Method and system for controlling instrument handling behavior

Abstract

A computer-assisted medical system includes a robotic manipulator arm configured to support an instrument. The instrument includes an instrument axis and jaws disposed at a distal end of the instrument axis. The computer-assisted medical system also includes a controller coupled to the manipulator arm. The controller includes a computer processor and is configured to track movement of the instrument along an insertion axis of the instrument and coordinate the size of a jaw aperture defined by the jaws with the movement of the instrument along the insertion axis to achieve a target aperture.

Description

Technical Field

[0001] This invention generally provides improved robotic and / or medical (including surgical) devices, systems, and methods. Background Technology

[0002] Robotic systems can be used to perform tasks in the workplace. For example, a robotic system may include a robot manipulator to manipulate machinery for performing tasks. A robot manipulator may include two or more links coupled together via one or more joints. The joints may be active joints for active movement and control. Joints may also be passive joints that comply with the movement of the active joints or external manipulation. Such active and passive joints may be, for example, rotary joints or prismatic joints. The configuration of the robot manipulator and the machinery attached to it can then be determined by the location and orientation of the robot manipulator's joints and by the structure of the robot manipulator, such as the design of its links.

[0003] Example robotic systems include industrial robotic systems and recreational robotic systems. Example robotic systems also include medical robotic systems for procedures such as diagnostics, non-surgical treatments, and surgical treatments. As a specific example, robotic systems include minimally invasive robotic remote surgery systems, where surgeons can perform surgery on patients from a bedside or remote location. Remote surgery generally refers to surgery performed using a surgical system where the surgeon uses some form of remote control (e.g., a servo mechanism) to manipulate the movement of surgical instruments, rather than directly holding and moving the instruments by hand. Robotic medical systems available for remote surgery or other telemedicine procedures may include remotely controllable robotic manipulators. Operators can remotely control the movement of remotely controllable robotic manipulators. Operators can also manually move the artifacts of the robotic medical system to a position or orientation within its environment.

[0004] Instruments can be inserted into or withdrawn from the workplace. Consider, for example, a scenario where a robotic system is used to perform surgery. Typical surgical procedures employ a variety of different surgical instruments. Instruments may have various end effectors. At least some of these instruments may be equipped with end effectors having jaws configured to open and close. Such instruments can be, for example, forceps, scissors, needle actuators, applicators, etc. The jaws of the instruments may be in an open or closed position, or in an intermediate position.

[0005] For these and other reasons, it would be advantageous to provide improved equipment, systems, and methods for robotic applications, including industrial, entertainment, medical, and other robotic applications. Summary of the Invention

[0006] Generally, in one aspect, one or more embodiments relate to a computer-assisted medical system including a robotic manipulator arm configured to support an instrument including an instrument axis and jaws disposed at a distal end of the instrument axis; and a controller coupled to the manipulator arm, the controller including a computer processor and configured to: track movement of the instrument along an insertion axis of the instrument and coordinate the dimensional of a jaw aperture defined by the jaws with the movement of the instrument along the insertion axis to reach a target aperture.

[0007] Generally, in one aspect, one or more embodiments relate to a method for operating a medical system, comprising: tracking the movement of an instrument along an insertion axis of the instrument, wherein the instrument includes an instrument shaft and jaws disposed at a distal end of the instrument shaft; and coordinating the dimensional of a jaw aperture defined by the jaws with the movement of the instrument along the insertion axis to reach a target aperture.

[0008] Generally, in one aspect, one or more embodiments relate to a non-transitory machine-readable medium comprising a plurality of machine-readable instructions executed by one or more processors associated with a medical system, the plurality of machine-readable instructions causing the one or more processors to perform a method comprising the steps of: tracking the movement of an instrument along an insertion axis of the instrument, wherein the instrument includes an instrument axis and jaws disposed at a distal end of the instrument axis; coordinating the dimensionality of a jaw aperture defined by the jaws with the movement of the instrument along the insertion axis to reach a target aperture.

[0009] Other aspects of the invention will be apparent from the following description and appended claims. Attached Figure Description

[0010] Figure 1 An example of an apparatus according to one or more embodiments is shown.

[0011] Figure 2 An example of a manipulator assembly including an instrument and a manipulator arm that holds the instrument is shown according to one or more embodiments.

[0012] Figure 3 A computer-aided medical system according to one or more embodiments is illustrated schematically.

[0013] Figure 4A and Figure 4B An example of an end effector of an apparatus according to one or more embodiments is shown.

[0014] Figure 5A and Figure 5B An example of a device in a workplace according to one or more embodiments is illustrated schematically.

[0015] Figure 6A flowchart is shown illustrating a method for controlling the gripping behavior of an instrument when the jaws of the instrument are retracted in a gripping configuration, according to one or more embodiments.

[0016] Figure 7 A flowchart is shown illustrating a method for controlling instrument gripping behavior when the instrument is retracted with the jaws initially in an open configuration, according to one or more embodiments.

[0017] Figure 8 A flowchart is shown illustrating a method for controlling instrument gripping behavior when an instrument is inserted with its jaws initially in an open configuration, according to one or more embodiments.

[0018] Figure 9A The retraction of the device, initially in a grasping configuration according to one or more embodiments, is illustrated schematically.

[0019] Figure 9B The retraction of the device, initially in an open configuration according to one or more embodiments, is illustrated schematically.

[0020] Figure 9C The insertion of a device initially in an open configuration according to one or more embodiments is illustrated schematically.

[0021] Figure 9D The insertion of a device initially in a closed configuration according to one or more embodiments is illustrated schematically.

[0022] Figure 10A A series of configurations of the retracted device according to one or more embodiments are schematically illustrated.

[0023] Figure 10B A series of configurations of the retracted device according to one or more embodiments are schematically illustrated. Detailed Implementation

[0024] Specific embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. For consistency, the same elements in the various figures are indicated by the same reference numerals.

[0025] Numerous specific details are set forth in the following detailed description of embodiments of this disclosure to provide a fuller understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the description.

[0026] Throughout the application, ordinal numbers (e.g., first, second, third, etc.) may be used as adjectives for elements (i.e., any noun in the application). Unless explicitly disclosed, the use of ordinal numbers neither implies nor creates any particular ordering of elements, nor limits any element to being a single element, for example, through the use of the terms “before,” “after,” “single,” and other such terms. Rather, the use of ordinal numbers is for distinguishing elements. As an example, a first element is distinct from a second element, and a first element may contain more than one element and be in the order of elements after (or before) the second element.

[0027] While some examples described herein relate to surgical procedures or tools, or medical procedures and tools, the disclosed techniques are applicable to both medical and non-medical procedures and tools. For example, the tools, systems, and methods described herein can be used for non-medical purposes, including industrial use, general robotic use, and sensing or manipulating non-tissue artifacts. Other example applications relate to cosmetic improvements, imaging of human or animal anatomy, collecting data from human or animal anatomy, assembling or disassembling systems, and training medical or non-medical personnel. Other example applications include procedures for removing tissue from human or animal anatomy (without requiring return to the anatomy) and procedures for human or animal cadavers. Furthermore, these techniques can also be used in medical treatment or diagnostic procedures, with or without surgical aspects.

[0028] Generally, embodiments of this disclosure can support the insertion and retraction of an instrument or tool during robotic procedures (e.g., medical procedures, such as robotic surgical procedures) by adjusting the orifice diameter (also referred to as "jaw diameter") of the instrument jaws during insertion / retraction. Depending on the workplace environment, it is preferable to adjust the instrument jaws to a specific configuration when inserting or retracting the instrument. In one example, when the instrument is to be withdrawn from the workplace while in a gripping configuration (jaws closed or mostly closed), the instrument may be gripping tissue. Retracting the instrument from the workplace while in a gripping configuration may inadvertently expose the gripped tissue to traction. Therefore, it may be necessary to open the jaws before retracting the instrument. In another example, the jaws of the instrument to be inserted or withdrawn may be fully open, thus increasing the likelihood of collision (e.g., with other instruments or tissue) when moving the instrument. In this case, it is preferable to close the jaws before moving the instrument for insertion or retraction. In one or more embodiments, the instrument jaws initially in a gripping configuration are partially opened to reach the target orifice diameter during instrument retraction. In one or more embodiments, the instrument jaws, initially in an open configuration, are partially closed to reach the target aperture during instrument insertion or retraction.

