Detecting uncontrolled movement

Patent metadata

Field	Value
Publication number	US-10646291-B2
Application number	US-201515503358-A
Country	US
Kind code	B2
Filing date	Aug 11, 2015
Priority date	Aug 12, 2014
Publication date	May 12, 2020
Grant date	May 12, 2020

Abstract

A teleoperated surgical system includes a component such as a master control or a multi-jointed mechanical system that is configured for manual manipulation and a detection module configured to analyze movement of the component and detect uncontrolled movement of the component. Uncontrolled movement may be identified by detecting movement only on joints that gravity can move, but no movement on joints that are not subject to movement caused by gravity. In response to detection of uncontrolled movement of the component, the detection module can cause the system to switch to a safe mode of operation.

First claim

What is claimed is:

1. A teleoperated surgical system comprising:
a manually movable master control configured to generate one or more signals when a movement of one or more mechanical degrees of freedom of the master control is detected; and
a detection module coupled to the master control and configured to:
determine whether a change in location of the master control is outside a safe range of movement using the one or more signals; and
command the system to switch from an operating mode to a safe mode in response to determining that the change in location of the master control is outside the safe range of movement;

wherein:
the operating mode comprises a following mode in which a slave device separate from the master control moves in response to movement of the master control; and
the safe mode comprises a mode in which the slave device does not move in response to movement of the master control.

2. The system of claim 1 , wherein the detection module further commands the system to switch from the operating mode to the safe mode in response to determining that movement of the master control is anticipated to cause the slave device to move outside of a safe range of movement of the slave device.

3. The system of claim 1 , further comprising:
the slave device;
wherein the system is configured to operate in a clutch mode that permits manual movement of the slave device.

4. The system of claim 1 , wherein the detection module is further configured to:
determine that a first mechanical degree of freedom of the master control that is affected by gravity has moved based on the one or more signals;
determine that a second mechanical degree of freedom of the master control that is not affected by gravity has not moved based on the one or more signals; and
command the system to switch from the operating mode to the safe mode in response to determining that the first mechanical degree of freedom has moved and that the second mechanical degree of freedom has not moved.

5. The system of claim 1 , wherein the safe range of movement depends on an operating speed of input applied to the master control.

6. The system of claim 1 , wherein the detection module is further configured to:
determine that the one or more signals indicate that a mechanical degree of freedom of the master control that is not affected by gravity has not moved; and
command the system to switch from the operating mode to the safe mode in response to determining that the mechanical degree of freedom has not moved.

7. The system of claim 1 , wherein:
the master control comprises finger loops; and
the detection module is further configured to:
determine that the one or more signals indicate that no definitive input has occurred on the master control, wherein the definitive input comprises an input selected from the group consisting of a change in a roll angle and a change in a grip separation between finger loops of the master control; and
command the system to switch from the operating mode to the safe mode in response to determining that no definitive input has occurred on the master control.

8. The system of claim 3 , wherein:
the slave device comprises a teleoperated manipulator; and
the detection module is configured to:
determine that movement of the teleoperated manipulator is outside of a safe range of movement for the teleoperated manipulator; and
command the system to switch from the clutch mode to the safe mode in response to determining that the movement of the teleoperated manipulator is outside the safe range of movement for the teleoperated manipulator.

9. A method comprising:
measuring a movement of a manually movable master control of a medical device, the master control having a plurality of movable mechanical degrees of freedom;
determining whether a change in location of the master control is outside a safe range of movement; and
commanding the medical device to switch from an operating mode to a safe mode in response to determining that the change in location of the master control is outside the safe range of movement;
wherein:
the operating mode comprises a following mode in which a slave device separate from the master control moves in response to movement of the master control; and
the safe mode comprises a mode in which the slave device does not move in response to movement of the master control.

10. The method of claim 9 , further comprising:
commanding the medical device to switch from the operating mode to the safe mode in response to determining that moving a slave device based on the master control is anticipated to cause the slave device to move outside of a safe range of movement for the slave device.

11. The method of claim 9 , further comprising:
operating a slave device in a mode that permits manual movement of the slave device.

12. The method of claim 9 , further comprising:
determining that a first mechanical degree of freedom of the master control that is affected by gravity has moved;
determining that a second mechanical degree of freedom of the master control that is not affected by gravity has not moved; and
commanding the medical device to switch from the operating mode to the safe mode in response to determining that the first mechanical degree of freedom has moved and that the second mechanical degree of freedom has not moved.

13. The method of claim 9 , wherein the safe range of movement depends on an operating speed of input applied to the master control.

14. The method of claim 9 , wherein:
the master control comprises finger loops; and
the method further comprises:
determining that no definitive input has occurred on the master control, wherein the definitive input comprises an input selected from the group consisting of a change in a roll angle and a change in a grip separation between finger loops of the master control; and
commanding the medical device to switch from the operating mode to the safe mode in response to determining that no definitive input has occurred on the master control.

15. The method of claim 11 , further comprising:
determining that movement of the slave device is outside of a safe range of movement of the slave device; and
commanding the medical device to switch from the operating mode to the safe mode in response to determining that movement of the slave device is outside of the safe range of movement of the slave device.

16. A teleoperated system comprising:
a master control;
a slave device comprising a teleoperated manipulator; and
a control system coupled to the master control and the slave device,
wherein during a following mode of the teleoperated system, the control system causes the teleoperated manipulator to move in response to a manual movement of the master control, and
wherein the control system:
determines that a first mechanical degree of freedom of the master control that is affected by gravity has moved;
determines that a second mechanical degree of freedom of the master control that is not affected by gravity has not moved; and
commands the teleoperated system to switch from the following mode to a safe mode in response to determining that the first mechanical degree of freedom has moved and that the second mechanical degree of freedom has not moved.

17. The teleoperated system of claim 16 , wherein:
the master control comprises finger loops; and
the second mechanical degree of freedom of the master control that is not affected by gravity comprises an input selected from the group consisting of a change in a roll angle and a change in a grip separ

Assignees

• Intuitive Surgical Operations

Inventors

• Turner Michael

Classifications

• A61B34/35 Primary

  for telesurgery · CPC title

• A61B2017/00075

  Motion · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B34/75

  Manipulators having means for prevention or compensation of hand tremors · CPC title

• A61B34/74

  Manipulators with manual electric input means · CPC title