Method and system for switching modes of a robotic system

摘要

A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide after a delay. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

主权项

1. A method for switching modes of a robotic system, the method comprising:
receiving an indication that a mode change has been initiated; providing a haptic detent on an input device after a delay following the receiving of the indication that the mode change has been initiated, the haptic detent exhibiting an abrupt reduction in a force being applied against the input device immediately before and after the delay; and changing an operating mode of a robotic system after the input device has been manipulated past the haptic detent.