[0029] Embodiments of this disclosure enable direct and efficient insertion and / or retraction of instruments during robotic procedures. In examples of robotic surgery, embodiments of this disclosure can reduce the likelihood of unintended interaction between instruments and tissues and / or adjacent instruments during insertion or retraction. Additional features are discussed in the accompanying description. Reference is now made to the accompanying drawings, wherein the same reference numerals denote the same parts in several views. Figure 1 An example of an instrument (100) (also referred to as a tool (100)) for robotic procedures (e.g., robotic surgery) according to one or more embodiments is shown. The instrument (100) includes an elongated shaft (110) and at least one connector located at the working end of the shaft (110). Figure 1 In one example, at least one connector includes a wrist (120) proximal to the end effector (140) and two connectors (122, 124) proximal to the wrist. The housing (130) is releasably arranged to couple the instrument (100) to a manipulator arm (e.g., in…). Figure 2 As shown in the figure, the housing (130) is located at the opposite end of the shaft (110). The shaft (110) can be rotatably coupled to the housing (130) so that the shaft (110) can be angularly displaced relative to the housing (130) as indicated by arrow (192), thereby allowing the rotation of the end effector (140) to be coupled to the shaft via the wrist (120).

[0030] The instrument (100) is typically releasably mounted on the instrument support of the manipulator arm (e.g., Figure 2 As shown), it can be driven to translate along a linear guide. Therefore, the instrument can have an insertion degree of freedom for the instrument (100) to insert / retract along the insertion axis (112).

[0031] Various types of end effectors (140) exist, as further described below. For example, an end effector (140) may include jaws (142) that can be opened and closed, defining an aperture (144) (also referred to as the “jaw aperture”). The end effector may be driven by a control cable that connects the end effector to a cable drive element (e.g., pulley, winch, spool, etc.) (not shown) in a housing (130). Thus, rotation of the cable drive element can control the end effector, allowing the end effector to pivot, the jaws to open and close, etc. After the instrument (100) is mounted on a manipulator arm, the cable drive element may engage with the actuator of the manipulator arm. Other degrees of freedom of the instrument (100) may be controlled in a similar manner. A description of the control of the instrument (100) can be found in U.S. Patent No. 6,394,998 (titled “Surgical Tools for Use in Minimally Invasive Telesurgical Applications”). Additionally, see references... Figure 4A and Figure 4B The end effector (140) is described in more detail below. Other instruments (100) may control the movement of the end effector by other suitable mechanisms, such as by using metal bands, drive screws, linkages, tubes, push rods, etc., and such mechanisms may be similarly driven by actuators of the manipulator arm.

[0032] Although Figure 1 A specific configuration of the device is shown, designed to engage with a specific type of manipulator arm; other configurations of the device are also within the scope of this disclosure. For example, embodiments of the device (100) may have a multi-degree-of-freedom wrist (e.g., pitch and yaw degrees of freedom), a single-degree-of-freedom wrist (e.g., pitch or yaw), or no wrist. Furthermore, different housings (130) may be used to interface with different types of manipulator arms.

[0033] Go to Figure 2 An example of a manipulator assembly (200) according to one or more embodiments is shown. The manipulator assembly (200) can be used to introduce multiple articulated instruments into the workplace through a single access orifice of the patient via a cannula (216). The orifice can be a minimally invasive incision or a natural body opening. The cannula (216) can be a cylindrical structure gripped and manipulated by a manipulator arm (202), which can be mounted on a base (290). The manipulator arm can include a setup arm (292) and an access guide manipulator (294). The setup arm (292) includes a set of links and connectors for positioning the cannula (216) at the orifice. Figure 2In the example shown, the assembly arm (292) includes a prism joint (as indicated by arrow "A") for adjusting the height of the assembly arm (292) and a set of rotary joints (as indicated by arrows "B" and "C") for adjusting the horizontal position of the assembly arm (292). A guide manipulator (294) is used to robotically pivot the sleeve (216) (and the articulated device then disposed therein) about a pivot point in yaw, pitch, and roll angles, as indicated by arrows D, E, and F, respectively.

[0034] Actuation of the instrument's degrees of freedom can be provided by an actuator disposed in or transmitting force or torque to the bracket (214). As previously described, the actuator can drive a disc coupled to the instrument's cable drive element (or other drive element) to drive the cable (or other end effector control mechanism) when the instrument is connected to the manipulator arm (202). Thus, the instrument's degrees of freedom can be controlled by an actuator, such as an electric motor, whose response comes from an associated input control device (e.g., Figure 3 The input control device of the user control system (320) is used to drive the movement of the device or any other control signal indicated by the input control device. Additionally, appropriately positioned sensors, such as encoders, potentiometers, etc., can be provided to measure the position of the connector. Actuators and sensors can be located in the bracket (214), or signals can be transmitted to or received from the bracket (214).

[0035] Although the manipulator assembly (200) shows a specific manipulator arm (202), those skilled in the art will understand that embodiments of this disclosure can be used with any type of manipulator arm. For example, the manipulator arm can have any number and type of degrees of freedom, and may include or exclude, such as Figure 2 The sleeve shown is shown in the figure.

[0036] Figure 3 A computer-assisted medical system (300) according to one or more embodiments is schematically illustrated. The system (300) may include one or more computing systems (310), user control systems (320), and robot manipulation systems (340). Each of these components will be described subsequently.

[0037] like Figure 2As shown, the robot manipulation system (340) may be a system including at least one manipulator arm configured to support at least one instrument and form at least one manipulator assembly (200). Typically, the robot manipulation system (340) includes multiple such manipulator assemblies. The robot manipulation system (340) may receive control signals from a user control system (320) and / or a computing system (310) and may return feedback (e.g., position encoder data from a connector sensor, image data from an imaging tool such as an endoscope, etc.).

[0038] The user control system (320) may include components that enable an operator to manipulate the robot manipulator system (340). The user control system (320) may include a display system (322) for presenting the operator with a view of the workplace in which the robot manipulator system interacts. This view may include a coordinated stereoscopic image to provide depth perception of the workplace and one or more instruments of the robot manipulator system (340) within the workplace. The user control system (320) may also include one or more input control devices (324) that can be used by the operator to manipulate one or more instruments of the robot manipulator system (340). The input control devices may be any type of device that can be manually operated by a human user, such as a joystick, trackball, and / or other types of tactile devices typically equipped with multiple degrees of freedom. The input control device (324) may provide the same degrees of freedom as its associated instrument to provide telepresence to the operator, or the input control device (324) may be integrated with the instrument (160) to provide the operator with a strong awareness of direct control of the instrument. For this purpose, position, force and / or tactile feedback sensors (not shown) can be used to transmit position, force and / or tactile sensation from the instrument back to the operator's hand via an input control device (324).

[0039] The computing system (310) can be used to process input from the operator provided by the user control system (320). The computing system can also be used to provide output, such as video images, to a display (330). One or more computing systems (310) can also be used to control a robot manipulation system (340).

[0040] In one or more embodiments, the computing system (310) executes the controller (312). The controller (312) may include instructions for implementing methods for controlling one or more components of a robot manipulator system (340), which includes one or more manipulator assemblies (200). In one or more embodiments, the controller (312) controls the joint motion of one or more joints of the manipulator assembly by driving one or more joints using actuators (e.g., motors, solenoids, etc.) of the manipulator assembly, the joint motion being calculated by the controller's processor. Mathematically, the controller (312) may use vectors and / or matrices to perform at least some calculations of the joint commands, some of which may have elements corresponding to the position, velocity, and / or force / torque of the joint. The range of alternative joint configurations available to the controller (312) can be conceptualized as a joint space. For example, the joint space may have as many dimensions as the manipulator assembly has degrees of freedom, and a particular configuration of the manipulator assembly may represent a particular point in the joint space, where each coordinate corresponds to the joint state of an associated joint of the manipulator assembly.

[0041] As used herein, the term "state" of one or more joints refers to control variables associated with one or more joints. For example, the state of an angle joint may refer to the angle defined by the joint within its range of motion, and / or the angular velocity of the joint. Similarly, the state of an axial or prismatic joint may refer to the axial position of the joint and / or its axial velocity. While one or more of the controllers (312) described herein include position controllers, they typically also have velocity control aspects. Alternative embodiments may rely primarily or entirely on velocity controllers, force controllers, acceleration controllers, etc., without departing from this disclosure. Many aspects of control systems that can be used in such devices are described more fully in U.S. Patent No. 6,699,177, the entire disclosure of which is incorporated herein by reference. Thus, the calculations of the joint motion and end effector motion described herein can be performed using position control algorithms, velocity control algorithms, combinations of both, etc., provided that the described motion is based on associated calculations.

