# US 11,992,281 B2 · Systems and methods for bifurcated navigation control of a manipulator cart included within a computer-assisted medical system

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- Number: US 11,992,281 B2
- Document ID: US11992281B2
- Status: Granted
- Kind: B2
- Application number: 17/610,348
- Filed: 2020-05-29
- Published: 2022-08-04
- Granted: 2024-05-28
- Earliest claimed: 2019-05-31
- Assignees: Intuitive Surgical Operations, Inc.
- Applicants: Intuitive Surgical Operations, Inc.
- Inventors: Sophia R. Hannaford; Marisa C. Babb; Simon P. DiMaio; Craig Gotsill; Omid Mohareri; Dinesh Rabindran
- Web page: https://patentgrep.com/patent/US11992281B2

## CPC

- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/32: operating autonomously
- A61B 34/25: {User interfaces for surgical systems}
- A61B 34/30: Surgical robots
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/70: {Manipulators specially adapted for use in surgery}
- A61B 50/13: Trolleys{, e.g. carts}
- B25J 5/007: {mounted on wheels}
- B25J 9/0084: {comprising a plurality of manipulators}
- B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it}
- B25J 9/1664: {characterised by motion, path, trajectory planning}
- G05D 1/0027: {involving a plurality of vehicles, e.g. fleet or convoy travelling (fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00)}
- G05D 1/692: involving a plurality of disparate vehicles
- A61B 2034/2074: {Interface software}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location. The system directs the manipulator cart to navigate, in a first bifurcated navigation control mode associated with a primary control interface that facilitates both operator control of steering and propulsion, along at least part of a first portion of the path from the initial to an intermediate location. The system further directs the manipulator cart to navigate, in a second bifurcated navigation control mode associated with a secondary control interface that facilitates operator control of propulsion but not steering, along at least part of a second portion of the path from the intermediate to the target location. In the first and second bifurcated navigation control modes, the system autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart.

## Claims

### Claim 1

A computer-assisted medical system comprising:
a manipulator cart;
a memory storing instructions; and
a processor communicatively coupled to the memory and configured to execute the instructions to:
define a path whereby the manipulator cart is to navigate from an initial location to a target location;
direct the manipulator cart to navigate, in a first bifurcated navigation control mode, along at least part of a first portion of the path extending from the initial location to an intermediate location on the path between the initial location and the target location; and
direct the manipulator cart to navigate, in a second bifurcated navigation control mode, along at least part of a second portion of the path extending from the intermediate location to the target location;
wherein:
in the first bifurcated navigation control mode, the processor autonomously controls a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart using a primary control interface configured to facilitate operator control of both steering and propulsion of the manipulator cart; and
in the second bifurcated navigation control mode, the processor autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.

### Claim 2 (depends on 1)

The computer-assisted medical system of claim 1, wherein:
the initial location is associated with an initial orientation of the manipulator cart;
the target location is associated with a target orientation of the manipulator cart; and
the defining of the path whereby the manipulator cart is to navigate from the initial location to the target location further includes defining, with respect to the path, an orientation plan whereby the manipulator cart is reoriented from the initial orientation to the target orientation.

### Claim 3 (depends on 1)

The computer-assisted medical system of claim 1, wherein:
the initial location is associated with an initial configuration of a movable component of the manipulator cart;
the target location is associated with a target configuration of the movable component of the manipulator cart; and
the defining of the path whereby the manipulator cart is to navigate from the initial location to the target location further includes defining, with respect to the path, a configuration plan whereby the movable component of the manipulator cart is to transform from the initial configuration to the target configuration.

### Claim 4 (depends on 1)

The computer-assisted medical system of claim 1, wherein the defining of the path whereby the manipulator cart is to navigate from the initial location to the target location comprises:
detecting an obstacle between the initial location and the target location;
determining a movability status or a risk factor of the obstacle; and
accounting for the movability status or the risk factor of the obstacle in the defining of the path.

### Claim 5 (depends on 1)

The computer-assisted medical system of claim 1, wherein the processor is further configured to execute the instructions to:
direct, prior to the defining of the path whereby the manipulator cart is to navigate from the initial location to the target location, the manipulator cart to be moved from a first location from which the target location is undetectable by a sensor of the manipulator cart to a second location from which the target location is detectable by the sensor;
determine, while the manipulator cart is at the second location, that the sensor detects the target location; and
designate, in response to the determining that the sensor detects the target location, the second location to be the initial location.

### Claim 6 (depends on 1)

The computer-assisted medical system of claim 1, wherein the primary control interface includes a handlebar-based control interface integrated into the manipulator cart.

### Claim 7 (depends on 1)

The computer-assisted medical system of claim 1, wherein:
the manipulator cart includes a set of one or more arms;
the secondary control interface is implemented using a portion of a designated arm of the set of one or more arms; and
the secondary control interface is configured to facilitate the operator control of the propulsion by:
sensing an external stimulus applied to the portion of the designated arm, and
in response to the sensed external stimulus meeting a set of criteria, interpreting the sensed external stimulus as a propulsion command.

