Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument

• US 8,918,211 B2
• Filed: 02/12/2010
• Issued: 12/23/2014
• Est. Priority Date: 02/12/2010
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Diolaiti, Nicola, Lilagan, Paul E.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): LIN, ABBY YEE
• Application Number:
  US12/704,669
• Publication Number:
  US 20110202068A1
• Time in Patent Office: 1,775 Days
• Field of Search: 606/1, 606/130, 700245-265, 901 2- 45, 901/50
• US Class Current: 700/257
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2034/743 Keyboards
• CPC Class Codes: A61B 2034/744 Mouse
• CPC Class Codes: A61B 2090/306 using optical fibres
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• 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 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: Y10S 901/33 Tactile sensor
• CPC Class Codes: Y10S 901/34 force feedback

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.

Claims

1. A medical system comprising:

an entry guide;

a plurality of articulated instruments extending through the entry guide;

an input device associated with an associated articulated instrument of the plurality of articulated instruments; and

a controller configured to command manipulation of the associated articulated instrument according to a weighted average, using non-zero weights, of a commanded pose of the associated articulated instrument and a preferred pose of the associated articulated instrument, wherein the commanded pose of the associated articulated instrument is commanded by manipulation of the input device by an operator.

2. The medical system according to claim 1, wherein the controller is configured to command sensory feedback to the operator of the input device so as to indicate a difference between the commanded pose and the preferred pose of the associated articulated instrument.

3. The medical system according to claim 2, wherein the sensory feedback comprises haptic feedback to the input device, and wherein the haptic feedback provides a perception to the operator of a spring-type force feedback on the input device whenever the operator is commanding the associated articulated instrument away from the preferred pose.

4. The medical system according to claim 3, wherein the haptic feedback comprises a restoring sensation applied to the input device that urges the operator to manipulate the input device in one or more directions to command the associated articulated instrument to the preferred pose.

5. The medical system according to claim 4, wherein the restoring sensation comprises a restoring force exerted against each translational movement of the input device commanding the associated articulated instrument away from the preferred pose and a restoring torque exerted against rotational movement of the input device commanding the associated articulated instrument away from the preferred pose.

6. The medical system according to claim 5, wherein the controller is configured to command at least one of the restoring force and torque according to a spring function.

7. The medical system according to claim 6, wherein the spring function is characterized by a dead zone.

8. The medical system according to claim 6, wherein the spring function is characterized by friction compensation.

9. The medical system according to claim 6, wherein the spring function is non-linear.

10. The medical system according to claim 1, wherein the associated articulated instrument is an articulated camera instrument and the preferred pose of the associated articulated instrument corresponds to an optimal pose of the articulated camera instrument for viewing at least one other of the plurality of articulated instruments by a camera of the articulated camera instrument.

11. The medical system according to claim 10, wherein the optimal pose maximizes viewability of the others of the plurality of articulated instruments within a field of view of the camera.

12. The medical system according to claim 10, wherein the optimal pose is characterized by the camera being extended directly above a longitudinal axis of a proximal link of the articulated camera instrument and oriented downwards towards the longitudinal axis at an angle sufficient to capture end effectors of the others of the plurality of articulated instruments in a field of view of the camera.

13. The medical system according to claim 1, further comprising a pose selector, wherein the preferred pose of the associated articulated instrument is selected by the operator interacting with the pose selector.

14. The medical system according to claim 13, wherein the controller is configured to store information of the pose selected by the operator in a memory by storing information of a current pose of the associated articulated instrument upon receiving an indication to do so by the operator interacting with the pose selector.

15. The medical system according to claim 13, wherein the controller is configured to receive information of the pose selected by the operator by receiving an operator selection of one of a plurality of programmed poses for the associated articulated instrument, and wherein the operator selection is indicated by the operator interacting with the pose selector.

16. The medical system according to claim 1, wherein the weighted average is calculated by an interpolation of the commanded pose and the preferred pose of the associated articulated instrument.