[0042] Additional control modes may also exist. For example, during the execution of a robot task under the control of a user-operated input control device (324), the various joints of the robot manipulator assembly can be positionally controlled. However, in another control mode, one or more of the joints can be "floating," allowing an assistant to easily hinge these one or more joints from the outside, for example, by reverse-drive. Floating joints can be reverse-drive by externally applied forces without any control algorithm or braking force to counteract sufficient externally applied forces. For example, a user can apply a force that meets one or more criteria (e.g., for amplitude, direction, duration, frequency) to a link on the distal side of the floating joint, resulting in reverse-drive of the floating joint. Floating joints, especially when floating in degrees of freedom affected by gravity (e.g., a "vertical" joint or in a "non-horizontal" direction), can be further gravity-compensated. Furthermore, friction compensation can facilitate reverse-drive. Additionally or alternatively, floating joints can also be controlled to apply other characteristics, such as a degree of damping. Multiple control modes can be combined during operation of the manipulator assembly. For example, some joints can be position-controlled to resist or bounce off the external hinges of those joints, while other joints can be floating and facilitate the external hinges of those other joints. Furthermore, one or more joints of the manipulator assembly may be passive, i.e., not subject to position or velocity control at all. Passive joints can be manually operated by an assistant. However, passive joints may include joint sensors to allow for the acquisition of the full kinematics of the manipulator assembly. Additionally, in some embodiments, passive joints may include actuators for providing gravity compensation, friction compensation, or other utilities that do not involve actively driving the motion of the passive joint.

[0043] The architecture of the controller (312) for controlling the robot manipulator system can be hierarchical and may include a high-level controller and multiple joint controllers. Commanded motion can be received by the high-level controller in, for example, a Cartesian coordinate space (referred to herein as Cartesian space). Commanded motion can be, for example, motion commands received from the user control system (320) (e.g., in the form of position and / or velocity) or any other motion command. The commanded motion can then be converted into a commanded joint position (e.g., the joint angle of a rotating joint). This conversion can be performed using an inverse kinematics algorithm. Subsequently, the joint controller can convert the received commanded joint position into a commanded current to drive the joint actuators to produce joint motion. The joint motion of all joint actuators via the kinematics of the manipulator components can produce manipulator component motion reflecting the commanded motion. In one embodiment of this disclosure, the joint controller controls the joint position or angle. Alternatively, the joint controller can control other variables, such as joint speed, joint torque, or joint force (in the case of a linear joint). The joint controller can receive feedback signals from the associated joint actuators in the form of sensed joint states to achieve closed-loop control. The sensed joint state provided by the joint actuator may include joint position, joint velocity, and / or joint acceleration, etc., indicating joint movement. The sensed joint state can be derived from signals obtained from sensors attached to the joint. For example, such sensors may be incremental encoders or Hall sensors of the joint actuator. A state observer or estimator (not shown) may be used. Without departing from this disclosure, each joint controller (750) may implement proportional-integral-derivative (PID), proportional-derivative (PD), full-state feedback, slip mode, or various other control schemes.

[0044] In one or more embodiments, the controller (312) is also configured to perform Figure 6 , Figure 7 and Figure 8 At least one of the steps described herein may be used in one or more actuators of the manipulator assembly (200).

[0045] The computing system (310) may include one or more computer processors, non-persistent storage devices (e.g., volatile memory, such as random access memory (RAM), cache memory), persistent storage devices (e.g., hard disks, optical drives such as CD drives or DVD drives, flash memory, etc.), communication interfaces (e.g., Bluetooth interfaces, infrared interfaces, network interfaces, optical interfaces, etc.), and many other components and functions.

[0046] The computer processor of the computing system (310) may be an integrated circuit for processing instructions. For example, the computer processor may be one or more cores or microcores of a processor. The computing system (310) may also include one or more input devices, such as a touch screen, keyboard, mouse, microphone, touchpad, electronic pen, or any other type of input device.

[0047] The communication interface of the computing system (310) may include an integrated circuit for connecting the computing system (310) to a network (not shown) (e.g., a local area network (FAN), such as the Internet, a wide area network (WAN) of a mobile network, or any other type of network) and / or another device (e.g., another computing system (310)).

[0048] Furthermore, the computing system (310) may include one or more output devices (not shown), such as display devices (e.g., liquid crystal display (FCD), plasma display, touch screen, organic FED display (OFED), projector, or other display devices), printers, speakers, external storage devices, or any other output devices. One or more of the output devices may be the same as or different from the input devices(s). Many different types of computing systems exist, and the aforementioned input and output devices(s) may take other forms.

[0049] Software instructions in the form of computer-readable program code for performing embodiments of the present disclosure may be stored, in whole or in part, temporarily or permanently, on a non-transitory computer-readable medium, such as a CD, DVD, storage device, disk, magnetic tape, flash memory, physical memory, or any other computer-readable storage medium. Specifically, the software instructions may correspond to computer-readable program code configured to perform one or more embodiments of the present disclosure when executed by one or more processors.

[0050] The computing system (310) may be connected to a network or a part of a network. The network may include multiple nodes. Each node may correspond to the computing system, or a group of nodes. As an example, embodiments of this disclosure may be implemented on nodes of a distributed system connected to other nodes. As another example, embodiments of this disclosure may be implemented on a distributed computing system with multiple nodes, wherein each part of this disclosure may be located on a different node within the distributed computing system. Furthermore, one or more components of the aforementioned computing system may be located in a remote location and connected to other components via a network.

[0051] Although Figure 1 , Figure 2 and Figure 3Various configurations of the components are illustrated, and other configurations may be used without departing from the scope of this disclosure. For example, various components may be combined to create a single component. As another example, a function performed by a single component may be performed by two or more components. Furthermore, although the components are described in the context of a surgical scenario, embodiments of this disclosure are equally applicable to other domains involving robot manipulation, such as non-surgical scenarios or systems, and non-medical scenarios or systems.

[0052] Go to Figure 4A and Figure 4B An example of an end effector of an apparatus according to one or more embodiments is shown. Figure 4A and Figure 4B Each of the instruments shown (400A, 400B) includes a wrist (420A, 420B) disposed at the working end of its axis (410A, 410B). The wrist (420A, 420B) enables the end effector (440A, 440B) to pivot relative to the axis (410A, 410B). The wrist (420A, 420B) may have at least one degree of freedom.

[0053] Different types of instruments (400A, 400B) can have different end effectors with different geometries, degrees of freedom, and / or functions. For example, Figure 4A The end effector (440A) includes two components or jaws (450A) forming tweezers, and Figure 4B The end effector (440B) is an applicator formed by jaws (450B). In one or more embodiments, the end effector (440A, 440B) can be in the form of any desired instrument, such as having two or more jaws that pivot relative to each other. "Jaws" is used herein to refer to any finger-like or other end effector component that moves relative to each other. Such an instrument can be, for example, scissors, a two-finger blunt dissecting instrument, forceps (e.g.,... Figure 4A (as shown), needle actuators or other clamp-like instruments, clamp applicators for securing clamps (such as...) Figure 4B (as shown). The two components (450A, 450B) of the end effector (440A and 440B) can be angularly displaced individually, thereby allowing not only the opening and closing of the end effector, but also angular displacement to change the orientation of the end effector (440A, 440B) as a whole relative to the wrist (420A, 420B).

[0054] Go to Figure 5A and Figure 5BExamples of instruments (500A, 500B) in a workplace according to one or more embodiments are shown. In minimally invasive cases, the instruments (510A, 510B) can be positioned and manipulated through an incision within the patient's body so that the kinematic remote center is maintained at the incision site, thereby minimizing the size of the incision or the forces applied to the tissue surrounding the incision. The incision may form an access port (596A, 596B) through a wall (592A, 592B), such as the abdominal wall, thereby providing access from the external environment (594A, 594B) to the workplace (590A, 590B). Figure 5A In example (500A), a larger access port (596A) allows for the simultaneous insertion of multiple instruments (510A). The access port can be sealed by an access port seal (588A). The access port seal (588) provides an airtight seal, allowing inflation of the chamber containing the work area (590A), such as a patient's abdomen. In contrast, in Figure 5B In example (500B), a smaller access port (596B) accommodates a sleeve (586B) through which a single instrument (510B) can be inserted. The sleeve (586B) is similar to the access port seal (588A) and provides an airtight seal, separating the external environment (594A, 594B) from the workplace (590A, 590B).