### Claim 8 (depends on 7)

The computer-assisted medical system of claim 7, wherein the set of criteria comprises a criterion based on a direction of the external stimulus.

### Claim 9 (depends on 8)

The computer-assisted medical system of claim 8, wherein:
the external stimulus is interpreted as a forward propulsion command in response to the direction of the external stimulus being in a substantially forward direction; or
the external stimulus is interpreted as a backward propulsion command in response to the direction of the external stimulus being in a substantially backward direction; or
the external stimulus is not interpreted as the propulsion command in response to the direction of the of the external stimulus being substantially orthogonal to the path toward the target location.

### Claim 10 (depends on 7)

The computer-assisted medical system of claim 7, wherein the set of criteria comprises:
a magnitude of the external stimulus being greater than a threshold magnitude, or;
a frequency of the external stimulus being lower than a threshold frequency.

### Claim 11 (depends on 7)

The computer-assisted medical system of claim 7, wherein:
the set of one or more arms includes a plurality of arms;
the designated arm is the only arm of the plurality of arms designated for implementing the secondary control interface; and
the designated arm is visually differentiated in the plurality of arms so as to be identifiable by an operator as the designated arm included in the secondary control interface.

### Claim 12 (depends on 7)

The computer-assisted medical system of claim 7, wherein the secondary control interface is further configured to facilitate the operator control of the propulsion by:
as part of the sensing of the external stimulus, sensing a magnitude of the sensed external stimulus; and
as part of the interpreting of the sensed external stimulus, incorporating the magnitude into the propulsion command.

### Claim 13 (depends on 1)

The computer-assisted medical system of claim 1, wherein:
the intermediate location is operator selected; or
the intermediate location is associated with a boundary of a sterile field, the sterile field including the target location while excluding the initial location.

### Claim 14 (depends on 1)

The computer-assisted medical system of claim 1, wherein the primary control interface and the secondary control interface are configured for non-concurrent use such that:
the primary control interface is used to control the propulsion during a first time period; and
the secondary control interface is used to control the propulsion during a second time period, the second time period subsequent to and not overlapping with the first time period.

### Claim 15 (depends on 1)

The computer-assisted medical system of claim 1, wherein the primary control interface and the secondary control interface are configured for concurrent use such that:
a first operator performs the operator control of the propulsion of the manipulator cart using the primary control interface during a first time period; and
a second operator distinct from the first operator performs the operator control of the propulsion of the manipulator cart using the secondary control interface during a second time period, the second time period overlapping with the first time period.

### Claim 16 (depends on 15)

The computer-assisted medical system of claim 15, wherein the processor is further configured to execute the instructions to prioritize, while the first time period overlaps with the second time period;
the operator control of the propulsion of the manipulator cart using the primary control interface over the operator control of the propulsion of the manipulator cart using the secondary control interface; or
the operator control of the propulsion of the manipulator cart using the secondary control interface over the operator control of the propulsion of the manipulator cart using the primary control interface.

### Claim 17 (depends on 15)

The computer-assisted medical system of claim 15, wherein the processor is further configured to execute the instructions to:
identify a navigational condition associated with navigation of the manipulator cart along the path; and
based on the identified navigational condition, prioritize, while the first time period overlaps with the second time period, the operator control of the propulsion of the manipulator cart using one of the primary and secondary control interfaces over the other of the primary and secondary control interfaces.

### Claim 18 (depends on 1)

The computer-assisted medical system of claim 1, wherein the processor is further configured to execute the instructions to switching to a standard navigation control mode from the first bifurcated navigation control mode or from the second bifurcated navigation control mode by:
receiving, during the first bifurcated navigation control mode or the second bifurcated navigation control mode, operator input resisting autonomous steering of the manipulator cart, the operator input received at the primary control interface or the secondary control interface; and
transitioning, in response to the operator input, from directing navigation along the path in the first or second bifurcated navigation control mode to directing navigation of the manipulator cart in the standard navigation control mode, wherein the standard navigation control mode allows operator control of both the steering and the propulsion of the manipulator cart using the primary control interface.

### Claim 19 (depends on 1)

The computer-assisted medical system of claim 1, wherein the processor is further configured to execute the instructions to:
identify a navigational condition associated with navigation of the manipulator cart along the path; and
transition, based on the navigational condition, from directing the navigation along the path in the first or second bifurcated navigation control mode to directing navigation of the manipulator cart in a standard navigation control mode, wherein the standard navigation control mode allows operator control of both the steering and the propulsion of the manipulator cart using the primary control interface.

### Claim 20

A method comprising:
defining, by a bifurcated navigation control system, a path whereby a manipulator cart included within a computer-assisted medical system is to navigate from an initial location to a target location;
directing, by the bifurcated navigation control system, the manipulator cart to navigate, in a first bifurcated navigation control mode, along at least part of a first portion of the path extending from the initial location to an intermediate location on the path between the initial location and the target location; and
directing, by the bifurcated navigation control system, the manipulator cart to navigate, in a second bifurcated navigation control mode, along at least part of a second portion of the path extending from the intermediate location to the target location;
wherein:
in the first bifurcated navigation control mode, the bifurcated navigation control system autonomously controls a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart using a primary control interface configured to facilitate operator control of both steering and propulsion of the manipulator cart, and
in the second bifurcated navigation control mode, the bifurcated navigation control system autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.

