Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose

• US 9,492,927 B2
• Filed: 11/09/2011
• Issued: 11/15/2016
• Est. Priority Date: 08/15/2009
• 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): LIN, ABBY YEE
• Application Number:
  US13/292,760
• Publication Number:
  US 20120059391A1
• Time in Patent Office: 1,833 Days
• Field of Search: 600/103, 600117-118, 600/137, 600/145, 600/146, 606/1, 606/130, 700245-246, 700250-259, 700/262, 901 31- 35, 901 46- 48, 901/50
• US Class Current: 1/1
• 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 2090/306 using optical fibres
• 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 34/30 Surgical robots
• 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 34/76 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 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 13/025 comprising haptic means
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: F04C 2270/041 Controlled or regulated
• CPC Class Codes: G05B 2219/45117 Medical, radio surgery manipulator

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 an articulated instrument in response to operator manipulation of an associated input device while generating a force command to the input device that nudges the operator to command the instrument to a preferred pose. When a transition is to occur between first and second preferred poses, one is phased in while the other is phased out. Virtual barriers may be imposed to prevent the articulated instrument from being commanded to an undesirable pose.

Claims

1. A method for urging operator manipulation of an input device to command an articulated instrument to a preferred pose at a work site, the method comprising:

generating a commanded pose of the articulated instrument in response to operator manipulation of an input device;

receiving information of a first static pose for the articulated instrument, the first static pose predefined by at least one of an instrument type of the articulated instrument and a current operating mode of the articulated instrument;

generating a first preferred pose by using a dynamically changed version of the first static pose, the dynamically changed version of the first static pose generated by automatically changing the first static pose according to information of one or more other articulated instruments disposed at the work site;

generating first force commands for a plurality of degrees of freedom of the input device so as to increase as a difference between the first preferred pose and the commanded pose increases; and

applying the first force commands to the plurality of degrees of freedom of the input device by phasing in their application according to a first activation signal that increases in magnitude over a transition period.

2. The method of claim 1, further comprising:

modifying the commanded pose by applying a virtual barrier as a constraint to prevent the articulated instrument from being commanded to move beyond the virtual barrier in a first direction until at least a portion of the articulated instrument which is closest to, but has not yet encountered the virtual barrier conforms with the first preferred pose.

3. The method of claim 2, further comprising:

generating a stream of modulation coefficients by determining a difference between the commanded pose and the modified-commanded pose, projecting the difference along the first direction, and binary coding the projected difference by setting a current modulation coefficient to a first value if the projected difference is greater than a threshold value and setting the current modulation coefficient to a second value if the projected difference is less than or equal to the threshold value.

4. The method of claim 3, wherein generating the first force commands comprises:

comparing the first preferred pose to the modified commanded pose to generate Cartesian position and velocity errors;

modifying the Cartesian position and velocity errors by removing components along the first direction and about an axis of a pivotable tip of the articulated instrument;

generating a visco-elastic six degree-of-freedom force command using the modified Cartesian position and velocity errors;

generating the first activation signal by passing the stream of modulation coefficients through a low pass filter; and

amplitude modulating the visco-elastic six degree-of-freedom force command with the first activation signal.

5. The method of claim 4, wherein generating the visco-elastic six degree-of-freedom force command comprises:

amplifying the modified Cartesian position error by a position gain to generate a first result and limiting the first result to a position saturation limit to generate a second result;

amplifying the modified Cartesian velocity error by a velocity gain to generate a third result;

generating an interim visco-elastic six-degree-of-freedom force command by subtracting the third result from the second result; and

generating the visco-elastic six degree-of-freedom force command by limiting the interim visco-elastic six-degree-of-freedom force command to a force saturation limit.

6. The method of claim 2, further comprising:

generating second force commands for a plurality of degrees of freedom of the input device so as to be indicative of a difference between a second preferred pose and the commanded pose; and

applying the second force commands to the plurality of degrees of freedom of the input device by phasing out their application according to a second activation signal.

7. The method of claim 6, further comprising:

generating a second stream of modulation coefficients by determining a difference between the commanded pose and modified commanded pose, projecting the difference along the first direction, and binary coding the projected difference by setting a current modulation coefficient to the second value if the projected difference is greater than the threshold value and setting the current modulation coefficient to the first value if the projected difference is less than or equal to the threshold value.

8. The method of claim 6, wherein the second preferred pose of the articulated instrument is a pose at which the articulated instrument is to be biased while the articulated instrument is being used during the performance of a medical procedure.

9. The method of claim 6, wherein the articulated instrument is a camera instrument and the second preferred pose is a pose from which working ends of other instruments are within a field of view of the camera instrument during the performance of the medical procedure.

10. The method of claim 9, wherein the first preferred pose of the articulated instrument is a pose in which the articulated instrument is capable of being retracted into an entry guide out of which the articulated instrument is extendable.

11. The method of claim 1, further comprising:

generating the first preferred pose by using a weighted average of a first plurality of static poses, each static pose predefined by at least one of the instrument type of the articulated instrument and the current operating mode of the articulated instrument.