[0055] In one or more embodiments, the instruments (510A, 510B) are equipped with end effectors (516A, 516B) disposed at the distal end of an instrument axis (512A, 512B). The end effector may include at least two jaws (518A, 518B). Such end effectors (516A, 516B) may be designed to interact with objects (598A, 598B) in the workplace (590A, 590B). For example, the end effectors (516A, 516B) may be scissors, tweezers, a stapler, etc. While the end effectors (516A, 516B) may interact with objects (598A, 598B) in certain situations, interaction between the end effectors (516A, 516B) and objects (598A, 598B) may need to be avoided in other situations. Specifically, when inserting or retracting the instruments (510A, 510B), it may be desirable to avoid interaction with the objects (598A, 598B) to prevent unintentional manipulation of the objects. Similarly, it may also be desirable to avoid interaction (i.e., touch) between the two instruments (510A, 510B). To avoid such interaction, the configuration of the instrument jaws can be adjusted. For example, the jaws (518A, 518B) can be opened or closed to a certain extent. A detailed description of the adjustment of the jaw (518A, 518B) configuration during the insertion or retraction of the instruments (510A, 510B) is provided below with reference to the accompanying drawings discussed subsequently. Those skilled in the art will understand that the instruments (510A, 510B) according to embodiments of the present disclosure can have various configurations. For example, the instruments can have additional degrees of freedom, such as Figure 5A As shown, the instrument shaft (512A) includes an additional shaft segment (514A) to achieve additional hinge.

[0056] Figure 6 , Figure 7 and Figure 8 A flowchart according to one or more embodiments is shown. Figure 6 , Figure 7 and Figure 8 The flowcharts depict methods for controlling instrument gripping behavior during instrument retraction or insertion, according to one or more embodiments. More specifically, these methods coordinate the aperture defined by the jaws of the instrument (“jaw aperture”) with the insertion or retraction of the instrument. Figure 6 , Figure 7 and Figure 8 One or more steps in the process can be referenced from previous steps. Figure 1 , Figure 2 , Figure 3 , Figure 4A , Figure 4B , Figure 5A and Figure 5BThe various components of the described system are used to perform actions. These figures depict specific instruments and manipulator arms, as well as specific tools, with certain configurations. However, the methods described subsequently are not limited to specific configurations of manipulator arms, instruments, and / or degrees of freedom. Rather, these methods are applicable to any type of instrument equipped with jaws, paired with any type of manipulator arm, and used in any type of scenario.

[0057] Although the steps in these flowcharts are presented and described sequentially, those skilled in the art will understand that they can be performed in different orders, some or all of these steps can be combined or omitted, and some or all of these steps can be performed in parallel. Additional steps may be performed further. Furthermore, these steps can be performed actively or passively. For example, according to one or more embodiments of this disclosure, some steps may be performed using polling or be interrupt-driven. By way of one example, according to one or more embodiments of this disclosure, the determining step may not require a processor to process instructions unless an interrupt is received to indicate that the condition exists. As another example, according to one or more embodiments of this disclosure, the determining step can be performed by performing a test, such as checking a data value to test whether the value is consistent with a test condition. Therefore, the scope of this disclosure should not be considered limited to... Figure 6 , Figure 7 and Figure 8 The specific arrangement of the steps shown.

[0058] Figure 6 The flowchart describes a method for controlling the gripping behavior of a clamp for an instrument when the jaws are retracted from an initial gripping configuration, according to one or more embodiments. Figure 9A The figure below illustrates some of the steps described below, showing a scenario involving retracting the instrument when the jaws of the instrument are initially in a gripping configuration (900A). Figure 6 The method can be performed when the instrument is withdrawn, or when the instrument is withdrawn while its jaws are initially in a gripping configuration. Instrument retraction can be performed in various ways. Retraction can be performed while the insertion degree of freedom is floating. Floating the insertion degree of freedom (as referenced) Figure 3 The described method allows the operator to manually retract the instrument along its insertion axis, for example, by manually pulling the bracket (in a direction substantially coinciding with the insertion axis of the instrument). Figure 2 (As described in the text).

[0059] Alternatively, retraction can be actively performed by the manipulator assembly by driving the connector of the manipulator assembly to move along the insertion axis of the instrument in the retraction direction. Actively performed retraction can be conducted in a supervised autonomous manner, where the controller of the manipulator assembly controls the retraction under human supervision. For example, the retraction of the instrument can only be performed when the user presses a specific button and stops immediately after the button is released. Retraction can also be performed completely autonomously. Alternatively, retraction can be remotely operated by the user at an input control device.

[0060] Although Figure 6 The coordination of the jaw motion of the instrument with the motion of the instrument along the insertion axis is described, and the jaw motion can be coupled to other instrument axis degrees of freedom without departing from this disclosure.

[0061] in short, Figure 6 This method allows the instrument's jaws to open to the designated aperture during instrument retraction. When withdrawing the instrument, the opening of the jaws helps prevent unintentional tearing of tissue that might be gripped by the jaws. Details follow.

[0062] Turning to the flowchart, in step 600, the motion of the instrument along the instrument axis degrees of freedom is tracked. Instrument motion is tracked as the instrument moves, for example, while the instrument degrees of freedom are floating, or while the manipulator assembly actively drives the instrument along the instrument axis degrees of freedom, or by an operator pushing or pulling along the instrument axis degrees of freedom. The instrument axis degrees of freedom can be motion along the instrument's insertion axis, or any other instrument axis degree of freedom. The information obtained about the instrument can be its current position and / or current velocity along the instrument axis degrees of freedom. Instrument motion can be tracked using sensory input from, for example, an incremental encoder at the joint of the manipulator arm, allowing for the reconstruction of motion along the instrument axis degrees of freedom using positive kinematics.

[0063] In step 610, a test is performed to determine whether the target aperture for opening the instrument jaws has been reached. Jaw opening can be performed as described in step 620, and the current position of the jaws can be known, for example, because the motion of the actuator causing the opening is tracked (e.g., using an incremental encoder signal). Once the target aperture for opening the instrument jaws has been reached, the execution of the method can terminate, stopping any further opening of the jaws. In this case, even if further opening of the jaws may have stopped, retraction of the instrument can continue. If the target aperture for opening the instrument has not yet been reached, the method can continue with step 620. The target aperture for opening can be specified as the angle between the jaws, the distance between the jaws at the tip or middle jaw position, the area spanned by the jaws, a specific configuration of the jaws relative to each other or the axis, etc. The target aperture for opening the instrument jaws can depend on various factors. These factors will be described below in order to... Figure 6 , Figure 7 and Figure 8 The flowchart description will be discussed.

[0064] In step 620, the size of the aperture defined by the jaws is coordinated with the movement of the instrument along the instrument axis. The following steps can be performed:

[0065] In step 622, a test is performed to determine if the jaws are in a gripping configuration. This is done at the start of execution. Figure 6 In this method, the jaws may initially be in a gripping configuration, but as the instrument retracts, the jaws may no longer be in a gripping configuration. The gripping configuration can be achieved and maintained by a controller sending control commands to cause the instrument jaws to apply a closing force. The closing force can be achieved by over-driving the controller of one or more actuators associated with the jaw closure. More specifically, the controller (e.g., a PD controller) can be driven to saturation, causing the actual position of the jaws to no longer reach the commanded position, thus resulting in a closing force. As described below, the closing force may exert pressure on the gripped object (e.g., ...). Figure 9A (As shown in the left panel). The presence of a gripping configuration can be detected in various ways. For example, the actual position of the jaws can be compared with the commanded position of the jaws. If there is a difference exceeding a preset threshold, the conclusion may be that the jaws are in a gripping configuration because the controller is driven to saturation. Alternatively, the actual position of the jaws themselves can be used. For example, the gripping configuration can be detected based on the jaws closing to at least a specified degree. Alternatively, the actual position of the instrument along the instrument axis degrees of freedom can be used. More specifically, initially, when first executed... Figure 6 The method assumes a gripping configuration. As the instrument retracts along the instrument axis degrees of freedom, after the movement exceeds a preset distance, the jaws may no longer be assumed to be in a gripping configuration based on the opening of the jaws caused by the execution of steps 624, 628, and 630.

