SYSTÈME ROBOTIQUE MÉDICAL FOURNISSANT DES VUES AUXILIAIRES GÉNÉRÉES PAR ORDINATEUR D UN INSTRUMENT DE TYPE CAMÉRA POUR COMMANDER LE POSITIONNEMENT ET L ORIENTATION DE LA POINTE DE CELUI-CI
A medical robotic system includes an entry guide (200) with surgical tools (231, 241) and a camera (211) extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen (140) from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.
