Methods of using an angled endoscope for visualizing a body cavity with robotic surgical systems

Abstract

A method of visualizing a body cavity during a surgical procedure including positioning an elongated body of an angled endoscope in a first position within a body cavity of a patient, rotating the elongated body about a longitudinal axis in response to a command point, capturing a plurality of images with an image capture device positioned within the elongated body as the elongated body is rotated, and generating a panoramic view of the body cavity from the plurality of images. In the first position of the elongated body, a surgical site is within a field of view of the image capture device. The field of view of the image capture device capturing a first volume of the body cavity, including the surgical site, when the angled endoscope is in the first position.

1 - 20 . (canceled) 
     
     
         21 . A method of visualizing a body cavity during a surgical procedure, the method comprising:
 positioning an elongated body of an angled endoscope in a first position within a body cavity of a patient such that a surgical site and an end effector of a surgical instrument are within a field of view of an image capture device positioned in a distal end portion of the elongated body;   capturing a first plurality of images with the image capture device in the first position;   translating the elongated body of the angled endoscope from the first position to a second position within the body cavity in response to a command point;   rotating the elongated body about a longitudinal axis thereof in the second position;   capturing a second plurality of images with the image capture device in the second position as the elongated body is rotated; and   generating a panoramic view of the body cavity from the second plurality of images.   
     
     
         22 . The method according to  claim 21 , wherein the end effector is not within the field of view in the second position. 
     
     
         23 . The method according to  claim 21 , further comprising:
 generating the command point when the end effector is not within the field of view.   
     
     
         24 . The method according to  claim 23 , further comprising swapping the end effector with a second end effector when the end effector is not within the field of view. 
     
     
         25 . The method according to  claim 23 , further comprising introducing another surgical instrument to the surgical site when the surgical instrument is not within the field of view. 
     
     
         26 . The method according to  claim 21 , further comprising:
 returning the elongated body to the first position after the panoramic view of the body cavity has been generated from the plurality of images.   
     
     
         27 . The method according to  claim 21 , wherein the elongated body is pivoted at a pivot point and pivotable about a pitch axis orthogonal to the longitudinal axis. 
     
     
         28 . The method according to  claim 27 , wherein the elongated body is pivotable about a yaw axis that is orthogonal to the pitch axis and the longitudinal axis, and
 wherein the pitch, longitudinal, and yaw axes intersect at the pivot point.   
     
     
         29 . The method according to  claim 21 , wherein the panoramic view of the body cavity is panned or zoomed. 
     
     
         30 . A surgical system comprising:
 a surgical instrument;   an end effector configured to act on tissue at a surgical site; and   an endoscope having an elongated body, configured to be positioned in a first position within a body cavity of a patient such that the surgical site and the end effector are within a field of view of an image capture device positioned in a distal end portion of the elongated body, and configured to capture a first plurality of images of the body cavity by the image capture device in the first position,   wherein the elongated body of the endoscope is translated from the first position to a second position and rotated about a longitudinal axis thereof in the second position within the body cavity in response to a command point,   wherein the image capture device captures a second plurality of images in the second position as the elongated body is rotated, and   wherein the surgical system generates a panoramic view from the second plurality of images.   
     
     
         31 . The surgical system according to  claim 30 , wherein the end effector is not within the field of view in the second position. 
     
     
         32 . The surgical system according to  claim 30 , wherein the command point is generated when the end effector is not within the field of view. 
     
     
         33 . The surgical system according to  claim 32 , wherein the end effector is not within the field of view when the end effector is swapped with a second end effector. 
     
     
         34 . The surgical system according to  claim 32 , wherein the surgical instrument is not within the field of view when another surgical instrument is introduced to the surgical site. 
     
     
         35 . The surgical system according to  claim 30 , wherein the elongated body is returned to the first position after the panoramic view of the body cavity has been generated from the second plurality of images. 
     
     
         36 . The surgical system according to  claim 30 , wherein the elongated body includes a pivot point and pivotable about a pitch axis orthogonal to the longitudinal axis. 
     
     
         37 . The surgical system according to  claim 36 , wherein the elongated body is pivotable about a yaw axis that is orthogonal to the pitch axis and the longitudinal axis, and
 wherein the pitch, longitudinal, and yaw axes intersect at the pivot point.   
     
     
         38 . The surgical system according to  claim 30 , further comprising a user interface including a wearable display configured to display the panoramic view such that movement of the wearable display updates a view of a clinician of the panoramic view. 
     
     
         39 . The surgical system according to  claim 30 , wherein the panoramic view of the body cavity is panned or zoomed. 
     
     
         40 . A robotic surgical system comprising:
 a first linkage connected with an end effector;   a second linkage connected with an endoscope having an elongated body, the endoscope being configured to act on tissue of a patient at a surgical site within a body cavity of a patient such that the surgical site and the end effector are within a field of view of an image capture device positioned in a distal end portion of the elongated body and configured to capture a first plurality of images of the body cavity by the image capture device in the first position; and   a robot base providing a base for the first and second linkages,   wherein the elongated body of the endoscope is translated from the first position to a second position and rotated about a longitudinal axis thereof in the second position within the body cavity in response to a command point,   wherein the image capture device captures a second plurality of images in the second position as the elongated body is rotated, and   wherein the system generates a panoramic view from the second plurality of images.