Methods and systems for assigning input devices to teleoperated surgical instrument functions
A method of assigning an auxiliary input device to control a surgical instrument in a computer-assisted surgical system includes detecting a first surgical instrument coupled to a first manipulator interface assembly of a computer-assisted surgical system, the first manipulator interface assembly being controlled by a first input device. The method further includes detecting an initial relative position of the first input device and either assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the initial relative position of the first input device is detected to be at a left position relative to a second input device or assigning may also include assigning control of an auxiliary function of the first surgical instrument to the second auxiliary input device disposed in a right position relative to the first auxiliary input device if the initial relative position the first input device is detected to be at a right position relative to the second input device.
1. A method of assigning control of auxiliary functions of surgical instruments in a computer-assisted surgical system, the method comprising:
determining that a first surgical instrument having a first auxiliary function is in-following with a first input device of the computer-assisted surgical system;
in response to the determining, automatically assigning control of the first auxiliary function of the first surgical instrument to a first auxiliary input device of the computer-assisted surgical system;
detecting a change from the first surgical instrument being in-following with the first input device to a second surgical instrument having a second auxiliary function being in-following with the first input device; and
in response to detecting the change, automatically reassigning the first auxiliary input device to control the second auxiliary function of the second surgical instrument.
2. The method of claim 1 ,
wherein the first input device is configured to be operable by a hand of a user, and the first auxiliary input device is configured to be operable by a foot of the user.
3. The method of claim 1 , wherein:
the first auxiliary input device and a second auxiliary input device have a relative right and left positioning with respect to each other that corresponds to a relative right and left positioning of the first input device and a second input device.
4. The method of claim 1 ,
wherein the first input device comprises a gripping mechanism movable by a user to control movement of the surgical instrument that is in following with the first input device, and
wherein the first auxiliary input device is distinct from and not coupled to the gripping mechanism.
5. The method of claim 1 ,
wherein the first input device comprises a gripping mechanism movable by a user to control movement of the surgical instrument that is in following with the first input device, and
wherein the first auxiliary input device is a pedal.
6. The method of claim 1 , wherein:
the automatically reassigning the first auxiliary input device to control the second auxiliary function occurs during a surgical procedure.
7. The method of claim 1 , further comprising:
in response to actuation of the first auxiliary input device prior to automatically reassigning the first auxiliary input device to control the second auxiliary function, supplying a first auxiliary function command to activate the first auxiliary function of the first surgical instrument.
8. The method of claim 7 , further comprising:
in response to actuation of the first auxiliary input device after automatically reassigning the first auxiliary input device to control the second auxiliary function, supplying a second auxiliary function command to the second surgical instrument to activate the second auxiliary function of the second surgical instrument, the first and second auxiliary function signals being different types of auxiliary function signals.
9. The method of claim 1 , further comprising:
detecting that the first surgical instrument is in-following with a second input device; and,
in response to the detecting, automatically assigning a second auxiliary input device to control the first auxiliary function of the first surgical instrument.
10. The method of claim 1 ,
wherein the first and second auxiliary functions are chosen from delivering energy, image capturing, audio recording, irrigation, suction, stapling, and cutting.
11. The method of claim 1 ,
wherein the first auxiliary function and the second auxiliary function are different types of auxiliary functions.
12. A method of assigning control of auxiliary functions of surgical instruments in a computer-assisted surgical system, the method comprising:
automatically assigning an auxiliary input device to control one of a plurality of auxiliary functions of a plurality of surgical instruments based on which one of the plurality of surgical instruments is currently in-following with an input device, wherein the plurality of instruments are mounted to the computer-assisted surgical system; and
automatically reassigning which of the plurality of auxiliary functions the auxiliary input device controls in response to a change in which of the plurality of surgical instruments is in-following with the input device,
wherein the plurality of auxiliary functions include different types of auxiliary functions and reassigning which of the plurality of auxiliary functions the auxiliary input device controls includes changing which type of auxiliary function the auxiliary input device controls.
