Dynamic scaling of surgical manipulator motion based on surgeon stress parameters
A robotic surgical system in which the system applies a scaling factor between user input from a user input device and corresponding movements of the robotic manipulator. Scaling factors may be applied or adjusted based on detected conditions such as user biometric or physiologic parameters.
1. A robot-assisted surgical system comprising:
a robotic manipulator configured for robotic positioning of a surgical instrument in a body cavity,
at least one user input device moveable by a user,
at least one sensor,
at least one processor and at least one memory, the at least one memory storing instructions executable by said at least one processor to:
receive user input in response to movement of the input device by a hand of a user,
cause the manipulator to move the first surgical instrument in response to the user input,
determining, based on signals from the sensor, whether the user is experiencing a period of stress, and
in response to a determination that the user is experiencing a period of stress, adjust a scaling factor for the magnitude of motion of the input device to the magnitude of motion of the manipulator.
2. The system of claim 1 , wherein the sensor is a blood oxygen sensor.
3. The system of claim 1 , wherein the sensor is a heart rate sensor.
4. The system of claim 1 , wherein the sensor is a blood pressure sensor.
5. The system of claim 1 , wherein the sensor is a galvanic skin response sensor.
6. The system of claim 1 , wherein the sensor is an auditory sensor.
7. A method of adjusting a scaling factor for a robot-assisted surgical system comprising:
positioning a surgical instrument in a body cavity,
providing user input to the system using a user input device moveable by a user,
sensing a user parameter relevant to user stress using at least one sensor,
in response to the user input, manipulating the surgical instrument within the body cavity using a robotic manipulator according to scaling factor between the magnitude of motion of the input device and the magnitude of motion of the manipulator;
determining, based on signals from the sensor, whether the user is experiencing a period of stress;
in response to a determination that the user is experiencing a period of stress, adjusting the scaling factor to an adjusted scaling factor.
8. The method of claim 7 , wherein sensing a user parameter comprises sensing galvanic skin response.
9. The method of claim 7 , wherein sensing a user parameter comprises sensing peripheral skin temperature.
10. The method of claim 7 , wherein sensing a user parameter comprises sensing blink rate.
11. The method of claim 7 , wherein sensing a user parameter comprises sensing a change in tone of the user's voice.
12. The method of claim 7 , wherein sensing a user parameter comprises sensing heart rate.
13. The method of claim 7 , wherein sensing a user parameter comprises sensing blood pressure.