Master-to-slave orientation mapping when misaligned
AssigneeIntuitive Surgical Operations, Inc.
InventorHsien-Hsin Liao
Life of this patent
Estimating the term…
Abstract
A controller stores the orientations of a master tool grip and a slave surgical instrument tip upon completion of a master-slave alignment process, and enters following. During following each commanded movement of the slave surgical instrument tip from the master tool grip is processed by the controller to compensate for any alignment error between the master tool grip and the slave surgical instrument tip before following was entered. The result of this processing is that the motion of the slave surgical instrument tip intuitively corresponds to the motion of the master tool grip despite an initial swooping orientation misalignment between the master tool grip and the slave surgical instrument tip.
Claims18
A system comprising:
- a master tool grip;
- and
- a controller configured to:
- receive a first command from the master tool grip and to send a second command to control movement of a slave instrument tip when there is a swooping orientation misalignment between the master tool grip and the slave instrument tip, the first command including an orientation of the master tool grip, and the second command including a desired orientation of the slave instrument tip;
- and
- generate the desired orientation of the slave instrument tip by using the orientation of the master tool grip, the desired orientation of the slave instrument tip causing the slave instrument tip to rotate in a same manner about an axis defined with respect to a slave instrument as the master tool grip rotates about a corresponding axis defined with respect to the master tool grip, the slave instrument comprising the slave instrument tip.
A system comprising:
- a master tool grip having an orientation in eye-view frame, and the eye-view frame having an orientation in a master frame;
- and
- a controller configured to be coupled to a slave instrument and coupled to the master tool grip, the slave instrument including a slave instrument tip and the slave instrument tip having an orientation in a camera frame;
- the controller being configured to receive a first command from the master tool grip and to send a second command to control motion of the slave instrument tip, the first command including a current orientation of the master tool grip in the eye-view frame;
- and
- the controller comprising a memory and an orientation control module;
- the memory being configured to store a base orientation of the slave instrument tip in the camera frame and to store a base orientation of the eye-view frame in the master frame;
- wherein the orientation control module is configured to:
- receive a current orientation of the master tool grip in the eye-view frame;
- retrieve a stored base orientation of the eye-view frame in the master frame and a
- stored base orientation of the slave instrument tip;
- and
- generate a desired orientation of the slave instrument tip in the camera frame based on the stored base orientation of the slave instrument tip in the camera frame and a relative rotation matrix, the relative rotation matrix representing a relative rotation of the eye-view frame in the master frame;
- and
- the controller is configured to include the desired orientation of the slave instrument tip in the second command.
A method for aligning a slave instrument tip of a slave instrument with a master tool grip, the method comprising:
- generating, by a controller when there is a swooping orientation misalignment between the master tool grip and the slave instrument tip, a desired orientation of the slave instrument tip using an orientation of the master tool grip, the desired orientation of the slave instrument tip causing the slave instrument tip to rotate in a same manner about an axis defined with respect to the slave instrument as the master tool grip rotates about a corresponding axis defined with respect to the master tool grip;
- and
- sending, by the controller, a command including the desired orientation of the slave instrument tip.
Dependencies are inferred from the claim text.