A method for maintaining surgical instruments in a robotic surgical system within the field of view of an observation system during their movement control, and related robotic surgical systems

Abstract

This document describes methods for controlling medical robotic systems or surgical remote operations. A robotic system to which the method is applied comprises at least one surgical instrument 170 adapted to operate remotely, and further comprises observation means 120, 130 configured to display images and / or videos of at least one observation space related to the remote operation area in which the surgical instrument 170 operates to an operator 150. The method first includes the step of determining whether the position of the surgical instrument 170 is within an acceptable space correlated with a first observation space FOV1, which is used as the current observation space for remote operation, and the current image with respect to this is provided to the operator. The method then includes a further step of automatically providing by the observation means a second image that has a larger surface or field of view than the aforementioned first observation space FOV1 and includes or partially includes the aforementioned first observation space FOV1, if it is determined that the aforementioned position of the surgical instrument 170 is not within the aforementioned acceptable space corresponding to the first observation space FOV1. The second image comprises a combination and / or superposition of the aforementioned second observation space FOV2 and the first observation space FOV1, and / or a switch from the aforementioned first observation space FOV1 to the aforementioned second observation space FOV2, such switching is performed by controlling the optical and / or digital parameters of the observation means 120, 130 without mechanical action. A robotic system for medical or surgical remote operation, adapted to be controlled by the aforementioned control method, is further described.

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