Control of multiple devices

• US 10,376,325 B2
• Filed: 07/06/2016
• Issued: 08/13/2019
• Est. Priority Date: 07/07/2015
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Radel, Joshua, Fung, Stanley, Jiang, Jason, Mustufa, Tabish
• Primary Examiner(s): Lyons, Andrew M.
• Application Number:
  US15/742,303
• Publication Number:
  US 20180206925A1
• Time in Patent Office: 1,133 Days
• Field of Search: 128849-856, 128897-899, 128923, 269238, 269297, 318566, 31856811, 31856812, 31856816, 31856817, 31856818, 31856819, 3185682, 31856821, 31856822, 31856825, 318574, 318628, 348 45, 348 51, 359399, 379 8814, 414 1, 414 2, 414 4, 414 5, 414 7, 600101-104, 600106, 600117, 600118, 600131, 600424, 600427, 600429, 600595, 601 1, 606 1, 606 45, 606 46, 606102, 606111, 606130, 606587, 607 3, 607 9, 607 17, 700245-251, 700256-264, 701245, 701257-259, 701264, 701450, 901 1- 3, 901 8- 11, 901 14- 17, 901 20, 901 27- 30, 901 33, 901 34, 901 41, 901 46
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00225 Systems for controlling multiple different instruments, e.g. microsurgical systems
• CPC Class Codes: A61B 2034/258 providing specific settings for specific users
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2034/743 Keyboards
• CPC Class Codes: A61B 2034/744 Mouse
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/90 Identification means for patients or instruments, e.g. tags
• CPC Class Codes: G06F 8/60 Software deployment
• CPC Class Codes: G06F 8/65 Updates security arrangements therefor G06F21/57
• CPC Class Codes: G16H 40/40 for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
• CPC Class Codes: G16H 40/67 for remote operation

Abstract

Methods, systems, and apparatuses for controlling surgical systems. In one aspect, a method includes obtaining, at a control subsystem associated with a surgical system, hardware configuration information from a first patient side subsystem that is communicatively coupled to and controlled by the control subsystem; determining a software version to be used by the control subsystem and the first patient side subsystem, wherein determining the software version includes selecting the software version from among a plurality of software versions, and wherein each software version of the plurality of software versions is associated with a particular patient side subsystem; instructing the first patient side subsystem to use the software version; determining whether the software version is currently loaded on the control subsystem; in response to determining that the software version is not currently loaded on the control subsystem, loading the software version on the control subsystem; and initializing the surgical system.

Claims

1. A method comprising:

obtaining, at a control subsystem associated with a surgical system, a hardware configuration from a first patient side subsystem of the surgical system, wherein the first patient side subsystem is communicatively coupled to and controlled by the control subsystem;

determining, with a data processing apparatus, a software version to be used by the control subsystem and the first patient side subsystem, wherein determining the software version includes selecting the software version from among a plurality of software versions, and wherein each software version of the plurality of software versions is associated with a particular patient side subsystem;

instructing, with the data processing apparatus, the first patient side subsystem to use the software version;

determining, with the data processing apparatus, whether the software version is currently loaded on the control subsystem;

in response to determining that the software version is not currently loaded on the control subsystem, loading, with the data processing apparatus, the software version on the control subsystem;

validating, with the data processing apparatus, the software version loaded on the control subsystem and the first patient side subsystem;

initializing, with the data processing apparatus, the surgical system with the software version;

receiving, at the first patient side subsystem, an instruction to load the software version;

determining that the software version is located on a second configuration different from a first configuration currently loaded on the first patient side subsystem;

storing data corresponding to the second configuration; and

configuring the first patient side subsystem to the second configuration.

2. The method of claim 1, further comprising validating, with the data processing apparatus, the hardware configuration of the first patient side subsystem prior to determining the software version to be used by the control subsystem and the first patient side subsystem.

3. The method of claim 2, wherein validating the hardware configuration includes:

determining that the hardware configuration is compatible with the control subsystem.

4. The method of claim 1, wherein the control subsystem comprises components of a surgeon console of the surgical system, wherein the surgeon console is configured to provide control functions to an operator of the surgical system, and wherein the first patient side subsystem includes one or more manipulators configured to hold and position one or more corresponding surgical instruments.

5. The method of claim 1, wherein instructing the first patient side subsystem to use the software version comprises:

loading the software version on the first patient side subsystem by;

determining one or more particular modules of multiple modules, wherein the particular modules contain the software version; and

loading the particular modules.

