Search

CN-122028866-A - System and method for controlling a surgical system

CN122028866ACN 122028866 ACN122028866 ACN 122028866ACN-122028866-A

Abstract

Systems and methods for controlling a computer-aided system are provided. Accordingly, an output signal is received from the force sensor unit. The output signal corresponds to a sensed force applied to a distal portion of a medical instrument of the surgical system. A force vector corresponding to the magnitude and direction of the sensed force is determined. While providing a first haptic output based on the force vector and a second haptic output indicative of a limited operating condition.

Inventors

  • A. SURESH
  • C. N. Bagar
  • H-H.Liao
  • L.N. Wilner

Assignees

  • 直观外科手术操作公司

Dates

Publication Date
20260512
Application Date
20240827
Priority Date
20230829

Claims (20)

  1. 1. A computer-aided system, comprising: A manipulator configured to support an instrument having a distal end portion and a force sensor unit operably coupled to the instrument; an operator input device operably coupled to the manipulator and the instrument, and A controller operatively coupled to the manipulator, the operator input device, and the force sensor unit, the controller comprising at least one memory device having stored instructions and at least one processor operatively coupled to execute the instructions, the executing the instructions comprising: Receiving an output signal from the force sensor unit, the output signal corresponding to a sensed force exerted on the distal portion of the instrument, Determining a force vector corresponding to the magnitude and direction of the sensed force, A first haptic output and a second haptic output are concurrently provided at the operator input device, the first haptic output being based on the force vector, the second haptic output being indicative of a limited operating condition of the manipulator, the instrument, or both the manipulator and the instrument, and the second haptic output being different from the first haptic output.
  2. 2. The computer-assisted system of claim 1, wherein: the second haptic output being based on modeled parameters associated with the limited operating condition, and The modeling parameter is different from the sensed force exerted on the distal portion of the instrument indicated by the output signal of the force sensor unit.
  3. 3. The computer-assisted system of claim 1, wherein: the first haptic output communicating a simulated sensation of the sensed force to a handle portion of the operator input device, and The second tactile output communicates information about the limited operating condition to a handle portion of the operator input device without simulating a sensation of the limited operating condition.
  4. 4. The computer-assisted system of claim 1, wherein: the first haptic output being indicative of a force at the distal portion of the instrument at a surgical site, and The second tactile output indicates the proximity of the manipulator, the instrument, or both the manipulator and the instrument to the limited operating condition.
  5. 5. The computer-assisted system of any of claims 1 to 4, wherein: the second haptic output has a directional component that indicates a direction associated with the limited operating condition relative to a position of the manipulator, the instrument, or both the manipulator and the instrument.
  6. 6. The computer-assisted system of any of claims 1 to 4, wherein: The operator input device includes at least one actuator configured to generate at least a portion of the first tactile output and at least a portion of the second tactile output.
  7. 7. The computer-assisted system of any of claims 1 to 4, wherein: the operator input device includes at least a first actuator and a second actuator; The first actuator is configured to generate the first haptic output, and The second actuator is configured to generate the second haptic output.
  8. 8. The computer-assisted system of claim 7, wherein: the operator input device includes a gimbal assembly movably coupled to a support arm assembly; The support arm assembly includes a first support section and a second support section movably coupled between a base portion of the support arm assembly and the gimbal assembly; The first actuator is a gimbal actuator operably coupled to a handle portion of the gimbal assembly and configured to apply torque on the handle portion to produce the first haptic output, and The second actuator is a support actuator operably coupled to the support arm assembly and configured to apply a torque on the support arm assembly to produce the second haptic output.
  9. 9. The computer-assisted system of claim 8, wherein: The gimbal actuator being proximal with respect to the handle portion of the gimbal assembly, and The support actuator is distal with respect to the handle portion of the gimbal assembly.
  10. 10. The computer-assisted system of any of claims 1 to 4, wherein: The operator input device includes a first actuator and a second actuator; the first actuator being associated with a motion control relationship between the operator input device and the manipulator, the instrument, or both the manipulator and the instrument, and The second actuator is dedicated to providing the second haptic output.
  11. 11. The computer-assisted system of any of claims 1 to 4, wherein: Defining an achievable range of motion space for the manipulator, the instrument or both the manipulator and the instrument together, and The limit operating condition is defined at least in part by an object affecting the achievable range of motion space.
  12. 12. The computer-assisted system of claim 11, wherein: The computer-assisted system includes a sensor positioned to sense a position, an orientation, or both a position and an orientation of the object; the sensor generating kinematic information indicative of the position, the orientation, or both the position and the orientation of the object, and The second haptic output is based at least in part on the kinematic information.
  13. 13. The computer-assisted system of any of claims 1 to 4, wherein: The limit operating condition is a designed range of motion limit for the manipulator, the instrument, or both the manipulator and the instrument.
  14. 14. The computer-assisted system of claim 13, wherein: the manipulator comprises at least two segments coupled by a joint; The computer-assisted system includes a joint encoder positioned to output a position signal indicative of a rotational orientation of the joint, and Determining the limit operating condition includes determining a position of the manipulator and the instrument based on the position signals from the joint encoders.
  15. 15. The computer-assisted system of any of claims 1 to 4, wherein: The limit operating condition is a designed range of motion limit of the operator input device.
  16. 16. The computer-assisted system of any of claims 1 to 4, wherein: Defining a range of motion space for the manipulator, the instrument, or both the manipulator and the instrument together, and The limit operating condition is defined at least in part by an anatomical object affecting the range of motion space.
  17. 17. The computer-assisted system of any of claims 1 to 4, wherein: the limit operating condition is a dynamic range of motion limit; The dynamic range of motion limit corresponds to the range of motion achievable at a given moment; the manipulator comprises at least two segments coupled by a joint, and The instructions include determining the achievable range of motion based on the position of each of the segments and the instrument at the given moment.
  18. 18. The computer-assisted system of any of claims 1 to 4, wherein: executing the instructions includes determining that an object collides with the manipulator, the instrument, or both the manipulator and the instrument, and The restricted operating condition is a collision.
  19. 19. The computer-assisted system of any of claims 1 to 4, wherein: the limit operating condition is based at least in part on a distance between an object and the manipulator, the instrument, or both the manipulator and the instrument being less than a defined distance.
  20. 20. The computer-assisted system of any of claims 1 to 4, wherein: the limit operating condition is based at least in part on a speed between the object and the manipulator, the instrument, or both the manipulator and the instrument relative to the object, and The speed is greater than a defined speed.

