WO2025199115A1 - Système et procédé de téléopération basés sur un dispositif d'entrée et à commande de position de dispositif d'entrée - Google Patents

Système et procédé de téléopération basés sur un dispositif d'entrée et à commande de position de dispositif d'entrée

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Publication number
WO2025199115A1
WO2025199115A1 PCT/US2025/020389 US2025020389W WO2025199115A1 WO 2025199115 A1 WO2025199115 A1 WO 2025199115A1 US 2025020389 W US2025020389 W US 2025020389W WO 2025199115 A1 WO2025199115 A1 WO 2025199115A1
Authority
WO
WIPO (PCT)
Prior art keywords
input device
instrument
freedom
dof
grip
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2025/020389
Other languages
English (en)
Inventor
Hsien-Hsin LIAO
Varun Agrawal
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of WO2025199115A1 publication Critical patent/WO2025199115A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40359—Constraint, physical limitations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Definitions

  • a computer-assisted system may include a manipulator system that may include one or more manipulator arms to manipulate instruments for performing the task.
  • Example computer-assisted systems include industrial and recreational manipulator systems.
  • Example computer-assisted systems also include medical manipulator systems used in procedures for diagnosis, non-surgical treatment, surgical treatment, etc.
  • Some computer-assisted systems include user input systems, each user input system comprising one or more input devices. These input devices allow users to command and control movement of various aspects of the computer-assisted systems, such as manipulator systems. Generally, operation of a hand-based input device by a user is performed through contact and manipulation of the input device by a hand of the user.
  • the input devices can control functions of various types of mechanisms and instruments.
  • Examples include instruments supported by computer-assisted systems that are articulated to perform various procedures.
  • a computer-assisted system can use various types of medical instruments to perform minimally invasive surgical procedures, where the medical instruments are teleoperated by a user manipulating the control input devices.
  • embodiments disclosed herein relate to a computer-assisted system comprising including an input device configured to be manipulated by a user, one or more actuators to drive the input device, and a manipulator system.
  • the input device is actuatable, using the one or more actuators, in one or more degrees of freedom.
  • the manipulator system is configured to support one or more instruments.
  • the system further includes a control system communicatively coupled to the input device and the manipulator system.
  • the control system is configured to determine an instrument type of an instrument supported by the manipulator system; determine, based at least in part on the instrument type of the instrument, a first configuration for the input device; and cause the one or more actuators to drive the input device to its first configuration.
  • a first element is distinct from a second element, and the first element may encompass more than one element and succeed (or precede) the second element in an ordering of elements.
  • This disclosure describes various devices, elements, and portions of computer- assisted systems and elements in terms of their state in three-dimensional space.
  • position refers to the location of an element or a portion of an element (e.g., three degrees of translational freedom in a three-dimensional space, such as along Cartesian x-, y-, and z-coordinates).
  • a velocity of the pose captures the change in pose over time (e.g., a first derivative of the pose).
  • the velocity would include 3 translational velocities and 3 rotational velocities.
  • Poses with other numbers of DOFs would have a corresponding number of velocities translational and/or rotational velocities.
  • aspects of this disclosure are described in terms of an implementation using a teleoperated surgical system, such as the da Vinci® Surgical System commercialized by Intuitive Surgical, Inc. of Sunnyvale, California.
  • a teleoperated surgical system such as the da Vinci® Surgical System commercialized by Intuitive Surgical, Inc. of Sunnyvale, California.
  • inventive aspects disclosed herein may be embodied and implemented in various ways, including teleoperated and non- teleoperated, and medical and non-medical embodiments and implementations.
  • Implementations on da Vinci® Surgical Systems are merely exemplary and are not to be considered as limiting the scope of the inventive aspects disclosed herein.
  • techniques described with reference to surgical instruments and surgical methods may be used in other contexts.
  • the instruments, systems, and methods described herein may be used for humans, animals, portions of human or animal anatomy, industrial systems, general robotic, or teleoperated systems.
  • the instruments, systems, and methods described herein may be used for non-medical purposes including industrial uses, general robotic uses, sensing or manipulating non-tissue work pieces, cosmetic improvements, imaging of human or animal anatomy, gathering data from human or animal anatomy, setting up or taking down systems, training medical or non-medical personnel, and/or the like.
  • Additional example applications include use for procedures on tissue removed from human or animal anatomies (with or without return to a human or animal anatomy) and for procedures on human or animal cadavers. Further, these techniques can also be used for medical treatment or diagnosis procedures that include, or do not include, surgical aspects.
  • FIG.1 depicts an overhead view of an example computer- assisted system (100) as a medical system, in accordance with one or more embodiments.
  • FIG.1 shows computer-assisted system (100) as a medical system, the following description is applicable to other scenarios and systems, e.g., medical scenarios or systems that are non-surgical, non-medical scenarios or computer-assisted systems, etc.
  • a diagnostic or therapeutic medical procedure is performed on a patient (190) on an operating table (110).
  • the computer-assisted system (100) may include a manipulator system (130) (e.g., a patient-side robotic device in a medical example).
  • the manipulator system (130) may include at least one manipulator arm (150A, 150B, 150C, 150D), each of which may support a removably coupled instrument (160) (also called tool (160)).
  • a manipulator assembly may be said to include a manipulator arm (150A, 150B, 150C, 150D) and an instrument (160).
  • instruments (160) not attached to a manipulator arm are depicted on an auxiliary table or cart.
  • the instrument (160) may enter the workspace through an entry location (e.g., enter the body of the patient (190) through a natural orifice such as the throat or anus, or through an incision), while an operator (192) (e.g., a clinician such as a surgeon) views the worksite (e.g., a surgical site in the surgical scenario) through a user input system (“input system”) (120).
  • the manipulator system may include a common proximal repositionable structure and one or more distal repositionable structures attached to the proximal repositionable structure. And the one or more distal repositionable structures may each be configured to support one or more instruments.
  • each distal repositionable structure may include a prismatic joint, that when driven, linearly moves an instrument carriage and any instrument(s) coupled to the carriage along an insertion axis.
  • the repositionable structure may include a single instrument manipulator and no serial coupling of manipulators.
  • the repositionable structure may include a single instrument manipulator coupled to a single base manipulator.
  • the computer-assisted system may include a moveable-base that is cart- mounted or mounted to an operating table, and one or multiple manipulators mounted to the moveable base.
  • An image of the worksite may be obtained by an imaging instrument (160) comprising an imaging device (e.g., an endoscope, an optical camera, an ultrasonic probe, etc. in a medical example).
  • the imaging instrument (160) can be used for imaging the worksite, and may be manipulated by one of manipulator arms (150A, 150B, 150C, 150D) of the manipulator system (130) so as to position and orient the imaging instrument (160).
  • the auxiliary system (140) may process the captured images in a variety of ways prior to any subsequent display. For example, the auxiliary system (140) may overlay the captured images with a virtual control interface prior to displaying the combined images to the operator via the input system (120) or other display systems located locally or remotely from the procedure.
  • One or more separate displays may also be coupled with a control system and/or the auxiliary system (140) for local and/or remote display of images, such as images of the procedure site, or other related images.
  • the number of instruments (160) used at one time generally depends on the task and space constraints, among other factors. If it is appropriate to change, clean, inspect, or reload one or more of the instruments (160) being used during a procedure, an assistant (194A, 194B, 194C) may remove the instrument (160) from the manipulator arm (150A, 150B, 150C, 150D), and replace it with the same instrument (160) or another instrument (160).
  • FIG.2 is a block diagram (200) depicting select components of a computer-assisted system (100), such as the medical system of FIG.1, and their relationships and interactions.
  • a computer-assisted system (100) such as the medical system of FIG.1, and their relationships and interactions.
  • the illustration, partitioning, organization, and interaction of the components and/or modules of the computer-assisted system (100) in the block diagram (200) of FIG.2 is intended to promote clear discussion and should not be considered fixed or limiting.
  • FIG.2 depicts a display (244) as an independent entity; however, it is well understood that in practice the display (244) may be implemented as part of, for example, the auxiliary system (140).
  • the computer-assisted system (100) may include a control system (242).
  • the control system (242) may be used to process input provided by the user input system (120) from an operator (192), such as to control the computer-assisted system (100) (e.g., direct movement of the manipulator arm (150A, 150B, 150C, 150D)).
  • the control system (242) may also be used to process signals from other devices, from sensors, from any networks to which the control system (242) connects, etc.
  • Example sensors include those associated with actuators or joints of the computer-assisted system, such as motor encoders, rotary or linear joint encoders, torque sensors, current sensors, accelerometers, force sensors, inertial measurement units, optical or ultrasonic sensors or imagers, RF sensors, etc.
  • the computer-assisted system may be said to include one or more actuators to drive an input device of the input system.
  • the control system (242) may further be used to provide an output, e.g., a video image for display by the display (244).
  • the control system (242) may further be used to control the manipulator system (130).
  • the control system (242) may include one or more computer processors, non- persistent storage (e.g., volatile memory, such as random access memory (RAM), cache memory), persistent storage (e.g., a hard disk, an optical drive such as a compact disk (CD) drive or digital versatile disk (DVD) drive, a flash memory, etc.), a communication interface (e.g., Bluetooth interface, infrared interface, network interface, optical interface, etc.), and numerous other elements and functionalities.
  • non- persistent storage e.g., volatile memory, such as random access memory (RAM), cache memory
  • persistent storage e.g., a hard disk, an optical drive such as a compact disk (CD) drive or digital versatile disk (DVD) drive, a flash memory, etc.
  • a communication interface e.g., Bluetooth interface, infrared interface, network interface, optical interface, etc.
  • a computer processor of the control system (242) may be part or all of an integrated circuit for processing instructions.
  • the computer processor may be one or more core
  • control system (242) may communicate with one or more output devices, such as a display device (244) (e.g., a liquid crystal display (LCD), a plasma display, touchscreen, organic LED display (OLED), projector, or other display device), a printer, a speaker, external storage, or any other output device.
  • a display device e.g., a liquid crystal display (LCD), a plasma display, touchscreen, organic LED display (OLED), projector, or other display device
  • printer e.g., a printer, a speaker, external storage, or any other output device.
  • a control system may be connected to or be a part of a network.
  • the network may include multiple nodes. Each node may correspond to a computing system, or a group of nodes.
  • embodiments of the disclosure may be implemented on a node of a distributed system that is connected to other nodes.
