US 12,144,568 B2
Graphical user interface for a robotic surgical system
Jefferson C. Mccloud, Providence, RI (US); and Daniel Bacher, Providence, RI (US)
Assigned to Titan Medical Inc., Toronto (CA)
Filed by Titan Medical Inc., Toronto (CA)
Filed on Nov. 21, 2022, as Appl. No. 18/057,510.
Application 18/057,510 is a continuation of application No. 15/780,593, granted, now 11,504,191, previously published as PCT/CA2017/000011, filed on Jan. 19, 2017.
Claims priority of provisional application 62/280,334, filed on Jan. 19, 2016.
Prior Publication US 2023/0200918 A1, Jun. 29, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/25 (2016.02) [A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/76 (2016.02); A61B 2017/00314 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/00973 (2013.01); A61B 2034/742 (2016.02); A61B 2090/371 (2016.02)] 21 Claims
OG exemplary drawing
 
20. A robotic surgery apparatus comprising:
at least one input device including a hand controller configured to be moved by a user within an input device workspace, a movement of the hand controller causing changes in a position and a rotation of a surgical instrument in a surgical workspace;
a display configured to illustrate a graphical depiction of the surgical workspace; and
a processor in communication with the at least one input device and the display, the processor configured to:
determine a current three-dimensional spatial position of the surgical instrument within the surgical workspace responsive to a current position of the hand controller in the input device workspace;
determine a current rotational orientation of the surgical instrument within the surgical workspace responsive to a current rotational orientation of the hand controller in the input device workspace;
determine an instrument depth range indicating limitations to axial movement of the surgical instrument into the surgical workspace;
determine a current depth of an end effector of the surgical instrument within the instrument depth range based on the current three-dimensional spatial position of the surgical instrument;
determine an input device depth range representing a portion of the instrument depth range that is accessible by the surgical instrument based on a current mapping between the input device workspace and the surgical workspace, wherein the input device workspace defines a limited range of the instrument depth range being accessible by the surgical instrument;
cause the display to display the graphical depiction of the surgical workspace, the graphical depiction including an indicator representing a current rotation of the end effector, the instrument depth range, an indicator representing the current depth of the end effector within the instrument depth range, and the input device depth range;
receive an enablement signal including an active state and an inactive state, the active state permitting movement of the surgical instrument in response to input signals generated by movement of a hand controller and the inactive state locking the surgical instrument in a current spatial position and inhibiting movement of the surgical instrument to facilitate repositioning of the hand controller within the input device workspace;
cause the display to display a current hand controller rotation indicator as an offset from the indicator representing a current rotation of the end effector in response to the enablement signal transitioning from the active state to the inactive state; and
cause the display to discontinue displaying the current hand controller rotation indicator in response to the enablement signal transitioning from the inactive state to the active state,
wherein the display continues to display the graphical depiction of the surgical workspace.