Techniques for controlling a moveable component

Patent metadata

Field	Value
Publication number	US-11766301-B2
Application number	US-202117236868-A
Country	US
Kind code	B2
Filing date	Apr 21, 2021
Priority date	Jul 14, 2016
Publication date	Sep 26, 2023
Grant date	Sep 26, 2023

Abstract

Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.

First claim

What is claimed is:

1. A system comprising:
a moveable component; and
a controller coupled to the moveable component;
wherein the controller is configured to:
hold the moveable component at a first position;
detect that the moveable component has been moved from the first position, at which the moveable component was being held, for at least a first predetermined duration of time, due to a disturbance;
in response to the detection that the moveable component has been moved from the first position for at least the first predetermined duration of time, move the moveable component according to a first motion;
continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected; and
in response to a detection of the stop condition, hold the moveable component at a second position.

2. The system of claim 1 , wherein:
the system is a surgical system; and
the first motion moves the moveable component into a portion of a surgical drape.

3. The system of claim 1 , wherein the moveable component comprises a link of an instrument manipulator.

4. The system of claim 1 , wherein the first motion is in a direction of the disturbance.

5. The system of claim 1 , wherein to detect that the moveable component has been moved from the first position, the controller is configured to detect that the moveable component has been moved from the first position by more than a threshold amount for at least the first predetermined duration of time.

6. The system of claim 1 , wherein to detect that the moveable component has been moved from the first position, the controller is configured to detect a pattern of two or more changes in a position of the moveable component from the first position.

7. The system of claim 1 , wherein to detect that the moveable component has been moved from the first position, the controller is configured to detect one or more external taps on the moveable component.

8. The system of claim 1 , wherein the stop condition comprises the moveable component reaching the second position or the moveable component moving a predetermined distance.

9. The system of claim 1 , wherein the stop condition comprises a speed of the moveable component remaining below a threshold speed for a second predetermined duration of time.

10. The system of claim 1 , wherein the controller is further configured to:
detect that the moveable component has been moved from the second position due to a second disturbance; and
in response to the detection that the moveable component has been moved from the second position, move the moveable component according to a second motion.

11. The system of claim 1 , wherein:
the first motion is included in a sequence of motions of the moveable component; and
each motion in the sequence of motions is performed in response to a corresponding movement of the moveable component from a corresponding position.

12. A method for controlling a moveable component, the method comprising:
holding, by a controller, the moveable component at a first position;
detecting, by the controller, that the moveable component has been moved from the first position at which the moveable component was being held, for at least a first predetermined duration of time, due to a disturbance;
moving, by the controller in response to detecting that the moveable component has been moved from the first position for at least the first predetermined duration of time, the moveable component according to a first motion;
continuing to move the moveable component, by the controller, according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected; and
holding, by the controller in response to a detection of the stop condition, the moveable component at a second position.

13. The method of claim 12 , wherein the first motion is in a direction of the disturbance.

14. The method of claim 12 , wherein detecting that the moveable component has been moved from the first position comprises:
detecting that the moveable component has moved from the first position by more than a threshold amount for at least the first predetermined duration of time; or
detecting a pattern of two or more changes in a position of the moveable component from the first position; or
detecting one or more external taps on the moveable component.

15. The method of claim 12 , wherein the stop condition comprises:
the moveable component reaching the second position; or
the moveable component moving a predetermined distance; or
a speed of the moveable component remaining below a threshold speed for a second predetermined duration of time.

16. The method of claim 12 , further comprising:
detecting, by the controller, that the moveable component has been moved from the second position due to a second disturbance; and
moving, by the controller and in response to detecting that the moveable component has been moved from the second position, the moveable component according to a second motion.

17. A non-transitory computer-readable medium storing instructions for controlling operation of one or more hardware processors to perform a method comprising:
holding a moveable component at a first position;
detecting that the moveable component has been moved from the first position at which the moveable component was being held, for at least a first predetermined duration of time, due to a disturbance;
in response to detecting that the moveable component has been moved from the first position for at least the first predetermined duration of time, moving the moveable component according to a first motion;
continuing to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected; and
in response to a detection of the stop condition, holding the moveable component at a second position.

18. The non-transitory computer-readable medium of claim 17 , wherein the first motion is in a direction of the disturbance.

19. The non-transitory computer-readable medium of claim 17 , wherein detecting that the moveable component has been moved from the first position comprises:
detecting that the moveable component has moved from the first position by more than a threshold amount for at least the first predetermined duration of time; or
detecting a pattern of two or more changes in a position of the moveable component from the first position; or
detecting one or more external taps on the moveable component.

20. The non-transitory computer-readable medium of claim 17 , wherein the stop condition comprises:
the moveable component reaching the second position; or
the moveable component moving a predetermined distance; or
a speed of the moveable component remaining below a threshold speed for a second predetermined duration of time.

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

• A61B34/32 Primary

  operating autonomously · CPC title

• A61B34/37

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

• A61B34/74

  Manipulators with manual electric input means · CPC title

• A61B46/10 Primary

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

• B25J9/0009

  Constructional details, e.g. manipulator supports, bases · CPC title