  • embodiments of the invention may be implemented on a distributed computing system having multiple nodes, where each portion of the disclosure may be located on a different node within the distributed computing system.
  • one or more elements of the aforementioned control system (242) may be located at a remote location and connected to the other elements over a network.
  • the computer-assisted system (100) may include a manipulator system (130) (e.g., a patient-side robotic device in a medical example).
  • the manipulator system (130) may include at least one manipulator arm (150A, 150B, 150C, 150D), each of which may support a removably coupled instrument (160) (also called tool (160)).
  • a manipulator assembly may be said to include a manipulator arm (e.g., 150A, 150B, 150C, 150D) and an instrument (160), where, as described above, the manipulator arm generally supports the instrument (160) extending distally from the manipulator arm, and effects movements of the instrument (160).
  • an instrument (160) may be positioned and manipulated through an entry location, so that a kinematic remote center is maintained at the entry location.
  • Images of the worksite, taken by an imaging device of an imaging instrument such as an optical camera, may include images of the distal ends of the instruments (160) when the instruments (160) are positioned within the field-of-view of an imaging device.
  • a distal instrument holder facilitates removal and replacement of the mounted instrument.
  • a manipulator arm e.g., 150A, 150B, 150C, 150D
  • a base of the manipulator system (130) is proximally mounted to the manipulator system (130), or a base of the manipulator system (130).
  • manipulator arms or manipulator assemblies may be mounted to separate bases that may be independently movable, e.g., by the manipulator arms or manipulator assemblies being mounted to single-manipulator-arm carts, being provided with mounting clamps that allow mounting of the manipulator arms directly or indirectly to the operating table at various locations, etc.
  • An example manipulator arm includes a plurality of links and joints extending between the proximal base and the distal instrument holder.
  • a manipulator arm includes multiple joints (e.g., revolute joints, prismatic joints, etc.) and links. The joints of the manipulator arm, in combination, may or may not have redundant degrees of freedom.
  • a variety of instruments (160) may be used, or made available for use, with a computer-assisted system (100) (e.g., manipulated by a manipulator arm). Further, at least some of the instruments (160) may be removed and replaced during a procedure enacted by or with the computer-assisted system (100). In some instances, instruments are specified according to their distal portion, known as an end effector. In surgical scenarios, end effectors may include, but are not limited to, clip appliers, needle drivers, suction and/or irrigation tools, graspers, scissors, staplers, scalpels, endoscopes, and energy-emitting devices (e.g., electrocautery or ablation instruments).
  • end effectors may include, but are not limited to, clip appliers, needle drivers, suction and/or irrigation tools, graspers, scissors, staplers, scalpels, endoscopes, and energy-emitting devices (e.g., electrocautery or ablation instruments).
  • instruments (160) are categorized according to an instrument type of the instrument. In one or more implementations, and as will be described later in the instant disclosure, an instrument is classified as a given type based on how a so-called grip degree of freedom (DOF) of an input device (i.e., an input device grip DOF) is mapped to, or otherwise used to control, an aspect of the instrument.
  • DOF grip degree of freedom
  • an instrument may have an instrument grip DOF, in which cases manipulation of an input device grip DOF may correspond to, map to, or otherwise causes movement of the instrument along the instrument grip DOF.
  • an instrument can provide a function such as suction, irrigation, applying a surgical clip, and the like.
  • the state or activation of the function provided by the instrument can be selected using a degree of freedom of the input device (e.g., input device grip DOF).
  • a degree of freedom of the input device e.g., input device grip DOF
  • an instrument (160) is releasably mounted on an instrument holder.
  • the instrument holder may translate along a linear guide formed by, for example, a prismatic joint and a distal link.
  • the instrument holder may provide in/out movement of the instrument (160) along an insertion axis.
  • the distal link may further support a cannula through which the instrument shaft of the instrument (160) extends.
  • the cannula may be mechanically supported by another component of the manipulator arm or may not be supported at all.
  • an elongate shaft of an instrument (160) can allow an end effector of an instrument to be inserted into a surgical worksite through a minimally invasive aperture (e.g., an abdominal wall).
  • the surgical worksite may be insufflated.
  • Actuation of the instrument (160) in one or more degrees may be provided by actuators of the manipulator assembly.
  • actuators may be integrated in the instrument holder, or drive drivetrains in the instrument holder, and may actuate the instrument (160) via a transmission assembly.
  • movement of the end effectors within a worksite is often realized, at least in part, by pivoting the instrument (160) about a specified location, or kinematic remote center (e.g., where the instrument (160) enters an aperture).
  • manipulator arms e.g., 150A, 150B, 150C, 150D
  • FIG.3 shows an example of an instrument (160).
  • the wrist assembly (320) can provide pitch and yaw degrees of freedom.
  • the wrist assembly (320) provides a single degree of freedom wrist (e.g., pitch or jaw).
  • the wrist assembly (320) does not provide a degree of freedom or is not included as part of the instrument (160).
  • An end effector (340) can be located at the distal end (302) of the shaft (310). In some implementations, the end effector (340) is considered part of the wrist assembly (320).
  • Some end effectors (340) can provide for one or more additional degrees of freedom, such as an instrument grip degree of freedom (DOF), where here “instrument grip DOF” is used to distinguish this degree of freedom from a corresponding input device grip DOF as will be described later in the instant disclosure.
  • the housing portion (330) may include mechanisms such as rotatable capstans to control tension members extending through the shaft to actuate the wrist assembly (320) and/or end effector (340).
  • an instrument holder (not shown) of a manipulator arm (e.g., 150A, 150B, 150C, 150D) coupled to the instrument (160) may include actuatable disks (e.g., motorized) that couple with capstans of the housing portion (330) to manipulate the wrist assembly (320) and/or end effector (340) by “taking in” or “spooling out” the tension members.
  • FIGS.4A, 4B, 4C, and 4D each depict a distal end (302) of an instrument (160) including a wrist assembly (320) and an end effector (340).
  • FIG.4A illustrates a first example end effector (440A) coupled to a shaft (310) though a wrist assembly (320).
  • the wrist assembly (320) includes a proximal clevis (420) mounted on the distal end of the instrument shaft (310), a distal clevis (430) rotatably mounted on the proximal clevis (420).
  • the first example end effector (440A) includes a movable pair of jaws (442, 444) mounted to the distal clevis (430).
  • a first pin in the proximal clevis (420) attaches the distal clevis (430) to the proximal clevis (420) and allows the distal clevis (430) to rotate about a first pivot axis (422). Similar to the roll DOF, discussed above, the first pivot axis (422) can define a first pivot degree of freedom (DOF) (425) of the wrist assembly (320). Similarly, a second pin in the distal clevis (430) attaches the jaws (442, 444) to the distal clevis (430) and allows the end effector as a whole (340A) to rotate about a second pivot axis (432).
  • DOF first pivot degree of freedom
  • the jaws (442, 444) can also pivot about the second pivot axis (432), either in coordination with each other or the end effector as a whole (340A) or individually.
  • the second pivot axis (432) can define a second pivot DOF (435) of the wrist assembly (320).
  • the second pivot axis (432) is perpendicular to the first pivot axis (422).
  • one of the first DOF (425) and the second DOF (435) of the wrist assembly (320) is referred to as the “pitch” DOF and the other is referred to as the “yaw” DOF.
  • the first pivot DOF (425) and the second pivot DOF (435) can provide pitch and yaw degrees of freedom for manipulating an end effector (340).
  • the pair of jaws (442, 444) includes a first jaw (442) and a second jaw (444). Further, as illustrated, the first jaw (442) and the second jaw (444) have a surface for gripping such that these jaws may be used, for example, in forceps or cautery applications.
  • a degree of freedom is usually defined by a geometric axis or plane.
  • a DOF can be associated with one or more DOF variables, where a DOF variable can assume a value with respect to a given datum.
  • Each DOF variable can have its own datum and a datum can provide a fixed or relative frame of reference.
  • a DOF also has a range of motion (ROM), where ROM defines the domain of values that can be assumed by the DOF variable of the DOF. That is, for a given DOF with one DOF variable, the ROM of the DOF specifies bounds for the DOF variable.
  • the “pose” of the kinematic series can be specified with the values of the DOF variables of its encompassing degrees of freedom.
  • the “pose” of a kinematic series such as a manipulator assembly (i.e., manipulator arm and instrument) can be defined by the position and orientation of each of its components or joints along with a knowledge of the geometry and disposition of any interconnecting links between joints.
  • the pose of the kinematic series (or information regarding the position and orientation of each of its components and/or joints (e.g., a value for each DOF variable) can be stored in a variety of mathematical or computational data structures such as a tensor.
  • an instrument (160) including a wrist assembly (320) provides roll, pitch, and yaw degrees of freedom.
  • the DOF variables of the roll, pitch, and yaw degrees of freedom may be given as ⁇ , ⁇ , respectively.
  • the ranges of motion for the DOF variables of the roll, pitch, and yaw degrees of freedom may be given as [ ⁇ , and [ ⁇ , ⁇ ], respectively.
  • the ROM of a DOF may be the result of mechanical limits or constraints of components affected or impacted by a DOF. Further, the ROM of a given DOF may depend on the value of a DOF variable of another DOF.
  • a ROM of a given DOF may depend on the pose of the kinematic series that contains the given DOF.
  • the ROM of the yaw DOF of an instrument, [ ⁇ , ⁇ ] may depend on the value of the pitch DOF variable of the instrument (i.e., can be a function of ⁇ ).
  • Interdependencies on the ROMs of two or more DOFs can be the result of mechanical interactions between components of the kinematic series with a pose specified by the DOF variables.
  • an end effector (340) can provide zero or more additional degrees of freedom to the instrument (160).
  • FIG.4A depicts the first example end effector (440A) as having an “instrument grip” DOF (450).
  • the instrument grip DOF (450) is defined by a “closing” and “opening” of the first jaw (442) and/or the second jaw (444) relative to one another.
  • the relative closing and opening of the jaws (442, 444) can be realized in a variety of ways.
  • the instrument grip DOF has only one associated DOF variable, namely, an angle between the first jaw (442) and the second jaw (444), ⁇ .
  • the instrument grip DOF variable is changed through angular displacement of the first jaw (442) and/or the second jaw (444). For example, consider a notation where the angular position of the first jaw (442) and the second jaw (444) are given by and ⁇ ⁇ , respectively.
