Medical robotic system with coupled control modes
First Claim
Patent Images
1. A method comprising:
- commanding, by a base controller, manipulation of a base to optimize an operable workspace of a first instrument, the first instrument being coupled to the base so the first instrument moves as the base moves; and
commanding, by a first instrument controller, manipulation of the first instrument according to commanded movement of the first instrument while automatically compensating for movement of the base.
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Abstract
In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system'"'"'s usability is enhanced by reducing the surgeon'"'"'s need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
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Citations
32 Claims
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1. A method comprising:
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commanding, by a base controller, manipulation of a base to optimize an operable workspace of a first instrument, the first instrument being coupled to the base so the first instrument moves as the base moves; and commanding, by a first instrument controller, manipulation of the first instrument according to commanded movement of the first instrument while automatically compensating for movement of the base. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method comprising:
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receiving a retraction command from an input device; retracting a plurality of devices extending beyond a distal end of a guide tube back together towards the guide tube in response to the retraction command; and driving automatically one device of the plurality of devices to a retraction configuration so that the one device of the plurality of devices may freely enter the guide tube. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A method comprising:
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commanding, by an imaging system controller, an imaging system manipulator to move an imaging system in response to a commanded movement of the imaging system; and commanding, by a plurality of instrument controllers, a plurality of instrument manipulators to move corresponding ones of a plurality of instruments to automatically follow the commanded movement of the imaging system. - View Dependent Claims (25, 26, 27, 28)
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29. In a computer-assisted medical device, a method comprising:
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at an instrument controller, in response to an input by an operator, commanding a movement of an instrument extending through a guide tube; at a guide tube controller, commanding a movement of the guide tube in response to the commanded movement of the instrument; and the commanded movement of the instrument automatically compensating for the movement of the guide tube. - View Dependent Claims (30, 31)
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32. In a computer-assisted medical device, a method comprising:
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at a control system for a plurality of devices that extend through a guide tube, in response to a retraction command from an operator input device, commanding the plurality of devices to retract together into the guide tube, the commanding of the plurality of devices to retract together into the guide tube comprising commanding each device in the plurality of devices that is not in a retraction configuration to move to the retraction configuration, and the retraction configuration permitting retraction into the guide tube.
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Specification