US 11,051,894 B2
Robotic surgical devices with tracking camera technology and related systems and methods
Shane Farritor, Lincoln, NE (US); Dmitry Oleynikov, Omaha, NE (US); Nathan Wood, Lincoln, NE (US); Jason Dumpert, Omaha, NE (US); Mark Reichenbach, Lincoln, NE (US); and Lou Cubrich, Lincoln, NE (US)
Assigned to Virtual Incision Corporation, Lincoln, NE (US)
Filed by Virtual Incision Corporation, Lincoln, NE (US)
Filed on Sep. 27, 2018, as Appl. No. 16/144,807.
Claims priority of provisional application 62/564,076, filed on Sep. 27, 2017.
Prior Publication US 2019/0090965 A1, Mar. 28, 2019
Int. Cl. A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 34/20 (2016.01); A61B 34/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 90/361 (2016.02); A61B 34/76 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02); A61B 2090/3614 (2016.02)] 14 Claims
OG exemplary drawing
 
1. A robotic surgical system, comprising:
a. a device body constructed and arranged to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising:
i. a first robotic surgical arm operably coupled to the device body and comprising a first end effector;
ii. a second robotic surgical arm operably coupled to the device body and comprising a second end effector;
iii. a camera lumen defined in the device body;
b. a positionable camera constructed and arranged to provide views of the first and second end effectors; and
c. a surgical console comprising a processor constructed and arranged to execute an algorithm to position the positionable camera,
wherein the processor is constructed and arranged to execute a control algorithm for positioning of the first and second robotic surgical arms, wherein the control algorithm is constructed and arranged to establish a camera reference frame and a robot reference frame, wherein the processor is configured to define locations PL and PR for the first and second end effectors, respectively, wherein the processor is configured to establish Midpoint PLPR between the end effectors via PL and PR, and wherein the camera reference frame has an origin and the processor is configured to align the Midpoint PLPR and reposition the positionable camera.
 
6. A robotic surgical system, comprising:
a. a robotic surgical device comprising:
i. a first robotic surgical arm operably coupled to the device body and comprising a first end effector;
ii. a second robotic surgical arm operably coupled to the device body and comprising a second end effector; and
iii. a camera lumen defined in the device body;
b. a positionable camera comprising an articulating tip and constructed and arranged to be inserted into the robotic surgical device such that the tip is oriented to view the first and second end effectors; and
c. a surgical console comprising a processor constructed and arranged to execute a control algorithm to position the positionable camera,
wherein the control algorithm is constructed and arranged to:
a. establish a camera reference frame,
b. establish a robot reference frame, and
c. position the camera tip relative to the camera reference frame or robot reference frame,
wherein the processor is configured to define locations PL and PR for the first and second end effectors, respectively, wherein the processor is configured to establish Midpoint PLPR between the end effectors via PL and PR, and wherein the camera reference frame has an origin and the processor is configured to align the Midpoint PLPR and reposition the positionable camera.
 
9. A robotic surgical system, comprising:
a. a robotic surgical device comprising:
i. a first robotic surgical arm operably coupled to the device body and comprising a first end effector; and
ii. a second robotic surgical arm operably coupled to the device body and comprising a second end effector;
b. a positionable camera comprising an articulating tip and constructed and arranged to be inserted into the robotic surgical device such that the tip is oriented to view the first and second end effectors; and
c. a processor constructed and arranged to execute a control algorithm to position the positionable camera,
wherein the control algorithm is constructed and arranged to:
a. establish a camera reference frame defined by orthogonal unit vectors xC, yC, and zC,
b. establish a robot reference frame established relative to the device body and is defined by orthogonal unit vectors xR, yR, and zR, and
c. position the camera tip relative to the camera reference frame or robot reference frame,
wherein the processor is constructed and arranged to:
a. define location PL for the first end effector and location PR for the second end effector;
b. establish Midpoint PLPR between the first end effector and the second end effector via PL and PR; and
c. align the Midpoint PLPR and reposition the positionable camera.