Advanced Basket Drive Mode

A method for controlling a medical instrument using a robotic manipulator, the method comprising:

• manipulating, using the robotic manipulator, a medical instrument comprising a basket to access a human anatomy, the robotic manipulator configured to open the basket at a first opening speed and a second opening speed, the robotic manipulator further configured to close the basket at a first closing speed and a second closing speed;
• receiving, via an input device, one or more user interactions for triggering pre-programmed actions by the robotic manipulator;
• in response to receiving a first user interaction via the input device, triggering a first pre-programmed motion of the robotic manipulator, the first pre-programmed motion comprising opening the basket at the second opening speed, the second opening speed faster than the first opening speed;
• and
• in response to receiving a second user interaction via the input device, triggering a second pre-programmed motion of the robotic manipulator, the second pre-programmed motion comprising closing the basket at the second closing speed, the second closing speed faster than the first closing speed.

A control system for controlling a robotic device for performing a medical procedure, the control system comprising:

• an input device configured to receive one or more user interactions and initiate one or more actions by the robotic device, the one or more actions comprising at least one of directly-controlled movement and pre-programmed motions;
• a communication interface configured to send commands to the robotic device corresponding to the directly-controlled movement and the pre-programmed motions, the commands comprising:
• movement, by the robotic device, of a medical instrument comprising a basket, the medical instrument configured to access a human anatomy;
• opening the basket at a first opening speed and a second opening speed faster than the first opening speed;
• and
• closing the basket at a first closing speed and a second closing speed faster than the first closing speed;
• and
• control circuitry communicatively coupled to the input device and the communication interface, the control circuitry configured to:
• in response to receiving a first user interaction, trigger a first pre-programmed motion of the robotic device, the first pre-programmed motion comprising opening the basket at the second opening speed;
• and
• in response to receiving a second user interaction, trigger a second pre-programmed motion of the robotic device, the second pre-programmed motion comprising closing the basket at the second closing speed.

One or more non-transitory computer-readable media storing computer-executable instructions that, when executed by control circuitry, cause the control circuitry to perform operations comprising:

• manipulating, using a robotic device, a medical instrument comprising a basket to access a human anatomy, the robotic device configured to open the basket at a first opening speed and a second opening speed, the robotic device further configured to close the basket at a first closing speed and a second closing speed;
• receiving, via an input device, one or more inputs for triggering pre-programmed actions by the robotic device;
• in response to receiving a first input via the input device, triggering a first pre-programmed motion of the robotic device, the first pre-programmed motion comprising opening the basket at the second opening speed, the second opening speed faster than the first opening speed;
• and
• in response to receiving a second input via the input device, triggering a second pre-programmed motion of the robotic device, the second pre-programmed motion comprising closing the basket at the second closing speed, the second closing speed faster than the first closing speed.