12. The method of claim 1, further comprising:

generating second force commands for a plurality of degrees of freedom of the input device so as to increase as a difference between a second preferred pose and the commanded pose increases; and

applying the second force commands to the plurality of degrees of freedom of the input device by phasing out their application according to a second activation signal that decreases in magnitude over the transition period.

13. The method of claim 12, further comprising:

generating the second preferred pose by using a weighted average of a second plurality of static poses, each static pose predefined by the instrument type of the articulated instrument and a prior operating mode of the articulated instrument.

14. The method of claim 12, wherein the first and second activation signals are complementary signals so that the first activation signal is phased in as the second activation signal is phased out.

15. A robotic system comprising:

an input device;

a non-volatile memory;

an articulated instrument;

one or more other articulated instruments; and

a processor programmed to;

receive information of a first static pose for the articulated instrument from the non-volatile memory, the first static pose predefined by at least one of an instrument type of the articulated instrument and a current operating mode of the articulated instrument;

generate a first preferred pose by using a dynamically changed version of the first static pose, the dynamically changed version of the first static pose generated by automatically changing the first static pose according to information of the one or more other articulated instruments;

generate a commanded pose of the articulated instrument in response to operator manipulation of the input device, generate first force commands for a plurality of degrees of freedom of the input device so as increase as a difference between the first preferred pose and the commanded pose increases; and

command application of the first force commands on the plurality of degrees of freedom of the input device so as to phase in their application according to a first activation signal that increases in magnitude over a transition period.

16. The system of claim 15, wherein the processor is programmed to modify the commanded pose by applying a virtual barrier as a constraint to prevent the articulated instrument from being commanded to move beyond the virtual barrier in a first direction until at least a portion of the articulated instrument which is closest to, but has not yet encountered the virtual barrier conforms with the first preferred pose.

17. The system of claim 16, wherein the processor is programmed to generate a stream of modulation coefficients by determining a difference between the commanded pose and the modified commanded pose, projecting the difference along the first direction, and binary coding the projected difference by setting a current modulation coefficient to a first value if the projected difference is greater than a threshold value and setting the current modulation coefficient to a second value if the projected difference is less than or equal to the threshold value.

18. The system of claim 17, wherein the processor is programmed to generate the first force commands by comparing the first preferred pose to the modified commanded pose to generate Cartesian position and velocity errors, modifying the Cartesian position and velocity errors by removing components along the first direction and about an axis of a pivotable tip of the articulated instrument, generating a visco-elastic six degree-of-freedom force command using the modified Cartesian position and velocity errors, generating the first activation signal by passing the stream of modulation coefficients through a low pass filter, and amplitude modulating the visco-elastic six degree-of-freedom force command with the first activation signal.

19. The system of claim 18, wherein the processor is programmed to generate the visco-elastic six degree-of-freedom force command by amplifying the modified Cartesian position error by a position gain to generate a first result and limiting the first result to a position saturation limit to generate a second result, amplifying the modified Cartesian velocity error by a velocity gain to generate a third result, generating an interim visco-elastic six-degree-of-freedom force command by subtracting the third result from the second result, and generating the visco-elastic six degree-of-freedom force command by limiting the interim visco-elastic six-degree-of-freedom force command to a force saturation limit.

20. The system of claim 16, wherein the processor is programmed to generate second force commands for a plurality of degrees of freedom of the input device so as to be indicative of a difference between a second preferred pose and the commanded pose;

and apply the second force commands to the plurality of degrees of freedom of the input device by phasing out their application according to a second activation signal.

21. The system of claim 20, wherein the processor is programmed to generate a second stream of modulation coefficients by determining a difference between the commanded pose and the modified commanded pose, projecting the difference along the first direction, and binary coding the projected difference by setting a current modulation coefficient to the second value if the projected difference is greater than the threshold value and setting the current modulation coefficient to the first value if the projected difference is less than or equal to the threshold value.

22. The system of claim 20, wherein the second preferred pose of the articulated instrument is a pose at which the articulated instrument is to be biased while the articulated instrument is being used during the performance of a medical procedure.

23. The system of claim 22, wherein the articulated instrument is a camera instrument and the second preferred pose is a pose from which working ends of other instruments are within a field of view of the camera instrument during the performance of the medical procedure.

24. The system of claim 23, further comprising:

an entry guide out of which the articulated instrument is extendable;

wherein the first preferred pose of the articulated instrument is a pose in which the articulated instrument is capable of being retracted into the entry guide.

25. The system of claim 15, wherein the processor is programmed to generate the first preferred pose by using a weighted average of a first plurality of static poses, each static pose determined by at least one of the instrument type of the articulated instrument and the current operating mode of the articulated instrument.

26. The system of claim 15, wherein the processor is programmed to:

generate second force commands for a plurality of degrees of freedom of the input device so as to increase as a difference between a second preferred pose and the commanded pose increases; and

command application of the second force commands on the plurality of degrees of freedom of the input device so as to phase out their application according to a second activation signal that decreases in magnitude over the transition period.

27. The system of claim 26, wherein the processor is configured to generate the second preferred pose by using a weighted average of a second plurality of static poses, each static pose predefined by the instrument type of the articulated instrument and a prior operating mode of the articulated instrument.

28. The system of claim 26, wherein the first and second activation signals are complementary signals so that the first activation is phased in as the second activation signal is phased out.