CN-122028864-A - Restoring state of system after system restart

Abstract

A medical system includes a manipulator assembly for controlling movement of a medical instrument and a control system for the manipulator assembly. The control system performs a first session of the medical system for the procedure. Performing the first session involves completing one or more medical instrument operations for the medical instrument. The control system restarts in performing the medical system after completing the one or more medical instrument operations and performs a second session of the medical system for the procedure after restarting in performing the medical system. Performing the second session involves skipping one or more medical instrument operations completed in the first session based on comparing one or more first parameters of the medical system associated with the first session with one or more second parameters of the medical system associated with the second session.

Inventors

• Gulu Subramani
• Samuel B. Xiao Er
• Timothy D. Soper
• YU SHUWEN
• MICHAEL MACHEL
• Patrick Luo Ye

Assignees

• 直观外科手术操作公司

Dates

Publication Date

20260512

Application Date

20241002

Priority Date

20231002

Claims (20)

1. 1. A medical system, comprising: manipulator assembly for controlling movement of a medical instrument, and A control system coupled to the manipulator assembly, the control system configured to: Executing a first session of the medical system for a procedure, wherein executing the first session includes completing one or more medical instrument operations for the medical instrument, After completion of the one or more medical instrument operations, performing an in-process restart of the medical system, and After performing the in-process restart of the medical system, performing a second session of the medical system for the process, wherein performing the second session comprises: Skipping the one or more medical instrument operations completed in the first session based on comparing one or more first parameters of the medical system associated with the first session with one or more second parameters of the medical system associated with the second session.
2. 2. The medical system of claim 1, wherein completing the one or more medical instrument operations takes more time than comparing the one or more first parameters to the one or more second parameters.
3. 3. The medical system of claim 1, wherein comparing the one or more first parameters to the one or more second parameters includes determining that the one or more first parameters are equivalent to the one or more second parameters.
4. 4. The medical system of claim 1, wherein the one or more medical instrument operations include an engagement operation for engaging the medical instrument with the manipulator assembly such that the manipulator assembly controls movement of the medical instrument.
5. 5. The medical system of claim 4, wherein: the engaging operation engaging the input disc of the medical instrument with the actuator disc of the manipulator assembly, and Comparing the one or more first parameters with the one or more second parameters includes determining that a correlation between movement of the input disc and the actuator disc caused by the engagement operation in the first session remains in the second session.
6. 6. The medical system of claim 5, wherein: Comparing the one or more first parameters to the one or more second parameters includes performing a bonding test, and The actuator disk applies more torque in the engagement operation than in the engagement test.
7. 7. The medical system of claim 1, further comprising: A sensor for measuring movement of the medical instrument, and Wherein the one or more medical instrument operations include a sensor health operation including verifying acceptability of first sensor health data received from the sensor.
8. 8. The medical system of claim 7, wherein comparing the one or more first parameters to the one or more second parameters includes comparing the first sensor health data received from the sensor in the first session to second sensor health data received from the sensor in the second session.
9. 9. The medical system of claim 7, wherein comparing the one or more first parameters to the one or more second parameters includes comparing a first fingerprint representing the first sensor health data received from the sensor in the first session to a second fingerprint representing second sensor health data received from the sensor in the second session.
10. 10. The medical system of claim 7, wherein the sensor comprises a shape sensor.
11. 11. The medical system of claim 1, wherein comparing the one or more first parameters to the one or more second parameters includes comparing a first controller configuration of the medical system for controlling the medical instrument in the first session to a second controller configuration of the medical system for controlling the medical instrument in the second session.
12. 12. The medical system of claim 1, wherein comparing the one or more first parameters to the one or more second parameters includes comparing a first fingerprint representing a first controller configuration of the medical system for controlling the medical instrument in the first session with a second fingerprint representing a second controller configuration of the medical system for controlling the medical instrument in the second session.
13. 13. The medical system of claim 1, wherein the one or more medical instrument operations comprise a exercise test operation for the medical instrument.
14. 14. The medical system of claim 13, further comprising: an actuator for controlling movement of the medical instrument, and A sensor for measuring movement of the medical instrument, and Wherein the exercise testing operation includes comparing the movement of the medical instrument measured by the sensor with a predicted movement of the medical instrument generated based on the measured movement of the actuator.
15. 15. The medical system of claim 14, wherein the medical instrument comprises a flexible elongate device, the sensor comprises a shape sensor, and movement of the medical instrument comprises articulation of the flexible elongate device.
16. 16. The medical system of claim 1, wherein the one or more medical instrument operations include a registration operation for associating sensor data about the medical instrument with a frame of reference.
17. 17. The medical system of claim 1, wherein the one or more medical instrument operations include a navigation operation for moving the medical instrument toward a target anatomical feature.
18. 18. The medical system of claim 1, wherein: Executing the first session includes, in response to completing the one or more medical instrument operations: Generating a first fingerprint representative of the one or more first parameters, Storing the first fingerprint for retrieval after restarting the process of executing the medical system, and Comparing the one or more first parameters to the one or more second parameters includes comparing a second fingerprint representative of the one or more second parameters to the first fingerprint.
19. 19. The medical system of claim 1, wherein the one or more medical instrument operations comprise: an engagement operation for engaging the medical instrument with the manipulator assembly, Sensor health operation for a sensor measuring movement of the medical instrument, and A motion testing operation for the medical instrument.
20. 20. The medical system of claim 1, wherein performing the second session includes completing medical instrument operations that are not completed in the first session after skipping the one or more medical instrument operations that are completed in the first session.

