Inter-operative switching of tools in a robotic surgical system
First Claim
Patent Images
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.
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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.
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Citations
20 Claims
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1. A teleoperated system comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for controlling a teleoperated system, the method comprising:
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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. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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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:
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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. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification