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Inter-operative switching of tools in a robotic surgical system

  • US 9,504,527 B2
  • Filed: 03/18/2014
  • Issued: 11/29/2016
  • Est. Priority Date: 09/17/1999
  • Status: Active Grant
First Claim
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1. A method for controlling a telesurgical system, the method comprising:

  • controlling, by a controller of the telesurgical system, a first tool connected to a first manipulator of the telesurgical system, the first tool being connected to the first manipulator using a plurality of first connector elements;

    implementing, by a hardware mapping unit, a first mapping between the plurality of first connector elements and a plurality of interface elements of the controller, the first mapping being used by the controller to control the first tool while it is connected to the first manipulator;

    controlling, by the controller, a second tool connected to a second manipulator of the telesurgical system, the second tool being connected to the second manipulator using a plurality of second connector elements;

    implementing, by the hardware mapping unit, a second mapping between the plurality of second connector elements and the plurality of interface elements of the controller, the second mapping being used by the controller to control the second tool while it is connected to the second manipulator;

    detecting, by the controller, a swap of the first and second tools such that the first tool is connected to the second manipulator using the plurality of first connector elements and the second tool is connected to the first manipulator using the plurality of second connector elements;

    implementing, by the hardware mapping unit, a third mapping between the plurality of first connector elements and the plurality of interface elements of the controller, the third mapping being different from the first and second mappings;

    implementing, by the hardware mapping unit, a fourth mapping between the plurality of second connector elements and the plurality of interface elements of the controller, the fourth mapping being different from the first and second mappings;

    controlling, by the controller, the first tool connected to the second manipulator using the fourth mapping; and

    controlling, by the controller, the second tool connected to the first manipulator using the third mapping.

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