CPC A61B 34/35 (2016.02) [A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 2034/742 (2016.02); A61B 2090/365 (2016.02); A61B 2562/0257 (2013.01)] | 19 Claims |
1. A robotic surgical system, comprising:
a robotic arm coupled to a surgical tool;
an imaging device configured to capture images of the surgical tool and a surgical site;
a first console comprising a first input handle configured to receive an input to manipulate the robotic arm and the surgical tool;
a second console comprising a second input handle configured to receive an input to manipulate a virtual surgical tool;
a portable input handle comprising a housing, a first position sensor disposed adjacent the housing, a first proximity sensor disposed adjacent the housing, at least one camera configured to capture images of the portable input handle, and a computer;
a first position transmitter in communication with the first position sensor;
a display; and
a controller coupled to the robotic arm, the imaging device, the first input handle, the second input handle, the portable input handle, and the display,
wherein the controller causes the display to display the captured images of the surgical tool and the surgical site, and in response to receiving the input at the second input handle, generates an image of the virtual surgical tool and causes the display to display the image of the virtual surgical tool simultaneously with the image of the surgical tool and display the image of the virtual surgical tool as an overlay on the displayed image of the surgical site,
wherein the first position sensor is configured to sense a pose of the housing relative to the first position transmitter, and the first position transmitter is configured to receive and transmit the sensed pose of the housing to the robotic surgical system, the pose tracked optically relative to the first position sensor, and
wherein the computer is configured to process the captured images of the portable input handle using a machine vision algorithm to measure position and orientation data of the portable input handle relative to the first position transmitter.
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