COORDINATED MOVEMENTS OF ROBOTIC TOOLS

Abstract

Provided is a robotic medical system and related methods for performing coordinated movements of robotic tools inserted within a patient through multiple separate ports and maintaining remote centers of motion during the coordinated movements. In a first control mode, a first robotic tool is moved (e.g., a camera) using a first controller and multiple robotic tools are automatically moved in coordinated movements with the first robotic tool. In a second control mode, a robotic camera is controlled using a first controller and multiple robotic tools are automatically moved in coordinated movements to stay within a field of view of the robotic camera. In a third control mode, multiple robotic tools are moved in automatic coordinated movements using a first controller and a robotic camera is controlled using a second controller.

CPC Classifications