17. The medical system according to claim 1, wherein the commanded pose includes a Cartesian position variable and a Cartesian orientation variable, and the weighted average is calculated by applying weights to the Cartesian position and Cartesian orientation variables.

18. The medical system according to claim 17, wherein at least one of the Cartesian position and Cartesian orientation variables has a corresponding programmable weight applied to it.

19. The medical system according to claim 18, wherein the controller is configured to receive information of the corresponding programmable weight from a graphical user interface operated by the operator.

20. The medical system according to claim 18, wherein the controller generates the haptic feedback according to a plurality of spring functions, wherein a first one of the plurality of spring functions applies to a position variable of the position and orientation variables, and wherein a second one of the plurality of spring functions applies to an orientation variable of the position and orientation variables.

21. The medical system according to claim 17, wherein the commanded pose includes a Cartesian translational variable and a Cartesian angular velocity variable, and the weighted average is calculated by applying weights to the Cartesian translational and Cartesian angular velocity variables.

22. The medical system according to claim 21, wherein each of the Cartesian translational and Cartesian angular velocity variables has a corresponding programmable weight applied to it.

23. The medical system according to claim 22, wherein the controller is configured to receive information of the corresponding programmable weight from a graphical user interface operated by the operator.

24. The medical system according to claim 1, wherein the associated articulated instrument is an articulated tool instrument.

25. The medical system according to claim 24, wherein the preferred pose of the associated articulated instrument is a pose of the articulated tool instrument wherein all links of the articulated tool instrument are aligned.

26. The medical system according to claim 24, wherein the preferred pose of the associated articulated instrument corresponds to a pose selected by the operator.

27. The medical system according to claim 10, wherein the optimal pose minimizes a likelihood of collision between the articulated camera instrument and the others of the plurality of articulated instruments.

28. A medical system comprising:

an entry guide;

a plurality of articulated instruments extending through the entry guide;

an input device associated with the entry guide; and

a controller configured to command manipulation of the entry guide according to a weighted average, using non-zero weights, of a commanded pose of the entry guide and a preferred pose of the entry guide, wherein the commanded pose of the entry guide is commanded by manipulation of the input device by an operator.

29. The medical system according to claim 28, wherein the controller is configured to command sensory feedback to the operator of the input device so as to indicate a difference between the commanded pose and the preferred pose of the entry guide.

30. The medical system according to claim 29, wherein the preferred pose of the entry guide directs a distal end of the entry guide towards a target area.

31. The medical system according to claim 28, wherein the preferred pose of the entry guide corresponds to a pose selected by the operator.

32. A method implemented in a medical system having an entry guide, a plurality of articulated instruments extending through the entry guide, and an input device associated with an associated articulated instrument of the plurality of articulated instruments, the method comprising:

manipulating the associated articulated instrument towards a commanded pose that is commanded by manipulation of the input device by an operator and that is biased towards a preferred pose of the associated articulated instrument according to a weighted average, using non-zero weights, of the commanded pose of the associated articulated instrument and the preferred pose of the associated articulated instrument.

33. The method according to claim 32, further comprising:

providing a spring-type force feedback on the input device whenever the operator is commanding the associated articulated instrument from the preferred pose of the associated articulated instrument, wherein the providing of the spring-type force feedback comprises applying a restoring sensation to the input device that urges the operator to manipulate the input device in one or more directions to command the associated articulated instrument to the preferred pose.

34. The method according to claim 33, wherein the applying of the restoring sensation comprises:

exerting a restoring force against each translational movement of the input device commanding the associated articulated instrument away from the preferred pose; and

exerting a restoring torque against each rotational movement of the input device commanding the associated articulated instrument away from the preferred pose.

35. The method according to claim 34, further comprising generating at least one of the restoring force and torque according to a spring function.