  • one of the first jaw ()42) or second jaw (444) is stationary or fixed relative to the wrist assembly (320), instrument shaft (310), or other portion of an instrument (160) to which the jaw is attached.
  • the instrument grip DOF may define a movement of only one jaw (i.e., the non-fixed jaw).
  • the instrument grip DOF is associated with two instrument grip DOF variables, one for the first jaw (442) and one for the second jaw (444).
  • a first grip DOF variable, ⁇ ⁇ can be associated with the first jaw (442) and a second grip DOF variable, ⁇ ⁇ , can be associated with the second jaw (444).
  • the first grip DOF variable and the second grip DOF variable allow for independent adjustment.
  • the ROM of at least one of the instrument grip DOF variables is dependent on the value of the other instrument grip DOF variable.
  • An end effector may provide one or more functions such as the firing of a clip applier or the activation of suction or irrigation depending on the type of instrument.
  • a function provided by an end effector can be indicated as a state.
  • the provided function can be represented with a categorical variable that can assume values such as “on” and “off.”
  • Such a function can be associated with end effectors that can, for example, supply and emit energy (e.g., energy-emitting end effectors).
  • a function provided by an end effector is controlled by or mapped to a corresponding degree of freedom of an input device; described in greater detail later in the instant disclosure..
  • FIG.4B depicts a second example end effector (440B) coupled to an instrument shaft (410) through a wrist assembly (320).
  • the second example end effector (440B) includes a single member forming a cautery hook.
  • the cautery hook is fixed relative to a distal portion of the wrist assembly (320).
  • FIG.4C depicts a third example end effector (440C) coupled to an instrument shaft (310) through a wrist assembly (320).
  • the third example end effector (440C) includes a single member forming a nozzle of an irrigator or suction device.
  • activation (i.e., function) of the irrigator or suction device is selectively enabled using an input device.
  • FIG.4D depicts a fourth example end effector (440D) coupled to an instrument shaft (310) through a wrist assembly (320).
  • the fourth example end effector (440D) includes two members in a jaw-like arrangement forming a clip applier.
  • the fourth example end effector (440D) provides a DOF (e.g., an “instrument grip” DOF) that specifies an angular separation between the two members.
  • the fourth example end effector (440D) provides a function such as activation or “firing” of the clip applier.
  • the function to “fire,” or rapidly engage, the clip is indicated by an input device.
  • Jawed end effectors such as the first example end effector (440A) may be in the form of any desired tool, e.g., having two members or fingers or jaws that pivot relative to each other, such scissors, two-fingered blunt dissection tools, forceps, pliers for use as needle drivers, or the like.
  • the tips of the jaws (442, 444) are blades such that closing the jaws with respect to the instrument grip DOF provides a cutting action where the blades cooperatively cut as scissors.
  • an end effector (340) can perform different functions depending on the end effector (340) attached to or otherwise employed on – or as part of – an instrument (160).
  • Non-jawed end effectors such as the second example end effector (440B) and the third example end effector (440C) can include a single working member, e.g., a scalpel, cautery electrode, irrigation device, or the like.
  • end effectors including a clip applier such as the fourth example end effector (440D)
  • end effectors including a clip applier are categorized separately from jawed end effectors.
  • Other end effector configurations may exist, without departing from the disclosure.
  • An imaging device may also be considered as an end effector (340) (i.e., for obtaining images), and like other end effectors may be coupled to the shaft (310) of an instrument (160) with or without a wrist assembly (320).
  • instruments (160) are categorized according to an instrument type of the instrument, where the instrument type of the instrument is made known through specification of the end effector (340) associated or included with the instrument (160). Further, the instrument type of an instrument is dependent on the control or mapping that an input device grip DOF, described below, has on the associated instrument.
  • the degrees of freedom of an instrument may be controlled by appropriately positioned actuators, e.g., electrical motors, that respond to inputs from associated input devices. That is, in one or more embodiments, an input device is used to command, or otherwise signal, values for the DOF variables of the instrument (160). In some implementations, DOF variable values are commanded through movement of the input device, where the input device is manipulated by a user. Furthermore, appropriately positioned sensors, e.g., encoders, potentiometers, etc., may be provided to enable measurement of the DOF variables of the instrument (160). That is, sensors of the instrument (160) can be used to determine the pose of the instrument.
  • actuators e.g., electrical motors
  • the actuators and sensors can be disposed in the housing portion (330) and/or instrument holder.
  • a value for a DOF variable can be prescribed or controlled through manipulation of an input device.
  • an input device itself can have multiple degrees of freedom.
  • the degrees of freedom of the input device are mapped to other degrees of the computer-assisted system (100) such as the degrees of freedom associated with an instrument (160) (e.g., roll, pitch, yaw, grip, etc.).
  • the degrees of freedom of an input device can have similar names as the degrees of freedom they control (i.e., the degrees of freedom of a manipulator arm and/or instrument).
  • a user input system (120) of a computer-assisted system (100) can include one or more input devices.
  • a computer-assisted system (100) can include a control system (242), where the control system (242) processes input received through the input system (120) from an operator (192) to control aspects of the computer-assisted system (100) (e.g., direct or teleoperationally control movement of the manipulator arm(s) (150A, 150B, 150C, 150D) and/or one or more instruments supported by the manipulator arm(s)).
  • an input device of the input system (120) can be used to control a manipulator assembly (300) to position, orient, and/or operate an instrument (160).
  • control system (242) can provide and/or facilitate a mapping between an input device (e.g., movements of the input device and/or other input signals such as depression of a button) and components of the computer-assisted system (100) such as the manipulator system (130). Further, behavior of the computer-assisted system (100) can be affected through one or more modes and/or the enablement or disablement of teleoperational control, where these modes and/or teleoperational control conditions configure, at least, the mapping between input devices of the input system and other components of the computer-assisted system (100) such as the manipulator system (130).
  • an input device e.g., movements of the input device and/or other input signals such as depression of a button
  • behavior of the computer-assisted system (100) can be affected through one or more modes and/or the enablement or disablement of teleoperational control, where these modes and/or teleoperational control conditions configure, at least, the mapping between input devices of the input system and other components of the computer-as
  • the user input system (120) of a computer- assisted system (100) includes two input devices that are provided for user manipulation.
  • the input devices can each be configured to control motion and functions of an associated portion (e.g., a manipulator arm, an instrument supported by a manipulator arm, etc.) of the manipulator system (130).
  • an input device can be moved in a plurality of degrees of freedom to move a corresponding instrument (or, in some instances, specifically the end effector of an instrument) of the manipulator system (130) in corresponding degrees of freedom.
  • an input device grip DOF is mapped or otherwise related to an instrument grip DOF or function of the instrument.
  • values of an input device grip DOF variable can be mapped to values of the instrument grip DOF variable.
  • alteration of the value of the input device grip DOF variable for example, through manipulation of the input device by an operator, can alter the value of a corresponding instrument grip DOF variable according to a supplied mapping.
  • the activation or state e.g., “on” or “off”
  • the function e.g., energy emission, irrigation, suction, etc.
  • the activation or state e.g., “on” or “off” of the function can be indicated using the input device grip DOF (or, more specifically, using the value of the input device grip DOF variable).
  • a threshold value can be specified for the input device grip DOF variable such that a determination of whether the value of the input device grip DOF variable is less than or greater than the predefined threshold indicates the state, or otherwise activates/deactivates, the function provided by the associated instrument.
  • the input devices are manual input devices that can be moved in six or more degrees of freedom.
  • the two input devices of the user input system (120) are positioned to each be gripped or manipulated by a hand of a user; specifically, one input device with each hand.
  • FIG.5 is a perspective view of a controller portion (500) of an example input device that may be used as an input device in accordance with one or more embodiments.
  • the controller portion (500) includes one or more gimbal mechanisms.
  • the input device consists of a kinematic series, such as with a repositionable structure with a plurality of links coupled by one or more joints (e.g., controller portion (500) of FIG.5).
  • sensors e.g., encoders
  • the pose of an input device can be defined by the position and/or orientation of each of its components or joints along with a knowledge of the geometry and disposition of any interconnecting links between joints of the input device.
  • the controller portion (500) includes a handle (502) which is contacted by a user to manipulate the input device. Further, in this example, the handle (502) includes two grips, namely, a first grip member (506A) and a second grip member (506B) that each include a finger loop (504).
  • the two grip members (506A, 506B) are positioned on opposite sides of a central portion (503) of the handle (502), and the grip members (506A, 506B) can be grasped, held, or otherwise contacted by a user's fingers.
  • Each finger loop (504) is attached to a respective grip member (506A or 506B) and can be used to secure a user's fingers to the associated grip member (506A or 506B).
  • finger contacts (505) can be connected or formed at the unconnected end of the grip members (506A, 506B) to provide surfaces to contact the user's fingers. The user may also contact other portions of handle (502) while grasping the grip members (506A, 506B).
  • the first grip member (506A) can be moved in a first input device grip degree of freedom (DOF) defined as a pivoting motion about a first grip axis (507A), the first grip axis (507A) indicating a rotational coupling between the first grip member (506A) and the central portion (503).
  • the second grip member (506B) can be moved in a second input device grip degree of freedom (DOF) defined as a pivoting motion about a second grip axis (507B), the second grip axis (507B) indicating a rotational coupling between the second grip member (506B) and the central portion (503).
  • DOF first input device grip degree of freedom
  • DOF second input device grip degree of freedom
  • a single grip member (e.g., 506A) and finger loop (504) can be provided, or only one of the grip members (e.g., 506A) can be moved in the corresponding input device grip degree of freedom (e.g., 508A) while the other grip member (e.g., 506B) can be fixed with reference to the handle (502).
  • the positions of grip members (506A, 506B) in their input device degrees of freedom can control corresponding rotational positions of an instrument or component thereof.
  • One or more grip sensors can be coupled to the handle (502) and/or other components of the controller portion (500) and can detect the positions of the grip members (506A, 506B) in their respective degrees of freedom (508A, 508B).
  • the grip sensors can send signals describing sensed positions and/or motions to the control system (242) of the computer-assisted system (100).
  • the control system (242) can provide control signals to a device manipulated by the computer-assisted system (100).
  • the positions of the grip members (506A, 506B) in their respective degrees of freedom (508A, 508B) can be used to control any of various degrees of freedom of an instrument (or, in some instances, the end effector of an instrument) controlled by the manipulator system (130).
