Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
First Claim
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1. A medical system comprising:
- a medical device;
an input device that is operated by an operator to output a commanded state of the medical device;
a pose selector that outputs a preferred pose of the medical device, the preferred pose being different, at a time of pose selection, than the commanded state and a current pose of the medical device, the preferred pose being one of a default pose and an operator defined pose, the default pose fixed for the medical device, the operator defined pose having been defined by the operator of the input device; and
a control system for controlling movement of the medical device from the current pose of the medical device in response to the commanded state and for commanding a biasing force to be applied to the input device such that the biasing force increases whenever a difference between the commanded state and the preferred pose increases.
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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 of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.
444 Citations
15 Claims
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1. A medical system comprising:
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a medical device; an input device that is operated by an operator to output a commanded state of the medical device; a pose selector that outputs a preferred pose of the medical device, the preferred pose being different, at a time of pose selection, than the commanded state and a current pose of the medical device, the preferred pose being one of a default pose and an operator defined pose, the default pose fixed for the medical device, the operator defined pose having been defined by the operator of the input device; and a control system for controlling movement of the medical device from the current pose of the medical device in response to the commanded state and for commanding a biasing force to be applied to the input device such that the biasing force increases whenever a difference between the commanded state and the preferred pose increases. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification
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Current AssigneeIntuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
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Original AssigneeIntuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
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InventorsDiolaiti, Nicola, Lilagan, Paul E.
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Primary Examiner(s)LIN, ABBY YEE
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Application NumberUS14/551,283Publication NumberTime in Patent Office876 DaysField of SearchUS Class CurrentCPC Class CodesA61B 2034/102 Modelling of surgical devic...A61B 2034/305 Details of wrist mechanisms...A61B 2034/741 Glove like input devices, e...A61B 2034/742 JoysticksA61B 2034/743 KeyboardsA61B 2034/744 MouseA61B 2090/306 using optical fibresA61B 34/25 User interfaces for surgica...A61B 34/30 Surgical robotsA61B 34/37 Master-slave robots A61B34/...A61B 34/74 Manipulators with manual el...A61B 34/76 Manipulators having means f...A61B 34/77 Manipulators with motion or...A61B 90/361 Image-producing devices, e....B25J 9/161 Hardware, e.g. neural netwo...B25J 9/1633 compliant, force, torque co...Y10S 901/33 Tactile sensorY10S 901/34 force feedback