### Claim 21 (depends on 20)

The method of claim 20, wherein
the defining of the path whereby the manipulator cart is to navigate from the initial location to the target location further includes defining, with respect to the path;
an orientation plan whereby the manipulator cart is to reoriented from an initial orientation associated with an initial orientation of the manipulator cart to a target orientation associated with a target orientation of the manipulator cart; or
a configuration plan whereby a movable component of the manipulator cart is to transform from an initial configuration of the movable component to the target configuration of the movable component.

### Claim 22 (depends on 20)

The method of claim 20, wherein:
the manipulator cart includes a set of one or more arms;
the secondary control interface is implemented using a portion of a designated arm of the set of one or more arms; and
the secondary control interface is configured to facilitate the control of the propulsion by:
sensing an external stimulus applied to the portion of the designated arm, and
in response to the sensed external stimulus meeting a set of criteria, interpreting the sensed external stimulus as a propulsion command.

### Claim 23 (depends on 22)

The method of claim 22, wherein the set of criteria comprises at least one criterion selected from the group consisting of:
a criterion based on a direction of the external stimulus;
a magnitude of the external stimulus being greater than a threshold magnitude; and
a frequency of the external stimulus being lower than a threshold frequency.

### Claim 24 (depends on 20)

The method of claim 20, wherein:
the primary control interface and the secondary control interface are configured for concurrent use such that:
a first operator performs the operator control of the propulsion of the manipulator cart using the primary control interface during a first time period; and
a second operator distinct from the first operator performs the operator control of the propulsion of the manipulator cart using the secondary control interface during a second time period, the second time period overlapping with the first time period;
the method further comprises prioritizing, by the bifurcated navigation control system while the first time period overlaps with the second time period;
the operator control of the propulsion of the manipulator cart using the primary control interface over the operator control of the propulsion of the manipulator cart using the secondary control interface; or
the operator control of the propulsion of the manipulator cart using the secondary control interface over the operator control of the propulsion of the manipulator cart using the primary control interface; or
the operator control of the propulsion of the manipulator cart using one of the primary and secondary control interfaces over the other of the primary and secondary control interfaces based on an identified navigational condition associated with navigation of the manipulator cart along the path.

### Claim 25 (depends on 20)

The method of claim 20, further comprising:
switching, by the bifurcated navigation control system, to a standard navigation control mode from the first bifurcated navigation control mode or from the second bifurcated navigation control mode, the standard navigation control mode allowing operator control of both the steering and the propulsion of the manipulator cart using the primary control interface.

### Claim 26 (depends on 20)

The method of claim 20, further comprising switching to a standard navigation control mode from the first bifurcated navigation control mode or from the second bifurcated navigation control mode in response to:
receiving, during the first bifurcated navigation control mode or the second bifurcated navigation control mode, operator input resisting autonomous steering of the manipulator cart, the operator input received at the primary control interface or the secondary control interface; or
identifying, by the bifurcated navigation control system, a navigational condition associated with navigation of the manipulator cart along the path, wherein
the standard navigation control mode allowing operator control of both the steering and the propulsion of the manipulator cart using the primary control interface.

### Claim 27

A non-transitory computer-readable medium storing instructions that, when executed, direct a processor of a computing device to:
define a path whereby a manipulator cart included within a computer-assisted medical system is to navigate from an initial location to a target location;
direct the manipulator cart to navigate, in a first bifurcated navigation control mode, along at least part of a first portion of the path extending from the initial location to an intermediate location on the path between the initial location and the target location; and
direct the manipulator cart to navigate, in a second bifurcated navigation control mode, along at least part of a second portion of the path extending from the intermediate location to the target location;
wherein:
in the first bifurcated navigation control mode, the processor autonomously controls a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart using a primary control interface configured to facilitate operator control of both steering and propulsion of the manipulator cart; and
in the second bifurcated navigation control mode, the processor autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.

### Claim 28 (depends on 27)

The non-transitory computer-readable medium of claim 27, wherein:
the manipulator cart includes a set of one or more arms;
the primary control interface includes a control interface integrated into the manipulator cart and separate from the set of one or more arms;
the secondary control interface is implemented using a portion of a designated arm of the set of one or more arms; and
the secondary control interface is configured to facilitate the control of the propulsion by:
sensing an external stimulus applied to the portion of the designated arm, and
in response to the sensed external stimulus meeting a set of criteria, interpreting the sensed external stimulus as a propulsion command.

### Claim 29 (depends on 27)

The non-transitory computer-readable medium of claim 27, wherein the instructions further direct the processor to switch to a standard navigation control mode from the first bifurcated navigation control mode or from the second bifurcated navigation control mode, the standard navigation control mode allowing operator control of both the steering and the propulsion of the manipulator cart using the primary control interface.