  • Various implementations of an input device such as the that depicted in the controller portion (500) of FIG.5, can provide one or more active actuators (e.g., motors, voice coils, etc.) to output active forces on the grip members (506A, 506B) in their degrees of freedom (508A, 508B).
  • active actuators e.g., motors, voice coils, etc.
  • a sensor and/or actuator can be housed in central portion (503) or in housing (509) and coupled to the grip members (506A, 506B) by a transmission.
  • Some implementations can provide one or more passive actuators (e.g., brakes) or springs between the grip members (506A, 506B) and the central portion (503) of the handle (502) to provide resistance in particular directions of the grip members (e.g., movement in directions toward each other in their degrees of freedom (508A, 508B)).
  • Actuators of an input device can be considered as one or more actuators of the computer- assisted system.
  • the handle (502) can additionally be provided with a rotational degree of freedom, or input device roll DOF (510), about a roll axis of the input device (512) defined between a first end and a second end of the handle (502). That is, the input device roll axis (512) is a longitudinal axis in this example that extends approximately along the center of the central portion (503) of handle (502).
  • the handle (502) can be rotated about the input device roll axis (512) with respect to a base member of the controller portion (500), such as a base member that includes a housing (509) of the input device.
  • a user can rotate the grip members (506A, 506B) and central portion (503) as a single unit around the input device roll axis (512), with respect to the housing (509), to provide control of a manipulator assembly such as the instrument roll DOF.
  • one or more input sensors can be coupled to the handle (502) to detect the orientation of the handle (502) in the input device roll DOF (510).
  • the sensor can send signals describing the orientation to the control system (242) that can provide control signals to the manipulator system (130) as described above.
  • rotation of the handle (502) in the input device roll DOF (510) can control a particular degree of freedom of an instrument (160) of the manipulator system (130) that is different than another degree of freedom controlled by the input device grip degrees of freedom (508A, 508B) of the grip members (506A, 506B) (e.g., instrument roll DOF).
  • Some implementations of the controller portion (500) can provide one or more actuators to output forces on the handle (502) (including grip members (506A, 506B) and finger loops (504) in the input device roll DOF (510).
  • a sensor and/or actuator can be housed in the housing (509) and coupled to the handle (502) by a shaft extending through the central portion (503) of the handle (502).
  • the handle (502) can be provided with additional degrees of freedom.
  • a rotational degree of freedom i.e., input device yaw DOF (520) about an input device yaw axis (522) can be provided to the handle (502) at a rotational coupling between an elbow shaped link (524) and a link (526), where the elbow shaped link (524) is coupled to the handle (502) (e.g., at the housing (509)).
  • sensors can sense positions of the handle in a degree of freedom, or sense orientations of the handle in a degree of freedom, or sense positions and orientations of the handle in multiple degrees of freedom. For example, positions in a translational degree of freedom and orientations in a rotational degree of freedom can be sensed by one or more associated input sensors.
  • the housing (509) can be coupled to a mechanical linkage that is coupled to the ground or an object connected to ground, providing a stable platform for the use of the controller portion (500).
  • a grounded mechanical linkage can be connected to a base member, e.g., with one or more rotary couplings, ball joints, or other couplings, including linear joints.
  • the mechanical linkage can provide six or more degrees of freedom to the handle (502).
  • the handle (502) includes one or more control switches (550).
  • the one or more control switches (550) can be coupled to the central portion (503) or to mechanisms within central portion (503).
  • control switches (550) can be positioned on opposite sides of roll axis (512), and/or additional control switches can be provided.
  • a control switch (550) has a portion that can slide parallel to the roll axis (512), e.g., as directed by a user's finger, or the control switch portion can be depressed.
  • the control switch (550) can be moved to various positions to provide particular command signals, e.g., to select functions, options, or modes of the input system (120) and/or input device.
  • one or more of the control switches (550) can be implemented as a button (e.g., depressed in a direction, such as perpendicular to the input device roll axis (512) or other direction), a rotary dial, a switch that moves perpendicular to the input device roll axis (512), or other type of input control.
  • Control switches (550) can use electromagnetic sensors, mechanical switches, magnetic sensors, or other types of sensors to detect positions of the switch.
  • the example input device depicted in FIG.5 includes a first grip member (506A) and a second grip member (506B).
  • One or more grip sensors can be coupled to the handle (502) and/or other components of the controller portion (500) and can detect the positions of the grip members (506A, 506B) in their respective input device grip degrees of freedom (508A, 508B).
  • the grip sensors can send signals describing sensed positions and/or motions to the control system (242) of the computer-assisted system (100).
  • the control system (242) can provide control signals to a device manipulated by the computer-assisted system (100) (e.g., manipulator assembly).
  • the position of the first grip member (506A) in the first input device grip DOF can be used to control the position of the first jaw (442) in an associated first instrument grip DOF.
  • the position of the second grip member (506B) in the second input device grip DOF can be used to control the position of the second jaw (444) in an associated second instrument grip DOF.
  • the jaws of an end effector can be independently controlled via a relationship with two independent input device degrees of freedom (e.g., using the first and second grip members (506A, 506B).
  • first input device grip DOF (508A) and the second input device grip DOF (508B) are combined to a single input device grip DOF which, based on the operating mode and/or a type of an associated instrument, can be mapped to (i) a single instrument grip DOF, (ii) trigger performance of a function or change of an instrument state, status, or parameter, or (iii) no instrument DOF and no function.
  • the relative values of the first input device grip DOF variable and the second input device grip DOF variable can be used to determine an angle of separation between the first jaw (442) and second jaw (444) of a jawed end effector (e.g., first example end effector (440A)).
  • two input device degrees of freedom can be cooperatively used as a single input device degree of freedom to, for example, control a single instrument degree of freedom.
  • an angle of separation between the first grip member (506A) and the second grip member (506B) can be used as the input device grip DOF.
  • an input device has only one input device grip DOF (e.g., an input device having only one grip member, an input device with two grip members whose movements are mechanically linked (e.g., moved together but in opposite directions), etc.).
  • one or more input device grip degrees of freedom may be configured, based on an operating mode and/or the associated instrument type, to control non-gripping functions of an instrument and/or change an instrument state, status, or parameter.
  • one or more input device grip degrees of freedom can be used to determine the state of an end effector with more than one state, e.g., “on” or “off” with respect to functions like irrigation and energy emission.
  • one or more input device grip degrees of freedom can be used to trigger a function or operation of an end effector, e.g., “firing” a clip applier.
  • instruments (160) are categorized according to an instrument type of the instrument, where the instrument type of the instrument is made known through specification of the end effector (340) associated or included with the instrument (160). Further, the instrument type of an instrument is dependent on the control or mapping that an input device grip DOF has on the associated instrument.
  • an instrument type is one of: a first instrument type, a second instrument type, and a third instrument type.
  • Instruments categorized as the first instrument type are those instruments with an instrument grip DOF where a value of the instrument grip DOF variable is set based on the value of a corresponding input device grip DOF variable. That is, an input device with an input device grip DOF has an input device grip DOF variable that is mapped to (e.g., with the control system (242)) the instrument grip DOF variable.
  • Instruments categorized as the second instrument type are those instruments that do not necessarily have an instrument grip DOF (in terms of one or more members that can be articulated in a gripping fashion) but have a function.
  • Example functions include the application of energy (e.g., an energy emitting end effector), irrigation, suction, and firing a clip, among other functions.
  • an instrument grip DOF may be used to control or otherwise indicate the state, status, or parameter of the instrument.
  • a function of the instrument may be active or activated (e.g., “on”) when the value of an associated input device grip DOF variable is below a predefined threshold value and inactive or deactivated (e.g., “off”) when the value of the input device grip DOF variable is at or above the predefined threshold.
  • an input device grip DOF may be said to be mapped to a function of the instrument.
  • Instruments categorized as the third type of instrument are those instruments for which the value of an input device grip DOF variable of an input device corresponding to the instrument has no effect on the instrument. That is, for instruments of the third instrument type, an input device grip DOF does not map to either an instrument device grip DOF (for there is none) or a function of the instrument. [0086] To summarize the preceding discussion, in simplified terms, an instrument can be categorized according to how an input device grip DOF of an input device designated for control of the instrument is mapped to the control or function of the instrument. Instruments for which the input device grip DOF is mapped to an instrument grip DOF of the instrument are categorized as the first instrument type.
  • Instruments for which the input device grip DOF is mapped to a function (e.g., setting a state, status, or parameter) of the instrument are categorized as the second instrument type.
  • Instruments for which the input device grip DOF is not mapped to any aspect of the instrument are categorized as the third instrument type. Examples of instruments for each of the first, second, and third instrument types are given as follows. [0087] For example, if a first instrument has a grasper end effector, then the first instrument can be categorized as the first instrument type. This is because the grasper end effector, in general, has an instrument grip DOF such that the value of the instrument grip DOF variable can be set or commanded to a value based on the value of a corresponding input device grip DOF variable.
  • a state, status, or parameter of an instrument can be indicated through other means such as a foot pedal, button, or switch of the user input system (120).
  • a third instrument has a clip applier end effector and the clip applier is triggered or fired based on the value of an associated input device grip DOF variable, then the third instrument is of the second instrument type.
  • the listed instrument types form a fully exhaustive list such that any instrument is categorized according to at least one instrument type. Additionally, in some implementations, the list of instrument types is both fully exhaustive and mutually exclusive (i.e., each instrument has exactly one instrument type).
  • An actuated degree of freedom is coupled, or otherwise associated, with one or more active actuators (e.g., motors, voice coils, etc.) such that the actuated DOF can be commanded, with respect to its DOF variable, to a specific value.
  • An actuated DOF can also include, or otherwise be associated with, one or more passive actuators (e.g., brakes) or springs.
  • a non-actuated DOF can include, or otherwise be associated with, one or more passive actuators (e.g., brakes) or springs.
  • Actuators coupled or associated with the input device such as the above-described active actuators, can be considered as one or more actuators of the computer-assisted system.
  • the pose of the input device is described by the DOF values of each of the DOF variables associated with the input device.
  • the pose of the input device can include DOF values for both actuatable and non-actuatable degrees of freedom.
  • DOF values are determined using one or more sensors (e.g., encoders) that are coupled to the components or joints of the input device to detect the position (and/or velocity, acceleration) of the components or joints throughout their respective degrees of freedom.
  • the pose of the input device represents a state of the of the input device, where the state is read or otherwise determined from sensors of the input device.