Description

System and method for controlling a surgical system Cross Reference to Related Applications The present application claims priority from U.S. provisional application serial No. 63/535,167 entitled "SYSTEMS AND Methods for Control of a Surgical System," filed on 8/29 of 2023, the entire contents of which are incorporated herein by reference. Technical Field Embodiments described herein relate to surgical systems, and more particularly, to teleoperated surgical systems. More particularly, embodiments described herein relate to systems and methods for communicating information about a surgical system via a haptic feedback system. Background Known Minimally Invasive Surgical (MIS) techniques employ instruments that can be controlled manually or via a hand-held or mechanically grounded teleoperational medical system that operates with at least partial computer assistance ("tele-surgical system"). In mechanically grounded tele-surgical systems, the instrument used to perform the surgical action is supported by a kinematic chain. This kinematic chain typically includes a base that is mechanically grounded (e.g., mounted on a floor, or to a ceiling, wall, or portion of an operating table), a manipulator support structure that supports a teleoperated manipulator, and a manipulator coupled to the instrument. Many known MIS instruments include a therapeutic or diagnostic end effector (e.g., forceps, cutting tools, or cautery tools) mounted on an optional wrist mechanism at the distal end of the shaft. During MIS procedures, the end effector, wrist mechanism, and shaft distal end are typically inserted into a small incision or natural orifice of a patient via a cannula to position the end effector at a working site within the patient. A clinician operating the tele-surgical system controls one or more input devices such that movement of the input devices results in corresponding movement of the instrument as a whole, the end effector, or a portion of the end effector. An optional wrist mechanism can be used to change the position and orientation of the end effector about the shaft to perform a desired procedure at the work site. In known instruments, movement of the entire instrument provides a mechanical degree of freedom (DOF) for movement of the end effector, and the wrist mechanism generally provides a desired DOF for movement of the end effector about the instrument shaft. For example, with pliers or other grasping tools, known wrist mechanisms are capable of changing the pitch and yaw of the end effector about the axis. The wrist may optionally provide a roll DOF for the end effector, or the roll DOF may be achieved by rolling a shaft. The end effector may optionally have additional mechanical DOF, such as grip/grip (grip) or blade movement. In some cases, the wrist and end effector mechanical DOF may be combined. For example, U.S. Pat. No. 5,792,135 (filed on 16 days 5 month 1997) discloses a mechanism that combines a wrist and an end effector to hold a DOF. Force sensing surgical instruments are known and are used with associated tele-surgical systems to provide tactile feedback to a surgeon operating the tele-surgical system to perform a surgical procedure. Haptic feedback increases the immersion, realism and intuitiveness of the surgeon in performing the tele-surgical procedure. For effective tactile presentation and accuracy, force sensors that sense forces between the teleoperated surgical instrument and the tissue may be placed at different locations on the instrument, such as near the anatomical tissue interaction location (i.e., near the distal end of the instrument where the end effector is located). One representative design approach is to include a force sensor unit with an electrical sensor element (e.g., a strain sensor or strain gauge) at the distal end of the medical instrument shaft to measure the strain imparted to the medical instrument by the tissue interaction of the end effector. The measured strain is used to determine the force imparted to the medical instrument and thus as an input based on which the desired tactile feedback to the operator is generated. The use of tele-surgical systems presents both advantages and challenges to the personnel handling them. Many of these medical devices are capable of autonomous or semi-autonomous movement of one or more repositionable arms and/or end effectors. It is also common to operate medical devices via remote operation to control movement and/or operation of a repositionable arm and/or end effector using one or more input controls on an operator workstation. This can complicate the operator's ability to detect and/or avoid collisions between one or more repositionable arms that can lead to medical device damage, patient or other personnel injury, and/or sterile field failure when the medical device is remotely operated from the operator workstation and/or the end effector is used in areas that are not directly viewable by the operator (such as dur