging device; and

determining, by the control unit, the display-device-to-imaging-window transform based on the display device transform and the imaging device transform.

20. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors are adapted to cause the one or more processors to perform a method comprising:

tracking movement of an imaging device;

determining a display-device-to-imaging-window transform based on the tracked movement of the imaging device; and

displaying an image captured by the imaging device on a display device, a position and an orientation of the image on the display device being based on the display-device-to-imaging-window transform;

wherein the position and the orientation of the image on the display device provides one or more cues to an operator regarding at least one of:

an inability of the imaging device to follow a command to move the imaging device,

a range of motion limit of the imaging device, or

a mismatch in degrees of freedom between the imaging device and the display device.

Assignments (1)

Continuity (3)

References Cited (46)