System and method for recentering imaging devices and input controls

A method of controlling motion in a medical device, the method comprising:

• suspending teleoperated control of one or more end effectors of the medical device by one or more input controls of the medical device in response to a recentering request;
• determining a view recentering move for the imaging device so that the end effectors are contained within a view space of an imaging device of the medical device;
• determining one or more input control recentering moves to provide positional and orientational harmony between each of the input controls and a corresponding one of the end effectors;
• executing the view and input control recentering moves;
• and
• reinstating teleoperated control of the end effectors by the input controls.

A method of controlling motion in a medical device, the method comprising:

• suspending teleoperated control of one or more end effectors of the medical device by one or more input controls of the medical device in response to a recentering request;
• determining a view recentering move for the imaging device so that the end effectors are contained within a view space of an imaging device of the medical device;
• executing the view recentering move;
• and
• reinstating teleoperated control of the end effectors by the input controls.

A method of determining a preferred working distance of an imaging device of a medical device, the method comprising:

• detecting a start of a repositioning movement for an imaging device of the medical device;
• detecting an end of the repositioning movement;
• determining a current working distance based on first distances between the imaging device and one or more targets associated with one or more end effectors of the medical device that are within a view volume of the imaging device at the end of the repositioning movement, the first distances being measured in a direction of view of the imaging device;
• and
• aggregating the current working distance with previously obtained current working distances to determine the preferred working distance.

A method of controlling motion in a medical device, the method comprising:

• suspending teleoperated control of one or more end effectors of the medical device by one or more input controls of the medical device in response to a recentering request;
• determining one or more input control recentering moves to provide positional and orientational harmony between each of the input controls and a corresponding one of the end effectors;
• executing the input control recentering moves;
• and
• reinstating teleoperated control of the end effectors by the input controls.

A method of determining an ergonomic center for an operator workstation of a medical device, the method comprising:

• detecting a start of a repositioning movement for one or more input controls of the medical device;
• detecting an end of the repositioning movement;
• determining positions of one or more control points associated with the input controls at the end of the repositioning movement;
• aggregating the positions to determine an input control center point;
• and
• aggregating the input control center point with previously obtained input control center points to determine the ergonomic center.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a medical device are adapted to cause the one or more processors to perform a method comprising:

• suspending teleoperated control of one or more end effectors of the medical device by one or more input controls of the medical device in response to a recentering request;
• determining a view recentering move for the imaging device so that the end effectors are contained within a view space of an imaging device of the medical device;
• determining one or more input control recentering moves to provide positional and orientational harmony between each of the input controls and a corresponding one of the end effectors;
• executing the view and input control recentering moves;
• and
• reinstating teleoperated control of the end effectors by the input controls.

A method of controlling motion of an imaging device coupled to a medical device, the method comprising:

• detecting activation of an imaging device motion mode;
• determining whether one or more motion input controls are being used;
• when the one or more motion input controls are being used, controlling a pose of the imaging device based on the one or more motion input controls;
• and
• when the one or more motion input controls are not being used for a timeout period, recentering the imaging device;
• wherein recentering the imaging device comprises:
• determining a view recentering move for the imaging device so that one or more end effectors of the medical device are contained within a view space of the imaging device;
• and
• executing the view recentering move.