Granted Patent B2

US 10,881,473 · App. 16/862,412 · Granted Jan 5, 2021

Inventors: Brandon D. Itkowitz (Sunnyvale, CA); Simon P. Dimaio (San Carlos, CA); William C. Nowlin (Los Altos, CA); Gunter D. Niemeyer (Pasadena, CA); David S. Mintz (Mountain View, CA)

Assignee: INTUITIVE SURGICAL OPERATIONS, INC.

A61B34/37A61B34/25A61B34/30A61B34/35A61B90/10B25J3/00B25J9/1669B25J9/1689A61B2017/00725A61B2034/305G05B2219/45117Y10S901/27Y10S901/41

Abstract

Claims (52)

1. A teleoperated system comprising:

a master grip; and

a ratcheting system coupled to the master grip, the ratcheting system configured to align the master grip with a slave instrument commanded by the master grip by:

determining a grip orientation by which the master grip is gripped by an operator;

determining a commanded velocity for the slave instrument based on a manipulation of the master grip by the operator;

determining an error, the error comprising a parameter selected from a group consisting of: a position error between a position of the master grip and a position of the slave instrument, and an orientation error between an orientation of the master grip and an orientation of the slave instrument; and

altering the commanded velocity for the slave instrument based on at least the grip orientation and the error.

2. The teleoperated system of claim 1 , wherein determining the grip orientation comprises: determining the grip orientation as a right-side-up grip orientation or an upside-down grip orientation.

3. The teleoperated system of claim 2 , wherein:

a top of a wrist of the operator is visible to the operator when the master grip is gripped in the right-side-up grip orientation; and

a bottom of the wrist of the operator is visible to the operator when the master grip is gripped in the upside-down grip orientation.

4. The teleoperated system of claim 2 , wherein determining the grip orientation as the right-side-up grip orientation or the upside-down grip orientation comprises:

determining a first cosine of the orientation error while assuming the grip orientation is the right-side-up grip orientation;

determining a second cosine of the orientation error while assuming the grip orientation is the upside-down grip orientation; and

determining whether the grip orientation is the right-side-up grip orientation or the upside-down grip orientation based on which of the first cosine and the second cosine is larger in magnitude.

5. The teleoperated system of claim 2 , wherein when the grip orientation is the upside-down grip orientation and the error comprises the orientation error, the ratcheting system rotates a relative rotation matrix characterizing the orientation error before determining the orientation error.

6. The teleoperated system of claim 2 , wherein when the error comprises the orientation error, and the ratcheting system bounds the orientation error to a value between zero degrees and 180 degrees inclusive.

7. The teleoperated system of claim 1 , wherein altering the commanded velocity comprises introducing a control system error.

8. The teleoperated system of claim 1 , wherein the ratcheting system is further configured to:

use a new position error to alter the commanded velocity only if the new position error is smaller than the position error and the error comprises the position error; or

use a new orientation error to alter the commanded velocity only if the new orientation error is smaller than the orientation error and the error comprises the orientation error.

9. The teleoperated system of claim 1 , wherein altering the commanded velocity comprises penalizing a commanded movement of the slave instrument based on a penalty profile and the error.

10. The teleoperated system of claim 1 , wherein altering the commanded velocity comprises:

selecting a scale factor based on the error; and

adjusting the commanded velocity based on the scale factor.

11. The teleoperated system of claim 1 , wherein altering the commanded velocity speeds up convergence of alignment between the slave instrument and the master grip, relative to convergence of alignment between the slave instrument and the master grip without introduction of the altered commanded velocity.

12. A method of controlling a teleoperated system, the method comprising:

determining, by one or more processors of the teleoperated system, a grip orientation by which a master grip of the teleoperated system is gripped by an operator;

determining, by the one or more processors, a commanded velocity for a slave instrument of the teleoperated system based on a manipulation of the master grip by the operator;

determining, by the one or more processors, an error comprising a parameter selected from a group consisting of: a position error between a position of the master grip and a position of the slave instrument, and an orientation error between an orientation of the master grip and an orientation of the slave instrument; and

altering, by the one or more processors, the commanded velocity for the slave instrument based on at least the grip orientation and the error.

13. The method of claim 12 , wherein determining the grip orientation comprises:

determining the grip orientation as a right-side-up grip orientation or an upside-down grip orientation.

14. The method of claim 13 , wherein determining the grip orientation comprises:

determining a first cosine of the orientation error while assuming the grip orientation is the right-side-up grip orientation;

determining a second cosine of the orientation error while assuming the grip orientation is the upside-down grip orientation; and

determining whether the grip orientation is the right-side-up grip orientation or the upside-down grip orientation based on which of the first cosine and the second cosine is larger in magnitude.

15. The method of claim 12 , wherein altering the commanded velocity comprises introducing a control system error.

16. The method of claim 12 , wherein altering the commanded velocity comprises penalizing a commanded movement of the slave instrument based on a penalty profile and the error.

17. A non-transitory computer-readable medium comprising computer-readable code which when executed by one or more processors associated with a teleoperated system are adapted to cause the one or more processors to perform a method comprising:

determining a grip orientation by which a master grip of the teleoperated system is gripped by an operator

determining a commanded velocity for a slave instrument of the teleoperated system based on a manipulation of the master grip by the operator

determining an error comprising a parameter selected from a group consisting of: a position error between a position of the master grip and a position of the slave instrument, and an orientation error between an orientation of the master grip and an orientation of the slave instrument; and

altering the commanded velocity for the slave instrument based on at least the grip orientation and the error.

18. The non-transitory computer-readable medium of claim 17 , wherein determining the grip orientation comprises: determining the grip orientation as a right-side-up grip orientation or an upside-down grip orientation.

19. The non-transitory computer-readable medium of claim 18 , wherein determining the grip orientation comprises:

determining a first cosine of the orientation error while assuming the grip orientation is the right-side-up grip orientation;

determining a second cosine of the orientation error while assuming the grip orientation is the upside-down grip orientation; and

determining whether the grip orientation is the right-side-up grip orientation or the upside-down grip orientation based on which of the first cosine and the second cosine is larger in magnitude.

20. The non-transitory computer-readable medium of claim 17 , wherein altering the commanded velocity further comprises:

introducing a control system error; or

penalizing a commanded movement of the slave instrument based on a penalty profile and the position error or the orientation error.

Assignments (2)

Continuity (8)

Cited By (51)

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