Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
First Claim
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1. A method for controlling movement of a medical device, the method comprising:
- receiving, at a processor, a commanded state of a medical device from an input device;
receiving, at the processor, a preferred pose of the medical device from a pose selector, the preferred pose being different, at a time of pose selection, than the commanded state and a current pose of the medical device, the preferred pose being one of a default pose and an operator defined pose, the default pose fixed for the medical device, the operator defined pose having been defined by an operator of the input device; and
the processor;
controlling movement of the medical device from the current pose of the medical device in response to the commanded state, andcommanding a biasing force to be applied to the input device such that the biasing force increases when a difference between the commanded state and the preferred pose increases.
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Abstract
A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.
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Citations
20 Claims
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1. A method for controlling movement of a medical device, the method comprising:
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receiving, at a processor, a commanded state of a medical device from an input device; receiving, at the processor, a preferred pose of the medical device from a pose selector, the preferred pose being different, at a time of pose selection, than the commanded state and a current pose of the medical device, the preferred pose being one of a default pose and an operator defined pose, the default pose fixed for the medical device, the operator defined pose having been defined by an operator of the input device; and the processor; controlling movement of the medical device from the current pose of the medical device in response to the commanded state, and commanding a biasing force to be applied to the input device such that the biasing force increases when a difference between the commanded state and the preferred pose increases. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for controlling movement of a medical device, the method comprising:
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receiving, at a processor, a commanded state of a medical device from an input device; receiving, at the processor, a preferred pose of the medical device from a pose selector, the preferred pose being different, at a time of pose selection, than the commanded state and a current pose of the medical device, the preferred pose being one of a default pose and an operator defined pose, the default pose fixed for the medical device, the operator defined pose having been defined by an operator of the input device; and the processor; generating a modified commanded state by modifying the commanded state to accommodate a virtual constraint on movement of the medical device; controlling movement of the medical device from the current pose of the medical device in response to the modified commanded state, and commanding a biasing force to be applied to the input device such that the biasing force increases when a difference between the modified commanded state and the preferred pose increases. - View Dependent Claims (17, 18)
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19. A method for controlling movement of a medical device, the method comprising:
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receiving, at a processor, a commanded state of a medical device from an input device; receiving, at the processor, a preferred pose of the medical device from a pose selector, the preferred pose being different, at a time of pose selection, than the commanded state and a current pose of the medical device, the preferred pose being one of a default pose and an operator defined pose, the default pose fixed for the medical device, the operator defined pose having been defined by an operator of the input device; and the processor; generating a modified commanded state by modifying the commanded state to accommodate a physical constraint on movement of the medical device; controlling movement of the medical device from the current pose of the medical device in response to the modified commanded state, and commanding a biasing force to be applied to the input device such that the biasing force increases when a difference between the modified commanded state and the preferred pose increases. - View Dependent Claims (20)
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Specification