Systems and methods for adaptive input mapping
AssigneeIntuitive Surgical Operations, Inc.
InventorsChristopher R. Carlson, Federico Barbagli
Life of this patent
Estimating the term…
Abstract
A medical system includes an operator input device and a control system. The operator input device is configured to generate input instructions for controlling a medical instrument. The control system is configured to: receive an input instruction corresponding to an operator input device movement; determine, based on the input instruction, a dynamic parameter for the operator input device movement; determine a motion scaling parameter based on the dynamic parameter for the operator input device movement; apply the motion scaling parameter to the input instruction to create an output instruction for a medical instrument movement; and control a movement of the medical instrument according to the output instruction.
Claims19
A medical system, comprising:
- an operator input device configured to generate input instructions for controlling a medical instrument;
- and
- a control system configured to:
- receive an input instruction corresponding to an operator input device movement, the input instruction comprising an instruction for rotational motion of the medical instrument;
- determine, based on the input instruction, a dynamic parameter for the operator input device movement;
- determine a motion scaling parameter based on the dynamic parameter for the operator input device movement;
- apply the motion scaling parameter to the input instruction to create an output instruction for a medical instrument movement;
- and
- control a movement of the medical instrument according to the output instruction.
A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a control system, cause the one or more processors to perform:
- receiving an input instruction corresponding to an operator input device movement, the input instruction comprising an instruction for rotational motion of a medical instrument;
- determining, based on the input instruction, a dynamic parameter for the operator input device movement;
- determining a motion scaling parameter based on the dynamic parameter for the operator input device movement;
- applying the motion scaling parameter to the input instruction to create an output instruction for a medical instrument movement;
- and
- controlling a movement of the medical instrument according to the output instruction.
A method of controlling a movement of a medical instrument, comprising:
- receiving, by a control system, an input instruction corresponding to an operator input device movement;
- determining, by the control system and based on the input instruction, a dynamic parameter for the operator input device movement;
- comparing, by the control system, the dynamic parameter to a threshold value;
- determining, by the control system and based on the comparison of the dynamic parameter to the threshold value, a motion scaling parameter;
- applying, by the control system, the motion scaling parameter to the input instruction to create an output instruction for a medical instrument movement;
- and
- controlling, by the control system, movement of the medical instrument according to the output instruction.
Dependencies are inferred from the claim text.