An endoscope captures images of a Surgical site for display in a viewing area of a monitor.
When a tool is outside the viewing area, a GUI indicates the position of the tool by …

A medical robotic system includes articulated instruments extending out of a distal end of an
entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the …

In a coupled control mode, the Surgeon directly controls movement of an associated slave
manipulator with an input device while indirectly controlling movement of one or more non …

(57) ABSTRACT A medical robotic system includes an entry guide with surgical tools and a
camera extending out of its distal end. To supplement the view provided by an image …

34/20 (2016. 02); A61B 34/25 (2016. 02); A61B 90/361 (2016. 02); A61B 2034/2061 (2016.
02); A61B 2090/371 (2016. 02); G05B 2219/36432 (2013. 01); G05B 2219/39083 (2013 …

An operator telerobotically controls tools to perform a procedure on an object at a work site
while viewing real-time images of the work site on a display. Tool information is provided in …

(57) ABSTRACT A medical robotic system includes an entry guide with Surgical tools and a
camera extending out of its distal end. To Supplement the view provided by an image …

5,299,288 A 3/1994 Glassman et al. continuation-in-part of application No. 09/457.406,
5,313,306 A 5/1994 Kuban et al. filed on Dec. 7, 1999, now Pat. No. 6,799,065, appli …

Collisions between a minimally invasive surgical instrument and patient tissue are
prevented in various ways. In one aspect a body cavity is mapped by recording positions of …

US9901408B2 - Preventing instrument/tissue collisions - Google Patents US9901408B2 -
Preventing instrument/tissue collisions - Google Patents Preventing instrument/tissue collisions …