US 12,257,013 B2
Robotic surgical systems with mechanisms for scaling camera magnification according to proximity of surgical tool to tissue
Charles J. Scheib, Loveland, OH (US); and Jeffrey S. Swayze, West Chester, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Mar. 15, 2019, as Appl. No. 16/354,444.
Prior Publication US 2020/0289205 A1, Sep. 17, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 1/00 (2006.01); A61B 1/045 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/37 (2016.01); G01S 17/08 (2006.01); G01S 17/86 (2020.01); A61B 34/30 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 1/000094 (2022.02); A61B 1/00042 (2022.02); A61B 1/00066 (2013.01); A61B 1/00097 (2022.02); A61B 1/00188 (2013.01); A61B 1/00193 (2013.01); A61B 1/045 (2013.01); A61B 34/20 (2016.02); A61B 34/74 (2016.02); G01S 17/08 (2013.01); G01S 17/86 (2020.01); A61B 2034/2057 (2016.02); A61B 2034/2072 (2016.02); A61B 34/30 (2016.02)] 22 Claims
OG exemplary drawing
 
1. A surgical visualization system for use with a robotic surgical system that includes a surgical tool movable with respect to a tissue of a patient in response to an instrument motion control signal, wherein the surgical visualization system comprises:
a camera; and
a control circuit coupled to the camera, wherein the control circuit is configured to:
determine a distance between the surgical tool and the tissue;
adjust a magnification of the camera based on the distance between the surgical tool and the tissue;
receive an instrument motion control signal indicative of an applied user input force and an applied user input motion;
automatically select between a gross motion mode and a fine motion mode of the surgical tool based on the adjusted magnification, a direction of motion of the surgical tool, the applied user input force and the applied user input motion, wherein a first determined force associated with the fine motion mode is different from a second determined force associated with the gross motion mode; and
cause the surgical tool to move at a first velocity in response to an application of the first determined force and a second velocity in response to an application of the second determined force, wherein the first velocity is the same as the second velocity.