[0066] If it is determined that the jaws are in a gripping configuration, the method can proceed to step 624. If it is determined that the jaws are not in a gripping configuration, the method can proceed to step 624.

[0067] In step 624, a higher gain is set for coupling the opening of the jaws with the retraction movement of the instrument. Specifically, the gain selected in step 624 is higher than the gain selected in step 626. While the gain can be fixed, it can also be variable in a quantized or continuous manner. In one embodiment, a continuous gain function, a set of quantized gain values, or a lookup table of gain values ​​is used instead of a constant gain. For a given retraction rate, a higher gain can open the yaw faster than a lower gain. The higher gain can cause the jaws to relax rapidly during the execution of steps 628 and 630. More specifically, a higher gain can be selected when the controller is initially driven to saturation to achieve a firm grip, such that relatively small movements along the axial degrees of freedom reduce or eliminate saturation. Thus, the jaws can still contact the object, but a smaller force can be applied. Residual force may be a result of friction in the mechanical components of the jaws, actuators, etc. Rapid relaxation during retraction can reduce the likelihood of pulling on the grasped object. For example, suppose in a surgical scenario, forceps are used to grasp a fragile blood vessel. It would be undesirable if the retraction of the instrument caused significant traction on the blood vessel. Therefore, a sufficiently high gain in step 624 can be selected to allow the jaws to relax within a range of no more than a few millimeters, for example, 2-3 mm of instrument movement along the axial degrees of freedom. Rapid relaxation during retraction can keep the blood vessel in contact with the jaws, but as retraction continues, it can be allowed to slide.

[0068] In step 626, a lower gain is set for coupling the opening of the jaws with the retraction movement of the instrument. Specifically, the gain selected in step 626 is lower than the gain selected in step 624. The lower gain results in a more gradual opening of the jaws relative to the retraction movement during the execution of steps 628 and 630. The gain in step 626 can be selected to induce gradual opening of the jaws over a longer distance (e.g., several millimeters or centimeters) of instrument movement along the axial degrees of freedom. While the gain can be fixed, it can also be variable in a quantized or continuous manner. In one embodiment, a continuous gain function, a set of quantized gain values, or a lookup table of gain values ​​is used instead of a constant gain. If a function is used, the function gain in step 626 can be lower than the function gain in step 624.

[0069] Although the gain setting is described in steps 624 and 628, those skilled in the art will understand that, Figure 6 The gain used throughout the execution of the method is not necessarily constant. For example, a variable gain can change in a position-dependent manner during the retraction movement. Any function can be used, such as a monotonic function that couples jaw opening with the retraction movement. In one or more embodiments, the function is a monotonic function.

[0070] In step 628, the gain set in step 624 or 626 is used to determine the actuator control command for one or more actuators of the jaw(s). The actuator control command can be a position or speed control command. The actuator control is set such that the jaw bore corresponding to the current position of the instrument along its axial degrees of freedom is obtained, as indicated by the gain.

[0071] In step 630, an actuator command is sent to one or more controllers of the jaw actuator to induce the desired movement of the jaws. Figure 9A The right panel illustrates the opening of the jaws during instrument retraction. In some embodiments where both jaws are movable relative to the axis, the movement of the jaws toward the target aperture may also involve repositioning or reshaping the jaw aperture. The jaw aperture can be repositioned or reshaped by asymmetrically moving the jaws, or, for instruments with connectors along the jaws, by moving one or more connectors along the jaws. For example, the first jaw may move more relative to the axis than the second jaw may move relative to the axis to reposition or reshape the jaw aperture. In some embodiments where both jaws are movable relative to the axis, the opening or closing of the jaws toward the target aperture may also involve repositioning or reshaping the jaw aperture. Repositioning or reshaping the jaw aperture may be done by asymmetrically moving the jaws, or, for instruments with connectors along the jaws, by moving one or more connectors along the jaws. For example, the first jaw may move more relative to the axis than the second jaw may move relative to the axis to reposition or reshape the jaw aperture.

[0072] Steps 600 to 630 can be repeated until the method execution terminates.

[0073] Go to Figure 7 , Figure 7 The flowchart illustrates a method, according to one or more embodiments, for controlling instrument gripping behavior when the instrument's jaws are retracted while the instrument is initially in an open configuration. The steps described subsequently... Figure 9B , Figure 10A and Figure 10B The diagram in the middle shows, Figure 9B A scenario (900B) involving the retraction of the instrument when the jaws are initially in an open configuration is illustrated. Figure 10A and Figure 10B Additional scenarios discussed below are illustrated. As previously stated, retraction of the instrument can be performed in various ways. Retraction can be performed while the insertion degree of freedom is floating (as previously referenced). Figure 3 (As described). The floating degree of freedom of insertion allows the operator to manually retract the instrument along its insertion axis, for example by manually pulling the bracket in a direction substantially coinciding with the insertion axis of the instrument. Figure 2(As described in [the text]). Alternatively, retraction can be actively performed by the manipulator assembly by driving the connector of the manipulator assembly to move along the insertion axis of the instrument in the retraction direction. Actively performed retraction can be performed in a supervised autonomous manner, where the controller of the manipulator assembly controls the retraction under human supervision. For example, the retraction of the instrument can be performed only when the user presses a specific button and stops once the button is released. Supervised autonomous retraction provides the user with control over the jaw movement by driving the instrument along the insertion degree of freedom (actively by the actuator or passively by the user's reverse drive). When the user stops the reverse drive, the jaw stops moving autonomously relative to the axis. Retraction can also be performed completely autonomously. Alternatively, retraction can be remotely operated by the user at an input control device. Although Figure 7 The coordination of the jaw motion with the movement of the instrument along the insertion axis is described, but without departing from this disclosure, the jaw motion may be coupled with other instrument axis degrees of freedom.

[0074] in short, Figure 7 The method aims to close the jaws of the instrument to a specified aperture during retraction. Jaw closure helps avoid contact with surrounding objects during instrument retraction because it reduces the jaw profile in the retraction direction: a closed jaw traverses less space in the workspace during insertion than an open jaw, thus reducing the risk of collision. Details follow.

[0075] Proceeding to the flowchart, in step 700, the motion of the instrument along the instrument axis degrees of freedom is tracked. Instrument motion is tracked as the instrument moves, for example, while the instrument's degrees of freedom are floating, or while the manipulator assembly actively drives the instrument along the instrument axis degrees of freedom, or by an operator pushing or pulling along the instrument axis degrees of freedom. The instrument axis degrees of freedom can be motion along the instrument's insertion axis, or any other instrument axis degree of freedom. The information obtained about the instrument can be its current position and / or current velocity along the instrument axis degrees of freedom. Instrument motion can be tracked using sensory input from, for example, an incremental encoder at the joint of the manipulator arm, allowing for the reconstruction of motion along the instrument axis degrees of freedom using forward kinematics.

[0076] In step 710, a test is performed to determine whether the target aperture of the instrument jaws has been reached. Jaw closure can be performed as described in step 720, and the current position of the jaws can be known, for example, because the motion of the actuator causing the closure is tracked (e.g., using an incremental encoder signal). Once the target aperture of the instrument jaws has been reached, the method can terminate to stop jaw closure. In this case, retraction of the instrument can continue even though jaw closure may have stopped. If the target aperture of the instrument has not been reached, the method can continue with step 720. The target aperture of closure can be specified as an angle. The target aperture of closure can correspond to partially or fully closed instrument jaws. The target aperture of closure can depend on various factors. These factors will be described below in order to... Figure 6 , Figure 7 and Figure 8 The flowchart description will be discussed.

[0077] In step 720, the size of the aperture defined by the jaws is coordinated with the movement of the instrument along the instrument axis. The following steps can be performed:

[0078] In step 722, one or more instrument connectors are straightened. (As...) Figure 10A As shown, the instrument may have multiple joints along its axis to enhance its articulation capabilities. As the instrument axis retracts, one or more joints can be straightened, as... Figure 10A The first and second panels (from the left) are shown. During the execution of step 722, the instrument jaws may remain in the open configuration. Execution of step 722 is optional.

