Systems and methods for safe operation of a device

Patent metadata

Field	Value
Publication number	US-11826017-B2
Application number	US-201816632964-A
Country	US
Kind code	B2
Filing date	Jul 30, 2018
Priority date	Jul 31, 2017
Publication date	Nov 28, 2023
Grant date	Nov 28, 2023

Abstract

Systems and methods for safe operation of a device include a control system having a memory and a processor coupled to the memory. The processor is configured to determine, using one or more sensors, whether an operator is in contact with an input control of a console coupled to the system. The processor is further configured to affect commanded motion of the device using the input control in response to the determination of operator contact with the input control. In some embodiments, affecting the commanded motion includes limiting commanded motion of the device using the input control in response to determining the operator is not in contact with the input control. In some embodiments, the limited commanded motion is an insertion motion of the elongate device, a retraction motion of the elongate device, or a steering motion of a distal end of the elongate device.

First claim

What is claimed is:

1. A control system for a device, the system comprising:
a memory; and
a processor coupled to the memory, the processor being configured to:
determine, using one or more sensors, whether an operator is in contact with an input control of an input control console coupled to the system;
receive an input representing a commanded motion of the device at the input control;
execute the commanded motion;
when the processor determines that the operator is in contact with the input control, apply a safety limit to the commanded motion; and
when the processor determines that the operator is not in contact with the input control, affect the commanded motion by placing the device in a lock mode.

2. The system of claim 1 , wherein when the device is in the lock mode, insertion or retraction of the device is prevented.

3. The system of claim 1 , wherein the safety limit comprises a maximum velocity.

4. The system of claim 1 , wherein the safety limit comprises ramping up a scale factor between movement of the input control and the commanded motion.

5. The system of claim 1 , wherein the one or more sensors include one or more capacitive touch sensors, one or more pressure sensors, one or more proximity sensors to detect proximity of the operator to the input control console, one or more ultrasonic sensors, one or more wrist touch or pressure sensors, one or more vision sensors, one or more light walls, or one or more accelerometers of the input control console.

6. The system of claim 1 , wherein to determine whether the operator is in contact with the input control, the processor is further configured to detect contact of at least a first threshold duration by the operator with the input control, contact of at least a second threshold duration by the operator with the input control without motion of the input control above a movement threshold, operation of the input control in a specific pattern, a press and hold of the input control for at least a third threshold duration, or a double press of the input control.

7. The system of claim 1 , wherein the one or more sensors include one or more accelerometers of the input control console, and wherein the processor is further configured to determine whether the input control console is upright using the one or more accelerometers.

8. The system of claim 1 , wherein the input control is an infinite length of travel input control.

9. The system of claim 1 , wherein the processor is further configured to:
determine, using the one or more sensors, whether the operator is in contact with a second input control of the input control console;
execute the commanded motion;
when the processor determines that the operator is in contact with the second input control, apply the safety limit to the commanded motion; and
when the processor determines that the operator is not in contact with the second input control, affect the commanded motion by placing the device in the lock mode.

10. The system of claim 9 , wherein:
the device is an elongate device;
the input control is an insertion and retraction control; and
the second input control is a steering control.

11. The system of claim 10 , wherein the affected commanded motion is an insertion motion of the elongate device, a retraction motion of the elongate device, or a steering motion of a distal end of the elongate device.

12. The system of claim 1 , wherein when the device is in the lock mode, steering of the device is prevented.

13. The system of claim 1 , wherein when the device is in the lock mode, a rigidity of the device is adjusted.

14. A method of operating a device, the method comprising:
determining, by a control unit using one or more sensors, whether an operator is in contact with an input control of an input control console;
receiving an input representing a commanded motion of the device at the input control;
executing the commanded motion;
in response to the control unit determining that the operator is in contact with the input control, applying a safety limit to the commanded motion; and
in response to the control unit determining that the operator is not in contact with the input control, affect the commanded motion by placing the device in a lock mode.

15. The method of claim 14 , wherein when the device is in the lock mode, steering of the device is prevented.

16. The method of claim 14 , wherein when the device is in the lock mode, a rigidity of the device is adjusted.

17. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a device are adapted to cause the one or more processors to:
determine, using one or more sensors, whether an operator is in contact with an input control of an input control console;
receive an input representing a commanded motion of the device at the input control;
execute the commanded motion;
when the one or more processors determines that the operator is in contact with the input control, apply a safety limit to the commanded motion; and
when the one or more processors determines that the operator is not in contact with the input control, affect the commanded motion by placing the device in a lock mode.

18. The non-transitory machine-readable medium of claim 17 , wherein when the device is in the lock mode, steering of the device is prevented.

19. The non-transitory machine-readable medium of claim 17 , wherein when the device is in the lock mode, a rigidity of the device is adjusted.

20. The non-transitory machine-readable medium of claim 17 , wherein when the device is in the lock mode, insertion or retraction of the device is prevented.

Assignees

• Intuitive Surgical Operations

Inventors

• Diolaiti Nicola
• Bailey David W

Classifications

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B34/74 Primary

  Manipulators with manual electric input means · CPC title