  • a “configuration” of the input device is said to be a set of DOF values for the actuatable degrees of freedom of the input device.
  • the set of DOF values for the actuatable degrees of freedom of the input device need not be identical to the determined or observed DOF values for the same actuatable degrees of freedom. For example, consider a case where the input device has an input device grip DOF represented with the input device grip DOF variable having a range of motion (ROM) [ ⁇ (id) ⁇ ⁇ , ⁇ (id) ⁇ ⁇ ], where the parenthetical superscript “id” indicates that the DOF variable is associated with the input device.
  • the pose of the input device may indicate that the input device grip DOF variable has a value of ⁇ ⁇ !(id) ⁇ ⁇ (id) .
  • the configuration of the input device prescribe a value ⁇ (id) for the input device grip DOF variable, where ⁇ (id) ⁇ and ⁇ #(id) need not equal ⁇ !(id) . That is, ⁇ !(id) represents the observed value of the input device grip DOF variable and ⁇ #(id) represents a prescribed value (or setting) for the input device grip DOF variable.
  • the input device grip DOF having been defined as actuatable, can be commanded to a given value.
  • the actuatable degrees of freedom of the input device are commanded from their current pose to the predefined configuration.
  • More than one configuration can be defined for an input device.
  • an input device can be associated with a first configuration, a second configuration, and so on and so forth, each configuration “encompassing” a set of prescribed values for the actuatable degrees of freedom of the input device.
  • the input device has $ actuatable degrees of freedom, where $ is an integer greater than or equal to 1 (i.e., the input device has at least one actuatable degree of freedom).
  • each degree of freedom of the input device is said to be associated with one DOF variable.
  • the actuatable DOF variables can be listed as [% ⁇ , ... , %'], for $ ⁇ 1.
  • the input device can have ) non-actuatable degrees of freedom, where ) is an integer greater than or equal to 0.
  • each degree of freedom of the input device is said to be associated with one DOF variable.
  • the pose of the input device can be as the joint list of observed actuatable degree of freedom values and observed non-actuatable degree of freedom values, e.g., ... , *.,].
  • a given configuration first configuration, second configuration, etc.) of the input device can be represented as a list of prescribed actuatable degree of freedom values, e.g., [%/ ⁇ , ... , %/'].
  • one or more actuatable degrees of freedom may not have a prescribed DOF value but may be allowed to be manipulated to any DOF value or may be maintained at a DOF value according to the current pose of the input device.
  • a configuration need not contain a prescribed degree of freedom value for each of the actuatable degrees of freedom of the input device.
  • a prescribed degree of freedom value for an actuatable degree of freedom may be determined based on the pose of the input device.
  • the action of commanding the input device to a given configuration comprises actuating one or more of the actuatable degrees of freedom to their prescribed DOF values, where applicable.
  • an input device is actuatable in one or more degrees of freedom, the actuatable degrees of freedom including at least a first degree of freedom (DOF).
  • a computer-assisted system (100) can include a control system (242), where the control system (242) processes input received through the input system (120) from an operator (192) to control aspects of the computer-assisted system (100) (e.g., direct movement of the manipulator arm (150A, 150B, 150C, 150D)).
  • an input device of the input system (120) can be used to control a manipulator assembly (300) to position, orient, and use an instrument (160).
  • control system (242) can provide and/or facilitate a mapping of movements and other input signals (e.g., depression of a button) between an input device and components of the computer-assisted system (100) such as the manipulator system (130).
  • controllable degrees of freedom of the computer-assisted system e.g., instrument roll DOF, instrument pitch DOF, etc.
  • 6 is an integer and represents the number of controllable degrees of freedom (often, 6 ⁇ 1) and 47 represents the 8 9: controllable DOF variable.
  • input device degrees of freedom are mapped to controllable degrees of freedom of the computer-assisted system (100).
  • the values of controllable DOF variables can be commanded or set to specific values based on the values of the input device DOF variables, whether the input device degrees of freedom are considered actuatable or non-actuatable.
  • the mapping of one or more input device degrees of freedom to one or more controllable degrees of freedom can be represented using a functional notation.
  • an input device such as that depicted in FIG.
  • a controllable DOF may be related to one or more input device degrees of freedom while being parameterized by one or more other input device degrees of freedom.
  • one or more controllable degrees of freedom may be related to or parameterized by one or more other controllable degrees of freedom.
  • Functions relating one or more input device degrees of freedom and controllable degrees of freedom can have a variety of forms including linear, non-linear, and piecewise. In some instances, a relationship between an input device degree of freedom and one or more controllable degrees of freedom cannot be performed using a function.
  • the mapping between one or more controllable degrees of freedom and one or more input device degrees of freedom is performed using a look-up table.
  • the mapping between input device degrees of freedom and controllable degrees of freedom is only active when teleoperational control between the input device and the controlled component of the computer-assisted system (100) is enabled. More details surrounding enabling and disabling teleoperational control are provided later in the instant disclosure.
  • FIG.6 depicts an example mapping (600) between an input device degree of freedom (602) (e.g., input device grip DOF), represented with a degree of freedom variable ⁇ having a range of motion (ROM) [ ⁇ , ⁇ ] and a corresponding controllable degree of freedom (namely, an instrument DOF) (604), represented with degree of freedom variable ⁇ having a ROM [ ⁇ , ⁇ ].
  • an input device degree of freedom 602
  • ROM range of motion
  • 604 a corresponding controllable degree of freedom
  • degree of freedom variable ⁇ having a ROM [ ⁇ , ⁇ ].
  • four values for the input device DOF variable are depicted as points. Specifically, these points are: a first input device point (612); a second input device point (614); a third input device point (616); and a fourth input device point (618).
  • FIG.6 is used to show a correspondence between the four input device points (612, 614, 616, 618) and the three instrument points (622, 626, 628).
  • the instrument DOF variable should have a value at the second instrument point (626).
  • the example mapping (600) of FIG.6 can further be divided into three regimes, namely, a non-invertible regime (606), a linear regime (608), and a non-linear regime (610).
  • the non-invertible regime (606) possesses a behavior where more than one value for the input device DOF variable is mapped to the same value for the instrument DOF variable.
  • the first input device point (612) and the second input device point (614) are both mapped, or correspond to, the first instrument point (622).
  • the first instrument point (622) is at the lower bound, ⁇ ⁇ , of the ROM for the instrument DOF variable.
  • a variable force can be applied to the input device component associated with the input device DOF (e.g., a grip member (506A, 506B)) to distinguish between the first input device point (612) and the second input device point (614).
  • the input device DOF is an input device grip DOF realized using a grip member (e.g., first grip member (506A)) and the instrument DOF is an instrument grip DOF realized with a jawed instrument (or jawed end effector).
  • the instrument DOF variable can be maintained at its ROM limit without the need to maintain the input device DOF variable at its ROM limit.
  • a haptic feedback force perhaps with a variable force through the non-invertible regime (606) or other audio or visual cue can be provided to a user indicating that the instrument DOF variable is at its ROM limit.
  • FIG.6 depicts two segments near the third input device point (616) where the input device DOF variable changes by a magnitude of ⁇ (0I) ⁇ , where the superscript indicates that the change occurs in the “input device” DOF variable.
  • these displacements in the input device DOF variable being equal in magnitude, both correspond with changes in the instrument DOF variable having an equal magnitude.
  • a change with a magnitude of in the input device DOF variable is shown to correspond with a change of magnitude ⁇ (0JK9.) ⁇ in the instrument DOF variable, where the superscript “inst.” indicates that the displacement occurs in the instrument DOF variable. It is noted that ⁇ (0I) need n (0I) ⁇ ot equal ⁇ ⁇ . In contrast, in the non-linear regime (610), a change in the instrument DOF variable corresponding to a change in the input device DOF variable depends on the value of the input device DOF variable.
  • FIG.6 depicts two segments near the fourth input device point (618) where the input device DOF variable changes by a magnitude of (0I) and ⁇ M where ⁇ (0I) ⁇ ⁇ ⁇ (0I) M .
  • these displacements in the input device DOF variable despite being unequal in magnitude, both correspond with changes in the instrument DOF variable having an equal magnitude.
  • changes in the input device DOF variable with magnitudes of ⁇ (0I) (0I) ⁇ and ⁇ M are each shown to correspond with a change of magnitude ⁇ (0JK9.) instrument variable.
  • a non-linear regime (610) may be beneficial for tuning the sensitivity of the instrument DOF in response to movement of the controlling input device (or, more specifically, in response to changes in the value of the corresponding input device DOF variable).
  • “teleoperational control” dictates control of one or more components of the computer-assisted system (100) (e.g., a manipulator assembly) through interaction of a user with an input device of the input system (120).
  • teleoperational control is enabled by a user meeting one or more teleoperational control enablement conditions.
  • a teleoperational control enablement condition may consist of a user selecting a teleoperation mode (e.g., using a graphical user interface, depressing a button, etc.).
  • teleoperational control can be enabled without a specific designation of a mode (e.g., a teleoperation mode).
  • the process of enabling teleoperational control of the computer-assisted system (100) may require a user to meet additional conditions, such as moving the input device in a prescribed direction or movement (e.g., over a specific input device DOF) and ensuring that an input device and its associated controllable component (e.g., manipulator assembly (300)) are synchronized and/or properly aligned according to a mapping relating their movements (e.g., See example mapping (600) of FIG.6).
  • a mapping relating their movements e.g., See example mapping (600) of FIG.6.
  • the teleoperational control enablement conditions may require that a user first indicate (e.g., through a selection mechanism) a desire to initiate teleoperation (e.g., selection of a teleoperation mode), followed by the user- directed movement of an input device through a specified movement (e.g., moving a grip or roll axis through its degree(s) of freedom), and then moving the input device to be aligned, according to some mapping, with an associated manipulator assembly controlled by the input device.
  • a user first indicate (e.g., through a selection mechanism) a desire to initiate teleoperation (e.g., selection of a teleoperation mode), followed by the user- directed movement of an input device through a specified movement (e.g., moving a grip or roll axis through its degree(s) of freedom), and then moving the input device to be aligned, according to some mapping, with an associated manipulator assembly controlled by the input device.
