Granted Patent B2

US 11,129,683 · App. 16/316,939 · Granted Sep 28, 2021

Inventors: John Ryan Steger (Sunnyvale, CA); Brian M. Crews (San Jose, CA); Craig R. Gerbi (Half Moon Bay, CA); Tyler J. Morrissette (Niantic, CT); Margaret M. Nixon (San Jose, CA); Joseph P. Orban, III (Norwalk, CT); Theodore W. Rogers (Alameda, CA); Alain Sadaka (San Jose, CA); Charles E. Swinehart (San Jose, CA); Michael Turner (Sunnyvale, CA); Kerry S. Wang (Saratoga, CA)

Assignee: INTUITIVE SURGICAL OPERATIONS, INC.

A61B34/35A61B1/3132A61B17/4241A61B2017/00477A61B2034/302A61B2090/3941A61B2090/3945A61B2090/3983

Abstract

Claims (42)

1. A teleoperational system comprising:

an input device;

a manipulator configured to couple with and move an instrument; and

a control system including one or more processors, wherein the control system is configured to:

in response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, map movement of the input device to movement of the instrument according to a first mapping, and

in response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, map movement of the input device to movement of the instrument according to a second mapping, wherein the second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.

2. The teleoperational system of claim 1 , wherein the second mapping includes an inversion of the first mapping for a second direction of motion of the instrument.

3. The teleoperational system of claim 1 , wherein the field of view is generated by an imaging instrument in the workspace of the instrument.

4. The teleoperational system of claim 3 , wherein the corresponding direction is no more than ninety degrees from a viewing axis of the imaging instrument.

5. The teleoperational system of claim 3 , wherein the non-corresponding direction is greater than ninety degrees from a viewing axis of the imaging instrument.

6. The teleoperational system of claim 1 , further comprising:

the instrument, wherein the instrument includes a cannula and a tissue probe mounted to a shaft of the cannula.

7. The teleoperational system of claim 1 , further comprising:

a cannula; and

the instrument, wherein the instrument includes a transmission assembly component and a shaft separable from the transmission assembly component such that a proximal end of the shaft is insertable through a distal end of the cannula prior to coupling the proximal end of the shaft to the transmission assembly component.

8. The teleoperational system of claim 1 , further comprising: the instrument, wherein the instrument includes a tissue probe and wherein the tissue probe includes an imaging device or a passive fiducial marker.

9. The teleoperational system of claim 1 , wherein the teleoperational system is a teleoperational medical system, and wherein the teleoperational system further comprises:

the instrument, wherein the instrument is a medical instrument including a proximal end, a distal end, a rigid curved portion between the proximal and distal ends, and a tissue probe mounted to the distal end and wherein the manipulator is adapted to move the instrument about a center of rotation in response to actuator signals generated by the control system based on the movement of the input device.

10. The teleoperational system of claim 9 , wherein the instrument further includes a mounting portion adapted to couple with an instrument anchor of the manipulator, the mounting portion extending between the proximal end and the rigid curved portion.

11. The teleoperational system of claim 1 , wherein the manipulator is adapted to move the instrument about a center of rotation in response to actuator signals generated by the control system based on the movement of the input device, and wherein the center of rotation is no coincident with a longitudinal axis extending through the instrument.

12. The teleoperational system of claim 1 , wherein the manipulator is adapted to move the instrument about a center of rotation in response to actuator signals generated by the control system based on the movement of the input device, wherein the instrument further includes identification information, and wherein the instrument is movable about the center of rotation in response to the actuator signals generated based upon the identification information.

13. A method comprising:

generating master control signals based on a movement of a master controller in a master workspace;

determining a direction of a field of view of an imaging device in an instrument workspace;

determining whether a slave instrument direction for a slave instrument in the instrument workspace is corresponding to the direction of the field of view or is non-corresponding to the direction of the field of view;

in response to a determination that the slave instrument direction is corresponding to the direction of the field of view, mapping the movement of the master controller to movement of the slave instrument according to a first mapping and generating slave instrument control signals for movement of the slave instrument in the instrument workspace based on the first mapping; and

in response to a determination that the slave instrument direction is non-corresponding to the direction of the field of view, mapping the movement of the master controller to movement of the slave instrument according to a second mapping and generating slave instrument control signals for movement of the slave instrument in the instrument workspace based on the second mapping, wherein the second mapping includes an inversion of the first mapping for at least one direction of motion of the slave instrument.

14. The method of claim 13 , wherein the second mapping includes an inversion of the first mapping for a second direction of motion of the slave instrument.

15. The method of claim 13 , wherein the slave instrument direction is non-corresponding to the direction of the field of view when the slave instrument direction is greater than ninety degrees from a viewing axis of the imaging device.

16. The method of claim 13 , wherein generating the slave instrument control signals for movement of the slave instrument in the instrument workspace based on the second mapping includes generating first control signals for movement of the slave instrument in the at least one direction of motion about a center of rotation, wherein the slave instrument includes a shaft having a proximal end, a distal end, a fixed curved portion between the proximal and distal ends, and a tissue probe mounted to the distal end.

17. The method of claim 13 , further comprising receiving identification information from the slave instrument, wherein the slave instrument control signals are generated based upon the identification information.

18. A method of operating a teleoperational instrument system comprising a master input device in a master workspace, an actuated instrument end effector in an instrument workspace, and an actuated tissue probe in the instrument workspace, the method comprising:

generating a set of master control signals in response to movement of the master input device;

responsive to the set of master control signals, generating a first mapping, wherein the first mapping maps the movement of the master input device to movement of the instrument end effector in the instrument workspace;

responsive to the set of master control signals, generating a second mapping, wherein the second mapping maps the movement of the master input device to movement of the actuated tissue probe in the instrument workspace;

in response to a determination that the master input device has control of the actuated instrument end effector, generating a set of instrument control signals using the first mapping; and

in response to a determination that the master input device has control of the actuated tissue probe, generating a set of instrument control signals using the second mapping, wherein the second mapping includes an inversion of the first mapping for at least one direction of motion of the actuated tissue probe.

19. The method of claim 18 , wherein generating the set of master control signals includes:

generating a plurality of master control position signals and a plurality of master control rotational signals from the movement of the master input device;

rendering inoperative at least one of the plurality of master control rotational signals to create an operative plurality of master control rotational signals; and

responsive to the plurality of master control position signals and the operative plurality of master control rotational signals, generating the set of instrument control signals for movement of the actuated tissue probe.

20. The method of claim 19 , further comprising rendering inoperative all of the plurality of master control rotational signals.

Assignments (1)

Continuity (2)

Cited By (47)

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