Systems and methods for adaptive input mapping
A medical system includes an operator input device and a control system. The operator input device is configured to generate input instructions for controlling a medical instrument. The control system is configured to: receive an input instruction corresponding to an operator input device movement; 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.
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.