TRAINING AND FEEDBACK FOR A CONTROLLER WORKSPACE BOUNDARY
A method of determining a location of a user input device of a surgical robotic system within a surgical workspace using a virtual workspace including determining, by one or more processors communicatively coupled to a user input device, that a user is engaging with the user input device within a surgical workspace; in response to determining the user is engaging with the user input device, displaying a virtual user input device within a first virtual workspace boundary, wherein at least a portion of the first virtual workspace boundary is operable to move in response to a movement of the user input device; displaying a second virtual workspace boundary that represents a second workspace limit beyond which the user input device is inoperable to control the surgical robotic instrument in the teleoperation mode; and determining a location of the user input device within the surgical workspace.
1 . A method of determining a location of an interface device of a surgical robotic system within a surgical workspace using a virtual workspace, the method comprising:
displaying a virtual interface device within a virtual workspace boundary, the virtual workspace boundary representing a workspace limit within which the interface device is operable to control a surgical robotic instrument in a teleoperation mode, wherein at least a portion of the virtual workspace boundary is operable to move in response to a movement of the interface device;
determining, by one or more processors, a location of the interface device relative to the surgical workspace based on a position of the virtual interface device relative to the virtual workspace boundary; and
providing feedback when the position of the virtual interface device meets or exceeds the virtual workspace boundary.
2 . The method of claim 1 wherein the virtual workspace boundary is a first virtual workspace boundary comprising a first three dimensional shape, and the method further comprises displaying a second virtual workspace boundary that represents a second workspace limit beyond which the interface device is inoperable to control the surgical robotic instrument in the teleoperation mode, the second virtual workspace boundary comprises a second three dimensional shape that encompasses the first three dimensional shape, and determining the location of the interface device further comprises determining a proximity of the portion of the first virtual workspace boundary relative to the second virtual workspace boundary.
3 . The method of claim 2 wherein an area between the first three dimensional shape and the second three dimensional shape defines a warning zone that indicates the interface device is nearing the second workspace limit.
4 . The method of claim 1 wherein the virtual workspace boundary comprises a cube shape.
5 . The method of claim 4 wherein the portion of the virtual workspace boundary operable to move is a side wall of the cube shape.
6 . The method of claim 1 wherein determining the location comprises:
detecting that the portion of the virtual workspace boundary has moved, and the method further comprises:
in response to the detecting, providing user feedback.
7 . The method of claim 6 , wherein the feedback comprises changing a visual characteristic of the virtual workspace boundary.
8 . The method of claim 1 wherein the virtual workspace boundary is a first virtual workspace boundary, and determining the location comprises:
detecting that the portion of the first virtual workspace boundary intersects with a second virtual workspace boundary that surrounds the first virtual workspace boundary, and the method further comprises:
in response to the detecting, providing user feedback.
9 . The method of claim 8 , wherein the feedback comprises changing a visual characteristic of the first virtual workspace boundary or the second virtual workspace boundary.
10 . The method of claim 8 wherein the feedback comprises a haptic feedback.
11 . The method of claim 1 wherein the interface device is an ungrounded interface device.
12 . A method of determining a location of an interface device of a surgical robotic system within a surgical workspace, the method comprising:
determining, by one or more processors communicatively coupled to the surgical robotic system, whether the interface device is within a warning zone of the surgical workspace, wherein the warning zone comprises an area of the surgical workspace beyond which the interface device is inoperable to control a surgical robotic instrument; and
in response to determining the interface device is within the warning zone, providing user feedback.
13 . The method of claim 12 wherein the surgical workspace comprises a workspace limit and the warning zone comprises the area of the surgical workspace near the workspace limit.
14 . The method of claim 12 wherein determining the interface device is within a warning zone comprises:
providing a virtual three-dimensional boundary representing a boundary of the warning zone beyond which the interface device is inoperable to control a surgical robotic instrument; and
determining a location of the interface device within the surgical workspace corresponds to an area within the virtual three-dimensional boundary.
15 . The method of claim 12 wherein providing user feedback comprises providing a user with haptic feedback indicating the interface device is near a workspace limit of the surgical workspace.
16 . The method of claim 12 wherein providing user feedback comprises providing a user with haptic feedback indicating the interface device has exceeded a workspace limit of the surgical workspace.
17 . The method of claim 12 wherein the surgical workspace comprises a workspace limit defined by a plurality of sides, and providing user feedback comprises providing a user with information indicating which of the plurality of sides the interface device is closest to.
18 . The method of claim 17 wherein the plurality of sides define a workspace limit having a three-dimensional shape.
19 . The method of claim 12 wherein the interface device is a first interface device, and the surgical robotic system further comprises a second interface device, and providing user feedback comprises providing a user with information indicating whether the first interface device or the second interface device is in the warning zone.
20 . The method of claim 19 wherein the surgical workspace comprises a three-dimensional shape and providing user feedback further comprises providing a user with information indicating which side of the three-dimensional shape the first interface device or the second interface device is closest to.