  • a specified movement e.g., moving a grip or roll axis through
  • a disablement (or exit) of teleoperational control (i.e., teleoperational control no longer enabled) need not be associated with, or necessitate, an exit from the teleoperation mode. That is, in some implementations, the teleoperation mode persists even with disablement of teleoperational control. In some implementations, teleoperational control can be re-enabled by meeting the teleoperational control enablement conditions where selection of the teleoperation mode may, in some instances, already be met. In other implementations, a disablement (or exit) of teleoperational control triggers an exit or switch from a teleoperation mode to a non-teleoperation mode.
  • an input device DOF variable can experience a change in value (i.e., through movement of the input device) without commanding or propagating a change in value to a corresponding instrument DOF variable according to a predefined mapping.
  • Distinctions in operation of the control system (242) both while in a state of enabled and disabled (or not enabled) teleoperational control can be dependent on the instrument types of instruments (160) controlled by the computer-assisted system (100).
  • various medical instruments (160) can be attached to and manipulated by the manipulator system (130).
  • actuated degrees of freedom of the input device can be commanded to values dependent on a determined instrument type of an instrument (160) intended to be controlled by the input device and/or the pose of the instrument (i.e., the values of the DOF variables of the instrument). That is, an input device can be commanded to a given configuration (e.g., first configuration, second configuration, etc.), where the given configuration encompasses prescribed values for one or more of the actuatable degrees of freedom of the input device, the given configuration dependent on, at least, an instrument type of an instrument to be controlled by the input device.
  • a given configuration e.g., first configuration, second configuration, etc.
  • enabled teleoperational control may allow for the control of a manipulator system (130) or a portion thereof (e.g., a manipulator arm and/or an instrument supported by the manipulator arm) though interaction of a user with an input device.
  • disabled teleoperational control may uncouple control of the manipulator system (130) from the input device.
  • one or more teleoperation and non-teleoperations modes may be associated with the teleoperational control of a computer-assisted system (100), but this need not be the case.
  • differences in behavior of a computer-assisted system (100) while in a state of enabled teleoperational control can be dependent (or dynamically altered) based on factors such as the type and/or state of instruments (160) employed in the computer-assisted system (100) (e.g., instrument type, pose of an instrument, etc.).
  • the type and/or state of instruments (160) employed in the computer-assisted system (100) e.g., instrument type, pose of an instrument, etc.
  • embodiments disclosed herein relate to methods for determining one or more configurations of an input device (i.e., prescribed values for one or more actuatable degrees of freedom of the input device), teleoperational control enablement conditions, and teleoperational control behavior, where these items are dependent on, at least, an instrument type of an instrument controlled (or designated to be controlled) by the input device.
  • embodiments disclosed herein include an input device with at least one actuatable degree of freedom.
  • the at least one actuatable degree of freedom can be commanded to a given configuration, where the given configuration encompasses prescribed values for at least one DOF variable of the at least one actuatable degrees of freedom of the input device.
  • the one or more configurations of the input device can depend on an instrument type of an instrument controllable by the input device.
  • three instrument types, described above, are considered as: first instrument type, second instrument type, and third instrument type.
  • the above-listed instrument types are mutually exclusive and form an exhaustive list.
  • an instrument type for the instrument is determined. Further, based on at least the instrument type of the instrument controlled (or designated to be controlled) by the input device, a first configuration is determined for an input device. The first configuration specifying a value (i.e., prescribed value) for at least one of the one or more actuatable DOF variables associated with the input device. In one or more implementations the input device is commanded, or caused, to be actuated to the first configuration.
  • the input device is actuated, in one or more actuatable degrees of freedom, to the prescribed value(s) encompassed by the first configuration (e.g., such that the DOF variable(s) of the one or more actuatable degrees of freedom matches the prescribed value(s)).
  • Actuation of the input device to the first configuration can occur in a variety of scenarios including, but not limited to: selection of a teleoperation mode of the control system (242) and/or computer-assisted system (100); enabling teleoperational control of an instrument (and/or at least a portion of the manipulator assembly) by the input device; changing the designation of the input device to control a different instrument; detecting the presence of a user at the input system when the user presence was previously not detected; determining that the instrument designated to be controlled by the input device has been exchanged for another instrument.
  • the input device includes or is monitored by a hand presence sensor.
  • the hand presence sensor can indicate the presence of a hand of the user proximate the input device, the input device configured to be manipulated by a hand of the user.
  • the input device is caused to be actuated to the first configuration, the first configuration dependent on at least an instrument type of an instrument designated for control by the input device, in response to the hand presence sensor detecting the presence of a hand of the user after previously not detecting the presence of a hand of the user. That is, the hand presence sensor outputting a signal changing from an indication that a hand is not present at the input device to an indication that a hand is present at the input device can cause the input device to be actuated to the first configuration.
  • the input device is designated to control a manipulator assembly including an instrument.
  • the instrument of the manipulator assembly controlled by (or designated for control by) the input device is exchanged for another input device.
  • the instrument (160) is removed from its associated manipulator arm (e.g., 150A, 150B, 150C, 150D) and replaced with another instrument (160) having the desired end effector.
  • An instrument (160) may also be removed and reinserted, for example, to clean the instrument, to inspect the instrument, to reload the instrument (e.g., by loading a clip applier with a clip, loading a stapler with a stapler cartridge), etc.
  • the instrument type of the newly coupled instrument to the manipulator arm can be determined and the input device caused (or commanded) to be actuated to a newly determined first configuration, where the newly determined first configuration is based on, at least, the instrument type of the newly coupled instrument.
  • the input device includes at least a first input device DOF.
  • the first input device DOF is an input device grip DOF.
  • the input device depicted in FIG.5 has a first grip member (506A) and a second grip member (506B).
  • relative motions of the first and second grip members (506A, 506B) can be used to define and determine an input device grip DOF with associated grip DOF variable having a ROM.
  • Such an input device grip DOF can be described in terms of “open” and “closed.”
  • the input device grip DOF variable can have a ROM where the ROM limits, i.e., lower and upper limits on the input device grip DOF variable, are designated as “open” or “closed.”
  • the grip members (506A, 506B) can be “squeezed” or biased toward the central portion (503) until achieving their respective mechanical limits; in which case the associated input device grip DOF variable is said to be “closed.”
  • the grip members (506A, 506B) can be “pulled out” or biased away from the central portion (503) until achieving their respective mechanical limits; in which case the associated input device grip DOF variable is said to be “open.”
  • An input device grip DOF variable having a ROM operating between an “open” and a “closed” state can be provided with only one grip member.
  • an input device with two or more grip members can have two or more input device grip DOF variables each having a ROM operating between “open” and “closed” states.
  • a prescribed value for the input device grip DOF variable encompassed by the first configuration is determined.
  • the prescribed value is offset relative to an alignment position. The offset is defined using an offset distance.
  • the prescribed value is biased toward an open position or state of the input device grip DOF variable relative to the alignment position by the offset distance.
  • the offset is biased toward the open position of the input device grip DOF.
  • the offset is such to bias the input device grip DOF variable toward a closed position of the input device grip DOF.
  • the alignment position is determined according to the value of a corresponding instrument DOF variable and a mapping that relates the input device grip DOF variable to the instrument grip DOF variable. Specifically, the alignment position represents the value of the input device grip DOF variable that is “aligned” or maps (with a given mapping or map) to the observed value of the corresponding instrument grip DOF variable. Thus, in instances where the instrument type of the instrument designated for control by the input device is of the first instrument type, an alignment position of the input device grip DOF variable can be determined.
  • the first configuration can be determined, where the first configuration includes a prescribed value for the input device grip DOF variable that is offset from the alignment position by a predefined offset distance.
  • the offset biases the input device grip DOF variable toward the open position or state of the input device grip DOF relative to the alignment position.
  • the input device grip DOF can be actuated to the first configuration in response to one or more triggers (e.g., enabling of teleoperational control of the instrument by the input device, the control system (242) entering a teleoperation mode, an exchange of an instrument, etc.).
  • FIG.7 illustrates an example mapping (700) between an input device grip DOF variable (702) and an instrument grip DOF variable (704) where the input device is designated to control an instrument with an instrument type of the first instrument type.
  • the input device grip DOF variable, ⁇ has a ROM bounded by a “closed” and an “open” state.
  • the instrument grip DOF variable, ⁇ has a ROM bounded by a “closed” and an “open” state.
  • the example mapping (700) relates values of the input device grip DOF variable (702) to values of the instrument grip DOF variable (704).
  • FIG.7 depicts an observed input device grip DOF value (740), ⁇ ! .
  • the observed input device grip DOF value (740) indicates the actual value (or position/orientation) of the input device grip DOF variable.
  • the observed input device grip DOF value (740) is encompassed by the “pose” of the input device.
  • FIG.7 depicts an observed instrument grip DOF value (750), ⁇ N . That is, the observed instrument grip DOF value (750) indicates the actual value (or position/orientation) of the instrument grip DOF variable.
  • the observed instrument grip DOF value (750) is encompassed by the “pose” of the instrument (or manipulator assembly and/or system).
  • the observed input device grip DOF value (740) need not correspond with the instrument grip DOF value (750) according to the given mapping (700).
  • the input device DOF and the instrument DOF (or other controllable DOF) are said to be “matched” or “aligned.”
  • FIG.7 depicts an alignment position (760).
  • the alignment position (760) represents the value of the input device DOF variable (e.g., input device grip DOF variable (702)) that maps to, according to a given mapping, the observed instrument DOF value (e.g., instrument grip DOF variable (704)).
  • an input device DOF variable and a corresponding instrument DOF (or other controllable DOF) are said to be aligned if the observed input device DOF value is within a predefined alignment threshold from the alignment position.
  • the alignment threshold may be dependent on the alignment position, the observed value of the input device and/or instrument DOF variables, or any combination thereof.
  • the alignment threshold may further differ based on a direction – either toward the closed ROM limit or the open ROM limit – of the input device DOF variable.
  • FIG.7 also depicts a prescribed value (770), ⁇ # , for the input device grip DOF variable.
  • the prescribed value (770) is encompassed by the “configuration” of the input device (e.g., the first configuration).
  • the prescribed value (770) is depicted as being biased toward the “open” ROM limit of the input device grip DOF variable (702) by an offset distance (780).
  • the prescribed value can be offset from the alignment position to bias the position of the input device grip DOF variable toward its “closed” ROM limit.
  • the input device grip DOF is actuated from the observed input device grip DOF value (740) to the prescribed input device grip DOF value (770) encompassed by the first configuration.
  • the instrument type of the instrument controlled by (or designated for control by) the input device is determined to be if the second instrument type (e.g., a clip applier)
  • a prescribed value for the input device grip DOF variable encompassed by the first configuration is determined.
