Automatic manipulator assembly deployment for draping

Patent metadata

Field	Value
Publication number	US-11020191-B2
Application number	US-201716317334-A
Country	US
Kind code	B2
Filing date	May 16, 2017
Priority date	Jul 14, 2016
Publication date	Jun 1, 2021
Grant date	Jun 1, 2021

Abstract

A controller in a computer-assisted teleoperated surgical system automatically moves a part of the system, in response to a user tapping the part, to facilitate draping of that part. This speeds the draping process and diminishes the likelihood that the sterile surgical drape is damaged or contaminated during the draping of that part of the system.

First claim

We claim:

1. A surgical apparatus comprising:
a manipulator component having a first position; and
a controller coupled to the manipulator component, the controller being configured to:
detect a direction of a disturbance to the manipulator component, the direction of the disturbance being detected from information from the manipulator component; and
in response to detection of the direction of the disturbance:
automatically move the manipulator component after the disturbance has ended based on the direction of the disturbance and into a portion of a surgical drape.

2. The surgical apparatus of claim 1 , wherein the portion of the surgical drape comprises a drape sleeve.

3. The surgical apparatus of claim 1 , the manipulator component comprising a link.

4. The surgical apparatus of claim 1 , the manipulator component comprising a surgical instrument manipulator assembly.

5. The surgical apparatus of claim 1 , wherein the controller being configured to detect the direction of the disturbance to the manipulator component comprises the controller being configured to detect a position tracking disturbance, the position tracking disturbance being created by a user input on the manipulator component.

6. The surgical apparatus of claim 1 , wherein the controller being configured to detect the direction of the disturbance to the manipulator component comprises the controller detecting a signal, from a motion control input device of the manipulator component, to change a position of the manipulator component.

7. The surgical apparatus of claim 1 , the controller comprising a state machine including a position hold state and an advance state, the state machine being configured to transition from the position hold state to the advance state if a position error for the manipulator component exceeds a specified threshold for at least a predetermined time interval.

8. The surgical apparatus of claim 1 , the controller further configured to command the manipulator component to maintain a latched position in response to a determination that movement of the manipulator component is stopped.

9. The surgical apparatus of claim 1 , wherein the disturbance corresponds to one or more taps on the manipulator component.

10. A method of draping a part of a patient side support system, the part having a first position, the method comprising:
detecting, by a controller coupled to the patient side support system, a direction of a disturbance to the part, the direction of the disturbance being detected from information from the part;
in response to detection, by the controller, of the direction of the disturbance:
automatically moving, by the controller, the part after the disturbance has ended based on the direction of the disturbance and into a portion of a surgical drape.

11. The method of claim 10 , the part comprising a link or a surgical instrument manipulator assembly.

12. The method of claim 10 , further comprising:
determining, by the controller, mounting of the surgical drape on the patient side support system.

13. The method of claim 10 , wherein the detecting, by the controller, the direction of the disturbance to the part comprises:
detecting, by the controller, a position tracking disturbance of the part, the position tracking disturbance being created by a user input on the part.

14. The method of claim 13 , the detecting, by the controller, the position tracking disturbance comprises:
determining, by the controller, whether a position of the part of the patient side support system has changed.

15. The method of claim 10 , further comprising:
determining, by the controller, whether movement of the part of the patient side support system is stopped; and
commanding, by the controller, the part of the patient side support system to maintain a latched position if the determining, by the controller, whether movement of the part of the patient side support system is stopped finds that movement of the part of the patient side support system is stopped.

16. The method of claim 10 , wherein the disturbance corresponds to one or more taps on the part.

17. A non-transitory tangible computer-readable medium storing instructions for controlling operation of one or more hardware processors to perform a method comprising:
detecting a direction of a disturbance to a part of a patient side support system, the part having a first position, wherein the direction of the disturbance is detected from information from the part;
in response to detection of the direction of the disturbance to the part:
automatically moving the part after the disturbance has ended based on the direction of the disturbance and into a portion of a surgical drape.

18. The non-transitory tangible computer-readable medium of claim 17 , wherein the detecting the direction of a disturbance to the part of the patient side support system comprises:
detecting a position tracking disturbance, the position tracking disturbance being created by a user input on the part.

19. The non-transitory tangible computer-readable medium of claim 17 , the method further comprising:
commanding the part of the patient side support system to maintain a latched position if movement of the part of the patient side support system is stopped.

20. The non-transitory tangible computer-readable medium of claim 17 , wherein the disturbance corresponds to one or more taps on the part.

Assignees

• Intuitive Surgical Operations

Inventors

• Diolaiti Nicola
• Brown Jeffrey D
• Gomez Daniel H
• Holop Robert E
• Mcgrogan Anthony K
• Mitra Probal
• Ramstad Craig R

Classifications

• A61B46/10 Primary

  specially adapted for instruments{, e.g. microscopes} · CPC title

• A61B34/70 Primary

  Manipulators specially adapted for use in surgery · CPC title

• A61B34/35

  for telesurgery · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B34/30

  Surgical robots · CPC title