Controlling a surgical instrument
A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising opposable first and second end effector elements connected to a shaft by an articulated coupling, the articulated coupling comprising a first joint driveable by a first pair of driving elements so as to permit the first end effector element to rotate, and a second joint driveable by a second pair of driving elements so as to permit the second end effector element to rotate, the control system configured to: detect a change of configuration of the surgeon input device to a gripping configuration at time t; respond to the change of configuration of the surgeon input device to the gripping configuration by commanding gripping forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to rotate in opposing rotational directions towards each other with a gripping closing force to a closed configuration; and if the first and second end effector elements are still in the closed configuration at time t+T, commanding a reduction in the force applied to the first and second pairs of driving elements, thereby causing the first and second end effector elements to subsequently be held in a further closed configuration with a reduced closing force.
1. A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising opposable first and second end effector elements connected to a shaft by an articulated coupling, the articulated coupling comprising a first joint driveable by a first pair of driving elements so as to permit the first end effector element to rotate, and a second joint driveable by a second pair of driving elements so as to permit the second end effector element to rotate, the control system configured to:
detect a change of configuration of the surgeon input device to a gripping configuration at time t;
respond to the change of configuration of the surgeon input device to the gripping configuration by commanding gripping forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to rotate in opposing rotational directions towards each other with a gripping closing force to an overgripping closed configuration;
detect if the first and second end effector elements are still in any overgripping closed configuration at time t+T, wherein T is dependent on instrument type such that T is different for different instrument types; and
if it is detected that the first and second end effector elements are still in any overgripping closed configuration at time t+T, command a reduction in the force applied to the first and second pairs of driving elements, thereby causing the first and second end effector elements to subsequently be held in a further closed configuration with a reduced closing force.
2. A control system as claimed in claim 1 , configured to command the reduction in force to be applied gradually over a time ΔT.
3. A control system as claimed in claim 1 , configured to:
detect a command from the surgeon input device to disengage active control of the surgical instrument by the surgeon input device; and
in response to the detected command:
disengage active control of the surgical instrument by the surgeon input device, and
maintain the first and second end effector elements of the surgical instrument in the further closed configuration with the reduced closing force.
4. A control system as claimed in claim 3 , configured to:
detect a command at time T′ from a surgeon input device to engage active control of the surgical instrument by the surgeon input device; and
in response to the detected command:
engage active control of the surgical instrument by the surgeon input device, and
command gripping forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to be forced in opposing rotational directions towards each other with a gripping closing force.
5. A control system as claimed in claim 4 , wherein the command detected at time T′ is from the same surgeon input device that disengaged active control of the surgical instrument and engaged active control of the further surgical instrument.
6. A control system as claimed in claim 4 , wherein the command detected at time T′ is from a different surgeon input device to the surgeon input device that disengaged active control of the surgical instrument and engaged active control of the further surgical instrument.
7. A control system as claimed in claim 4 , configured to command forces to be applied to the first and second pairs of driving elements instantaneously.
8. A control system as claimed in claim 7 , wherein 1 second<T<10 seconds.
9. A control system as claimed in claim 8 , wherein 30 seconds<T<3 minutes.
10. A control system as claimed in claim 9 , wherein the gripping configuration of the surgeon input device comprises a rotational position of the trigger relative to the body that is within a specified range of rotational positions.
11. A control system as claimed in claim 9 , wherein gripping configuration of the surgeon input device comprises a linear position of the trigger relative to the body that is within a specified range of linear positions.
12. A control system as claimed in claim 4 , configured to command the forces to be applied to the first and second pairs of driving elements gradually over a time ΔT′.
13. A control system as claimed in claim 1 , configured to, on detecting activity of the surgeon input device at time T′, command gripping forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to be forced in opposing rotational directions towards each other with a gripping closing force.
14. A control system as claimed in claim 13 , wherein the detected activity of the surgeon input device at time T′ is a movement of the user indicative of the user's presence or focus of attention on the surgical instrument.
15. A control system as claimed in claim 13 , wherein the detected activity of the surgeon input device at time T′ is one of: a rotation or translation of the surgeon input device in its workspace, a detection of a user's hand in contact with the surgeon input device, or an actuation of an input on the surgeon input device.
16. A control system as claimed in claim 1 , wherein the surgeon input device comprises a body and a trigger, and the surgeon input device is in a gripping configuration when the trigger has a position relative to the body that is within a specified range.
17. A control system as claimed in claim 1 , configured to command gripping forces to be applied to the first and second pairs of driving elements by:
applying a first gripping force to a first driving element of the first pair of driving elements, and
applying a second gripping force to a second driving element of the second pair of driving elements,
wherein the magnitudes of the first and second gripping forces are the same.
18. A control system as claimed in claim 1 , configured to command a reduction in the force applied to the first and second pairs of driving elements by a function dependent on instrument type.
19. A control system as claimed in claim 1 , wherein the gripping forces are maximum forces.
20. A control system as claimed in claim 1 , configured to continue to detect the gripping configuration of the surgeon input device for the time T.
21. A control system as claimed in claim 1 , wherein the time T is dependent on one or more of: a type of surgical operation being performed; a stage of the surgical operation; a total running time of the first and second pairs of driving elements; a total overgripping time, optionally weighted by the force applied to the first and second pairs of driving elements; whether the surgical instrument is engaged or disengaged from the surgeon input device; risk factors specific to the surgical operation; an operation mode of the control system; and a temperature of joints of a robot arm holding the surgical instrument.