Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
AssigneeIntuitive Surgical Operations, Inc.
InventorsNicola Diolaiti, Paul E. Lilagan
Life of this patent
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Abstract
A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.
Claims60
A medical system comprising:
- an entry guide;
- a plurality of articulated instruments extending through the entry guide;
- an input device associated with an associated articulated instrument of the plurality of articulated instruments;
- and
- a controller configured to command manipulation of the associated articulated instrument according to a weighted average, using non-zero weights, of a commanded pose of the associated articulated instrument and a preferred pose of the associated articulated instrument, wherein the commanded pose of the associated articulated instrument is commanded by manipulation of the input device by an operator.
A medical system comprising:
- an entry guide;
- a plurality of articulated instruments extending through the entry guide;
- an input device associated with the entry guide;
- and
- a controller configured to command manipulation of the entry guide according to a weighted average, using non-zero weights, of a commanded pose of the entry guide and a preferred pose of the entry guide, wherein the commanded pose of the entry guide is commanded by manipulation of the input device by an operator.
A method implemented in a medical system having an entry guide, a plurality of articulated instruments extending through the entry guide, and an input device associated with an associated articulated instrument of the plurality of articulated instruments, the method comprising:
- manipulating the associated articulated instrument towards a commanded pose that is commanded by manipulation of the input device by an operator and that is biased towards a preferred pose of the associated articulated instrument according to a weighted average, using non-zero weights, of the commanded pose of the associated articulated instrument and the preferred pose of the associated articulated instrument.
A method implemented in a medical system having an entry guide, a plurality of articulated instruments extending through the entry guide, and an input device associated with the entry guide, the method comprising:
- manipulating the entry guide towards a commanded pose that is commanded by manipulation of the input device by an operator and that is biased towards a preferred pose of the entry guide according to a weighted average, using non-zero weights, of the commanded pose of the entry guide and the preferred pose of the entry guide.
Dependencies are inferred from the claim text.