Assignment of auxiliary input devices for a robotic surgical system
Inventors
Penny, Matthew Robert • Maret, Alexander John • Hufford, Kevin Andrew
Assignees
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Publication Number
US-12076101-B2
Publication Date
2024-09-03
Expiration Date
Abstract
A robotic surgical system in which the system applies a scaling factor between user input from a user input device and corresponding movements of the robotic manipulator. Scaling factors may be applied or adjusted based on detected conditions such as the type of instrument being manipulated, detected distance between multiple instruments being manipulated, user biometric parameters.
Core Innovation
A robot-assisted surgical system includes a robotic manipulator configured for robotic positioning of a surgical instrument in a body cavity. The system uses a primary user input device moveable by a user to cause the robotic manipulator to move the surgical instrument in the body cavity, and includes at least one auxiliary user input device and at least one processor with instructions stored in memory to control inputs and assign auxiliary device functions.
The system receives instrument identification input in response to positioning of a surgical instrument on or in proximity to the manipulator, and the instrument identification input includes instrument type input. The system also receives input from a user specifying a surgical procedure type, and based on the instrument type input and the surgical procedure type input, assigns a function to the auxiliary input device.
The described approach uses context and detected conditions to dynamically tune motion scaling between surgeon input and robotic instrument movement. Scaling factors are determined using instrument identification, surgical procedure type, user identity/biometrics, anticipated instrument-exchange sequences with task recognition, including camera-based recognition, spatial relationships determined from kinematics and/or visual recognition of end effectors, optionally combined with eye gaze, and surgeon monitoring sensors measuring physiological and behavioral parameters.
Claims Coverage
The independent claim covers a robot-assisted surgical system that links auxiliary input device function assignment to instrument type input and user-specified surgical procedure type, in the context of primary control of instrument motion. Main inventive features are provided for the independent claim.
Auxiliary input function assignment from instrument type and procedure type
The system receives instrument identification input including instrument type input, receives user input specifying a surgical procedure type, and assigns a function to the auxiliary input device based on the instrument type input and the surgical procedure type input.
Primary user input device controlling instrument motion in a body cavity
The system includes a primary user input device moveable by a user to cause the robotic manipulator to move the surgical instrument in the body cavity in response to user input.
Instrument identification input in response to positioning near the manipulator
The system receives instrument identification input in response to positioning of a surgical instrument on or in proximity to the manipulator, wherein the instrument identification input includes instrument type input.
Across the independent claim, the core claim coverage centers on receiving instrument identification including instrument type input and receiving user-specified surgical procedure type, and then assigning a function to an auxiliary input device based on those inputs while using a primary input device to drive robotic instrument motion.
Stated Advantages
Reduces the need for clutching and improves surgeon comfort and efficiency without pausing for manual menu changes.
Documented Applications
Robot-assisted surgical systems that tune motion scaling and auxiliary input device functions based on instrument identification, surgical procedure type, user identity/biometrics, predicted instrument-exchange sequences, spatial relationships, and surgeon monitoring sensors.
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