US 12,419,698 B2
System and method of displaying images from imaging devices
Gabriel F. Brisson, Livermore, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Apr. 25, 2024, as Appl. No. 18/646,112.
Application 18/646,112 is a continuation of application No. 17/265,486, granted, now 11,992,273, previously published as PCT/US2019/044852, filed on Aug. 2, 2019.
Claims priority of provisional application 62/714,326, filed on Aug. 3, 2018.
Prior Publication US 2024/0268899 A1, Aug. 15, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 1/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 1/00193 (2013.01); A61B 90/37 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/376 (2016.02); A61B 2090/378 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
a display device; and
one or more processors coupled to the display device, the one or more processors being configured to:
track movement of an imaging device;
determine a display-device-to-imaging-window transform based on the tracked movement of the imaging device; and
display an image from the imaging device on the display device, a position and an orientation of the image on the display device being based on the display-device-to-imaging-window transform;
wherein the position and the orientation of the image on the display device provides one or more cues to an operator regarding at least one of:
an inability of the imaging device to follow a command to move the imaging device,
a range of motion limit of the imaging device, or
a mismatch in degrees of freedom between the imaging device and the display device.
 
14. A method comprising:
tracking, by a control unit of a computer-assisted device, movement of an imaging device;
determining, by the control unit, a display-device-to-imaging-window transform based on the tracked movement of the imaging device; and
displaying, by the control unit, an image captured by the imaging device on a display device, a position and an orientation of the image on the display device being based on the display-device-to-imaging-window transform;
wherein the position and the orientation of the image on the display device provides one or more cues to an operator regarding at least one of:
an inability of the imaging device to follow a command to move the imaging device,
a range of motion limit of the imaging device, or
a mismatch in degrees of freedom between the imaging device and the display device.
 
20. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors are adapted to cause the one or more processors to perform a method comprising:
tracking movement of an imaging device;
determining a display-device-to-imaging-window transform based on the tracked movement of the imaging device; and
displaying an image captured by the imaging device on a display device, a position and an orientation of the image on the display device being based on the display-device-to-imaging-window transform;
wherein the position and the orientation of the image on the display device provides one or more cues to an operator regarding at least one of:
an inability of the imaging device to follow a command to move the imaging device,
a range of motion limit of the imaging device, or
a mismatch in degrees of freedom between the imaging device and the display device.