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EP-4740893-A2 - USER INPUT SYSTEMS FOR A COMPUTER-ASSISTED MEDICAL SYSTEM

EP4740893A2EP 4740893 A2EP4740893 A2EP 4740893A2EP-4740893-A2

Abstract

A user input system directs a computer-assisted medical system, which includes a set of controls comprising a first control and a second control configured to receive user input, to operate in a manipulation input mode in which user input to the first control manipulates a first manipulator of the computer-assisted medical system, and user input to the second control manipulates a second manipulator of the computer-assisted medical system. The user input system further directs the computer-assisted medical system to operate in a hybrid input mode in which user input to the first control manipulates the first manipulator, and user input to the second control adjusts a parameter setting associated with a medical procedure.

Inventors

  • SHADEMAN, Azad
  • AZIZIAN, Mahdi
  • PROKSCH, DANIEL
  • SHIRAZIAN, Pourya

Assignees

  • Intuitive Surgical Operations, Inc.

Dates

Publication Date
20260513
Application Date
20210615

Claims (15)

  1. A system (100) comprising: a memory (102) storing instructions (106); a processor (104) communicatively coupled to the memory (102) and configured to execute the instructions (106) to: direct a computer-assisted medical system (202), which includes a set of controls comprising a first control (204-1) and a second control (204-2) configured to receive user input, to operate in a hybrid input mode (208-2) comprising: receiving first user input to a first control (204-1) configured to manipulate a first manipulator (206-1) of the computer-assisted medical system (202); translating the first user input into manipulation of the first manipulator (206-1); receiving second user input to a second control (204-2) configured, in a manipulation input mode (208-1), to manipulate a second manipulator (206-2) of the computer-assisted medical system (202); and adjusting, based on the second user input to the second control (204-2), a parameter setting associated with a medical procedure.
  2. The system (100) of claim 1, wherein the second user input to the second control (204-2) that adjusts the parameter setting in the hybrid input mode (208-2) comprises a same type of input as a user input to the second control (204-2) that manipulates the second manipulator (206-2) in the manipulation input mode (208-1).
  3. The system (100) of claim 1, wherein the parameter setting associated with the medical procedure includes a display parameter setting associated with the medical procedure.
  4. The system (100) of claim 3, wherein the display parameter setting associated with the medical procedure includes a display parameter of a three-dimensional, 3D, model associated with the medical procedure.
  5. The system (100) of claim 1, wherein the parameter setting associated with the medical procedure includes an instrument parameter setting associated with an instrument controlled by the first manipulator (206-1).
  6. The system (100) of claim 1, wherein the processor (104) is further configured to execute the instructions (106) to direct the computer-assisted medical system (202) to provide a notification upon at least one of entering or exiting the hybrid input mode (208-2).
  7. The system (100) of claim 1, wherein the processor (104) is further configured to execute the instructions (106) to: receive a command to exit the hybrid input mode (208-2); direct, based on the command, the computer-assisted medical system (202) to exit the hybrid input mode (208-2); and direct, upon exiting the hybrid input mode (208-2), the computer-assisted medical system (202) to temporarily constrain movement of the manipulators.
  8. The system (100) of claim 1, wherein the first user input to the first control (204-1) that manipulates the first manipulator (206-1) in the hybrid input mode (208-2) and the second user input to the second control (204-2) that adjusts the parameter setting in the hybrid input mode (208-2) are received concurrently.
  9. The system (100) of claim 1, wherein: the first manipulator (206-1) is configured to manipulate an ultrasound probe (306); and the parameter setting includes a gain of an ultrasound image from the ultrasound probe (306).
  10. The system (100) of claim 1, wherein: the first manipulator (206-1) is configured to manipulate an ultrasound probe (306); and the parameter setting includes a depth of the ultrasound image.
  11. The system (100) of claim 1, wherein: the first manipulator (206-1) is configured to manipulate an ultrasound probe (306); and the parameter setting includes a modality of the ultrasound probe (306).
  12. The system (100) of claim 1, wherein: the first manipulator (206-1) is configured to manipulate a cauterizing instrument; and the parameter setting includes a power output of the cauterizing instrument.
  13. The system (100) of claim 1, wherein the parameter setting includes an imaging parameter setting of an imaging device associated with the medical procedure.
  14. The system (100) of claim 1, wherein: the processor (104) is further configured to execute the instructions (106) to direct the computer-assisted medical system (202) to operate in the manipulation input mode (208-1), wherein user input to the second control (204-2) is translated into a movement of the second manipulator (206-2) of the computer-assisted medical system (202); and when the processor (104) directs the computer-assisted medical system (202) to operate in the hybrid input mode (208-2), a same type of user input to the second control (204-2) is translated to an adjustment of the parameter setting associated with the medical procedure.
  15. A method comprising: directing, by a processor (104), a user input system to operate in a hybrid input mode (208-2) comprising: receiving first user input to a first control (204-1) configured to manipulate a first robotic manipulator; translating the first user input into movement of the first robotic manipulator (206-1) to teleoperate a first instrument (304-1); receiving second user input to a second control (204-2) configured, in a manipulation input mode (208-1), to manipulate a second robotic manipulator; and translating the second user input to the second control (204-2) into an adjustment of a parameter setting of the first instrument (304-1).