13. The method of claim 12 ,
wherein assigning the auxiliary input device to control one of a plurality of auxiliary functions of a plurality of surgical instruments based on which one of the plurality of surgical instruments is currently in-following with the input device comprises assigning the auxiliary input device to control the auxiliary function of the surgical instrument that is currently in-following the input device.
14. The method of claim 12 ,
wherein the input device is configured to be operable by a hand of a user, and the auxiliary input device is configured to be operable by a foot of the user.
15. The method of claim 12 ,
wherein:
the input device is a first input device,
the auxiliary input device is a first auxiliary input device, and
the first auxiliary input device and a second auxiliary input device have a relative right and left positioning with respect to each other that corresponds to a relative right and left positioning of the first input device and a second input device.
16. The method of claim 12 ,
wherein the input device comprises a gripping mechanism movable by a user to control movement of the surgical instrument that is in following with the input device, and
wherein the auxiliary input device is distinct from and not coupled to the gripping mechanism.
17. The method of claim 12 ,
wherein the input device comprises a gripping mechanism movable by a user to control movement of the surgical instrument that is in following with the input device, and
wherein the auxiliary input device is a pedal.
18. A system comprising:
an input device;
an auxiliary input device; and
a controller configured to:
selectively assign one of a plurality of surgical instruments mounted to a computer-assisted surgical system to be in-following with the input device;
selectively assign one of a plurality of auxiliary functions associated with the plurality of surgical instruments to be controlled by the auxiliary input device based on which one of the plurality of surgical instruments is in-following with the input device; and
in response to detecting a change that another surgical instrument of the plurality of surgical instruments is assigned to be in-following with the input device, automatically reassigning the auxiliary input device to control another one of the plurality of auxiliary functions.
19. The system of claim 18 ,
wherein the input device is configured to be operable by a hand of a user, and the auxiliary input device is configured to be operable by a foot of the user.
20. The system of claim 18 , wherein the input device is a first input device and the auxiliary and the auxiliary input device is a first auxiliary input device, the system further comprising:
a second input device; and
a second auxiliary input device,
wherein the first auxiliary input device and the second auxiliary input device have a relative right and left positioning with respect to each other that corresponds to a relative right and left positioning of the first input device and the second input device.
21. The system of claim 20 ,
wherein the controller is configured to selectively assign one of the plurality of auxiliary functions to be controlled by the second auxiliary input device based on which one of the plurality of surgical instruments is in-following with the second input device, and
in response to detecting a change that another surgical instrument of the plurality of surgical instruments is assigned to be in-following with the second input device, automatically re-assigning the second auxiliary input device to control another one of the plurality of auxiliary functions.
22. The system of claim 18 ,
wherein the input device comprises a gripping mechanism movable by a user to control movement of the surgical instrument that is in following with the input device, and
wherein the auxiliary input device is distinct from and not coupled to the gripping mechanism.
23. The system of claim 22 ,
wherein the auxiliary input device comprises a pedal.
24. The system of claim 18 ,
wherein the controller is configured to:
on condition that a surgical instrument configured to perform a first auxiliary function is assigned to be in-following with the input device, automatically assign the first auxiliary function to be controlled by the auxiliary input device; and
on condition that a surgical instrument configured to perform a second auxiliary function is assigned to be in-following with the input device, automatically assign the second auxiliary function to be controlled by the auxiliary input device, wherein the first and second auxiliary functions are different types of auxiliary functions.
25. The system of claim 24 ,
wherein the controller is configured to, in response to actuation of the auxiliary input device:
on condition that the first auxiliary function is assigned to be controlled by the auxiliary input device, cause a first auxiliary function signal to be supplied to the surgical instrument assigned to be in-following with the input device, wherein the first auxiliary function signal is configured to activate the first auxiliary function, and
on condition that the second auxiliary function is assigned to be controlled by the auxiliary input device, cause a second auxiliary function signal to be supplied to the surgical instrument assigned to be in-following with the input device, wherein the second auxiliary function signal is configured to activate the second auxiliary function,
wherein the first and second auxiliary function signals are different types of auxiliary function signals.
26. The system of claim 18 ,
wherein the plurality of auxiliary functions include a plurality of different types of auxiliary functions.