Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
AssigneeIntuitive Surgical Operations, Inc.
InventorsNicola Diolaiti, Paul E. Lilagan
Life of this patent
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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.
Claims20
A medical system comprising:
- a manipulator to which a medical device is coupleable;
- an input device;
- a pose selector;
- and
- a processor configured to:
- receive a commanded state of the medical device from the input device;
- receive a preferred pose of the medical device from the pose selector, 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 an operator of the input device;
- and
- generate a modified commanded state by modifying the commanded state to accommodate a virtual constraint on movement of the medical device;
- command movement of the manipulator so as to move the medical device from the current pose to the modified commanded state, and
- command a biasing force to be applied to the input device such that the biasing force increases when a difference between the modified commanded state and the preferred pose increases.
A medical system comprising:
- a manipulator to which a medical device is coupleable;
- an input device;
- a pose selector;
- and
- a processor configured to:
- receive a commanded state of the medical device from the input device;
- receive a preferred pose of the medical device from the pose selector, 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 an operator of the input device;
- and
- generate a modified commanded state by modifying the commanded state to accommodate a physical constraint on movement of the medical device;
- command movement of the manipulator so as to move the medical device from the current pose to the modified commanded state, and
- command a biasing force to be applied to the input device such that the biasing force increases when a difference between the modified commanded state and the preferred pose increases.
Dependencies are inferred from the claim text.