Inter-operative switching of tools in a robotic surgical system

• US 9,782,230 B2
• Filed: 10/19/2016
• Issued: 10/10/2017
• Est. Priority Date: 09/17/1999
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Smaby, Niels, Dachs, II, Gregory W., Diolaiti, Nicola, Hingwe, Pushkar, Nixon, Thomas R., Schena, Bruce M., Swarup, Nitish
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/298,130
• Publication Number:
  US 20170035519A1
• Time in Patent Office: 356 Days
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 19/02 Sensing devices
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 19/04 Viewing devices
• CPC Class Codes: G06F 16/113 Details of archiving lifecycle management in storage systems G06F3/0649; backup systems G06F11/1446
• CPC Class Codes: G06F 16/214 Database migration support

Abstract

Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.

Claims

1. A telesurgical system comprising:

a plurality of manipulators; and

a controller configured to;

detect mounting of an imaging device to a first manipulator of the plurality of manipulators;

determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator;

control a tool relative to the first reference frame by maintaining a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame based on a relative position and orientation of a master input control relative to a user display, wherein the master input control is associated with the tool;

detect mounting of the imaging device to a second manipulator of the plurality of manipulators, the second manipulator being different from the first manipulator;

determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator; and

control the tool relative to the second reference frame.

2. The telesurgical system of claim 1, wherein the controller comprises a joint space controller or a workspace controller.

3. The telesurgical system of claim 1, wherein the second reference frame is a world reference frame.

4. The telesurgical system of claim 1, wherein the first reference frame is determined based on kinematics of the first manipulator.

5. The telesurgical system of claim 1, wherein to control the tool relative to the first reference frame, the controller is configured to teleoperate the tool based on commands received from the master input control.

6. The telesurgical system of claim 1, wherein to control the tool relative to the second reference frame, the controller is configured to maintain a relative position and orientation of the tip of the tool relative to the imaging device in the second reference frame based on the relative position and orientation of the master input control relative to the user display.

7. The telesurgical system of claim 1, wherein in response to determining the second reference frame for the imaging device, the controller is configured to move the master input control so that the relative position and orientation of the master input control to the user display corresponds to a relative position and orientation of the tip of the tool relative to the imaging device in the second reference frame.

8. The telesurgical system of claim 1, wherein:

the tool is mounted to a third manipulator of the plurality of manipulators; and

control of the tool is further based on kinematics of the third manipulator.

9. The telesurgical system of claim 1, wherein:

while the imaging device is mounted to the first manipulator and the tool is mounted to the second manipulator, control of the tool is further based on kinematics of the second manipulator; and

while the imaging device is mounted to the second manipulator and the tool is mounted to the first manipulator, control of the tool is further based on kinematics of the first manipulator.

10. The telesurgical system of claim 1, further comprising:

a first mapping unit for routing signals between the controller and the first manipulator; and

a second mapping unit for routing signals between the controller and the second manipulator.

11. The telesurgical system of claim 10, wherein the controller is further configured to:

acquire a mapping for the imaging device;

apply the mapping to the first mapping unit in response to detecting the mounting of the imaging device to the first manipulator;

control the imaging device using the mapping and the first mapping unit while the imaging device is mounted to the first manipulator;

apply the mapping to the second mapping unit in response to detecting the mounting of the imaging device to the second manipulator; and

control the imaging device using the mapping and the second mapping unit while the imaging device is mounted to the second manipulator.

12. A method for controlling a telesurgical system, the method comprising:

detecting, by a controller of the telesurgical system, mounting of an imaging device to a first manipulator of the telesurgical system;

determining, by the controller, a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator;

controlling, by the controller, a tool relative to the first reference frame by maintaining a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame based on a relative position and orientation of a master input control relative to a user display, wherein the master input control is associated with the tool;

detecting, by the controller, mounting of the imaging device to a second manipulator of the telesurgical system, the second manipulator being different from the first manipulator;

determining, by the controller, a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator; and

controlling, by the controller, the tool relative to the second reference frame.

13. The method of claim 12, wherein the controller comprises a joint space controller or a workspace controller.

14. The method of claim 12, wherein determining the first reference frame comprises determining the first reference frame further based on kinematics of the first manipulator.

15. The method of claim 12, wherein controlling the tool relative to the second reference frame comprises maintaining a relative position and orientation of the tip of the tool relative to the imaging device in the second reference frame based on the relative position and orientation of the master input control to the user display, wherein the master input control is associated with the tool.

16. The method of claim 12, further comprising moving the master input control so that the relative position and orientation of the master input control to the user display corresponds to a relative position and orientation of the tip of the tool in the second reference frame for the imaging device in response to determining the second reference frame for the imaging device.

17. The method of claim 12, wherein:

while the imaging device is mounted to the first manipulator and the tool is mounted to the second manipulator, controlling of the tool is further based on kinematics of the second manipulator; and

while the imaging device is mounted to the second manipulator and the tool is mounted to the first manipulator, controlling of the tool is further based on kinematics of the first manipulator.

18. The method of claim 12, further comprising:

receiving, by the controller, a mapping for the imaging device from the imaging device or from a storage element external to the imaging device;

applying, by a first mapping unit, the mapping in response to detecting the mounting of the imaging device to the first manipulator;

controlling, by the controller, the imaging device using the mapping and the first mapping unit while the imaging device is mounted to the first manipulator;

applying, by a second mapping unit, the mapping in response to detecting the mounting of the imaging device to the second manipulator; and

controlling, by the controller, the imaging device using the mapping and the second mapping unit while the imaging device is mounted to the second manipulator.

19. A telesurgical system comprising:

a plurality of manipulators; and

a controller configured to;

detect mounting of an imaging device to a first manipulator of the plurality of manipulators;

determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator;

control a tool relative to the first reference frame by maintaining a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame based on a relative position and orientation of a master input control to a user display, wherein the master input control is associated with the tool;

detect mounting of the imaging device to a second manipulator of the plurality of manipulators, the second manipulator being different from the first manipulator;

determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator; and

control the tool relative to the second reference frame.

20. The telesurgical system of claim 19, wherein:

while the imaging device is mounted to the first manipulator and the tool is mounted to the second manipulator, control of the tool is further based on kinematics of the second manipulator; and

while the imaging device is mounted to the second manipulator and the tool is mounted to the first manipulator, control of the tool is further based on kinematics of the first manipulator.