Auxiliary image display and manipulation on a computer display in a medical robotic system

Abstract

A medical system comprises a control system and a display device coupled to the control system. The control system comprises a processor and a memory comprising machine readable instructions that, when executed by the processor, cause the control system to generate a primary image of an anatomic structure and manipulate a therapeutic instrument to deliver a therapy to the anatomic structure. The control system also determines an effect of the therapy on the anatomic structure and displays a representation of the effect of the therapy in an auxiliary image registered with the primary image of the anatomic structure.

1 - 20 . (canceled) 
     
     
         21 . A medical system comprising:
 a control system; and   a display device coupled to the control system,   
       wherein the control system comprises:
 a processor; and 
 a memory comprising machine readable instructions that, when executed by the processor, cause the control system to: 
 generate a primary image of an anatomic structure; 
 manipulate a therapeutic instrument to deliver a therapy to the anatomic structure; 
 determine an effect of the therapy on the anatomic structure; and 
 display, on the display device, a representation of the effect of the therapy in an auxiliary image registered with the primary image of the anatomic structure. 
 
     
     
         22 . The medical system of  claim 21 , wherein the representation of the effect of the therapy is generated by a computer model. 
     
     
         23 . The medical system of  claim 22 , wherein the computer model includes a volumetric shape determined by at least one factor. 
     
     
         24 . The medical system of  claim 23 , wherein the at least one factor determining the volumetric shape is a geometry of a tip of the therapeutic instrument. 
     
     
         25 . The medical system of  claim 23 , wherein the at least one factor determining the volumetric shape is a heat level applied to the anatomic structure by the therapeutic instrument. 
     
     
         26 . The medical system of  claim 23 , wherein the at least one factor determining the volumetric shape is an energy level applied to the anatomic structure by the therapeutic instrument. 
     
     
         27 . The medical system of  claim 23 , wherein the at least one factor determining the volumetric shape is a feature of surrounding tissue that at least partially surrounds the anatomic structure. 
     
     
         28 . The medical system of  claim 21 , wherein the representation of the effect of the therapy is generated by a sensing device. 
     
     
         29 . The medical system of  claim 28 , wherein the sensing device includes an ultrasound probe. 
     
     
         30 . The medical system of  claim 28 , wherein the sensing device includes a fluoroscopic imaging device. 
     
     
         31 . The medical system of  claim 21 , wherein displaying a representation of the effect of the therapy registered with the primary image of the anatomic structure includes displayed the representation as an overlay on the primary image. 
     
     
         32 . The medical system of  claim 22 , further comprising tracking movement of the therapeutic instrument, wherein the auxiliary image includes a representation of the therapeutic instrument generated from the tracked movement of the therapeutic instrument. 
     
     
         33 . A method comprising:
 generate a primary image of an anatomic structure;   manipulate a therapeutic instrument to deliver a therapy to the anatomic structure;   determine an effect of the therapy on the anatomic structure; and   display, on a display device, a representation of the effect of the therapy in an auxiliary image registered with the primary image of the anatomic structure.   
     
     
         34 . The method of  claim 33 , wherein the representation of the effect of the therapy is generated by a computer model. 
     
     
         35 . The method of  claim 34 , wherein the computer model includes a volumetric shape determined by at least one factor. 
     
     
         36 . The method of  claim 35 , wherein the at least one factor determining the volumetric shape is a geometry of a tip of the therapeutic instrument. 
     
     
         37 . The method of  claim 35 , wherein the at least one factor determining the volumetric shape is a heat level applied to the anatomic structure by the therapeutic instrument. 
     
     
         38 . The method of  claim 35 , wherein the at least one factor determining the volumetric shape is an energy level applied to the anatomic structure by the therapeutic instrument. 
     
     
         39 . The method of  claim 35 , wherein the at least one factor determining the volumetric shape is a feature of surrounding tissue that at least partially surrounds the anatomic structure. 
     
     
         40 . The method of  claim 33 , wherein the representation of the effect of the therapy is generated by a sensing device.