CPC A61B 34/30 (2016.02) [A61B 34/76 (2016.02)] | 7 Claims |
1. A robotic surgical system, comprising:
one or more robotic instrument controllers configured to move and position a respective instrument having a respective end effector;
a robotic camera controller configured to move and position a camera;
a robotic overtube controller configured to move and position an overtube, wherein the one or more instruments extend through the overtube such that the end effectors extend from a distal end of the overtube, wherein the camera extends through the overtube and extends from the distal end of the overtube;
one or more input control devices having a plurality of mode selection controls thereon configured to output one or more input control mode signals, and configured to receive user inputs and output position control signals;
a control module operatively connected to the one or more instrument controllers, the camera controller, and the overtube controller, wherein the control module is configured to:
receive the one or more input control mode signals from the one or more input control devices, and to select between a plurality of modes as a function of the one or more input control mode signals, wherein the modes include:
an instrument control mode wherein the control module is configured cause the end effector to move by controlling the one or more robotic instrument controllers as a function of the position control signals;
a camera control mode wherein the control module is configured to cause the camera to move by controlling the robotic camera controller as a function of the position control signals; and
an overtube control mode wherein the control module is configured to cause the overtube to move by controlling the robotic overtube controller, while the camera and the end effector mounted therewith are also moved by virtue of the motion of the overtube, as a function of the position control signals.
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