Method and system for operating a teleoperated surgical instrument and a manual instrument

A system comprising:

• a teleoperated surgical instrument;
• a manually operated surgical instrument;
• a first cannula comprising a proximal end;
• a teleoperated manipulator;
• a controller;
• a first position sensor coupled to the teleoperated surgical instrument, the first position sensor being configured to provide a first sensor input to the controller, the first position sensor comprising a first portion arranged in a known geometrical shape that is coupled to the proximal end of the first cannula, the known geometrical shape being arranged by one or more clamps securing the first portion of the first position sensor in the known geometrical shape;
• a second position sensor coupled to the manually operated surgical instrument, the second position sensor being configured to provide a second sensor input to the controller;
• and
• a reference fixture, the first and second position sensors each being coupled to the reference fixture, the reference fixture being coupled to the teleoperated manipulator, and the reference fixture being movable with the teleoperated manipulator.

A system comprising:

• a teleoperated surgical instrument;
• a manually operated surgical instrument;
• a first cannula comprising a proximal end;
• a teleoperated manipulator;
• a controller;
• a first position sensor coupled to the teleoperated surgical instrument, the first position sensor being configured to provide a first sensor input to the controller;
• a second position sensor coupled to the manually operated surgical instrument, the second position sensor being configured to provide a second sensor input to the controller;
• a reference fixture, the first and second position sensors each being coupled to the reference fixture, the reference fixture being coupled to the teleoperated manipulator, and the reference fixture being movable with the teleoperated manipulator;
• and
• a first tether body extending over the first position sensor between the reference fixture and the proximal end of the first cannula;
• wherein the first position sensor comprises a first portion arranged in a known geometrical shape that is coupled to the proximal end of the first cannula;
• and
• wherein the known geometrical shape is arranged by a portion of a lumen extending through the first tether body in an S-curve with the first portion of the first position sensor located within the portion of the lumen.

A system comprising:

• a teleoperated surgical instrument;
• a manually operated surgical instrument;
• a first cannula comprising a proximal end;
• a second cannula comprising a proximal end;
• a teleoperated manipulator;
• a controller;
• a first position sensor coupled to the teleoperated surgical instrument, the first position sensor being configured to provide a first sensor input to the controller;
• a second position sensor coupled to the manually operated surgical instrument, the second position sensor being configured to provide a second sensor input to the controller;
• a reference fixture, the first and second position sensors each being coupled to the reference fixture, the reference fixture being coupled to the teleoperated manipulator, and the reference fixture being movable with the teleoperated manipulator;
• a first tether body extending over the first position sensor between the reference fixture and the proximal end of the first cannula;
• a second tether body extending over the second position sensor between the reference fixture and the proximal end of the second cannula;
• and
• a third tether body extending between the proximal end of the second cannula and a proximal portion of the manually operated surgical instrument, wherein the third tether body is coupled to a known feature of the manually operated surgical instrument at the proximal portion of the manually operated surgical instrument.