Display Monitor Control of a Telesurgical Tool

Abstract

A robotic system includes a robotic arm configured to support an image capture device, the image capture device configured to capture source video of a field of view of the image capture device. The robotic system further includes a display device, and a processor communicatively coupled to the robotic arm and the display device. The processor is configured to render, on the display device, a first spatial subset of the source video, the first spatial subset corresponding to a first region of the field of view, and in response to a control signal to change the rendering: cause the robotic arm to move the image capture device and change the field of view captured by the source video, and render, on the display device, a second spatial subset of the source video, the second spatial subset corresponding to a second region of the field of view.

1 - 20 . (canceled) 
     
     
         21 . A robotic system comprising:
 a robotic arm configured to support an image capture device, the image capture device configured to capture source video of a field of view of the image capture device;   a display device; and   a processor communicatively coupled to the robotic arm and the display device, wherein the processor is configured to:
 render, on the display device, a first spatial subset of the source video, the first spatial subset corresponding to a first region of the field of view, and 
 in response to a control signal to change the rendering:
 cause the robotic arm to move the image capture device and change the field of view captured by the source video, and 
 render, on the display device, a second spatial subset of the source video, the second spatial subset corresponding to a second region of the field of view. 
 
   
     
     
         22 . The robotic system of  claim 21 , wherein causing the robotic arm to move the image capture device occurs concurrently with rendering the second spatial subset on the display device. 
     
     
         23 . The robotic system of  claim 21 , wherein the processor is configured to change the rendering in response to the control signal by determining that the control signal is to change the rendering with:
 image data exceeding the source video capturable by the image capture device without movement of the image capture device; or   a zoom level exceeding a predetermined limit.   
     
     
         24 . The robotic system of  claim 21 , wherein the processor is configured to render the first spatial subset by: digitally zooming a subset of the first spatial subset in a linear manner, and digitally zooming another subset of the first spatial subset in a nonlinear manner. 
     
     
         25 . The robotic system of  claim 21 , wherein:
 causing the robotic arm to move the image capture device moves the source video in a first direction;   the second spatial subset is in a second direction relative to the first spatial subset; and   the first direction is opposite to the second direction.   
     
     
         26 . The robotic system of  claim 21 , wherein:
 the control signal comprises a panning control signal;   causing the robotic arm to move the image capture device causes mechanical panning; and   rendering the second spatial subset causes digital panning.   
     
     
         27 . The robotic system of  claim 21 , wherein:
 the control signal comprises a rotation control signal;   causing the robotic arm to move the image capture device causes mechanical rotation; and   rendering the second spatial subset causes digital rotation.   
     
     
         28 . The robotic system of  claim 21 , wherein:
 the control signal comprises a zooming control signal;   causing the robotic arm to move the image capture device causes mechanical zooming; and   rendering the second spatial subset causes digital zooming.   
     
     
         29 . The robotic system of  claim 21 , wherein the processor is further configured to, in response to a second control signal to change the rendering:
 render, on the display device, a third spatial subset of the source video while causing the robotic arm to maintain the image capture device, the third spatial subset corresponding to a third region of the field of view.   
     
     
         30 . The robotic system of  claim 21 , wherein:
 causing the robotic arm to move the image capture device comprises: moving the image capture device in accordance with a first deviation indicated by the control signal; and   rendering the second spatial subset comprises: defining the second spatial subset in accordance with a second deviation indicated by the control signal.   
     
     
         31 . The robotic system of  claim 30 , wherein:
 the first deviation is larger than the second deviation; or   the first deviation is slower than the second deviation.   
     
     
         32 . The robotic system of  claim 31 , wherein:
 the source video of the field of view is of a site containing a plurality of robotic tools; and   the processor is further configured to determine the control signal based on position information of the plurality of robotic tools.   
     
     
         33 . The robotic system if  claim 21 , wherein the processor is further configured to determine the control signal based on at least one operator input selected from group consisting of:
 an input to a hand control device by an operator;   a movement of a head of the operator;   a voice command of the operator; and   a gaze of the operator.   
     
