Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
AssigneeIntuitive Surgical Operations, Inc.
InventorsNicola Diolaiti, Paul E. Lilagan
Life of this patent
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Abstract
A teleoperative system includes an input device and a controller. The controller is configured to receive input associated with movement of the input device, determine a commanded pose of an instrument coupled to the teleoperative system based on the received input, determine a first preferred pose of the instrument based on at least one parameter selected from a group consisting of: a type of the instrument and an operating mode of the instrument, determine a first feedback force command based on a difference between the commanded pose and the first preferred pose, and actuate the input device based on the first feedback force command.
Claims20
A teleoperative system comprising:
- an input device;
- and
- a controller;
- wherein the controller is configured to:
- receive input associated with movement of the input device;
- determine a commanded pose of an instrument coupled to the teleoperative system based on the received input;
- determine a first preferred pose of the instrument based on at least one parameter selected from a group consisting of:
- a type of the instrument and an operating mode of the instrument;
- determine a first feedback force command based on a difference between the commanded pose and the first preferred pose;
- and
- actuate the input device based on the first feedback force command.
A method for providing feedback to an operator of a teleoperative system comprising an input device and a controller, the method comprising:
- receiving, by the controller, input associated with movement of the input device;
- determining, by the controller, a commanded pose of an instrument coupled to the teleoperative system based on the received input;
- determining, by the controller, a first preferred pose of the instrument based on at least one parameter selected from a group consisting of:
- a type of the instrument and an operating mode of the instrument;
- determining, by the controller, a first feedback force command based on a difference between the commanded pose and the first preferred pose;
- and
- actuating, by the controller, the input device based on the first feedback force command.
Dependencies are inferred from the claim text.