Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose

1. A teleoperative system comprising:

an input device; and

a controller;

wherein the controller is configured to:

receive input associated with movement of the input device;

determine a commanded pose of an instrument coupled to the teleoperative system based on the received input;

determine a first preferred pose of the instrument based on at least one parameter selected from a group consisting of: a type of the instrument and an operating mode of the instrument;

determine a first feedback force command based on a difference between the commanded pose and the first preferred pose; and

actuate the input device based on the first feedback force command.

2. The teleoperative system of claim 1 , wherein:

the first preferred pose is associated with a first operating mode for the instrument;

a second preferred pose of the instrument is associated with a second operating mode for the instrument; and

in response to switching the operating mode of the instrument from the first operating mode to the second operating mode, the controller is configured to:

determine a second force feedback command based on a difference between the commanded pose and the second preferred pose; and

actuate the input device based on the second force feedback command.

3. The teleoperative system of claim 1 , wherein:

the first preferred pose is associated with a first operating mode for the instrument;

a second preferred pose of the instrument is associated with a second operating mode for the instrument; and

in response to switching the operating mode of the instrument from the first operating mode to the second operating mode, the controller is configured to:

determine a second force feedback command based on a difference between the commanded pose and the second preferred pose; and

actuate the input device by phasing in the second force feedback command and phasing out the first force feedback command.

4. The teleoperative system of claim 3 , wherein the controller is further configured to:

phase in the second feedback force command using an activation signal; and

phase out the first feedback force command using a deactivation signal.

5. The teleoperative system of claim 4 , wherein the activation signal and the deactivation signal are complementary signals.

6. The teleoperative system of claim 1 , wherein:

the instrument is an imaging device; and

the first preferred pose is a pose from which working ends of other instruments are within a field of view of the imaging device.

7. The teleoperative system of claim 1 , wherein the first preferred pose is a pose in which the instrument is capable of being retracted into an entry guide.

8. The teleoperative system of claim 1 , wherein to determine the first preferred pose, the controller is configured to:

select a static preferred pose for the instrument from a plurality of static preferred poses; and

dynamically change the static preferred pose to the first preferred pose based on information associated with one or more other instruments located in a work site.

9. The teleoperative system of claim 1 , wherein:

the instrument is an imaging device; and

to determine the first preferred pose, the controller is configured to:

select a static preferred pose for the instrument from a plurality of static preferred poses; and

dynamically change the static preferred pose to the first preferred pose so that a working end of another instrument remains positioned in a field of view of the imaging device.

10. The teleoperative system of claim 1 , wherein to determine the first preferred pose, the controller is configured to:

select a static preferred pose for the instrument from a plurality of static preferred poses; and

dynamically change the static preferred pose to the first preferred pose so as to prevent a collision between the instrument and another instrument.

11. The teleoperative system of claim 1 , wherein to determine the first preferred pose, the controller is configured to:

select a third preferred pose and a fourth preferred pose from a plurality of preferred poses for the instrument; and

generate the first preferred pose based on a weighted sum of the third preferred pose and the fourth preferred pose.

12. A method for providing feedback to an operator of a teleoperative system comprising an input device and a controller, the method comprising:

receiving, by the controller, input associated with movement of the input device;

determining, by the controller, a commanded pose of an instrument coupled to the teleoperative system based on the received input;

determining, by the controller, a first preferred pose of the instrument based on at least one parameter selected from a group consisting of: a type of the instrument and an operating mode of the instrument;

determining, by the controller, a first feedback force command based on a difference between the commanded pose and the first preferred pose; and

actuating, by the controller, the input device based on the first feedback force command.

13. The method of claim 12 , wherein:

the first preferred pose is associated with a first operating mode for the instrument;

a second preferred pose of the instrument is associated with a second operating mode for the instrument; and

in response to switching the operating mode of the instrument from the first operating mode to the second operating mode, the method further comprises:

determining a second force feedback command based on a difference between the commanded pose and the second preferred pose; and

actuating the input device based on the second force feedback command.

14. The method of claim 12 , wherein:

the first preferred pose is associated with a first operating mode for the instrument;

a second preferred pose of the instrument is associated with a second operating mode for the instrument; and

in response to switching the operating mode of the instrument from the first operating mode to the second operating mode, the method further comprises:

determining a second force feedback command based on a difference between the commanded pose and the second preferred pose; and

actuating the input device by phasing in the second force feedback command and phasing out the first force feedback command.

15. The method of claim 14 , further comprising:

phasing in the second feedback force command using an activation signal; and

phasing out the first feedback force command using a deactivation signal;

wherein the activation signal and the deactivation signal are complementary signals.

16. The method of claim 12 , wherein:

the instrument is an imaging device and the first preferred pose is a pose from which working ends of other instruments are within a field of view of the imaging device; or

the first preferred pose is a pose in which the instrument is capable of being retracted into an entry guide.

17. The method of claim 12 , wherein determining the first preferred pose comprises:

selecting a static preferred pose for the instrument from a plurality of static preferred poses; and

dynamically changing the static preferred pose to the first preferred pose based on information associated with one or more other instruments located in a work site.

18. The method of claim 12 , wherein:

the instrument is an imaging device; and

determining the first preferred pose comprises:

selecting a static preferred pose for the instrument from a plurality of static preferred poses; and

dynamically changing the static preferred pose to the first preferred pose so that working end of another instrument remains positioned in a field of view of the imaging device.

19. The method of claim 12 , wherein determining the first preferred pose comprises:

selecting a static preferred pose for the instrument from a plurality of static preferred poses; and

dynamically changing the static preferred pose to the first preferred pose so as to prevent a collision between the instrument and another instrument.

20. The method of claim 12 , wherein determining the first preferred pose comprises:

selecting a third preferred pose and a fourth preferred pose from a plurality of preferred poses for the instrument; and

generating the first preferred pose based on a weighted sum of the third preferred pose and the fourth preferred pose.