[0079] In step 724, the instrument jaws remain in the open position while the instrument retracts a short distance along its axis of freedom. This short retraction while keeping the jaws open allows soft or elastic objects that might initially come into contact with the jaws to relax or expand. This prevents unintentional gripping of such objects. The retraction of the instrument in step 724 can be limited to a few millimeters. Execution of step 724 is optional.

[0080] In step 726, a gain is set to couple the closing of the jaws with the retraction motion of the instrument. When steps 728 and 730 are performed, the gain can cause the jaws to gradually open. The gain in step 726 can be selected to cause the jaws to gradually open over a relatively long distance (e.g., several millimeters or centimeters) of movement along the axial degrees of freedom of the instrument. Those skilled in the art will understand that during the execution... Figure 7The gain used throughout the method is not necessarily constant. For example, a variable gain can change in a position-dependent manner during the retraction motion. Any linear or nonlinear function can be used. In one embodiment, the function is a monotonic function. In another embodiment, the function is a non-monotonic function. The execution of step 726 is optional; for example, if the gain is preset or "hardwired," it is not necessary to set the gain again.

[0081] In one embodiment, the gain is set such that it prevents the jaws from entering the restricted area during retraction, such as Figure 10B As shown. In the initial open configuration, the forbidden zone defines the area surrounded by the jaws. Rapid jaw closure caused by high gain will cause the jaws to enter the forbidden zone, potentially making contact with objects located within it. By selecting a sufficiently low gain to avoid entering the forbidden zone, closing the jaws can avoid the object. See below for reference. Figure 10B Provide a detailed description.

[0082] In step 728, the gain set in step 726 is used to determine the actuator control command for one or more actuators of the jaw(s). The actuator control command can be a position or speed control command. The actuator control is set to obtain a closed jaw aperture corresponding to the current position of the instrument along its axial degrees of freedom, as indicated by the gain.

[0083] In step 730, an actuator command is sent to one or more controllers of the jaw actuator to induce the desired movement of the jaws. Figure 9B The right panel illustrates the jaw closure resulting during instrument retraction. In some embodiments where both jaws are movable relative to the axis, the movement of the jaws toward the target aperture may also involve repositioning or reshaping the jaw aperture. The jaw aperture can be repositioned or reshaped by asymmetrically moving the jaws, or, for instruments with connectors along the jaws, by moving one or more connectors along the jaws. For example, the first jaw may move more relative to the axis than the second jaw may move relative to the axis to reposition or reshape the jaw aperture.

[0084] Steps 700 to 730 can be repeated until the method execution terminates.

[0085] Figure 8 The flowchart illustrates a method, according to one or more embodiments, for controlling instrument gripping behavior when an instrument is inserted with its jaws initially in an open configuration. The steps described subsequently... Figure 9C The diagram in the middle shows, Figure 9CA scenario (900C) involving the insertion of a device with its jaws initially in an open configuration is illustrated. Insertion of the device can be performed in various ways. Insertion can be performed while the insertion degree of freedom is floating (as previously referenced). Figure 3 (As described). The floating degree of freedom of insertion allows the operator to manually insert the instrument along its insertion axis, for example by manually pushing the carriage in a direction substantially coinciding with the insertion axis of the instrument (in... Figure 2 (As described in the text). Alternatively, retraction can be actively performed by the manipulator assembly by driving the connector of the manipulator assembly to move along the insertion axis of the instrument in the insertion direction. Actively performed insertion can be performed in a supervised autonomous manner, where the controller of the manipulator assembly controls the retraction under human supervision. For example, the instrument can be inserted only when the user presses a specific button and stops once the button is released. Supervised autonomous retraction provides the user with control over the jaw movement by driving the instrument along the insertion degree of freedom (actively by the actuator or passively by the user's reverse drive). When the user stops the reverse drive, the jaw stops moving autonomously relative to the axis. Retraction can also be performed completely autonomously. Alternatively, insertion can be remotely operated by the user at an input control device. Although Figure 8 The coordination of the jaw motion with the movement of the instrument along the insertion axis is described, but without departing from this disclosure, the jaw motion may be coupled with other instrument axis degrees of freedom.

[0086] in short, Figure 8 The method aims to close the jaws of the instrument to a specified aperture during insertion. Jaw closure helps prevent contact with surrounding objects during instrument insertion because it reduces the jaw profile in the insertion direction: for most instruments, the closed jaws present a smaller cross-section in the insertion direction than the open jaws, thus reducing the risk of collision. Details follow.

[0087] Proceeding to the flowchart, in step 800, the motion of the instrument along its axis degrees of freedom is tracked. Instrument motion is tracked as the instrument moves, for example, while the instrument's degrees of freedom are floating, or while the manipulator assembly actively drives the instrument along its axis degrees of freedom, or by an operator pushing or pulling along its axis degrees of freedom. The instrument axis degrees of freedom can be motion along the instrument's insertion axis, or any other instrument axis degree of freedom. The information obtained about the instrument can be its current position and / or current velocity along its axis degrees of freedom. Sensory input from an incremental encoder, for example, at the joint of the manipulator arm, can be used to track instrument motion, allowing for the reconstruction of motion using forward kinematics.

[0088] In step 810, a test is performed to determine whether the target aperture of the closing instrument jaws has been reached. Jaw closure can be performed as described in step 820, and the current position of the jaws can be known, for example, because the motion of the actuator causing the closure is tracked (e.g., using an incremental encoder signal). Once the target aperture of the closing instrument jaws has been reached, the method can terminate to stop jaw closure. In this case, even if jaw closure may have stopped, instrument retraction can continue. If the target aperture of the closing instrument has not been reached, the method can continue with step 820. The target aperture for closure can be specified as an angle. The target aperture for closure can depend on various factors. These factors will be described below in order to... Figure 6 , Figure 7 and Figure 8 The flowchart description will be discussed.

[0089] In step 820, the size of the aperture defined by the jaws is coordinated with the movement of the instrument along the instrument axis. The following steps can be performed:

[0090] In step 822, a gain is set to couple the closing of the jaws with the insertion motion of the instrument. The gain can be selected to allow the jaws to close gradually over a relatively long distance (e.g., several millimeters or centimeters) of movement along the axial degrees of freedom of the instrument. Those skilled in the art will understand that, during execution... Figure 8 The gain used throughout the entire process is not necessarily constant. For example, a variable gain can change in a position-dependent manner during the retraction motion. Any linear or nonlinear function can be used. In one embodiment, the function is a monotonic function. In another embodiment, the function is a non-monotonic function.

[0091] In step 824, the gain set in step 822 is used to determine the actuator control command for one or more actuators of the jaw(s). The actuator control is set to obtain a closed jaw aperture corresponding to the current position of the instrument along the axial degree of freedom, as indicated by the gain.

[0092] In step 826, an actuator command is sent to one or more controllers of the jaw actuator to induce the desired movement of the jaws. Figure 9C The right panel illustrates the jaw closure resulting during instrument insertion. In some embodiments where both jaws are movable relative to the axis, the movement of the jaws toward the target aperture may also involve repositioning or reshaping the jaw aperture. The jaw aperture can be repositioned or reshaped by asymmetrically moving the jaws, or, for instruments with connectors along the jaws, by moving one or more connectors along the jaws. For example, the first jaw may move more relative to the axis than the second jaw may move relative to the axis to reposition or reshape the jaw aperture.

[0093] Steps 800 to 826 can be repeated until the execution of the method terminates.

[0094] Although Figure 6 , Figure 7 and Figure 8 The flowcharts describe the control of instrument gripping behavior during instrument insertion or retraction, but other variations of these methods may exist, including those described below.