Description

RELATED APPLICATIONS The present application claims priority to U.S. Provisional Patent Application No. 63/039,753, filed June 16, 2020, the contents of which are hereby incorporated by reference in their entirety. BACKGROUND INFORMATION Various technologies including computing technologies, robotic technologies, medical technologies, and extended reality technologies (e.g., augmented reality technologies, virtual reality technologies, etc.) have made it possible for users such as surgeons to perform, and be trained to perform, various types of medical procedures. For example, users may perform and be trained to perform minimally-invasive medical procedures such as computer-assisted medical procedures in clinical settings (e.g., procedures on bodies of live human or animal patients), in non-clinical settings (e.g., procedures on bodies of human or animal cadavers, bodies of tissue removed from human or animal anatomies, etc.), in training settings (e.g., procedures on bodies of physical anatomical training models, bodies of virtual anatomy models in extended reality environments, etc.), and so forth. During a procedure in any such setting, a user may view imagery of an anatomical space associated with a body (e.g., an area internal to the body) as the user controls instruments of a computer-assisted medical system to perform the procedure. The user may control the instruments using various input mechanisms on or coupled to the computer-assisted medical system. The input mechanisms may affect how efficiently and/or effectively the user is able to perform a procedure. SUMMARY The following description presents a simplified summary of one or more aspects of the systems and methods described herein. This summary is not an extensive overview of all contemplated aspects and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present one or more aspects of the systems and methods described herein as a prelude to the detailed description that is presented below. An illustrative system includes a memory storing instructions and a processor communicatively coupled to the memory and configured to execute the instructions to direct a computer-assisted medical system, which includes a set of controls comprising a first control and a second control configured to receive user input, to operate in a manipulation input mode in which user input to the first control manipulates a first manipulator of the computer-assisted medical system, and user input to the second control manipulates a second manipulator of the computer-assisted medical system; and direct the computer-assisted medical system to operate in a hybrid input mode in which user input to the first control manipulates the first manipulator, and user input to the second control adjusts a parameter setting associated with a medical procedure. An illustrative method includes a processor (e.g., a processor of a user input system) directing a computer-assisted medical system, which includes a set of controls comprising a first control and a second control configured to receive user input, to operate in a manipulation input mode in which user input to the first control manipulates a first manipulator of the computer-assisted medical system, and user input to the second control manipulates a second manipulator of the computer-assisted medical system; and directing the computer-assisted medical system to operate in a hybrid input mode in which user input to the first control manipulates the first manipulator, and user input to the second control adjusts a parameter setting associated with a medical procedure. An illustrative computer-readable medium includes instructions that, when executed by a processor, cause the processor to direct a computer-assisted medical system, which includes a set of controls comprising a first control and a second control configured to receive user input, to operate in a manipulation input mode in which user input to the first control manipulates a first manipulator of the computer-assisted medical system, and user input to the second control manipulates a second manipulator of the computer-assisted medical system; and direct the computer-assisted medical system to operate in a hybrid input mode in which user input to the first control manipulates the first manipulator, and user input to the second control adjusts a parameter setting associated with a medical procedure. An illustrative system includes a memory storing instructions and a processor communicatively coupled to the memory and configured to execute the instructions to direct a computer-assisted medical system, which includes a set of controls comprising a first control and a second control configured to receive user input, to operate in a manipulation input mode in which the first control is configured to receive a first input to manipulate a first manipulator of the computer-assisted medical sy