US 11,672,616 B2
Secondary instrument control in a computer-assisted teleoperated system
Nicola Diolaiti, Menlo Park, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 16/316,859
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Jul. 14, 2017, PCT No. PCT/US2017/042228
§ 371(c)(1), (2) Date Jan. 10, 2019,
PCT Pub. No. WO2018/013979, PCT Pub. Date Jan. 18, 2018.
Claims priority of provisional application 62/362,355, filed on Jul. 14, 2016.
Prior Publication US 2019/0314097 A1, Oct. 17, 2019
Int. Cl. A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01); A61B 1/04 (2006.01); A61B 90/57 (2016.01); A61B 1/00 (2006.01); A61B 8/12 (2006.01)
CPC A61B 34/25 (2016.02) [A61B 1/04 (2013.01); A61B 17/00 (2013.01); A61B 34/35 (2016.02); A61B 90/37 (2016.02); A61B 1/00193 (2013.01); A61B 8/12 (2013.01); A61B 2017/00424 (2013.01); A61B 2017/00738 (2013.01); A61B 2090/368 (2016.02); A61B 2090/571 (2016.02)] 15 Claims
OG exemplary drawing
 
1. A teleoperational system comprising:
a first manipulator configured to support an instrument moveable within an instrument workspace, the instrument having an instrument frame of reference;
an operator input device configured to receive movement commands from an operator; and
a control system, wherein to implement the movement commands, the control system is configured to:
receive, via the operator input device, a first movement command from the operator,
compare an orientation of the instrument with an orientation of a field of view of an imaging system to produce an orientation difference, the imaging system being configured to capture images of the instrument workspace,
when the orientation difference does not meet an orientation criterion set:
convert, based on a first movement command mapping, the first movement command to a first instrument motion in a first direction relative to the instrument frame of reference, and
cause the instrument to move according to the first instrument motion, and
when the orientation difference comparison meets the orientation criterion set:
convert, based on a second movement command mapping, the first movement command to a second instrument motion in a second direction relative to the instrument frame of reference, and
cause the instrument to move according to the second instrument motion,
wherein the second movement command mapping differs from the first movement command mapping.