[0095] In one or more embodiments, the size of the aperture defined by the jaws and the coordination of the movement of the instrument along the instrument axis degrees of freedom are unidirectional. Specifically, for example, in Figure 6 In this method, retraction may cause the instrument jaws to open, and the reverse motion may cause the instrument jaws to close, which partially or completely reflects the closing of the instrument jaws. As another specific example, in Figure 6 In this method, retraction can cause the instrument jaws to open, but reversing the direction of movement (causing insertion) does not cause the jaws to open or close (i.e., instead, it maintains the current jaw configuration in a ratcheting-type response). Similarly, in Figure 7 In this method, retraction may cause the instrument jaws to close, but a reversal of the direction of movement (leading to insertion) causes the instrument jaws to open. This may partially or completely reflect the closing of the instrument jaws, or (in a ratchet-type response) may not cause the jaws to open. Furthermore, in Figure 8 In this process, insertion may cause the instrument jaws to close, but a reversal of the direction of movement (resulting in retraction) will cause the instrument jaws to open. This may partially or completely reflect the closure of the instrument jaws, or (ratchet-type response) may not cause the jaws to open. In one or more embodiments, a ratchet-type response supports insertion / retraction using a ratchet method. Using the ratchet method, based on the described unidirectional implementation, a user can repeatedly perform multiple alternating short insertion / retraction movements to induce a gradual opening / closing of the yaw. Compared to insertion / retraction performed in a single stroke, the ratchet provides the user with better control over insertion / retraction. A particular application of the ratchet method is inserting an instrument into a narrow-diameter opening. By performing small, repetitive insertion and retraction strokes, the user can gradually close the yaw to fit through the narrow-diameter opening in a controlled manner.

[0096] In one or more embodiments, the target aperture, i.e., the range of jaw opening / closing (as used in steps 610, 710, and 810), can be set based on factors including mechanical constraints, risks associated with the current task, and the type of instrument used. For example, unintentional contact with an object may be considered more problematic within the workspace than unintentional contact in the external environment. Therefore, the target aperture for jaw opening / closing within the workspace may be biased towards a more closed jaw configuration compared to the target aperture used in the external environment. Other considerations can be applied. For example, the target aperture for jaw closure may be determined by the diameter requirements of the access port, sleeve, or any other structure that the instrument jaws may need to pass through. Furthermore, the target aperture for jaw opening / closing can also be instrument-specific: in the case of a clamp applicator, it may be necessary to keep the clamp applicator jaws in a more open configuration to avoid unintentional operation of the clamp applicator. In the case of scissors, it may be necessary to keep the jaws (i.e., the blade) in a more closed configuration to reduce blade exposure. Alternatively, a fixed angle can be specified for the target aperture. The target aperture can also depend on the position of the instrument on the insertion axis. Discrete values ​​can be set for different positions. Alternatively, a linear or nonlinear function can be used to establish the target aperture in a position-dependent manner. Furthermore, the target aperture can be set directionally to achieve hysteresis. More specifically, the target aperture can be selected to be narrower when moving from a more open aperture to a more closed aperture than when moving from a more closed aperture to a more open aperture. For example, the target aperture for closing the jaws can be set to 20°, while the target aperture for opening the jaws can be set to 30°. The difference between the target apertures can be selected to compensate for backlash in the drivetrain of the device. If selected correctly, the actual apertures for opening and closing the jaws may be the same or nearly the same when the target apertures for opening and closing are commanded separately, despite the presence of backlash.

[0097] Go to Figure 9A , Figure 9B , Figure 9C and Figure 9D The retraction / insertion of the instrument is shown in various configurations for further illustration. Figure 6 , Figure 7 and Figure 8 The execution of the method.

[0098] Figure 9A A scenario (900A) according to one or more embodiments is schematically illustrated, wherein the instruments (902A, 904A) are retracted when initially in a grasping configuration. During retraction, the coordination of the instrument jaws (910A, 920A) can be as follows: Figure 6 The execution described. Figure 9AThe left panel shows the instrument (902A) before retraction. The jaws (910A) are gripping the object (998A). The retraction of the instrument (904A) causes a rapid relaxation of the jaws, which then gradually open further (920A), as... Figure 9A As shown in the right panel. Due to the initial rapid relaxation, retraction is performed without exposing the object (998A) to significant traction.

[0099] Figure 9B A scenario (900B) according to one or more embodiments is schematically illustrated, wherein the instruments (902B, 904B) are retracted when initially in an open configuration. During retraction, the coordination of the instrument jaws (910B, 920B) can be as follows: Figure 7 The execution described in [the document / document]. Figure 9B The left panel shows the instrument (902B) before retraction. The jaws (910B) are in the open configuration. Retraction of the instrument (904B) causes the instrument jaws (920B) to gradually close, as... Figure 9B As shown on the right panel. By closing the jaws (910B) during retraction, the possibility of the instrument (904B) accidentally interacting with objects in the surrounding environment is reduced.

[0100] Figure 9C A scenario (900C) according to one or more embodiments is schematically illustrated, wherein instruments (902C, 904C) are inserted when initially in an open configuration. During insertion, the coordination of the instrument jaws (910C, 920C) can be as follows: Figure 8 The execution described in [the document / document]. Figure 9C The left panel shows the instrument (902C) before insertion. The jaws (910C) are in the open configuration. Insertion of the instrument (904C) causes the instrument jaws (920C) to gradually close, as... Figure 9C As shown on the right panel. By closing the jaws (910C) during insertion, the possibility of the instrument (904C) accidentally interacting with objects in the surrounding environment is reduced.

[0101] Figure 9D A scenario (900D) according to one or more embodiments is schematically illustrated, wherein the instruments (902D, 904D) are inserted initially in a substantially closed configuration. The instrument jaws (910D) can maintain a constant angle during insertion. Figure 9D The left panel shows the instrument (902D) before insertion. The jaws (910D) are in a substantially closed configuration and remain in a substantially closed configuration during insertion of the instrument (904D), as... Figure 9D As shown on the right panel. By keeping the jaws (910D) in a substantially closed configuration, the likelihood of the instrument (904D) accidentally interacting with objects in the surrounding environment is reduced.

[0102] Go to Figure 10A The illustration shows a scenario (1000A) of a series of configurations including a retracted device according to one or more embodiments. Figure 10A The diagram shows Figure 7 Some steps of the flowchart. Initially (from the first panel on the left), a set of hinged instrument connectors (1014A) are hinged along the instrument axis (1012A). The jaws (1016A) are in an open configuration and oriented based on the hinge of the instrument connectors (1014A). Figure 7 As described in step 722 of the method, when the instrument begins to retract, the instrument connector is straightened, resulting in the configuration shown in the second panel from the left. Here, the instrument connector is no longer hinged after the instrument (1020A) retracts a short distance Δx. The jaws (1018A) remain in an open configuration, but the orientation of the jaws has changed due to the straightening of the instrument connector. The third panel from the left shows the instrument (1030A) after an additional short distance Δy retraction. The jaws (1018A) have retracted while the instrument jaws remain open. The fourth (far right) panel shows the instrument (1040A) after a sustained retraction that causes the instrument jaws (1020A) to close. The incremental retraction of the instrument without immediately initiating jaw closure allows soft or elastic objects that might initially come into contact with the instrument jaws to relax or expand. This prevents unintentional gripping of these objects. The straightened instrument can then be retracted while reducing the likelihood of interaction with other surrounding objects.

[0103] Go to Figure 10B The illustration shows a scenario (1000B) of a series of configurations including a retracting device according to one or more embodiments. Figure 10B The diagram shows Figure 7 Some steps of the flowchart. Initially (the instrument is shown using solid lines), the jaws (1016B) of the instrument (1010B) are in an open configuration. (Through...) Figure 7 During steps 726 to 730, the instrument jaws gradually close. Figure 10B The instrument jaws (1018B) are shown in the intermediate position (dash pattern) and near-closed position (dotted line pattern). During the retraction of the instrument (1010B), the instrument jaws (1016B, 1018B, 1020B) remain strictly outside the prohibited area (1050B). Figure 10BIn the initial open configuration, the prohibited region (1050B) is the area defined by the jaws (1016B). By avoiding the prohibited region (1050B) during jaw closure, it is ensured that the jaws do not unintentionally interfere with objects that may be located within the prohibited region (1050B). To avoid the prohibited region (1050B) during instrument retraction (1010B), the gain coupling that couples jaw closure with instrument retraction can be set small enough to ensure gradual jaw closure when step 726 of the flowchart is performed. Figure 10B In the provided example, the gain is continuously modulated to hold the tip of the jaws in the jaw geometry at the initial open position. The jaw geometry can be, for example, the centerline of the jaws, the volume of the jaws, etc.