  • a “mapping” may still be provided between the input device grip DOF variable (702) and a function of the instrument.
  • the observed input device grip DOF value (740) indicates the actual value (or position/orientation) of the input device grip DOF variable.
  • the observed input device grip DOF value (740) is encompassed by the “pose” of the input device.
  • FIG.8 also depicts a prescribed value (770), ⁇ # , for the input device grip DOF variable.
  • the prescribed value (770) is encompassed by the “configuration” of the input device (e.g., the first configuration).
  • the prescribed value (770) is set at, or within a limit threshold (801) from, a limit (e.g., “open” or “close”) of the ROM of the input device grip DOF variable (702).
  • a limit e.g., “open” or “close”
  • the prescribed value (770) is depicted as being set near (i.e., within a limit threshold (801)) from the “open” ROM limit of the input device grip DOF variable (702).
  • the prescribed value is set at the “open” ROM limit and in other implementations, the prescribed value is set at a value within a limit threshold (801) from the open ROM limit of the input device grip DOF variable.
  • FIG.8 also depicts a threshold value (802) with respect to the input device grip DOF variable (702).
  • the threshold value (802) demarcates the listed states (“on” (806) or “off” (808)) of the instrument function. That is, in the given example, values of the input device grip DOF variable (702) near the “close” ROM limit of the input device grip DOF relative to the threshold value (802) are mapped to an “on state” (806) of the instrument function.
  • values of the input device grip DOF variable (702) near the “open” ROM limit of the input device grip DOF relative to the threshold value (802) are mapped to an “off state” (808) of the instrument function.
  • the prescribed value (770) is set to maintain the instrument function in its “off state” (808).
  • threshold values can be specified to distinguish between three or more states.
  • the prescribed value may be set at the “open” limit of the ROM for the input device grip DOF variable.
  • the threshold value (802) may represent a trigger where an action of the instrument, such as firing the clip applier, is performed upon the input device grip DOF variable crossing the threshold value (802).
  • a prescribed value for the input device grip DOF variable encompassed by the first configuration is determined.
  • the prescribed value is the set to a predefined value where the predefined value can be any value within the ROM of the input device grip DOF variable as desired or defined (or assigned) by a user.
  • Teleoperational control enablement conditions can include many related (and possibly sequential) processes.
  • teleoperational control enablement conditions for an input device are dependent on an instrument type of an instrument designated for control by the input device.
  • a teleoperational control enablement condition is the selection of a teleoperation mode of the computer-assisted system (100).
  • selection of a teleoperation mode is made by a user, for example, using a graphical user interface or by depressing a button or switch.
  • Another possible teleoperational control enablement conditions consists of an input device being manipulated in a prescribed direction or through a predefined movement.
  • Such a teleoperational control enablement condition may be referred to as a “deliberate move” condition.
  • a teleoperational control enablement condition e.g., deliberate move condition
  • a roll deliberate move threshold can also be directional (e.g., requiring that the rotation be “clockwise” relative to a given datum).
  • a deliberate move condition applied to or acting over the input device roll DOF variable can be referred to as a roll deliberate move condition.
  • a teleoperational control enablement condition may require that the input device be manipulated such that the input device roll DOF variable realizes a predefined roll value.
  • an input device can have a “grip” degree of freedom.
  • a teleoperational control enablement condition e.g., deliberate move condition
  • a deliberate move condition applied to or acting over the input device grip DOF variable can be referred to as a grip deliberate move condition.
  • the grip deliberate move threshold is directional and specifies not only a magnitude of change that must be observed in the value of the input device grip DOF variable but also a direction, for example “open” or “closed”, in which the change in the value of the input device grip DOF variable must occur.
  • the grip deliberate move threshold can specify a magnitude of change that the value of the input device grip DOF variable must change toward the “closed” ROM limit to satisfy the grip deliberate move threshold.
  • the grip deliberate move threshold can specify a magnitude of change that the value of the input device grip DOF variable must change toward the “open” ROM limit to satisfy the grip deliberate move threshold.
  • a teleoperational control enablement condition may require that either the value of the input device roll DOF variable change by at least a roll deliberate move threshold or that the value of the input device grip DOF variable change by at least a grip deliberate move threshold.
  • a deliberate move threshold e.g., grip deliberate move threshold
  • a grip deliberate move condition may require that the input device grip DOF variable change by a given grip deliberate move threshold toward the “closed” ROM limit.
  • a grip deliberate move condition may require that one or more grip members (e.g., 506A, 506B) be “squeezed in” or “pinched” by a certain amount.
  • Another possible teleoperational control enablement condition is that one or more degrees of freedom of an input device (e.g., input device grip DOF) and their corresponding controllable degrees of freedom (e.g., instrument grip DOF) are synchronized and/or properly aligned according to a mapping relating their movements.
  • an observed input device DOF value (e.g., observed input device grip DOF value (740)) need not be in alignment, according to a mapping, with an observed instrument DOF value (or other controllable DOF).
  • An alignment position (e.g., alignment position (760)) can indicate the value of an input device DOF variable that corresponds with the observed value of a corresponding instrument DOF variable.
  • an input device DOF variable and an instrument DOF variable are deemed “aligned” when the observed input device DOF value is within a predefined alignment threshold from the determined alignment position.
  • the teleoperational control enablement conditions include an “alignment condition” that is satisfied by manipulating the input device such that its pose is aligned, or matched, with the pose of the controlled component (e.g., an instrument).
  • the input device can be manipulated such that the values of one or more of its degree of freedom variables is within alignment threshold(s) from corresponding alignment positions, the alignment positions determined from the observed values of one or more degree of freedom variables of the component designated for control by the input device (e.g., an instrument) and a mapping relating the input device DOF variables to the controllable DOF variables.
  • the teleoperational control enablement conditions are as follows. First, the input device must be manipulated to satisfy either a grip deliberate move condition or a roll deliberate move condition (where the roll deliberate move condition is only applicable if the input device has a roll DOF). That is, a grip deliberate move threshold can be specified. As described above, the grip deliberate move threshold can be directional (e.g., a movement toward the “closed” ROM limit). Further, a roll deliberate move threshold can be specified, where the roll deliberate move threshold can also be directional (e.g., “clockwise” rotation).
  • the grip deliberate move condition is said to be met if the value of the input device grip DOF variable(s) experiences a change, through manipulation of the input device, that satisfies the grip deliberate move threshold.
  • the roll deliberate move condition is said to be met if the value of the input device roll DOF variable experiences a change, through manipulation of the input device, that satisfies the roll deliberate move threshold.
  • the value of the input device grip DOF variable must be within an alignment threshold from a determined alignment position with respect to the input device grip DOF variable. The alignment position is determined based on an observed instrument DOF value of an instrument designated for control by the input device and a given mapping between the input device grip DOF variable and the instrument grip DOF variable.
  • the input device must be manipulated in order to align, or match, the input device with its corresponding instrument.
  • the teleoperational control enablement conditions consist of a deliberate move condition satisfied by meeting either a roll deliberate move condition or a grip deliberate move condition and an alignment condition where the input device grip DOF variable is in alignment (at least within an alignment threshold) to the instrument grip DOF variable (determined using a mapped alignment position).
  • the first configuration encompasses a prescribed value for, at least, the input device grip DOF variable.
  • the prescribed value for the input device grip DOF variable under the first configuration is set to a value biased toward the “open” ROM limit of the input device grip DOF variable and offset from a determined alignment position by a predefined offset distance.
  • the predefined offset distance is substantially equal in magnitude and opposite in direction (if applicable) to a grip deliberate move threshold. For example, consider the case where the grip deliberate move threshold is directional and specifies that, to meet the threshold, the input device grip DOF variable must change toward the “closed” ROM limit by a “distance” D.
  • the offset distance can be set to -D, or offset by a distance
  • the offset distance being substantially equal in magnitude and opposite in direction of the grip deliberate move threshold ensures that the observed input device grip DOF value will be close (e.g., within the alignment threshold) to the alignment position upon satisfying the grip deliberate move condition.
  • a definition for the predefined offset distance being substantially equal in magnitude to a grip deliberate move threshold is that upon satisfying the grip deliberate move condition the observed input device grip DOF value is within the alignment threshold from the alignment position.
  • the alignment condition is inherently satisfied.
  • the teleoperational control enablement conditions are as follows. First, the input device must be manipulated to satisfy either a grip deliberate move condition or a roll deliberate move condition (where the roll deliberate move condition is only applicable if the input device has a roll DOF). Second, the value of the input device grip DOF variable must be within an open threshold from its “open” ROM limit.
  • the grip DOF of the input device is actuated to its open ROM limit upon satisfying the deliberate move condition – whether the deliberate move condition was met by satisfying either the roll deliberate move condition or the grip deliberate move condition.
  • the second teleoperational control enablement condition when the instrument type is the second instrument type is met automatically upon satisfying the first teleoperational control enablement condition.
  • the teleoperational control enablement condition is as follows. The input device must be manipulated to satisfy either a grip deliberate move condition or a roll deliberate move condition (if the input device has a roll DOF).
  • the behavior of an input device with enabled teleoperational control is dependent on an instrument type of an instrument controlled by the input device.
  • the instrument type of the instrument controlled by the input device is determined to be the first instrument type, while teleoperational control with the input device is enabled, the first configuration is not maintained.
  • the control system (242) provides and/or facilitates a mapping of movements and other input signals (e.g., depression of a button) between the teleoperational control enabled input device and components of the computer-assisted system (100) such as the manipulator system (130).
  • control system provides and/or facilitates a mapping of movements and other input signals (e.g., depression of a button) between the teleoperational control enabled input device and components of the computer-assisted system (100) such as the manipulator system (130).
  • a “firing” value e.g., threshold value (802)
  • the firing value is specified near the “closed” ROM limit for the input device grip DOF variable.
  • a teleoperational control enablement condition for an instrument of the second instrument type is that the input device grip DOF variable is within an open threshold from the “open” ROM limit
  • the clip applier instrument will not fire the loaded clip upon enablement of teleoperational control and must be manipulated toward the “closed” ROM limit to fire the loaded clip.
  • the prescribed value for the input device grip DOF variable under the second configuration is the middle of the ROM from the input device grip DOF variable. That is, in one or more implementations, the second configuration is the same as the first configuration, however, this need not be the case.
