User selection of robotic system operating modes using mode distinguishing operator actions

• US 9,586,323 B2
• Filed: 02/15/2013
• Issued: 03/07/2017
• Est. Priority Date: 02/15/2012
• 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, Gomez, Daniel H., Mitra, Probal, Mustufa, Tabish
• Primary Examiner(s): LIN, ABBY YEE
• Application Number:
  US13/768,187
• Publication Number:
  US 20130211590A1
• Time in Patent Office: 1,481 Days
• Field of Search: 700/245, 700/250, 700257-261, 700/264, 901 2- 6, 901/8, 901/41, 901/46, 901/49, 901/50
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00973 pedal-operated
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• 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 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 13/04 Foot-operated control means
• CPC Class Codes: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B25J 13/065 comprising joy-sticks
• CPC Class Codes: B25J 9/1689 Teleoperation

Abstract

A robotic system has a plurality of user selectable operating modes. To select one of the operating modes, a user performs a distinguishing action which uniquely identifies a desired operating mode among the plurality of user selectable operating modes. A method implemented by a processor in the robotic system identifies the distinguishing action and places the robotic system in the user selected operating mode.

Claims

1. A system operable in a plurality of operating modes, the system comprising:

first and second input devices, the first input device grasped by a first hand of an operator, the second input device grasped by a second hand of the operator, each input device movable by the grasping hand of the operator in a plurality of degrees of freedom without releasing the input device so that the first and second input devices are movable by the operator in a combined plurality of degrees of freedom;

first and second manipulators;

a first device movable by the first manipulator in a first plurality of degrees of freedom, the first manipulator operatively coupled to a first at least one of the first and second input devices in a first operating mode to command movement of the first device by the first manipulator in the first plurality of degrees of freedom by using a first subset of the combined plurality of degrees of freedom of the first and second input devices, wherein a first non-used degree of freedom of the combined plurality of degrees of freedom of the first and second input devices is not included in the first subset;

a second device movable by the second manipulator in a second plurality of degrees of freedom, the second manipulator operatively coupleable to a second at least one of the first and second input devices in a second operating mode to command movement of the second device by the second manipulator in the second plurality of degrees of freedom by using a second subset of the combined plurality of degrees of freedom of the first and second input devices, wherein the first non-used degree of freedom of the combined plurality of degrees of freedom of the first and second input devices is included in the second subset so that the first non-used degree of freedom serves as a distinguishing action that distinguishes the second operating mode from the first operating mode; and

a processor programmed to change an operating mode of the system from the first operating mode to the second operating mode by operatively decoupling the first at least one of the first and second input devices from the first manipulator and operative coupling the second at least one of the first and second input devices to the second manipulator, upon determining that the first at least one of the first and second input devices has been moved by using the first non-used degree of freedom.

2. The system of claim 1, further comprising:

a mode switch, wherein activation of the mode switch indicates that the operating mode of the system may be changed;

wherein the processor is programmed to change the operating mode of the system from the first operating mode to the second operating mode after determining that the mode switch has been activated and upon determining that the first at least one of the first and second input devices has been moved by using the first non-used degree of freedom.

3. The system of claim 2, wherein the mode switch is adapted to be activated by a foot of the operator and each of the first and second input devices is adapted to be manipulated by a corresponding hand of the operator.

4. The system of claim 2, further comprising:

a third manipulator;

a third device movable by the third manipulator in a third plurality of degrees of freedom, the third manipulator operatively coupleable to a third at least one of the first and second input devices in a third operating mode to command movement of the third device by the third manipulator in the third plurality of degrees of freedom by using a third subset of the combined plurality of degrees of freedom of the first and second input devices, wherein a second non-used degree of freedom of the combined plurality of degrees of freedom of the first and second input devices is not included in the second subset, but is included in the third subset so as to serve as a second distinguishing action that distinguishes the third operating mode from the second operating mode; and

wherein the processor is programmed to change the operating mode of the system from the second operating mode to the third operating mode after determining that the second at least one of the first and second input devices has been moved by using the second non-used degree of freedom.

5. The system of claim 2, wherein the processor is programmed to change the operating mode of the system from the second operating mode back to the first operating mode by deactivating, then reactivating the mode switch.

6. The system of claim 1, wherein the processor is programmed to change the operating mode of the system from the first operating mode to the second operating mode after the movement of the first at least one of the first and second input devices by using the first non-used degree of freedom has reached a threshold level.

7. The system of claim 6, wherein the processor is programmed to cause a sensory feedback to be provided to the operator of the first at least one of the first and second input devices that indicates when the movement of the first at least one of the first and second input devices by using the first non-used degree of freedom is approaching the threshold level.

8. The system of claim 7, wherein the processor is programmed to cause the sensory feedback to be provided to the operator by causing haptic feedback to be provided on the first at least one of the first and second input devices.