Claims

1. A computer-assisted medical system comprising: a robotic manipulator arm configured to support an instrument, the instrument comprising an instrument shaft and a jaw disposed at a distal end of the instrument shaft; and a controller coupled to the manipulator arm, the controller comprising a computer processor and configured to: track motion of the instrument along an insertion axis of the instrument, and coordinate a size of a jaw aperture defined by the jaw with motion of the instrument along the insertion axis to reach a target aperture, including: in response to the motion comprising retraction of the instrument, opening the jaw from an initial grasping configuration toward the target aperture as the instrument retracts, controlling the size of the jaw aperture defined by the jaw to keep the jaw outside a forbidden region during the retraction, wherein opening the jaw from the initial grasping configuration toward the target aperture as the instrument retracts comprises: during a first phase of the retraction, causing a rapid relaxation of the jaw, and during a second phase of the retraction, causing the opening of the jaw.

2. A computer-assisted medical system comprising: a robotic manipulator arm configured to support an instrument, the instrument comprising an instrument shaft and a jaw disposed at a distal end of the instrument shaft; and a controller coupled to the manipulator arm, the controller comprising a computer processor and configured to: track motion of the instrument along an insertion axis of the instrument, and coordinate a size of a jaw aperture defined by the jaw with motion of the instrument along the insertion axis to reach a target aperture, including: in response to the motion comprising retraction of the instrument, closing the jaw from an initial open configuration toward the target aperture as the instrument retracts, controlling the size of the jaw aperture defined by the jaw to keep the jaw outside a forbidden region during the retraction, wherein the forbidden region is a region enclosed by the jaw in the initial open configuration.

3. The computer-assisted medical system of claim 1 or 2, wherein the size of the jaw aperture is coupled with motion of the instrument along the insertion axis by a function set by the controller.

4. The computer-assisted medical system of claim 1 or 2, wherein coordinating the size of the jaw aperture defined by the jaws comprises: controlling the size of the jaw aperture defined by the jaw until the target aperture is reached.

5. The computer-assisted medical system of claim 1 or 2, wherein coordinating the size of the jaw aperture defined by the jaw further comprises: closing the jaw as the instrument is inserted after having been retracted.

6. The computer-assisted medical system of claim 1 or 2, wherein coordinating the size of the jaw aperture defined by the jaw further comprises: opening the jaw as the instrument is inserted after having been retracted.

7. The computer-assisted medical system of claim 1 or 2, wherein coordinating the size of the jaw aperture defined by the jaw further comprises: maintaining the size of the jaw aperture defined by the jaw as the instrument is inserted after having been retracted.

8. The computer-assisted medical system of claim 1, wherein the size of the jaw aperture is coupled with motion of the instrument along the insertion axis by a gain factor set by the controller, and wherein the controller causes the fast relaxation of the jaws by setting the gain factor to a first value, and wherein the controller causes the opening of the jaws by setting the gain factor to a second value lower than the first value.

9. The computer-assisted medical system of claim 2, wherein controlling the jaw aperture defined by the jaws to keep the jaws outside the prohibited zone during the retraction comprises: controlling the jaws during the retraction such that a tip of the jaws follows a geometry of the jaws in the initially open configuration.

10. The computer-assisted medical system of claim 2, wherein the size of the jaw aperture is coupled to motion of the instrument along the insertion axis by a gain factor set by the controller, and wherein controlling the jaw aperture defined by the jaws during the retraction includes varying the gain factor.

11. The computer-assisted medical system of claim 2, wherein the controller is further configured to straighten at least one joint of the instrument prior to closing the jaws from the initially open configuration, the at least one joint of the instrument being proximal to the jaws.

12. The computer-assisted medical system of claim 11, wherein the controller is further configured to maintain the jaws in the initially open configuration after straightening the at least one joint and prior to closing the jaws from the initially open configuration.

13. The computer-assisted medical system of claim 1 or 2, wherein coordinating the size of the jaw aperture defined by the jaws further comprises: closing the jaws toward a target closure in response to motion of the instrument including inserting the instrument with the jaws in an initially open configuration.

14. The computer-assisted medical system of claim 13, wherein coordinating the size of the jaw aperture defined by the jaws includes closing the jaws toward the target closure until the target closure is reached.

15. The computer-assisted medical system of claim 1 or 2, wherein the target aperture is different depending on whether the jaws are on a first side or a second side of a wall that isolates a worksite from an external environment.

16. The computer-assisted medical system of claim 1 or 2, wherein the target aperture is a first target aperture in response to at least a portion of the jaws being on a first side of a physical boundary, wherein the target aperture is a second target aperture in response to at least a portion of the jaws being on a second side of the physical boundary, and wherein the first target aperture is different than the second target aperture.

17. The computer-assisted medical system of claim 1 or 2, wherein the computer processor is further configured to coordinate the size of the jaw aperture using a ratcheting method by alternately performing the following steps: varying the size of the jaw aperture for motion of the instrument in a first direction, and holding the size of the jaw aperture constant for motion of the instrument in a second direction opposite the first direction.

18. The computer-assisted medical system of claim 1 or 2, wherein the target aperture is set based on at least one risk selected from the group consisting of: a risk of the instrument damaging the jaws, and a risk of the instrument damaging a patient. a risk associated with the instrument, and a risk associated with a task being performed using the computer-assisted medical system.

19. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions for execution by one or more processors associated with a medical system, the plurality of machine-readable instructions causing the one or more processors to perform a method comprising: tracking motion of an instrument along an insertion axis of the instrument, wherein the instrument comprises an instrument shaft and a jaw disposed at a distal end of the instrument shaft; and coordinating a size of a jaw aperture defined by the jaw with the motion of the instrument along the insertion axis to reach a target aperture, by in response to the motion comprising retraction of the instrument and the jaw being in an initial grasping configuration, opening the jaw from the initial grasping configuration toward the target aperture as the instrument is retracted. wherein opening the jaw from the initial grasping configuration toward the target aperture as the instrument is retracted comprises: during a first phase of the retraction, causing a rapid relaxation of the jaw, and during a second phase of the retraction, causing the opening of the jaw.

20. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions for execution by one or more processors associated with a medical system, the plurality of machine-readable instructions causing the one or more processors to perform a method comprising: tracking motion of an instrument along an insertion axis of the instrument, wherein the instrument includes an instrument shaft and a jaw disposed at a distal end of the instrument shaft; and coordinating a size of a jaw aperture defined by the jaw with the motion of the instrument along the insertion axis to reach a target aperture, comprising: in response to the motion comprising retraction of the instrument, closing the jaw from an initial open configuration toward the target aperture as the instrument is retracted, during the retraction, controlling the jaw aperture defined by the jaw to keep the jaw outside a forbidden region; and wherein the forbidden region is a region enclosed by the jaw in the initial open configuration.

21. The non-transitory machine-readable medium of claim 19 or 20, wherein coordinating the size of the jaw aperture defined by the jaws comprises: controlling the size of the jaw aperture defined by the jaw until the target aperture is reached.

22. The non-transitory machine-readable medium of claim 19 or 20, wherein coordinating the size of the jaw aperture defined by the jaw comprises: maintaining the size of the jaw aperture defined by the jaw as the instrument is inserted after having been retracted.

23. The non-transitory machine-readable medium of claim 20, wherein the method further comprises: prior to closing the jaw from the initial open configuration, straightening at least one joint of the instrument, the at least one joint of the instrument being proximal to the jaw.

24. The non-transitory machine-readable medium of claim 19 or 20, wherein coordinating the size of the jaw aperture defined by the jaws further comprises: in response to the motion of the instrument comprising insertion of the instrument with the jaw in an initial open configuration, closing the jaw toward a target closure.

25. The non-transitory machine-readable medium of claim 24, wherein coordinating the size of the jaw aperture defined by the jaw comprises closing the jaw toward the target closure until the target closure is reached.

26. The non-transitory machine-readable medium of claim 19 or 20, wherein the target aperture is a first target aperture in response to at least a portion of the jaw being on a first side of a physical boundary, wherein the target aperture is a second target aperture in response to at least a portion of the jaw being on a second side of the physical boundary, and wherein the first target aperture is different than the second target aperture.

27. The non-transitory machine-readable medium of claim 19 or 20, wherein the method further comprises: coordinating the size of the jaw aperture using a ratcheting method by alternately performing the following steps: varying the size of the jaw aperture for movement of the instrument in a first direction, and holding the size of the jaw aperture constant for movement of the instrument in a second direction opposite the first direction.

28. The non-transitory machine-readable medium of claim 19 or 20, wherein the target aperture is set based on at least one risk selected from the group consisting of: a risk associated with the instrument, and a risk associated with a task currently being performed using the medical system.

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