Method and system for switching modes of a robotic system

• US 9,469,034 B2
• Filed: 03/07/2013
• Issued: 10/18/2016
• Est. Priority Date: 06/13/2007
• 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): Black, Thomas G
• Assistant Examiner(s): Nolan, Peter D
• Application Number:
  US13/789,329
• Publication Number:
  US 20130231680A1
• Time in Patent Office: 1,321 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00278 Transorgan operations, e.g. transgastric
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/3447 Linked multiple cannulas
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 Micromanipulators
• 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 13/025 comprising haptic means
• CPC Class Codes: B25J 19/021 Optical sensing devices

Abstract

A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide after a delay. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

Claims

1. A method for switching modes of a robotic system, the method comprising:

receiving an indication that a mode change has been initiated;

providing a haptic detent on an input device after a delay following the receiving of the indication that the mode change has been initiated, the haptic detent exhibiting an abrupt reduction in a force being applied against the input device immediately before and after the delay; and

changing an operating mode of a robotic system after the input device has been manipulated past the haptic detent.

2. The method of claim 1, further comprising:

initiating a counter to count to a delay count upon receiving the indication that the mode change has been initiated;

resetting the counter upon receiving an indication that the mode change is not to be initiated; and

determining that the delay has occurred after the counter has counted to the delay count.

3. The method of claim 1, wherein the input device is at a first position at the end of the delay, wherein the haptic detent is followed by a force slope profile which is independent of the first position, and wherein the force slope profile exhibits a parabolic relationship between the force being applied against the input device and a change in position of the input device from the first position.

4. The method of claim 1, wherein the robotic system has a plurality of modes including a tool following mode and an imaging system mode, the tool following mode being a mode in which the input device is operatively coupled to a tool, the imaging system mode being a mode in which the input device is operatively coupled to an imaging system, the mode change indicating that the robotic system is to change between one of the tool following mode and the imaging system mode to the other of the tool following mode and the imaging system mode.

5. The method of claim 1, further comprising:

using a first order low pass filter having a time constant equal to the delay for determining when the haptic detent is to be provided on the input device.

6. A robotic system comprising:

an input device; and

a processor programmed to receive an indication that a mode change has been initiated, cause a haptic detent to be provided on the input device after a delay following the receiving of the indication that the mode change has been initiated, the haptic detent exhibiting an abrupt reduction in a force being applied against the input device immediately before and after the delay, and change an operating mode of the robotic system after the input device has been manipulated past the haptic detent.

7. The robotic system of claim 6, wherein the processor is programmed to initiate a counter to count to a delay count upon receiving the indication that the mode change has been initiated, reset the counter upon receiving an indication that the mode change is not to be initiated, and determine that the delay has occurred after the counter has counted to the delay count.

8. The robotic system of claim 6, wherein the input device is at a first position at the end of the delay, wherein the haptic detent is followed by a force slope profile which is independent of the first position, and wherein the force slope profile exhibits a parabolic relationship between the force being applied against the input device and a change in position of the input device from the first position.

9. The robotic system of claim 6, wherein the robotic system has a plurality of modes including a tool following mode and an imaging system mode, the tool following mode being a mode in which the input device is operatively coupled to a tool, the imaging system mode being a mode in which the input device is operatively coupled to an imaging system, the mode change indicating that the robotic system is to change between one of the tool following mode and the imaging system mode to the other of the tool following mode and the imaging system mode.

10. The robotic system of claim 6, further comprising:

a first order low pass filter having a time constant equal to the delay for determining when the haptic detent is to be provided on the input device.