Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument
First Claim
1. A teleoperated system comprising:
- a master grip; and
a controller configured to be coupled to a teleoperated slave instrument, the controller being configured to;
align the master grip with the slave instrument, wherein the controller being configured to align the master grip with the slave instrument comprises;
the controller being configured to introduce a control system error between a slave instrument alignment and a master grip alignment to speed up convergence of alignment between the slave instrument and the master grip relative to convergence of alignment between the slave instrument and the master grip without introduction of the control system error.
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Accused Products
Abstract
A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
84 Citations
23 Claims
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1. A teleoperated system comprising:
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a master grip; and a controller configured to be coupled to a teleoperated slave instrument, the controller being configured to; align the master grip with the slave instrument, wherein the controller being configured to align the master grip with the slave instrument comprises;
the controller being configured to introduce a control system error between a slave instrument alignment and a master grip alignment to speed up convergence of alignment between the slave instrument and the master grip relative to convergence of alignment between the slave instrument and the master grip without introduction of the control system error. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A teleoperated system comprising:
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a master grip; and a controller coupled to the master grip and configured to be coupled to a teleoperated slave instrument, the controller being configured to align the master grip with the teleoperated slave instrument, wherein the controller being configured to align the master grip with the teleoperated slave instrument comprises the controller being configured to; characterize a rotation angle error between an alignment of the master grip and an alignment of the slave instrument; and generate a commanded movement for the slave instrument based on an output taken from a penalty profile, wherein the output taken from the penalty profile is selected using the rotation angle error. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A method of operating a teleoperated system, the teleoperated system comprising a master grip and a robot arm configured to move a slave instrument, the method comprising:
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characterizing a rotation angle error between an alignment of the master grip and an alignment of the slave instrument; and generating a commanded movement for the slave instrument based on an output taken from a penalty profile, wherein the output taken from the penalty profile is selected using the rotation angle error. - View Dependent Claims (21, 22, 23)
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Specification