Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide

{
  "publication_number": "US11638622B2",
  "country": "US",
  "kind": "B2",
  "title": "Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide",
  "abstract": "A medical system may comprise a display and a processor configured to determine an optimal position for an image capturing instrument to view working ends of a plurality of medical instruments when the plurality of medical instruments and the image capturing instrument are each extending out of a distal end of an entry guide. The processor may also be configured to cause the optimal position to be displayed on the display along with an image captured by the image capturing instrument of the working ends of the plurality of medical instruments.",
  "claims": [
    "1. A medical system comprising: a display; and a processor configured to: determine an optimal position for an image capturing instrument to view working ends of a plurality of medical instruments when the plurality of medical instruments and the image capturing instrument are each extending out of a distal end of an entry guide; and cause the optimal position to be displayed on the display along with an image captured by the image capturing instrument of the working ends of the plurality of medical instruments.",
    "2. The medical system according to claim 1, wherein the processor is further configured to: determine the optimal position for the image capturing instrument to view the working ends of the plurality of medical instruments by finding a location where the working ends of the plurality of medical instruments are equidistant from a center of the image presently capturable by the image capturing instrument.",
    "3. The medical system according to claim 1, wherein the processor is further configured to: generate a computer model of the plurality of medical instruments by using state information from a plurality of sensors adapted to generate the state information by sensing states of the plurality of medical instruments; adjust a view of the computer model to a perspective of a first viewing point which is different than a viewing point for an image presently capturable by the image capturing instrument; and cause the adjusted view of the computer model to be displayed on the display in a separate window than the image captured by the image capturing instrument of the working ends of the plurality of medical instruments.",
    "4. A method comprising: a processor determining an optimal position for an image capturing instrument to view working ends of a plurality of medical instruments when the plurality of medical instruments and the image capturing instrument are each extending out of a distal end of an entry guide; and the processor causing the optimal position to be displayed on a display along with an image captured by the image capturing instrument of the working ends of the plurality of medical instruments.",
    "5. The method according to claim 4, wherein the processor determines the optimal position for the image capturing instrument to view the working ends of the plurality of medical instruments by: the processor determining a location where the working ends of the plurality of medical instruments are equidistant from a center of the image presently capturable by the image capturing instrument.",
    "6. The method according to claim 4, further comprising: the processor receiving state information from a plurality of sensors adapted to generate the state information by sensing states of the plurality of medical instruments; the processor generating a computer model of the plurality of medical instruments by using the state information; the processor adjusting a view of the computer model to a perspective of a first viewing point which is different than a viewing point for an image presently capturable by the image capturing instrument; and the processor causing the adjusted view of the computer model to be displayed on the display in a separate window than the image captured by the image capturing instrument of the working ends of the plurality of medical instruments.",
    "7. A method comprising: one of providing and receiving, first one or more processor executable instructions to determine an optimal position for an image capturing instrument to view working ends of a plurality of medical instruments when the plurality of medical instruments and the image capturing instrument are each extending out of a distal end of an entry guide; and one of providing and receiving, second one or more processor executable instructions to cause the optimal position to be displayed on a display along with an image captured by the image capturing instrument of the working ends of the plurality of medical instruments.",
    "8. The method according to claim 7, wherein the first one or more processor executable instructions includes third one or more processor executable instructions to determine a location where the working ends of the plurality of medical instruments are equidistant from a center of the image presently capturable by the image capturing instrument.",
    "9. The method according to claim 7, further comprising: one of providing and receiving, fourth one or more processor executable instructions to generate a computer model of the plurality of medical instruments by using state information from a plurality of sensors adapted to generate the state information by sensing states of the plurality of medical instruments; one of providing and receiving, fifth one or more processor executable instructions to adjust a view of the computer model to a perspective of a first viewing point which is different than a viewing point for an image presently capturable by the image capturing instrument; and one of providing and receiving, sixth one or more processor executable instructions to cause the adjusted view of the computer model to be displayed on the display in a separate window than the image captured by the image capturing instrument of the working ends of the plurality of medical instruments."
  ],
  "description_excerpt": "The present invention generally relates to medical robotic systems and in particular, to a medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide.\n\nMedical robotic systems such as teleoperative systems used in performing minimally invasive surgical procedures offer many benefits over traditional open surgery techniques, including less pain, shorter hospital stays, quicker return to normal activities, minimal scarring, reduced recovery time, and less injury to tissue. Consequently, demand for such medical robotic systems is strong and growing.\n\nOne example of such a medical robotic system is the da Vinci® Surgical System from Intuitive Surgical, Inc., of Sunnyvale, Calif., which is a minimally invasive robotic surgical system. The da Vinci® Surgical System has a number of robotic arms that move attached medical devices, such as an image capturing device and Intuitive Surgical's proprietary EndoWrist® articulating surgical instruments, in response to movement of input devices by a surgeon viewing images captured by the image capturing device of a surgical site. Each of the medical devices is inserted through its own minimally invasive incision into the patient and positioned to perform a medical procedure at the surgical site. The incisions are placed about the patient's body so that the surgical instruments may be used to cooperatively perform the medical procedure and the image capturing device may view it without their robotic arms colliding during the procedure.",
  "cpc": [
    "A61B 90/36",
    "A61B 1/04",
    "A61B 2017/00119",
    "A61B 2034/102",
    "A61B 2034/305",
    "A61B 2090/364",
    "A61B 2090/365",
    "A61B 34/20",
    "A61B 34/30",
    "A61B 34/37",
    "A61B 34/74",
    "A61B 90/03",
    "A61B 90/361",
    "B25J 19/04"
  ],
  "ipc": [
    "A61B 17/00",
    "A61B 34/00",
    "A61B 34/10",
    "A61B 34/20",
    "A61B 34/30",
    "A61B 34/37",
    "A61B 90/00"
  ],
  "assignees": [
    "Intuitive Surgical Operations Inc"
  ],
  "inventors": [
    "Tabish Mustufa",
    "Nicola Diolaiti",
    "David Q. Larkin"
  ],
  "filing_date": "2019-02-22",
  "publication_date": "2023-05-02",
  "grant_date": "2023-05-02",
  "priority_date": "2008-06-27",
  "application_number": "US-201916283311-A",
  "family_id": "40974669",
  "cited_by_count": 10,
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