Unmatching/Matching UID to Robot Grasper for Engaging Teleoperation

A surgical robotic system comprising:

• a robotic grasper having two jaws;
• a user interface device (UID);
• and
• one or more processors communicatively coupled to the UID and the robotic grasper and configured to control operation of the robotic grasper in accordance with user input from the UID while teleoperation mode is engaged, prevent the UID from controlling the robotic grasper while the system is in a non-teleoperation mode, and perform the following operations while the system is in the non-teleoperation mode:
• receive a sequence of detected user actions through the UID;
• determine that, as a result of the sequence of detected user actions, there is a mismatch between the UID and a jaw angle or a grip force of the robotic grasper;
• and then
• transition the surgical robotic system into the teleoperation mode, responsive to a match determination that the UID matches the jaw angle or the grip force.

A method of re-engaging teleoperation for a surgical robotic system, the method comprising the following operations while the system is in a non-teleoperation mode, wherein in the non-teleoperation mode, a robotic grasper is not being controlled by the system to follow a user interface device, UID, of the system:

• executing, by one or more processors, a state machine having a plurality of states;
• receiving a sequence of user actions through the UID that cause the state machine to transition between the plurality of states;
• determining, responsive to one of the sequence of user actions, that there is a mismatch between the UID and a jaw angle or a grip force of the robotic grasper;
• and then
• responsive to another of the sequence of user actions, determining that the state machine has reached a matched state corresponding to the UID matching the jaw angle or the grip force of the robotic grasper, and then in response to the matched state, enabling the surgical robotic system to engage in teleoperation.

A method for engaging teleoperation of a surgical robotic system, performed by the surgical robotic system, the method comprising the following operations while the surgical robotic system is not in a teleoperation mode, wherein in the teleoperation mode a robotic end effector is controlled by user inputs received from a user input device (UID):

• receiving a sequence of user actions through the UID;
• determining that, as a result of one or more of the sequence of user actions, there is a mismatch between the UID and a position of, or a grip force affected by, the robotic end effector;
• and then
• determining that, as a result of another one or more of the sequence of user actions, the UID matches the position of, or the grip force affected by, the robotic end effector;
• and then
• transitioning the surgical robotic system into the teleoperation mode, as a result of the determining the UID matches the position or the grip force of the robotic end effector.