Granted Patent B2

US 12,740,843 · App. 18/780,992 · Granted Sep 22, 2026

Inventors: Christopher R. Carlson (Belmont, CA); Federico Barbagli (San Francisco, CA)

Assignee: INTUITIVE SURGICAL OPERATIONS, INC.

A61B34/77A61B17/00234A61B34/35A61B34/70A61B5/1076A61B2017/00017A61B2017/003A61B2034/105A61B2034/2051A61B2034/2061A61B2034/301A61B2090/3614A61B2090/371A61B2090/3735A61B2090/3782

Abstract

Claims (54)

1 . A medical system, comprising:

an operator input device configured to generate input instructions for controlling a medical instrument; and

a control system configured to:

receive an input instruction corresponding to an operator input device movement, the input instruction comprising an instruction for rotational motion of the medical instrument;

determine, based on the input instruction, a dynamic parameter for the operator input device movement;

determine a motion scaling parameter based on the dynamic parameter for the operator input device movement;

apply the motion scaling parameter to the input instruction to create an output instruction for a medical instrument movement; and

control a movement of the medical instrument according to the output instruction.

2 . The medical system of claim 1 , wherein the dynamic parameter includes a velocity component of the operator input device movement.

3 . The medical system of claim 2 , wherein:

the motion scaling parameter is a first value when the dynamic parameter indicates a first velocity of the operator input device;

the motion scaling parameter is a second value when the dynamic parameter indicates a second velocity of the operator input device;

the first value is larger than the second value; and

the first velocity is larger than the second velocity.

4 . The medical system of claim 1 , wherein the dynamic parameter includes an acceleration component of the operator input device movement.

5 . The medical system of claim 4 , wherein:

the motion scaling parameter is a first value when the dynamic parameter indicates a first acceleration of the operator input device;

the motion scaling parameter is a second value when the dynamic parameter indicates a second acceleration of the operator input device;

the first value is larger than the second value; and

the first acceleration is larger than the second acceleration.

6 . The medical system of claim 1 , wherein the input instruction is scaled lower by the motion scaling parameter when the dynamic parameter indicates a slow movement of the operator input device.

7 . The medical system of claim 1 , wherein the input instruction is scaled higher by the motion scaling parameter when the dynamic parameter indicates a fast movement of the operator input device.

8 . The medical system of claim 1 , wherein the output instruction comprises an instruction for the rotational motion of the medical instrument.

9 . The medical system of claim 8 , wherein the rotational motion comprises at least one of a pitch or a yaw motion.

10 . The medical system of claim 8 , wherein the rotational motion comprises a roll motion.

11 . The medical system of claim 1 , wherein the input instruction and output instruction each comprises an instruction for displacement of a portion of the medical instrument.

12 . The medical system of claim 1 , wherein the control system is further configured to:

compare the dynamic parameter to a threshold value; and

determine the motion scaling parameter based on the comparison.

13 . The medical system of claim 1 , further comprising:

the medical instrument comprising a flexible body defining a lumen; and

a sensor system for determining at least one of position, orientation, speed, velocity, pose, and/or shape of the flexible body, and wherein control system is configured to control the movement of the medical instrument based on sensor data received from the sensor system.

14 . A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a control system, cause the one or more processors to perform:

receiving an input instruction corresponding to an operator input device movement, the input instruction comprising an instruction for rotational motion of a medical instrument;

determining, based on the input instruction, a dynamic parameter for the operator input device movement;

determining a motion scaling parameter based on the dynamic parameter for the operator input device movement;

applying the motion scaling parameter to the input instruction to create an output instruction for a medical instrument movement; and

controlling a movement of the medical instrument according to the output instruction.

15 . The non-transitory computer-readable medium of claim 14 , wherein the dynamic parameter includes a velocity component of the operator input device movement.

16 . The non-transitory computer-readable medium of claim 14 , wherein the dynamic parameter includes an acceleration component of the operator input device movement.

17 . The non-transitory computer-readable medium of claim 14 , wherein:

the motion scaling parameter is a first value when the dynamic parameter indicates a slow velocity or acceleration of an operator input device;

the motion scaling parameter is a second value when the dynamic parameter indicates a fast velocity or acceleration of the operator input device;

the first value is larger than the second value; and

the fast velocity or acceleration is faster than the slow velocity or acceleration.

18 . The non-transitory computer-readable medium of claim 14 , wherein the output instruction comprises an instruction for

the rotational motion of the medical instrument.

19 . A method of controlling a movement of a medical instrument, comprising:

receiving, by a control system, an input instruction corresponding to an operator input device movement;

determining, by the control system and based on the input instruction, a dynamic parameter for the operator input device movement;

comparing, by the control system, the dynamic parameter to a threshold value;

determining, by the control system and based on the comparison of the dynamic parameter to the threshold value, a motion scaling parameter;

applying, by the control system, the motion scaling parameter to the input instruction to create an output instruction for a medical instrument movement; and

controlling, by the control system, movement of the medical instrument according to the output instruction.

Assignments (1)

Continuity (4)

References Cited (49)