9. The system of claim 8, wherein the processor is programmed to cause the haptic feedback on the first at least one of the first and second input devices to increase in intensity as the movement of the first at least one of the first and second input devices by using the first non-used degree of freedom approaches the threshold level.

10. The system of claim 7, wherein the processor is programmed to cause the sensory feedback to be provided to the operator by causing visual feedback to be provided to the operator.

11. The system of claim 10, further comprising:

a display;

wherein the processor is programmed to cause the visual feedback to be provided to the operator by causing a graphical indication to be displayed on the display so as to indicate when the movement of the first at least one of the first and second input devices by using the first non-used degree of freedom approaches the threshold level.

12. The system of claim 7, wherein the processor is programmed to cause the sensory feedback to be provided to the operator by causing audio feedback to be provided to the operator.

13. The system of claim 1, further comprising:

a display;

wherein the processor is programmed to cause one or more graphical indications to be displayed on the display, wherein each graphical indication indicates a direction of a movement to be made of the first at least one of the first and second input devices by using one of the combined plurality of degrees of freedom that would distinguish a corresponding one of the plurality of operating modes from others of the plurality of operating modes.

14. A system operable in a plurality of operating modes, the system comprising:

first and second input devices, each input device movable by an operator in a plurality of degrees of freedom so that the first and second input devices are movable by the operator in a combined plurality of degrees of freedom;

first and second manipulators;

a first device movable by the first manipulator in a first plurality of degrees of freedom, the first manipulator operatively coupled to a first at least one of the first and second input devices in a first operating mode to command movement of the first device by the first manipulator in the first plurality of degrees of freedom by using a first subset of the combined plurality of degrees of freedom of the first and second input devices, wherein a first non-used degree of freedom of the combined plurality of degrees of freedom of the first and second input devices is not included in the first subset;

a second device movable by the second manipulator in a second plurality of degrees of freedom, the second manipulator operatively coupleable to a second at least one of the first and second input devices in a second operating mode to command movement of the second device by the second manipulator in the second plurality of degrees of freedom by using a second subset of the combined plurality of degrees of freedom of the first and second input devices, wherein the first non-used degree of freedom of the combined plurality of degrees of freedom of the first and second input devices is included in the second subset so that the first non-used degree of freedom serves as a distinguishing action that distinguishes the second operating mode from the first operating mode;

a mode switch, wherein activation of the mode switch indicates that the operating mode of the system may be changed; and

a processor programmed to change an operating mode of the system from the first operating mode to the second operating mode by operatively decoupling the first at least one of the first and second input devices from the first manipulator and operative coupling the second at least one of the first and second input devices to the second manipulator, upon determining that the first at least one of the first and second input devices has been moved by using the first non-used degree of freedom;

wherein the processor is programmed to change the operating mode of the system from the first operating mode to the second operating mode after determining that the mode switch has been activated and upon determining that the first at least one of the first and second input devices has been moved by using the first non-used degree of freedom; and

wherein the processor is programmed to change the operating mode of the system from the second operating mode back to the first operating mode upon the mode switch being deactivated.

15. A system operable in a plurality of operating modes, the system comprising:

first and second input devices, each input device movable by an operator in a plurality of degrees of freedom so that the first and second input devices are movable by the operator in a combined plurality of degrees of freedom;

first and second manipulators;

a first device movable by the first manipulator in a first plurality of degrees of freedom, the first manipulator operatively coupled to a first at least one of the first and second input devices in a first operating mode to command movement of the first device by the first manipulator in the first plurality of degrees of freedom by using a first subset of the combined plurality of degrees of freedom of the first and second input devices, wherein a first non-used degree of freedom of the combined plurality of degrees of freedom of the first and second input devices is not included in the first subset;

a second device movable by the second manipulator in a second plurality of degrees of freedom, the second manipulator operatively coupleable to a second at least one of the first and second input devices in a second operating mode to command movement of the second device by the second manipulator in the second plurality of degrees of freedom by using a second subset of the combined plurality of degrees of freedom of the first and second input devices, wherein the first non-used degree of freedom of the combined plurality of degrees of freedom of the first and second input devices is included in the second subset so that the first non-used degree of freedom serves as a distinguishing action that distinguishes the second operating mode from the first operating mode;

a display; and

a processor programmed to change an operating mode of the system from the first operating mode to the second operating mode by operatively decoupling the first at least one of the first and second input devices from the first manipulator and operative coupling the second at least one of the first and second input devices to the second manipulator, upon determining that the first at least one of the first and second input devices has been moved by using the first non-used degree of freedom;

wherein the processor is programmed to cause one or more graphical indications to be displayed on the display, wherein each graphical indication indicates a movement of the first at least one of the first and second input devices by using one of the combined plurality of degrees of freedom that distinguishes a corresponding one of the plurality of operating modes from others of the plurality of operating modes; and

wherein the first and second input devices are both used in the first operating mode and only one of the first and second input devices is used in the second operating mode so that the second operating mode is selected by the processor when only one of the first and second input devices is moved by the operator.