     
         34 . The robotic system of  claim 21 , wherein the source video of the field of view is of a site, and wherein the processor is further configured to:
 determine a desired depth of view based on motion of a plurality of robotic tools in the site or based on a gaze of an operator of the robotic system; and   determine the control signal based on the desired depth.   
     
     
         35 . A method of operating a robotic system, the robotic system comprising a robotic arm configured to support an image capture device, a display device, and a processor, the method comprising:
 rendering, on the display device, a first spatial subset of a source video captured by the image capture device, the source video being of a field of view of the image capture device, the first spatial subset corresponding to a first region of the field of view; and   in response to a control signal to change the rendering, changing the rendering by:
 causing the robotic arm to move the image capture device and change the field of view captured by the source video, and 
 rendering, on the display device, a second spatial subset of the source video, the second spatial subset corresponding to a second region of the field of view. 
   
     
     
         36 . The method of  claim 35 , wherein changing the rendering in response to the control signal comprises:
 determining that the control signal is to change the rendering with image data exceeding the source video capturable by the image captured device without movement of the image capture device; or   determining that the control signal is to change the rendering with a zoom level exceeding a predetermined limit.   
     
     
         37 . The method of  claim 35 , wherein:
 causing the robotic arm to move the image capture device moves the source video in a first direction;   the second spatial subset is in a second direction relative to the first spatial subset; and   the first direction is opposite to the second direction.   
     
     
         38 . The method of  claim 35 , wherein:
 the control signal comprises a panning, rotation, or zooming control signal;   causing the robotic arm to move the image capture device causes mechanical panning, mechanical rotation, or mechanical zooming; and   rendering the second spatial subset causes digital panning, digital rotation, or digital zooming.   
     
     
         39 . The method of  claim 35 , wherein:
 causing the robotic arm to move the image capture device comprises: moving the image capture device in accordance with a first deviation indicated by the control signal; and   rendering the second spatial subset comprises: defining the second spatial subset in accordance with a second deviation indicated by the control signal, wherein the first deviation is larger or slower than the second deviation.   
     
     
         40 . The method of  claim 35 , wherein the source video of the field of view is of a site containing a plurality of robotic tools, the method further comprising:
 determining the control signal based on position information of the plurality of robotic tools.   
     
     
         41 . The method of  claim 35 , wherein the source video of the field of view is of a site, the method further comprising:
 determining a desired depth of view based on motion of a plurality of robotic tools in the site or based on a gaze of an operator of the system; and   determining the control signal based on the desired depth.   
     
     
         42 . A non-transitory processor-readable medium comprising a plurality of machine-readable instructions which when executed by one or more associated processors of a robotic system, the robotic system comprising a robotic arm configured to support an image capture device, a display device, are adapted to cause the one or more processors to perform a method comprising:
 rendering, on the display device, a first spatial subset of a source video captured by the image capture device, the source video being of a field of view of the image capture device, the first spatial subset corresponding to a first region of the field of view; and   in response to a control signal to change the rendering, changing the rendering by:
 causing the robotic arm to move the image capture device and change the field of view captured by the source video, and 
 rendering, on the display device, a second spatial subset of the source video, the second spatial subset corresponding to a second region of the field of view. 
   
     
     
         43 . The non-transitory processor-readable medium of  claim 42 , wherein changing the rendering in response to the control signal comprises:
 determining that the control signal is to change the rendering with image data exceeding the source video capturable by the image captured device without movement of the image capture device; or   determining that the control signal is to change the rendering with a zoom level exceeding a predetermined limit.   
     
     
         44 . The non-transitory processor-readable medium of  claim 42 , wherein:
 causing the robotic arm to move the image capture device comprises: moving the image capture device in accordance with a first deviation indicated by the control signal; and   rendering the second spatial subset comprises: defining the second spatial subset in accordance with a second deviation indicated by the control signal, wherein the first deviation is larger or slower than the second deviation.