CONTROL OF AN ENDOSCOPE BY A SURGICAL ROBOT

CONTROL OF AN ENDOSCOPE BY A SURGICAL ROBOT

An endoscope is controlled by a surgical robotic system. A user input with six degrees of freedom maps to control of an endoscope by a robotic arm having a fewer number of degrees of freedom. For example, untethered user interface devices control motion of an endoscope through a series of projection...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: YU, HAORAN, YUN, SEUNGKOOK, SHRIVASTAVA, APOORV, KLINGBEIL, ELLEN, ZHOU, RENBIN
Format: Patent
Sprache:eng
Schlagworte:
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Beschreibung
Zusammenfassung:An endoscope is controlled by a surgical robotic system. A user input with six degrees of freedom maps to control of an endoscope by a robotic arm having a fewer number of degrees of freedom. For example, untethered user interface devices control motion of an endoscope through a series of projections from user command, to endoscope motion, and to joint motion of the robotic arm. The projection from user command to endoscope motion may project a singular angular motion from three angular motions of the user interface devices. The projection may account for the remote center of motion and/or an angular orientation of the view of the endoscope relative to a shaft of the endoscope.