  • active actuation to the second configuration, a user can oppose any actuated motion of the input device with relative ease. For example, in instances where the input device grip DOF is actively actuated to the middle of its respective ROM, a user can interact with the input device to open and/or close the input device grip DOF relative to the middle of its ROM. And, if the user stops applying force to the input device, the input device grip DOF value will return to the value at the middle of its ROM.
  • the control system (242) provides and/or facilitates a mapping of movements and other input signals (e.g., depression of a button) between the input device and components of the computer-assisted system (100) such as the manipulator system (130). More specifically, changes in the observed values of the input device DOF variables are mapped and accordingly enacted as changes to the values of the corresponding controllable DOF variables (e.g., instrument DOF variables). Thus, manipulation of the input device causes actuation of a controlled component such as manipulator assembly including an instrument.
  • FIG.10 depicts a method of determining one or more configurations of an input device (i.e., prescribed values for one or more actuatable degrees of freedom of the input device), based on, at least, an instrument type of an instrument controlled (or designated to be controlled) by the input device.
  • the method depicted in the flowchart of FIG.10 is applied to, or with, a computer-assisted system including an input device configured to be manipulated by a user.
  • the computer-assisted system includes one or more actuators to drive the input device in one or more degrees of freedom.
  • the computer-assisted system further includes a manipulator system configured to support one or more instruments and a control system communicatively coupled to the input device and the manipulator system.
  • a manipulator system configured to support one or more instruments
  • a control system communicatively coupled to the input device and the manipulator system.
  • One or more steps of the method depicted in the flowchart of FIG.10 can be performed using the control system of the computer-assisted system.
  • an instrument type for an instrument supported by the manipulator system is determined.
  • the instrument type may be determined, for example, by the computer-assisted system (100) reading an identifier of the instrument that includes or can be related to an instrument type when coupled to the computer-assisted system (100) (e.g., connected to a manipulator arm).
  • the instrument type of the instrument is specified by the user and input to the computer-assisted system (e.g., using an input device of the input system).
  • the instrument type may be one of a group consisting of: a first instrument type, a second instrument type, and a third instrument type.
  • the instrument type of an instrument may be directly related to a type of end effector included on, or as part of, the instrument.
  • a first configuration for the input device is determined based on, at least, the instrument type of the instrument.
  • the first configuration encompasses, or is, a set of prescribed values for one or more degree of freedom (DOF) variables of the one or more actuatable degrees of freedom of the input device, where these actuatable degrees of freedom are driven using one or mor actuators of the computer-assisted system.
  • one of the actuatable degrees of freedom of the input device is a grip degree of freedom (i.e., input device grip DOF).
  • the first configuration includes a prescribed value for the input device grip DOF variable.
  • Block 1104 indicates that the instrument type for the instrument is the first instrument type.
  • the initial position in the input device grip degree of freedom, as comprised by the first configuration is offset from an alignment position.
  • the alignment position is based on an observed position in the corresponding instrument grip degree of freedom. For example, given a mapping (e.g., mapping (700)) between the input device grip DOF variable and the instrument grip DOF variable, the alignment position in the input device grip DOF is the value of the input device grip DOF variable that maps to, according to the given mapping, the observed value of the instrument grip DOF variable.
  • a mapping e.g., mapping (700)
  • Block 1120 indicates that with enabled teleoperational control and the instrument having the first instrument type, changes in the observed values of the input device grip degree of freedom are mapped, according to a given mapping relating the input device grip DOF variable and the instrument grip DOF variable, to the instrument grip degree of freedom. That is, the initial position in the input device grip DOF is not maintained and movement of the input device in the input device grip DOF (e.g., through manipulation by the user) causes actuation, or movement, in the corresponding instrument grip DOF. In other words, “normal” teleoperation behavior.
  • Block 1106 indicates that the instrument type for the instrument is the second instrument type.
  • the initial position in the input device grip degree of freedom is within a limit threshold from a limit of the input device grip DOF.
  • the input device grip DOF variable can have an associated range of motion (ROM).
  • the bounds on the ROM of the input device grip DOF variable are the limits of the input device grip DOF.
  • the input device grip DOF variable is bounded by an “open” limit and a “close” (or “closed”) limit.
  • the input device grip DOF variable is set to a value within the limit threshold from a specified limit.
  • the initial position is within a predefined limit threshold from the “open” limit.
  • Block 1118 specifies a condition included in the one or more teleoperational control enablement conditions. Specifically, Block 1118 indicates that a teleoperational control enablement condition, for the case where the instrument type is the second instrument type, is that the input device grip DOF is within the limit threshold from a specified limit (e.g., “open”) of the input device grip DOF. Notably, in one or more implementations, this condition is satisfied through actuation of the input device grip DOF to the initial position in Block 1112.
  • Block 1122 dictates the behavior of the actuated input device degree of freedom with, or during, enabled teleoperational control of the instrument with the input device.
  • Block 1122 indicates that with enabled teleoperational control and the instrument having the second instrument type, the initial position in the input device grip DOF is not maintained. In other words, the input device can be manipulated by the user relatively freely, at least in the input device grip DOF.
  • Block 1108 indicates that the instrument type for the instrument is the third instrument type.
  • the initial position in the input device grip degree of freedom, as comprised by the first configuration is at a predefined position (or predefined input device grip DOF variable value). In one or more implementations, the predefined position is at the midpoint of the ROM of the input device grip DOF variable.
  • Block 1124 dictates the behavior of the actuated input device degree of freedom with, or during, enabled teleoperational control of the instrument with the input device. Specifically, Block 1124 indicates that with enabled teleoperational control and the instrument having the third instrument type, the input device grip degree of freedom is actively actuated to another position comprised by a second configuration. In one or more implementations, the another position is the same as the initial position. Thus, during enabled teleoperational control of the instrument with the input device, the input device grip DOF is actuated to the another position, the another position being predefined by a second configuration.
  • FIGS.10 and 11 may be performed by various components of systems, previously described with reference to FIGS.1-2. Further, blocks of the flowcharts of FIGS.10 and 11 may be executed on one or more processors, e.g., of the control system (242) of the computer-assisted system (100).
  • processors e.g., of the control system (242) of the computer-assisted system (100).
  • embodiments disclosed herein generally relate to methods and systems for selectively enabling teleoperational control of an instrument (160) supported by a manipulator system (130) of a computer-assisted system (100) using an actuated grip degree of freedom (DOF) of an input device designated to control, at least, the instrument.
  • DOF actuated grip degree of freedom
  • the input device may be said to have at least a first actuatable degree of freedom, namely the input device grip degree of freedom.
  • the input device can include additional degrees of freedom, both actuatable and non-actuatable.
  • selectively enabling teleoperational control requires the satisfaction of one or more teleoperational control enablement conditions.
  • a “first configuration” is determined, the first configuration defining a set of values for one or more of the actuatable degrees of freedom of the input device.
  • the one or more teleoperational control enablement conditions, the first configuration including the prescribed value for the grip DOF of the input device, and the subsequent behavior of the user input system (or, at least the grip DOF of the input device) are dependent on the configuration of the manipulator system.
  • the one or more teleoperational control enablement conditions, the first configuration, and the subsequent behavior of the manipulator system are dependent on an instrument type of an instrument designated for control by the input device.
  • an input system (120) (or, more generally, the computer-assisted system (100)) can have more than one input device.
  • the one or more input devices can be part of the user input system (120) or distributed across multiple components of the computer-assisted system (100).
  • Embodiments disclosed herein, relating to, at least, the selective enablement of teleoperational control of an instrument with an input device can be readily applied to one or more input devices of a computer-assisted system independently.
  • a computer-assisted system (100) with two input devices namely, a first input device and a second input device.
  • the computer-assisted system can enable teleoperational control, independently, for the first input device and the second input device.
  • teleoperational control of the computer- assisted system (100) associated with the first input device may be referred to as a first teleoperational control.
  • teleoperational control of the computer-assisted system (100) associated with the second input device may be referred to as a second teleoperational control.
  • the first input device, with enabled first teleoperational control can be configured to manipulate a first manipulator arm (e.g., 150A) and/or a first instrument supported by the first manipulator arm while the second input device, with enabled second teleoperational control, can be configured to manipulate a second manipulator arm (e.g., 150B) and/or a second instrument supported by the second manipulator arm; the first and second manipulator arms (150A, 150B) part of a manipulator system (130).
  • first and second input devices can each have their own teleoperational control enablement conditions, “first” configurations, and subsequent behavior based on instrument type of the respective instruments designated to be controlled by the input devices.
  • embodiments of the instant disclosure are not limited to a single input device or computer-assisted systems (100) with only one input device.
  • One with ordinary skill in the art will readily appreciate that the aforementioned descriptions can be readily applied to multiple input devices, including computer-assisted systems (100) with more than one input device.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système assisté par ordinateur comprenant un dispositif d'entrée configuré pour être manipulé par un utilisateur et un système de manipulation. Le système assisté par ordinateur comprend en outre un ou plusieurs actionneurs pour entraîner le dispositif d'entrée dans un ou plusieurs degrés de liberté. Le système de manipulation est conçu pour supporter un ou plusieurs instruments. Le système assisté par ordinateur comprend en outre un système de commande accouplé de façon à communiquer avec le dispositif d'entrée et le système de manipulation. Le système de commande est configuré pour déterminer un type d'instrument d'un instrument supporté par le système de manipulation. Le système de commande est en outre configuré pour déterminer, sur la base, au moins en partie, du type d'instrument de l'instrument, une première configuration pour le dispositif d'entrée et pour amener le ou les actionneurs à entraîner le dispositif d'entrée dans sa première configuration.
PCT/US2025/020389 2024-03-18 2025-03-18 Système et procédé de téléopération basés sur un dispositif d'entrée et à commande de position de dispositif d'entrée Pending WO2025199115A1 (fr)

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US63/566,543 2024-03-18

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020128552A1 (en) * 1998-11-20 2002-09-12 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US20210153964A1 (en) * 2009-08-15 2021-05-27 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US20220331047A1 (en) * 2021-04-14 2022-10-20 Cilag Gmbh International Method for intraoperative display for surgical systems

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020128552A1 (en) * 1998-11-20 2002-09-12 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US20210153964A1 (en) * 2009-08-15 2021-05-27 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US20220331047A1 (en) * 2021-04-14 2022-10-20 Cilag Gmbh International Method for intraoperative display for surgical systems

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