Methods for handling an operator command exceeding a medical device state limitation in a medical robotic system

摘要

A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device.

主权项

1. A medical system comprising:
a medical device; a slave manipulator adapted to manipulate the medical device; a master input device operatively coupled to the slave manipulator; and a processor programmed to automatically determine whether the slave manipulator is being commanded by the master input device to a commanded state of the slave manipulator that is greater than or equal to a threshold value which is less than a limit of the slave manipulator; and if the slave manipulator is determined by the processor as being commanded to the commanded state that is greater than or equal to the threshold value, then the processor automatically: cause control of the slave manipulator by the master input device to be disengaged, cause the slave manipulator to remain at a current state of the slave manipulator, cause the master input device to remain at a current state of the master input device, alter a parameter that affects a functional relationship between the current state of the master input device and the commanded state of the slave manipulator so that the current state of the master input device commands a different commanded state that is not greater than or equal to the threshold value, and after altering the commanded state to the different commanded state, cause the control of the slave manipulator by the master input device to be re-engaged so that the different commanded state is applied to the slave manipulator.