Inter-operative switching of tools in a robotic surgical system

• US 10,149,729 B2
• Filed: 08/15/2017
• Issued: 12/11/2018
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Smaby, Niels, Dachs, II, Gregory W., Diolaiti, Nicola, Hingwe, Pushkar, Nixon, Thomas R., Schena, Bruce M., Swarup, Nitish
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/677,964
• Publication Number:
  US 20170340397A1
• Time in Patent Office: 483 Days
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 19/02 Sensing devices
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 19/04 Viewing devices
• CPC Class Codes: G06F 16/113 Details of archiving lifecycle management in storage systems G06F3/0649; backup systems G06F11/1446
• CPC Class Codes: G06F 16/214 Database migration support

Abstract

Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.

Claims

1. A teleoperated system comprising:

a plurality of manipulators; and

a controller configured to;

detect mounting of an imaging device to a first manipulator of the plurality of manipulators;

acquire, based on the mounting of the imaging device to the first manipulator, a first mapping between one or more actuators and one or more output elements of a first algorithm for controlling the imaging device, the one or more actuators corresponding to one or more degrees of freedom of the imaging device or the first manipulator, the first mapping being different than a second mapping between the one or more actuators and one or more output elements of a second algorithm for controlling a first tool different than the imaging device;

control, using the first algorithm, the imaging device based on the first mapping;

determine a first reference frame for the imaging device mounted to the first manipulator;

control a second tool relative to the first reference frame;

detect mounting of the imaging device to a second manipulator of the plurality of manipulators, the second manipulator being different from the first manipulator;

determine a second reference frame for the imaging device mounted to the second manipulator; and

control the second tool relative to the second reference frame.

2. The teleoperated system of claim 1, wherein the controller comprises a joint space controller or a workspace controller.

3. The teleoperated system of claim 1, wherein to control the second tool relative to the first reference frame, the controller is configured to:

receive commands from a master input control; and

position and orient a tip of the second tool relative to the first reference frame based on a position and orientation of the master input control relative to a user display, wherein the master input control is associated with the second tool.

4. The teleoperated system of claim 1, wherein the first mapping is further between one or more sensors and one or more input elements of the first algorithm.

5. The teleoperated system of claim 1, wherein the controller is further configured to:

detect mounting of the first tool to the first manipulator;

acquire, based on the mounting of the first tool to the first manipulator, the second mapping; and

further control, using the second algorithm, the first tool relative to the second reference frame based on the second mapping.

6. The teleoperated system of claim 5, wherein the first tool and the second tool are a same tool.

7. The teleoperated system of claim 1, wherein:

the second tool is mounted to a third manipulator of the plurality of manipulators; and

control of the second tool is further based on kinematics of the third manipulator.

8. A method for controlling a teleoperated system, the method comprising:

detecting mounting of an imaging device to a first manipulator of the teleoperated system;

acquiring, based on the mounting of the imaging device to the first manipulator, a first mapping between one or more actuators and one or more output elements of a first algorithm for controlling the imaging device, the one or more actuators corresponding to one or more degrees of freedom of the imaging device or the first manipulator, the first mapping being different than a second mapping between the one or more actuators and one or more output elements of a second algorithm for controlling a first tool different than the imaging device;

controlling, using the first algorithm, the imaging device based on the first mapping;

determining a first reference frame for the imaging device mounted to the first manipulator;

controlling a second tool relative to the first reference frame;

detecting mounting of the imaging device to a second manipulator of the teleoperated system, the second manipulator being different from the first manipulator;

determining a second reference frame for the imaging device mounted to the second manipulator; and

controlling the second tool relative to the second reference frame.

9. The method of claim 8, wherein the method is performed by a joint space controller or a workspace controller.

10. The method of claim 8, wherein controlling the second tool relative to the first reference frame comprises:

receiving commands from a master input control; and

positioning and orienting a tip of the second tool relative to the first reference frame based on a position and orientation of the master input control relative to a user display, wherein the master input control is associated with the second tool.

11. The method of claim 8, wherein the first mapping is further between one or more sensors and one or more input elements of the first algorithm.

12. The method of claim 8, further comprising:

detecting mounting of the first tool to the first manipulator;

acquiring, based on the mounting of the first tool to the first manipulator, the second mapping; and

further controlling, using the second algorithm, the first tool relative to the second reference frame based on the second mapping.

13. The method of claim 12, wherein the first tool and the second tool are a same tool.

14. The method of claim 8, wherein:

the second tool is mounted to a third manipulator of the teleoperated system; and

control of the second tool is further based on kinematics of the third manipulator.

15. A non-transient machine-readable medium comprising a plurality of machine-readable instructions which, when executed by one or more processors associated with a teleoperated system, are adapted to cause the one or more processors to perform a method comprising:

detecting mounting of an imaging device to a first manipulator of the teleoperated system;

acquiring, based on the mounting of the imaging device to the first manipulator, a first mapping between one or more actuators and one or more output elements of a first algorithm for controlling the imaging device, the one or more actuators corresponding to one or more degrees of freedom of the imaging device or the first manipulator, the first mapping being different than a second mapping between the one or more actuators and one or more output elements of a second algorithm for controlling a first tool different than the imaging device;

controlling, using the first algorithm, the imaging device based on the first mapping;

determining a first reference frame for the imaging device mounted to the first manipulator;

controlling a second tool relative to the first reference frame;

detecting mounting of the imaging device to a second manipulator of the teleoperated system, the second manipulator being different from the first manipulator;

determining a second reference frame for the imaging device mounted to the second manipulator; and

controlling the second tool relative to the second reference frame.

16. The non-transient machine-readable medium of claim 15, wherein controlling the second tool relative to the first reference frame comprises:

receiving commands from a master input control; and

positioning and orienting a tip of the second tool relative to the first reference frame based on a position and orientation of the master input control relative to a user display, wherein the master input control is associated with the second tool.

17. The non-transient machine-readable medium of claim 15, wherein the first mapping is further between one or more sensors and one or more input elements of the first algorithm.

18. The non-transient machine-readable medium of claim 15, wherein the method further comprises:

detecting mounting of the first tool to the first manipulator;

acquiring, based on the mounting of the first tool to the first manipulator, the second mapping; and

further controlling, using the second algorithm, the first tool relative to the second reference frame based on the second mapping.

19. The non-transient machine-readable medium of claim 18, wherein the first tool and the second tool are a same tool.

20. The non-transient machine-readable medium of claim 15, wherein:

the second tool is mounted to a third manipulator of the teleoperated system; and

controlling of the second tool is further based on kinematics of the third manipulator.