Apparatus and method of user interface with alternate tool mode for robotic surgical tools
In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.
1. A user interface system for a robotic surgical instrument having a number of degrees of freedom of movement, the user interface system comprising:
a double click sensing process to detect a predetermined number of actions of a control input mechanism within a predetermined period of time;
a hard stop sensing process to detect a predetermined percentage of a hard stop in the movement of the control input mechanism, and
a state machine operationally in communication with the double click sensing process and the hard stop sensing process, the state machine to switchably reduce the number of degrees of freedom of movement in the robotic surgical instrument in response to two closure cycles of the control input mechanism within the predetermined period of time and movement of the control input mechanism exceeding the predetermined percentage of the hard stop.
2. The user interface system of claim 1 , wherein
the predetermined number of actions is two closure cycles of the control input mechanism.
3. The user interface system of claim 1 , wherein
the state machine to further increase a gripping force of one or more end effectors of the robotic surgical instrument in response to movement of the control input mechanism exceeding the predetermined percentage of the hard stop.
4. The user interface system of claim 1 , wherein
the state machine to further hold a gripping force of one or more end effectors of the robotic surgical instrument in response to movement of the control input mechanism exceeding the predetermined percentage of the hard stop.
5. The user interface system of claim 1 , wherein
the control input mechanism is a master grip of a touch sensitive handle in a master control console.
6. The user interface system of claim 1 , wherein
the predetermined period of time is a lock mode threshold time.
7. The user interface system of claim 1 , further comprising:
a mode selection switch in communication with the state machine, the mode selection switch to signal the state machine to switchably reduce the number of degrees of freedom in the robotic surgical instrument.
8. The user interface system of claim 1 , wherein
the elements of the system are controlled by instructions stored on a computer readable medium and performed by a processor.
9. A method for a robotic surgical instrument comprising:
entering a lock sensing mode for a robotic surgical instrument; and
in the lock sensing mode,
switchably reducing degrees of freedom of movement in the robotic surgical instrument,
switchably clamping one or more end effectors of the robotic surgical instrument,
increasing a gripping force of one or more end effectors of the robotic surgical instrument in response to the reduced degrees of freedom of movement in the robotic surgical instrument, and
wherein one or more of the entering, the switchably reducing, the switchably clamping, and the increasing are controlled by instructions stored on a computer readable medium and performed by a processor.
10. The method of claim 9 , wherein
the lock sensing mode is entered by double clicking master grips of a touch sensitive handle.
11. The method of claim 9 , wherein
the lock sensing mode is entered by selecting a mode selection switch.
12. A method for a robotic surgical instrument comprising:
entering a lock sensing mode for a robotic surgical instrument; and
in the lock sensing mode,
switchably reducing degrees of freedom of movement in the robotic surgical instrument, wherein the degrees of freedom of movement in the robotic surgical instrument are switchably reduced in response to exceeding a predetermined percentage of a hard stop position of a control input mechanism, and
switchably clamping one or more end effectors of the robotic surgical instrument;
wherein one or more of the entering, the switchably reducing, and the switchably clamping are controlled by instructions stored on a computer readable medium and performed by a processor.
13. The method of claim 12 , wherein
the one or more end effectors of the robotic surgical instrument are switchably clamped in response to exceeding the predetermined percentage of the hard stop position in the control input mechanism.
14. The method of claim 12 , wherein
the control input mechanism is a pair of master grips.
15. A method for a robotic surgical instrument comprising:
entering a lock sensing mode for a robotic surgical instrument; and
in the lock sensing mode,
switchably reducing degrees of freedom of movement in the robotic surgical instrument, and
switchably clamping one or more end effectors of the robotic surgical instrument, wherein the one or more end effectors of the robotic surgical instrument are clamped in response to exceeding a first predetermined percentage of a hard stop position in a control input mechanism;
wherein one or more of the entering, the switchably reducing, and the switchably clamping are controlled by instructions stored on a computer readable medium and performed by a processor.
16. The method of claim 15 , wherein
the one or more end effectors of the robotic surgical instrument are released in response to exceeding a second predetermined percentage of a hard stop position in the control input mechanism.
17. The method of claim 16 , wherein
the control input mechanism is a pair of master grips.