Method and system for moving an articulated instrument back towards an entry guide while automatically reconfiguring the articulated instrument for retraction into the entry guide

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. 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 moving an articulated instrument back towards an entry guide, out of which the articulated instrument extends, with automatic reconfiguration of the articulated instrument for retraction into the entry guide, the method comprising:
receiving, at a processor, information of a command, initiated from a control mechanism, to change the position of the articulated instrument in a direction parallel to a longitudinal axis of the entry guide; determining, by the processor, whether the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by a distance greater than a retraction-on distance in the direction parallel to the longitudinal axis of the entry guide relative to an initial position; and on the condition that the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position, automatically commanding, by the processor, the articulated instrument to be reconfigured towards a retraction configuration suitable for entering the entry guide while the position of the articulated instrument is being changed in response to the command initiated from the control mechanism.