Description

Restoring state of system after system restart Cross Reference to Related Applications The present application is based on the priority benefit of U.S. provisional patent application Ser. No. 63/542,012, filed on 2 nd month 10 of 2023, volume 35, 119 (e), incorporated herein by reference in its entirety. Technical Field The disclosed embodiments relate to improved robotic and/or medical (including surgical) devices, systems, and methods. Background Minimally invasive medical techniques aim to reduce the amount of damaged tissue during a medical procedure, thereby reducing patient recovery time, discomfort, and adverse side effects. Such minimally invasive techniques may be performed through natural orifices in the patient's anatomy or through one or more surgical incisions. Through these natural orifices or incisions, a physician may insert minimally invasive medical instruments (including surgical, diagnostic, therapeutic, and/or biopsy instruments) to reach a target tissue location. One such minimally invasive technique is the use of a flexible and/or steerable (steerable) elongate device, such as a flexible catheter or bronchoscope, that can be inserted into an anatomical passageway and navigated toward a region of interest within the patient's anatomy. Medical systems can be complex and can require potentially time consuming operations in the performance of a procedure, including various setup operations. Occasionally, a restart of the medical system may be necessary or useful, which may result in repeated execution of previously completed operations prior to the restart. Disclosure of Invention The following presents a simplified summary of various examples described herein and is not intended to identify key or critical elements or to delineate the scope of the claims. In some examples, embodiments of the present disclosure relate to a medical system including a manipulator assembly for controlling movement of a medical instrument, and a control system coupled to the manipulator assembly, the control system configured to perform a first session of the medical system for a procedure, wherein performing the first session includes completing one or more medical instrument operations for the medical instrument, performing an in-procedure restart of the medical system after completing the one or more medical instrument operations, and performing a second session of the medical system for the procedure after performing the in-procedure restart of the medical system, wherein performing the second session includes skipping the one or more medical instrument operations completed in the first session based on comparing one or more first parameters of the medical system associated with the first session with one or more second parameters of the medical system associated with the second session. In some examples, embodiments of the present disclosure relate to a non-transitory machine-readable medium including a plurality of machine-readable instructions for execution by one or more processors associated with a medical system, the plurality of machine-readable instructions causing the one or more processors to perform a method comprising executing a first session of the medical system with respect to a procedure, wherein executing the first session includes completing one or more medical instrument operations with respect to a medical instrument, performing an in-procedure restart of the medical system after completing the one or more medical instrument operations, and performing a second session of the medical system with respect to the procedure after performing the in-procedure restart of the medical system, wherein executing the second session includes skipping the one or more medical instrument operations completed in the first session based on comparing one or more first parameters of the medical system associated with the first session with one or more parameters of the medical system associated with the second session. In some examples, embodiments of the present disclosure relate to a method for operating a medical system, the method comprising performing a first session of the medical system for a process, wherein performing the first session includes completing one or more medical instrument operations for the medical instrument, performing an in-process restart of the medical system after completing the one or more medical instrument operations, and performing a second session of the medical system for the process after performing the in-process restart of the medical system, wherein performing the second session includes skipping the one or more medical instrument operations completed in the first session based on comparing one or more first parameters of the medical system associated with the first session with one or more parameters of the medical system associated with the second session. It is to be understood that both the foregoing general description and the following detailed description are