Methods and systems for assigning input devices to teleoperated surgical instrument functions

• US 9,814,536 B2
• Filed: 03/16/2016
• Issued: 11/14/2017
• Est. Priority Date: 09/17/2012
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Goldberg, Randal P, Hanuschik, Michael, Millman, Paul, Mohr, Paul W., Nixon, Thomas R., Robinson, David
• Primary Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US15/072,303
• Publication Number:
  US 20160192998A1
• Time in Patent Office: 608 Days
• CPC Class Codes: A61B 18/00 Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 18/14 Probes or electrodes therefor
• CPC Class Codes: A61B 2017/00225 Systems for controlling multiple different instruments, e.g. microsurgical systems
• CPC Class Codes: A61B 2017/00973 pedal-operated
• CPC Class Codes: A61B 2034/254 being adapted depending on the stage of the surgical procedure
• 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: G05B 2219/40195 Tele-operation, computer assisted manual operation

Abstract

A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system may include detecting a first surgical instrument coupled to a first manipulator interface assembly of a teleoperated surgical system, the manipulator interface assembly being controlled by a first input device; detecting which one of a user'"'"'s left and right hands operates the first input device; and assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the user'"'"'s left hand is detected to operate the first input device, or assigning control of an auxiliary function of the first surgical instrument to a second auxiliary input device disposed in a right position relative to the first auxiliary input device if the user'"'"'s right hand is detected to operate the first input device. A frame of reference of the left position and right position is relative to a user operating the first input device.

Claims

1. A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system, the method comprising:

detecting a first surgical instrument coupled to a first manipulator interface assembly of a teleoperated surgical system, the first manipulator interface assembly being controlled by a first input device;

detecting which one of a user'"'"'s left hand and right hand operates the first input device; and

assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the user'"'"'s left hand is detected to operate the first input device, or

assigning control of an auxiliary function of the first surgical instrument to the second auxiliary input device disposed in a right position relative to the first auxiliary input device if the user'"'"'s right hand is detected to operate the first input device,

wherein a frame of reference of the left position and right position is relative to a user operating the first input device.

2. The method of claim 1, wherein the auxiliary function comprises an electrosurgical function.

3. The method of claim 1, wherein the first input device comprises a gripping mechanism.

4. The method of claim 1, further comprising

detecting a second surgical instrument coupled to a second manipulator interface assembly of the teleoperated surgical system, the second manipulator interface assembly being controlled by a second input device;

detecting which one of the user'"'"'s left hand and right hand operates the second input device; and

assigning control of an auxiliary function of the second surgical instrument to the second auxiliary input device if the user'"'"'s left hand is detected to operate the second input device, or

assigning control of the auxiliary function of the second surgical instrument to the second auxiliary input device if the user'"'"'s right hand is detected to operate the second input device.

13. The method of claim 1, further comprising:

activating the auxiliary function of the surgical instrument in response to input at the assigned one of the first auxiliary input device and second auxiliary input device.

14. The method of claim 1, wherein the auxiliary function is chosen from at least one of delivering energy, image and/or audio streaming, irrigation, suction, stapling, and cutting.

15. The method of claim 1, further comprising:

detecting actuation of the first auxiliary input device or a presence of a user in proximity to the first auxiliary input device; and

in response to the detecting the actuation or presence, displaying an indication at a portion of a graphical user interface indicating the surgical instrument to which the first auxiliary input device is assigned control.

5. A method for controlling a surgical instrument in a computer-assisted surgical system, the method comprising:

receiving at a controller a signal indicative of a surgical instrument being in an in-following status with a first input device positioned to receive input from one of a user'"'"'s right or left hands;

detecting a change in the in-following status of the surgical instrument from the first input device to a second input device positioned to receive input from the other of the user'"'"'s right hand and left hand; and

automatically re-assigning control of an auxiliary function of the surgical instrument from a first auxiliary input device to a second auxiliary input device based on detecting the change of the in-following status.

6. The method of claim 5, wherein the first auxiliary input device and the second auxiliary input device have relative left and right positioning with respect to each other.

7. The method of claim 5, wherein control of the auxiliary function of the surgical instrument is automatically re-assigned from the first auxiliary input device to the second auxiliary input device during a surgical procedure.

8. The method of claim 5, wherein an original assignment of auxiliary functions are automatically re-assigned during a procedure based on detecting the change of the in-following status of the first and second input devices.

9. The method of claim 5, further comprising:

after automatically re-assigning control of the auxiliary function of the surgical instrument from the first auxiliary input device to the second auxiliary input device, activating the auxiliary function of the surgical instrument in response to an input command signal received from the second auxiliary input device.

10. The method of claim 5, wherein the auxiliary function is chosen from at least one of delivering energy, image and/or audio streaming, irrigation, suction, stapling, and cutting.

11. The method of claim 5, further comprising:

detecting actuation of the second auxiliary input device or a presence of a user in proximity to the second auxiliary input device; and

in response to the detecting the presence, displaying an indication at a portion of a graphical user interface indicating the surgical instrument to which the second auxiliary input device is assigned control.

12. The method of claim 5, further comprising:

detecting an auxiliary function type of the surgical instrument; and

sending a signal from the first or second auxiliary input device to activate the auxiliary function of the surgical instrument based on detecting of the auxiliary function type and of the in-following status of the surgical instrument.

16. A system for controlling a surgical instrument, the system comprising:

a first input device operably coupled to generate and transmit a first input control signal to remotely control movement of a surgical instrument operably coupled to a computer-assisted surgical system;

a second input device operably coupled to generate and transmit a second input control signal to remotely control movement of a surgical instrument operably coupled to a computer-assisted surgical system

a first auxiliary input device configured to transmit a first auxiliary function control signal to activate an auxiliary function of a surgical instrument in an operably coupled state of the first auxiliary input device and the surgical instrument;

a second auxiliary input device configured to transmit a second auxiliary function control signal to activate an auxiliary function of a surgical instrument in an operably coupled state of the second auxiliary input device and the surgical instrument; and

a control system configured to;

detect change with regard to which of the first and second input devices the surgical instrument is in an in-following status with; and

selectively assign control of the auxiliary function of the surgical instrument to the first or second auxiliary input devices based on detecting the change of the in-following status.

17. The system of claim 16, wherein the first input device and the second input device comprise gripping mechanisms.

18. The system of claim 16, further comprising a readable memory structure associated with the surgical instrument, the control system being further configured to receive data from the readable memory structure identifying the auxiliary function type of the surgical instrument.

19. The system of claim 16, further comprising:

a graphical user interface configured to provide an indication of a detected presence of the user in proximity to the first or second auxiliary input devices.

20. The system of claim 16, wherein the first and second auxiliary input devices comprise foot pedals.