Detecting uncontrolled movement
AssigneeIntuitive Surgical Operations, Inc.
InventorMichael Turner
Life of this patent
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Abstract
A teleoperated surgical system includes a component such as a master control or a multi-jointed mechanical system that is configured for manual manipulation and a detection module configured to analyze movement of the component and detect uncontrolled movement of the component. Uncontrolled movement may be identified by detecting movement only on joints that gravity can move, but no movement on joints that are not subject to movement caused by gravity. In response to detection of uncontrolled movement of the component, the detection module can cause the system to switch to a safe mode of operation.
Claims18
A teleoperated surgical system comprising:
- a manually movable master control configured to generate one or more signals when a movement of one or more mechanical degrees of freedom of the master control is detected;
- and
- a detection module coupled to the master control and configured to:
- determine whether a change in location of the master control is outside a safe range of movement using the one or more signals;
- and
- command the system to switch from an operating mode to a safe mode in response to determining that the change in location of the master control is outside the safe range of movement;
- wherein:
- the operating mode comprises a following mode in which a slave device separate from the master control moves in response to movement of the master control;
- and
- the safe mode comprises a mode in which the slave device does not move in response to movement of the master control.
A method comprising:
- measuring a movement of a manually movable master control of a medical device, the master control having a plurality of movable mechanical degrees of freedom;
- determining whether a change in location of the master control is outside a safe range of movement;
- and
- commanding the medical device to switch from an operating mode to a safe mode in response to determining that the change in location of the master control is outside the safe range of movement;
- wherein:
- the operating mode comprises a following mode in which a slave device separate from the master control moves in response to movement of the master control;
- and
- the safe mode comprises a mode in which the slave device does not move in response to movement of the master control.
A teleoperated system comprising:
- a master control;
- a slave device comprising a teleoperated manipulator;
- and
- a control system coupled to the master control and the slave device,
- wherein during a following mode of the teleoperated system, the control system causes the teleoperated manipulator to move in response to a manual movement of the master control, and
- wherein the control system:
- determines that a first mechanical degree of freedom of the master control that is affected by gravity has moved;
- determines that a second mechanical degree of freedom of the master control that is not affected by gravity has not moved;
- and
- commands the teleoperated system to switch from the following mode to a safe mode in response to determining that the first mechanical degree of freedom has moved and that the second mechanical degree of freedom has not moved.
Dependencies are inferred from the claim text.