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

• US 10,271,915 B2
• Filed: 10/18/2016
• Issued: 04/30/2019
• 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 Y
• Application Number:
  US15/296,488
• Publication Number:
  US 20170035521A1
• Time in Patent Office: 924 Days
• 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, the method comprising:

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

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 until at least a portion of the articulated instrument which is closest to, but has not yet encountered the virtual barrier conforms with a first preferred pose;

generating a stream of modulation coefficients indicative of a difference between the commanded pose and the modified commanded pose;

generating a first activation signal by processing the stream of modulation coefficients;

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

applying the first force commands to the first plurality of degrees of freedom of the input device by phasing in their application according to the first activation signal.

2. The method of claim 1, wherein generating the first activation signal comprises filtering the stream of modulation coefficients by using a low pass filter.

3. The method of claim 1,

wherein the constraint prevents the articulated instrument from being commanded to move beyond the virtual barrier in a first direction, and

wherein generating the stream of modulation coefficients comprises:

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 when the projected difference is greater than a threshold value and setting the current modulation coefficient to a second value when the projected difference is less than or equal to the threshold value.

4. The method of claim 1,

wherein the constraint prevents the articulated instrument from being commanded to move beyond the virtual barrier in a first direction, and

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; and

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

5. The method of claim 4,

wherein generating of 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 4, wherein applying the first force commands to the first plurality of degrees of freedom of the input device by phasing in their application according to the first activation signal comprises:

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

7. The method of claim 1, further comprising:

generating second force commands for a second 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;

applying the second force commands to the second plurality of degrees of freedom of the input device prior to phasing in the application of the first force commands according to the first activation signal; and

phasing out application of the second force commands according to a second activation signal.

8. The method of claim 7, wherein the constraint prevents the articulated instrument from being commanded to move beyond the virtual barrier in a first direction, the method 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 a second value when the projected difference is greater than a threshold value and setting the current modulation coefficient to a first value when the projected difference is less than or equal to the threshold value; and

generating the second activation signal by filtering the second stream of modulation coefficients.

9. The method of claim 7, 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.

10. A robotic system comprising:

an input device;

an articulated instrument; and

a processor programmed to;

generate a commanded pose of the articulated instrument in response to operator manipulation of the input device,

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 until at least a portion of the articulated instrument which is closest to, but has not yet encountered the virtual barrier conforms with a first preferred pose,

generate a stream of modulation coefficients indicative of a difference between the commanded pose and the modified commanded pose,

generate a first activation signal by processing the stream of modulation coefficients,

generate first force commands for a plurality of degrees of freedom of the input device so as to be indicative of a difference between the first preferred pose and the commanded pose, 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 the first activation signal.

11. The system of claim 10, wherein the processor is programmed to generate the first activation signal by filtering the stream of modulation coefficients by using a low pass filter.

12. The system of claim 10,

wherein the constraint prevents the articulated instrument from being commanded to move beyond the virtual barrier in a first direction, and

wherein the processor is programmed to generate the 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 when the projected difference is greater than a threshold value and setting the current modulation coefficient to a second value when the projected difference is less than or equal to the threshold value.

13. The system of claim 10,

wherein the constraint prevents the articulated instrument from being commanded to move beyond the virtual barrier in a first direction, and

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, and

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

14. The system of claim 13, 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.

15. The system of claim 13, wherein the processor is programmed to 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 the first activation signal by generating an amplitude modulated force by amplitude modulating the visco-elastic six degree of freedom force with the first activation signal and commanding application of the amplitude modulated force on input device.

16. The system of claim 10, 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;

apply the second force commands to the plurality of degrees of freedom of the input device prior to phasing in the application of the first force commands according to the first activation signal; and

phase out application of the second force commands according to a second activation signal.

17. The system of claim 16,

wherein the constraint prevents the articulated instrument from being commanded to move beyond the virtual barrier in a first direction,

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 a second value when the projected difference is greater than a threshold value and setting the current modulation coefficient to a first value when the projected difference is less than or equal to the threshold value, and

wherein the processor is programmed to generate the second activation signal by filtering the second stream of modulation coefficients.

18. The system of claim 17, 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.

19. The system of claim 10,

wherein the processor is programmed to generate the first preferred pose by using a weighted average of a first plurality of preferred poses, and

wherein at least one of the first plurality of preferred poses is a function of at least one state of the system.

20. A non-transient computer readable medium containing program instructions for causing a computer to perform the method of:

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

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 until at least a portion of the articulated instrument which is closest to, but has not yet encountered the virtual barrier conforms with a first preferred pose;

generating a stream of modulation coefficients indicative of a difference between the commanded pose and the modified commanded pose;

generating a first activation signal by processing the stream of modulation coefficients;

generating first force commands so as to be indicative of a difference between the first preferred pose and the commanded pose; and

applying the first force commands to the input device by phasing in their application according to the first activation signal.