6. The method of claim 1, wherein the determining the software version to be used by the control subsystem and the first patient side subsystem is performed based on a collaboration between the control subsystem and the first patient side subsystem.

7. The method of claim 1, wherein validating the software version comprises:

determining whether the control subsystem and the first patient side subsystem have loaded the software version; and

in response to determining that the control subsystem or the first patient side subsystem has not loaded the determined software version, generating an error message and preventing initialization of at least one of;

the control subsystem and the first patient side subsystem for use in the surgical system.

8. The method of claim 1, further comprising:

recognizing, with the data processing apparatus, that a second patient side subsystem has been communicatively coupled to the controller subsystem;

obtaining, with the data processing apparatus, hardware information about the second patient side subsystem;

validating, with the data processing apparatus, the hardware information of the second patient side subsystem; and

instructing, with the data processing apparatus, the second patient side subsystem to load the software version.

9. The method of claim 1, further comprising:

recognizing, with the data processing apparatus, that a second patient side subsystem has been communicatively coupled to the control subsystem;

obtaining, with the data processing apparatus, hardware information about the second patient side subsystem;

validating, with the data processing apparatus, the hardware information of the second patient side subsystem; and

loading, with the data processing apparatus, a second software version on the control subsystem, wherein the second software version corresponds to software loaded on the second patient side subsystem.

10. The method of claim 1, wherein the software version is determined based on a current software version currently loaded on the controller subsystem or on the first patient side subsystem.

11. The method of claim 1, further comprising downloading the second configuration.

12. The method of claim 1, further comprising, in response to an interrupt:

determining a valid software version from the software version and a previously loaded software version; and

rebooting the control subsystem or the first patient side subsystem to the valid software version.

13. A method comprising:

obtaining, at a control subsystem associated with a surgical system, a hardware configuration from a first patient side subsystem of the surgical system, wherein the first patient side subsystem is communicatively coupled to and controlled by the control subsystem;

determining, with a data processing apparatus, a software version to be used by the control subsystem and the first patient side subsystem, wherein determining the software version includes selecting the software version from among a plurality of software versions, and wherein each software version of the plurality of software versions is associated with a particular patient side subsystem;

instructing, with the data processing apparatus, the first patient side subsystem to use the software version;

determining, with the data processing apparatus, whether the software version is currently loaded on the control subsystem;

in response to determining that the software version is not currently loaded on the control subsystem, loading, with the data processing apparatus, the software version on the control subsystem;

validating, with the data processing apparatus, the software version loaded on the control subsystem and the first patient side subsystem;

initializing, with the data processing apparatus, the surgical system with the software version

wherein instructing the first patient side subsystem to use the software version comprises;

loading the software version on the first patient side subsystem by;

determining a particular boot image of multiple boot images, wherein the particular boot image contains the software version; and

rebooting the first patient side subsystem from a current boot image to the particular boot image,

wherein rebooting the first patient side subsystem from the current boot image to the particular boot image comprises;

obtaining a first header block for the particular boot image;

restoring the obtained first header block to the particular boot image;

storing a copy of a second header block for the current boot image; and

after restoring of the obtained first header block and storing of the copy of the second header block, invalidating the second header block for the current boot image.

14. A system, comprising:

a control subsystem, wherein the control subsystem is configured to communicatively couple with a plurality of patient-side subsystems, wherein each patient-side subsystem is associated with a software configuration of a plurality of software configurations, and

wherein the control subsystem configures the system by;

determining a combination of the control subsystem communicatively coupled with a particular patient-side subsystem of the plurality of patient-side subsystems,

selecting a particular software configuration from the plurality of software configurations based on the combination,

initializing the system after validating the particular software configuration;

transmitting instructions from the control subsystem to the particular patient-side subsystem to load the particular software configuration, wherein the particular patient-side subsystem is configured to;

receive the instruction to load the software version;

determine that the software version is located on a second configuration different from a first configuration currently loaded on the particular patient side subsystem

store data corresponding to the second configuration; and

configure the particular patient side subsystem to the second configuration.

15. The system of claim 14, wherein the particular patient-side subsystem has a particular hardware configuration and wherein the control subsystem determines the particular hardware configuration is valid for the combination of the control subsystem communicatively coupled with the particular patient-side subsystem prior to determining the particular software configuration.

16. The system of claim 14, wherein the control subsystem comprises components of a surgeon console of a surgical system, wherein the surgeon console is configured to provide control functions to an operator of the surgical system, and wherein the particular patient-side subsystem includes one or more manipulators configured to position one or more corresponding surgical instruments responsive to user input to the control subsystem.