Systems and methods for switching control between multiple instrument arms

Patent metadata

Field	Value
Publication number	US-12508091-B2
Application number	US-201816630134-A
Country	US
Kind code	B2
Filing date	Jul 12, 2018
Priority date	Jul 13, 2017
Publication date	Dec 30, 2025
Grant date	Dec 30, 2025

Abstract

Systems and methods for reassigning control by a master controller between a plurality of teleoperational instruments is provided herein. An exemplary method includes detecting activation of an instrument reassignment input, computing proxy positions of at least a first instrument and a second instrument of the plurality of teleoperational instruments, and computing a proxy position of the master controller. The exemplary method may also include receiving input from the master controller associating the proxy position of the master controller with the proxy position of the second medical instrument and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument.

First claim

What is claimed is:

1 . A teleoperational robotic system comprising:
a teleoperational assembly; a master controller configured to receive input from an operator; and a plurality of instruments supported by the teleoperational assembly, wherein the instruments are controllable by a control system based on the received input and wherein the control system is configured to reassign control by the master controller of a first instrument to a second instrument by:
detecting activation of an instrument reassignment input,
computing, by the control system, proxy positions of at least a first instrument and a second instrument of the plurality of instruments,
computing a proxy position of the master controller, and
receiving a user input including a disassociation input component and an association input component at the master controller,
the disassociation input component including a movement of the master controller to move the proxy position of the master controller outside of a first boundary of a first threshold distance of the proxy position of the first instrument,
the association input component including a movement of the master controller to move the proxy position of the master controller within a second boundary of a second threshold distance of the proxy position of the second instrument,

unassigning control of the first instrument from the master controller when the proxy position of the master controller is moved outside of the first boundary of the first threshold distance, and
assigning control of the second instrument to the master controller when the proxy position of the master controller is moved within the second boundary of the second threshold distance, wherein the second boundary is spaced from the first boundary.

2 . The robotic system of claim 1 , wherein the first and second instruments are medical instruments.

3 . The robotic system of claim 1 , wherein the proxy position of the second instrument is included in a set of proxy positions having:
a first proxy position associated with a shaft of the second instrument; a second proxy position associated with a wrist mechanism of the second instrument; and a third proxy position associated with a distal feature of the second instrument.

4 . The robotic system of claim 1 , wherein the plurality of instruments includes an imaging device and the proxy positions of the first instrument and the second instrument are defined relative to a view obtained from the imaging device.

5 . The robotic system of claim 1 , wherein the plurality of instruments includes a stereoscopic camera that defines a three-dimensional area, the proxy positions of the first and second instruments being defined in the three-dimensional area.

6 . The robotic system of claim 1 , wherein the proxy position of the first instrument is utilized as the proxy position of the master controller while the master controller is assigned to control the first instrument.

7 . The robotic system of claim 1 , wherein the control system is further configured to display a first selection indicator associated with the master controller.

8 . The robotic system of claim 7 , wherein movement of the master controller along a path moves the first selection indicator along a corresponding path to provide visual feedback of the movement by the master controller relative to the second instrument.

9 . The robotic system of claim 1 , wherein the association input component indicates an association between the proxy position of the master controller with the proxy position of the second instrument and wherein assigning control of the second instrument to the master controller based on the association comprises assigning a type of control of the second instrument based on a type of the association.

10 . The robotic system of claim 9 , wherein the type of the association is one of: an orientation-based association, a location-based association, and an orientation-based and location-based association.

11 . The robotic system of claim 9 , wherein the type of control is control limited to X, Y, and Z-directions of motion of the second instrument.

12 . The robotic system of claim 9 , wherein the type of control is control of an end effector and a wrist mechanism of the second instrument.

13 . The robotic system of claim 9 , wherein the control system is further configured to provide a haptic feedback via the master controller, the haptic feedback corresponding to the association between the proxy position of the master controller and the proxy position of the second instrument.

14 . The robotic system of claim 13 , wherein the haptic feedback comprises a force exerted by the master controller that tends to cause the master controller to move toward the proxy position of the second instrument.

15 . The robotic system of claim 13 , wherein the haptic feedback comprises a torque exerted by the master controller that tends to cause the master controller to become oriented so as to correspond to an orientation indicated by the proxy position of the second instrument.

16 . The robotic system of claim 7 , wherein the control system is further configured to:
compute, by the control system, a proxy position of an additional master controller; receive, by the control system, a user input at the additional master controller associating the proxy position of the additional master controller with the proxy position of the second instrument; and assign, by the control system, control of the second instrument to the master controller and the additional master controller.

17 . The robotic system of claim 16 , wherein the master controller is coupled to a first console and the additional master controller is coupled to a second console.

18 . The robotic system of claim 16 , wherein assigning control of the second instrument to the master controller and the additional master controller comprises determining command contributions of the master controller and the additional master controller.

19 . The robotic system of claim 18 , wherein the control system assigns a larger command contribution to the master controller than to the additional master controller.

20 . The robotic system of claim 16 , wherein the control system is further configured to display the first selection indicator associated with the master controller and a second selection indicator associated with the additional master controller in at least two display systems.

Assignees

• Intuitive Surgical Operations

Inventors

• Itkowitz Brandon D
• Hingwe Pushkar

Classifications

• A61B1/045

  Control thereof · CPC title

• A61B1/00193

  adapted for stereoscopic vision · CPC title

• A61B1/00149

  using articulated arms · CPC title

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title

• A61B2034/301

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