Medical robotic system with coupled control modes

摘要

In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.

主权项

1. A method comprising:
commanding, by a base controller, manipulation of a base to optimize an operable workspace of a first instrument, the first instrument being coupled to the base so the first instrument moves as the base moves; and commanding, by a first instrument controller, manipulation of the first instrument according to commanded movement of the first instrument while automatically compensating for movement of the base.