36. The method according to claim 35, wherein the spring function is characterized by a dead zone.

37. The method according to claim 35, wherein the spring function is characterized by friction compensation.

38. The method according to claim 35, wherein the spring function is non-linear.

39. The method according to claim 32, wherein the associated articulated instrument is an articulated camera instrument and the preferred pose of the associated articulated instrument corresponds to an optimal pose of the articulated camera instrument for viewing at least one other of the plurality of articulated instruments by a camera of the articulated camera instrument.

40. The method according to claim 39, wherein the optimal pose maximizes viewability of the others of the plurality of articulated instruments within a field of view of the camera.

41. The method according to claim 39, wherein the optimal pose is characterized by the camera being extended directly above a longitudinal axis of a proximal link of the articulated camera instrument and oriented downwards towards the longitudinal axis at an angle sufficient to capture end effectors of the others of the plurality of articulated instruments in a field of view of the camera.

42. The method according to claim 32, wherein the associated articulated instrument is an articulated camera instrument and the preferred pose of the associated articulated instrument corresponds to a pose selected by the operator.

43. The method according to claim 42, further comprising storing information of the pose selected by the operator in a memory by storing information of a current pose of the associated articulated instrument upon receiving an indication to do so from the operator.

44. The method according to claim 42, further comprising receiving information of the pose selected by the operator by receiving an operator selection of one of a plurality of programmed poses for the associated articulated instrument.

45. The method according to claim 32, further comprising calculating the weighted average by an interpolation of the commanded pose and the preferred pose of the associated articulated instrument.

46. The method according to claim 32, wherein the commanded pose includes a Cartesian position variable and a Cartesian orientation variable, and the weighted average is calculated by applying weights to the Cartesian position and Cartesian orientation variables.

47. The method according to claim 46, wherein each of the Cartesian position and Cartesian orientation variables has a corresponding programmable weight applied to it.

48. The method according to claim 47, further comprising receiving information of the corresponding programmable weight from a graphical user interface operated by the operator.

49. The method according to claim 47, further comprising generating the haptic feedback according to a plurality of spring functions wherein a first one of the plurality of spring functions applies to a position variable of the position and orientation variables, and wherein a second one of the plurality of spring functions applies to an orientation variable of the position and orientation variables.

50. The method according to claim 46, wherein the commanded pose includes a Cartesian translational variable and a Cartesian angular velocity variable, and the weighted average is calculated by applying weights to the Cartesian translational and Cartesian angular velocity variables.

51. The method according to claim 50, wherein each of the Cartesian translational and Cartesian angular velocity variables has a corresponding programmable weight applied to it.

52. The method according to claim 51, further comprising receiving information of the corresponding programmable weight from a graphical user interface operated by the operator.

53. The method according to claim 32, wherein the associated articulated instrument is an articulated tool instrument.

54. The method according to claim 53, wherein the preferred pose of the associated articulated instrument is a pose of the articulated tool instrument wherein all links of the articulated tool instrument are aligned.

55. The method according to claim 53, wherein the preferred pose of the associated articulated instrument corresponds to a pose of the articulated tool instrument that has been selected by the operator.

56. The medical method according to claim 39, wherein the optimal pose minimizes a likelihood of collision between the articulated camera instrument and the others of the plurality of articulated instruments.

57. A method implemented in a medical system having an entry guide, a plurality of articulated instruments extending through the entry guide, and an input device associated with the entry guide, the method comprising:

manipulating the entry guide towards a commanded pose that is commanded by manipulation of the input device by an operator and that is biased towards a preferred pose of the entry guide according to a weighted average, using non-zero weights, of the commanded pose of the entry guide and the preferred pose of the entry guide.

58. The method according to claim 57, wherein the preferred pose of the entry guide directs a distal end of the entry guide towards a target area.

59. The method according to claim 57, wherein the preferred pose of the entry guide corresponds to a pose selected by the operator.

60. The method according to claim 57, further comprising:

providing a spring-type force feedback on the input device whenever the operator is commanding the entry guide away from the preferred pose of the entry guide.